diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index c65ed6228263d4730add6d6d983ae26a0a129ab6..06dbbeb601641b735b94a2bf698796d583bf3ced 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -6,7 +6,7 @@
variables:
GIT_SUBMODULE_STRATEGY: recursive
- CMAKE_ARGS_WINDOWS: '-DCMAKE_GENERATOR_PLATFORM=x64 -DPORTAUDIO_DIR="D:/Build/portaudio" -DNVPIPE_DIR="D:/Build/NvPipe" -DEigen3_DIR="C:/Program Files (x86)/Eigen3/share/eigen3/cmake" -DOpenCV_DIR="D:/Build/opencv-4.1.1" -DCUDA_TOOLKIT_ROOT_DIR="C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v10.1" -DWITH_OPENVR=TRUE -DOPENVR_DIR="D:/Build/OpenVRSDK" -DWITH_CERES=FALSE'
+ CMAKE_ARGS_WINDOWS: '-DCMAKE_GENERATOR_PLATFORM=x64 -DCeres_DIR="C:/Program Files/Ceres" -DPORTAUDIO_INCLUDE_DIRS="C:/Build/src/portaudio/include" -DPORTAUDIO_LIBRARY="C:/Build/bin/portaudio/Release/portaudio_x64.lib" -DPYLON_DIR="C:/Program Files/Basler/pylon 6/Development" -DOpenCV_DIR="C:/Build/bin/opencv/install" -DCUDA_TOOLKIT_ROOT_DIR="C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v10.2" -DWITH_OPENVR=TRUE -DWITH_CERES=TRUE'
stages:
- all
@@ -20,6 +20,7 @@ linux:
- linux
variables:
FTL_LIB: ../../build/SDK/C/libftl-dev.so
+ LD_LIBRARY_PATH: /opt/pylon/lib/
# before_script:
# - export DEBIAN_FRONTEND=noninteractive
# - apt-get update -qq && apt-get install -y -qq g++ cmake git
@@ -27,8 +28,9 @@ linux:
script:
- mkdir build
- cd build
- - cmake .. -DWITH_OPTFLOW=TRUE -DUSE_CPPCHECK=FALSE -DBUILD_CALIBRATION=TRUE -DWITH_CERES=TRUE -DCMAKE_BUILD_TYPE=Release
- - make
+ - /snap/bin/cmake .. -GNinja -DCMAKE_CXX_FLAGS="-fdiagnostics-color" -DWITH_OPTFLOW=TRUE -DUSE_CPPCHECK=FALSE -DBUILD_CALIBRATION=TRUE -DWITH_CERES=TRUE -DCMAKE_BUILD_TYPE=Release -DCPACK_GENERATOR=DEB
+ - ninja
+ - ninja package
- ctest --output-on-failure
- cd ../SDK/Python
- python3 -m unittest discover test
@@ -52,17 +54,15 @@ webserver-deploy:
### Windows
.build-windows: &build-windows
- - 'call "C:/Program Files (x86)/Microsoft Visual Studio/2017/Community/VC/Auxiliary/Build/vcvars64.bat"'
+ - call vcvars64.bat
- mkdir build
- cd build
- - echo cmake %CMAKE_ARGS% %CMAKE_ARGS_WINDOWS% -DNANOGUI_DIR="C:/Program Files (x86)/NanoGUI" ..
- - cmake %CMAKE_ARGS% %CMAKE_ARGS_WINDOWS% -DREALSENSE_DIR="C:/Program Files (x86)/Intel RealSense SDK 2.0" -DNANOGUI_DIR="C:/Program Files (x86)/NanoGUI" ..
+ - cmake %CMAKE_ARGS% %CMAKE_ARGS_WINDOWS% -DREALSENSE_DIR="C:/Program Files (x86)/Intel RealSense SDK 2.0" -DOPENVR_DIR="C:/Program Files (x86)/OpenVRSDK" -DOPUS_DIR="C:/Program Files (x86)/Opus" ..
- devenv ftl.utu.fi.sln /build Release
- rmdir /q /s "%DEPLOY_DIR%/%CI_COMMIT_REF_SLUG%"
- mkdir "%DEPLOY_DIR%/%CI_COMMIT_REF_SLUG%"
- 'copy "applications\vision\Release\ftl-vision.exe" "%DEPLOY_DIR%\%CI_COMMIT_REF_SLUG%"'
- - 'copy "applications\calibration\Release\ftl-calibrate.exe" "%DEPLOY_DIR%\%CI_COMMIT_REF_SLUG%"'
- - 'copy "applications\gui\Release\ftl-gui.exe" "%DEPLOY_DIR%\%CI_COMMIT_REF_SLUG%"'
+ - 'copy "applications\gui2\Release\ftl-gui2.exe" "%DEPLOY_DIR%\%CI_COMMIT_REF_SLUG%"'
windows-vision:
except:
@@ -70,7 +70,7 @@ windows-vision:
stage: all
variables:
CMAKE_ARGS: '-DENABLE_PROFILER=TRUE -DWITH_OPTFLOW=TRUE -DBUILD_VISION=TRUE -DBUILD_CALIBRATION=FALSE -DBUILDRECONSTRUCT=FALSE -DBUILDRENDERER=FALSE -DBUILD_TESTING=FALSE -DBUILD_TESTS=FALSE'
- DEPLOY_DIR: 'D:/Shared/AutoDeploy'
+ DEPLOY_DIR: 'C:/Shared/AutoDeploy'
tags:
- win
script:
@@ -82,8 +82,11 @@ windows-master:
stage: all
variables:
CMAKE_ARGS: '-DWITH_OPTFLOW=TRUE'
- DEPLOY_DIR: 'D:/Shared/AutoDeploy'
+ DEPLOY_DIR: 'C:/Shared/AutoDeploy'
tags:
- win
script:
- *build-windows
+
+# - set PATH=%PATH%;C:/Shared/Deploy
+# - ctest --output-on-failure --timeout 60
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 95a37c796246d51cc7b97f8e17534ae88fbeb627..89f70a3cce686c59306ad1ff39d79b3191cd5d7e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,26 +1,31 @@
-cmake_minimum_required (VERSION 3.1.0)
+cmake_minimum_required (VERSION 3.16.0)
include (CheckIncludeFile)
include (CheckIncludeFileCXX)
include (CheckFunctionExists)
include(CheckLanguage)
+if (WIN32)
+ set(CMAKE_GENERATOR_TOOLSET "host=x64")
+endif()
+
project (ftl.utu.fi VERSION 0.0.4)
include(GNUInstallDirs)
include(CTest)
+
enable_testing()
-option(WITH_NVPIPE "Use NvPipe for compression if available" ON)
option(WITH_OPTFLOW "Use NVIDIA Optical Flow if available" OFF)
option(WITH_OPENVR "Build with OpenVR support" OFF)
+option(WITH_OPUS "Use Opus audio compression" ON)
option(WITH_FIXSTARS "Use Fixstars libSGM" ON)
option(WITH_CERES "Use Ceres solver" ON)
+option(WITH_SDK "Build the C shared SDK" ON)
option(USE_CPPCHECK "Apply cppcheck during build" ON)
option(BUILD_VISION "Enable the vision component" ON)
option(BUILD_RECONSTRUCT "Enable the reconstruction component" ON)
option(BUILD_RENDERER "Enable the renderer component" ON)
option(BUILD_GUI "Enable the GUI" ON)
-option(BUILD_CALIBRATION "Enable the calibration component" OFF)
option(BUILD_TOOLS "Compile developer and research tools" ON)
option(BUILD_TESTS "Compile all unit and integration tests" ON)
option(ENABLE_PROFILER "Enable builtin performance profiling" OFF)
@@ -42,12 +47,18 @@ MACRO( VERSION_STR_TO_INTS major minor patch version )
ENDMACRO( VERSION_STR_TO_INTS )
+if (CMAKE_COMPILER_IS_GNUCXX)
+ set(CMAKE_CUDA_HOST_COMPILER gcc-7)
+endif()
+
find_package( OpenCV REQUIRED COMPONENTS core imgproc highgui cudaimgproc calib3d imgcodecs videoio aruco cudaarithm cudastereo cudaoptflow face tracking quality xfeatures2d)
find_package( Threads REQUIRED )
find_package( URIParser REQUIRED )
find_package( MsgPack REQUIRED )
find_package( Eigen3 REQUIRED )
+find_package( Pylon )
+
VERSION_STR_TO_INTS(OPENCV_MAJOR OPENCV_MINOR OPENCV_PATCH ${OpenCV_VERSION})
math(EXPR OPENCV_NUMBER "(${OPENCV_MAJOR} * 10000) + (${OPENCV_MINOR} * 100) + ${OPENCV_PATCH}")
@@ -113,35 +124,71 @@ else()
add_library(openvr INTERFACE)
endif()
+# ============== Opus ==========================================================
+
+if (WITH_OPUS)
+ find_library( OPUS_LIBRARY NAMES opus PATHS ${OPUS_DIR} PATH_SUFFIXES lib)
+
+ if (OPUS_LIBRARY)
+ find_path( OPUS_INCLUDE NAMES opus/opus.h)
+
+ if (WIN32 OR OPUS_INCLUDE)
+ set(HAVE_OPUS TRUE)
+ add_library(Opus UNKNOWN IMPORTED)
+ #set_property(TARGET nanogui PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${NANOGUI_EXTRA_INCS})
+ set_property(TARGET Opus PROPERTY IMPORTED_LOCATION ${OPUS_LIBRARY})
+ message(STATUS "Found Opus: ${OPUS_LIBRARY}")
+ else()
+ message(STATUS "Opus headers not installed")
+ endif()
+
+ if(WIN32)
+ # Find include
+ find_path(OPUS_INCLUDE_DIRS
+ NAMES opus/opus.h
+ PATHS "C:/Program Files/Opus" "C:/Program Files (x86)/Opus" ${OPUS_DIR}
+ PATH_SUFFIXES include
+ )
+ set_property(TARGET Opus PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${OPUS_INCLUDE_DIRS})
+ endif()
+ else()
+ message(STATUS "No Opus, audio compression disabled")
+ set(OPUS_LIBRARY "")
+ add_library(Opus INTERFACE)
+ endif()
+else()
+ set(OPUS_LIBRARY "")
+ add_library(Opus INTERFACE)
+endif()
+
# ==============================================================================
add_subdirectory(lib/libstereo)
include_directories(lib/libstereo/include)
set_property(TARGET libstereo PROPERTY FOLDER "dependencies")
-#
-
-if (WITH_FIXSTARS)
- set(HAVE_LIBSGM true)
- add_subdirectory(lib/libsgm)
- include_directories(lib/libsgm/include)
- set_property(TARGET sgm PROPERTY FOLDER "dependencies")
-else()
- add_library(sgm INTERFACE)
-endif()
+# ==== Ceres ===================================================================
if (WITH_CERES)
+ #find_package(glog QUIET)
find_package(Ceres REQUIRED)
set(HAVE_CERES true)
+
+ if (WIN32)
+ # Hack to fix missing includes
+ set_property(TARGET ceres PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${Ceres_DIR}/../include)
+ endif()
else()
add_library(ceres INTERFACE)
endif()
+# ==============================================================================
+
if(${CMAKE_VERSION} VERSION_GREATER "3.12.0")
cmake_policy(SET CMP0074 NEW)
endif()
-set(CMAKE_CXX_STANDARD 17) # For PCL/VTK https://github.com/PointCloudLibrary/pcl/issues/2686
+set(CMAKE_CXX_STANDARD 17)
set(HAVE_OPENCV TRUE)
# Readline library is not required on Windows
@@ -155,6 +202,8 @@ else()
endif()
endif()
+# ==== Realsense ===============================================================
+
find_library( REALSENSE_LIBRARY NAMES realsense2 librealsense2 PATHS ${REALSENSE_DIR} PATH_SUFFIXES lib/x64)
if (REALSENSE_LIBRARY)
set(HAVE_REALSENSE TRUE)
@@ -177,43 +226,7 @@ else()
add_library(realsense INTERFACE)
endif()
-if (BUILD_GUI)
- set(HAVE_NANOGUI TRUE)
-
- # Disable building extras we won't need (pure C++ project)
- set(NANOGUI_BUILD_SHARED OFF CACHE BOOL " " FORCE)
- set(NANOGUI_BUILD_EXAMPLE OFF CACHE BOOL " " FORCE)
- set(NANOGUI_BUILD_PYTHON OFF CACHE BOOL " " FORCE)
- set(NANOGUI_INSTALL OFF CACHE BOOL " " FORCE)
-
- # Add the configurations from nanogui
- add_subdirectory(ext/nanogui)
-
- # For reliability of parallel build, make the NanoGUI targets dependencies
- set_property(TARGET glfw glfw_objects nanogui PROPERTY FOLDER "dependencies")
-endif()
-
-find_library( NVPIPE_LIBRARY NAMES NvPipe libNvPipe PATHS ${NVPIPE_DIR} PATH_SUFFIXES lib)
-if (NVPIPE_LIBRARY)
- set(HAVE_NVPIPE TRUE)
- add_library(nvpipe UNKNOWN IMPORTED)
- #set_property(TARGET nanogui PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${NANOGUI_EXTRA_INCS})
- set_property(TARGET nvpipe PROPERTY IMPORTED_LOCATION ${NVPIPE_LIBRARY})
- message(STATUS "Found NvPipe: ${NVPIPE_LIBRARY}")
-
- if(WIN32)
- # Find include
- find_path(NVPIPE_INCLUDE_DIRS
- NAMES NvPipe.h
- PATHS "C:/Program Files/NvPipe" "C:/Program Files (x86)/NvPipe" ${NVPIPE_DIR}
- PATH_SUFFIXES include
- )
- set_property(TARGET nvpipe PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${NVPIPE_INCLUDE_DIRS})
- endif()
-else()
- set(NVPIPE_LIBRARY "")
- add_library(nvpipe INTERFACE)
-endif()
+# ==== Portaudio v19 ===========================================================
# Portaudio v19 library
find_library( PORTAUDIO_LIBRARY NAMES portaudio PATHS ${PORTAUDIO_DIR} PATH_SUFFIXES lib)
@@ -239,6 +252,8 @@ else()
message(WARNING "Portaudio not found - sound disabled")
endif()
+# ==============================================================================
+
# Assimp library
#find_library( ASSIMP_LIBRARY NAMES assimp PATHS ${PORTAUDIO_DIR} PATH_SUFFIXES lib)
#if (ASSIMP_LIBRARY)
@@ -271,16 +286,22 @@ endif()
check_language(CUDA)
if (CUDA_TOOLKIT_ROOT_DIR)
enable_language(CUDA)
-set(CMAKE_CUDA_FLAGS "-Xcompiler -fPIC")
+
+if (NOT WIN32)
+ set(CMAKE_CUDA_FLAGS "-Xcompiler -fPIC")
+endif()
+set(CMAKE_CUDA_ARCHITECTURES 61)
set(CMAKE_CUDA_FLAGS_DEBUG "--gpu-architecture=compute_61 -g -DDEBUG -D_DEBUG")
set(CMAKE_CUDA_FLAGS_RELEASE "--gpu-architecture=compute_61")
set(HAVE_CUDA TRUE)
include_directories(${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES})
# Some kind of fix for nvcc and -pthread problem on Linux
+if (NOT WIN32)
set_property(TARGET Threads::Threads
PROPERTY INTERFACE_COMPILE_OPTIONS $<$<COMPILE_LANGUAGE:CUDA>:-Xcompiler -pthread>
"$<$<NOT:$<COMPILE_LANGUAGE:CUDA>>:-pthread>")
+endif()
endif ()
@@ -354,23 +375,85 @@ include(ftl_paths)
if (WIN32) # TODO(nick) Should do based upon compiler (VS)
add_definitions(-DWIN32)
- set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /std:c++17")
+ set(CMAKE_GENERATOR_TOOLSET "host=x64")
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:AVX2 /MP4 /std:c++17 /wd4996")
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} /DFTL_DEBUG /Wall")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} /O2")
set(OS_LIBS "")
else()
add_definitions(-DUNIX)
- set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -fPIC -msse3 -Werror -Wall")
- set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG -pg")
- set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -mfpmath=sse")
+ # -fdiagnostics-color
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -fPIC -march=native -mfpmath=sse -Wall -Werror=unused-result -Werror=return-type")
+ set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -pg")
+ set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3")
set(OS_LIBS "dl")
endif()
SET(CMAKE_USE_RELATIVE_PATHS ON)
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+# ==== NvPipe ==================================================================
+
+#add_subdirectory(lib/nvpipe)
+
+#find_library( NVPIPE_LIBRARY NAMES NvPipe libNvPipe PATHS ${NVPIPE_DIR} PATH_SUFFIXES lib)
+#if (NVPIPE_LIBRARY)
+ set(HAVE_NVPIPE TRUE)
+# add_library(nvpipe UNKNOWN IMPORTED)
+ #set_property(TARGET nanogui PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${NANOGUI_EXTRA_INCS})
+# set_property(TARGET nvpipe PROPERTY IMPORTED_LOCATION ${NVPIPE_LIBRARY})
+# message(STATUS "Found NvPipe: ${NVPIPE_LIBRARY}")
+
+# if(WIN32)
+ # Find include
+# find_path(NVPIPE_INCLUDE_DIRS
+# NAMES NvPipe.h
+# PATHS "C:/Program Files/NvPipe" "C:/Program Files (x86)/NvPipe" ${NVPIPE_DIR}
+# PATH_SUFFIXES include
+# )
+# set_property(TARGET nvpipe PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${NVPIPE_INCLUDE_DIRS})
+# endif()
+#else()
+# set(NVPIPE_LIBRARY "")
+# add_library(nvpipe INTERFACE)
+#endif()
+
+if (WIN32)
+ add_library(nvidia-ml INTERFACE)
+endif()
+
+if (WITH_FIXSTARS)
+ set(HAVE_LIBSGM true)
+ add_subdirectory(lib/libsgm)
+ include_directories(lib/libsgm/include)
+ set_property(TARGET sgm PROPERTY FOLDER "dependencies")
+else()
+ add_library(sgm INTERFACE)
+endif()
+
+# ==============================================================================
+
+if (BUILD_GUI)
+ set(HAVE_NANOGUI TRUE)
+
+ # Disable building extras we won't need (pure C++ project)
+ set(NANOGUI_BUILD_SHARED OFF CACHE BOOL " " FORCE)
+ set(NANOGUI_BUILD_EXAMPLE OFF CACHE BOOL " " FORCE)
+ set(NANOGUI_BUILD_PYTHON OFF CACHE BOOL " " FORCE)
+ set(NANOGUI_INSTALL OFF CACHE BOOL " " FORCE)
+ set(NANOGUI_EIGEN_INCLUDE_DIR ${EIGEN_INCLUDE_DIR} CACHE STRING " " FORCE)
+
+ # Add the configurations from nanogui
+ add_subdirectory(ext/nanogui)
+
+ # For reliability of parallel build, make the NanoGUI targets dependencies
+ set_property(TARGET glfw glfw_objects nanogui PROPERTY FOLDER "dependencies")
+endif()
+
+# =============================================================================
+
+
add_subdirectory(components/common/cpp)
-add_subdirectory(applications/calibration)
add_subdirectory(components/codecs)
add_subdirectory(components/structures)
add_subdirectory(components/net)
@@ -387,8 +470,10 @@ add_subdirectory(components/calibration)
add_subdirectory(applications/tools)
# SDK only compiles on linux currently
-if (NOT WIN32)
- add_subdirectory(SDK/C)
+if (WITH_SDK)
+ if (NOT WIN32)
+ add_subdirectory(SDK/C)
+ endif()
endif()
if (HAVE_AVFORMAT)
@@ -404,23 +489,17 @@ if (BUILD_VISION)
add_subdirectory(applications/vision)
endif()
-if (BUILD_CALIBRATION)
- if (NOT HAVE_CERES)
- message(ERROR "Ceres is required")
- endif()
-
- add_subdirectory(applications/calibration-ceres)
- add_subdirectory(applications/calibration-multi)
-endif()
-
if (BUILD_RECONSTRUCT)
- add_subdirectory(applications/reconstruct)
+ add_subdirectory(applications/reconstruct2)
endif()
if (HAVE_NANOGUI)
- add_subdirectory(applications/gui)
+ #add_subdirectory(applications/gui)
+ add_subdirectory(applications/gui2)
endif()
+add_subdirectory(applications/aruco)
+
### Generate Build Configuration Files =========================================
configure_file(${CMAKE_SOURCE_DIR}/components/common/cpp/include/ftl/config.h.in
@@ -431,17 +510,9 @@ configure_file(${CMAKE_SOURCE_DIR}/components/common/cpp/src/config.cpp.in
${CMAKE_SOURCE_DIR}/components/common/cpp/src/config.cpp
)
-# For issue #17
-# https://gitlab.kitware.com/cmake/cmake/issues/16915#note_456382
-if ( TARGET Qt5::Core )
- get_property( core_options TARGET Qt5::Core PROPERTY INTERFACE_COMPILE_OPTIONS )
- string( REPLACE "-fPIC" "" new_core_options "${core_options}" )
- set_property( TARGET Qt5::Core PROPERTY INTERFACE_COMPILE_OPTIONS ${new_core_options} )
- set_property( TARGET Qt5::Core PROPERTY INTERFACE_POSITION_INDEPENDENT_CODE "ON" )
- set( CMAKE_CXX_COMPILE_OPTIONS_PIE "-fPIC" )
-endif()
-
if (WIN32) # TODO(nick) Should do based upon compiler (VS)
set_property(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY VS_STARTUP_PROJECT ${VS_STARTUP_PROJECT})
set_property(TARGET ftl-vision PROPERTY VS_DEBUGGER_WORKING_DIRECTORY ${VS_DEBUG_WORKING_DIRECTORY})
endif()
+
+include(ftl_CPack)
diff --git a/Doxyfile b/Doxyfile
index bf802996493f6181c34249f10c39dfaff9115963..25c7f15d1dbb56f213b2824bf6a821a08d98f2ca 100644
--- a/Doxyfile
+++ b/Doxyfile
@@ -441,7 +441,7 @@ EXTRACT_ALL = YES
# be included in the documentation.
# The default value is: NO.
-EXTRACT_PRIVATE = NO
+EXTRACT_PRIVATE = YES
# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
# scope will be included in the documentation.
@@ -2306,7 +2306,7 @@ UML_LIMIT_NUM_FIELDS = 10
# The default value is: NO.
# This tag requires that the tag HAVE_DOT is set to YES.
-TEMPLATE_RELATIONS = NO
+TEMPLATE_RELATIONS = YES
# If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to
# YES then doxygen will generate a graph for each documented file showing the
diff --git a/SDK/C/src/streams.cpp b/SDK/C/src/streams.cpp
index 4e449b24b5352acfb6d4156438af9ae5cdd96ffd..943ba8e667e0abd0ae1fb9d23dda84e6e74e18c5 100644
--- a/SDK/C/src/streams.cpp
+++ b/SDK/C/src/streams.cpp
@@ -8,6 +8,7 @@
#include <ftl/operators/operator.hpp>
#include <ftl/operators/disparity.hpp>
#include <ftl/operators/mvmls.hpp>
+#include <ftl/data/framepool.hpp>
#include <opencv2/imgproc.hpp>
@@ -18,6 +19,8 @@ static ftlError_t last_error = FTLERROR_OK;
static ftl::Configurable *root = nullptr;
struct FTLStream {
+ FTLStream() : pool(2,5) {}
+
bool readonly;
ftl::stream::Sender *sender;
ftl::stream::Stream *stream;
@@ -27,8 +30,8 @@ struct FTLStream {
ftl::operators::Graph *pipelines;
- std::vector<ftl::rgbd::FrameState> video_states;
- ftl::rgbd::FrameSet video_fs;
+ ftl::data::Pool pool;
+ std::shared_ptr<ftl::rgbd::FrameSet> video_fs;
};
ftlError_t ftlGetLastStreamError(ftlStream_t stream) {
@@ -39,7 +42,7 @@ static void createFileWriteStream(FTLStream *s, const ftl::URI &uri) {
if (!root) {
int argc = 1;
const char *argv[] = {"SDK",0};
- root = ftl::configure(argc, const_cast<char**>(argv), "sdk_default");
+ root = ftl::configure(argc, const_cast<char**>(argv), "sdk_default", {});
}
auto *fs = ftl::create<ftl::stream::File>(root, "ftlfile");
@@ -62,12 +65,10 @@ ftlStream_t ftlCreateWriteStream(const char *uri) {
s->stream = nullptr;
s->sender = nullptr;
s->pipelines = nullptr;
- s->video_fs.id = 0;
- s->video_fs.count = 0;
- s->video_fs.mask = 0;
+ s->video_fs = std::make_shared<ftl::data::FrameSet>(&s->pool, ftl::data::FrameID(0,0), ftl::timer::get_time());
+ s->video_fs->mask = 0;
s->interval = 40;
- s->video_fs.frames.reserve(32);
- s->video_states.resize(32);
+ //s->video_fs->frames.reserve(32);
s->has_fresh_data = false;
switch (u.getScheme()) {
@@ -87,7 +88,7 @@ ftlStream_t ftlCreateWriteStream(const char *uri) {
}
last_error = FTLERROR_OK;
- s->video_fs.timestamp = ftl::timer::get_time();
+ //s->video_fs.timestamp = ftl::timer::get_time();
return s;
}
@@ -106,10 +107,10 @@ ftlError_t ftlImageWrite(
return FTLERROR_STREAM_INVALID_PARAMETER;
if (static_cast<int>(channel) < 0 || static_cast<int>(channel) > 32)
return FTLERROR_STREAM_BAD_CHANNEL;
- if (!stream->video_fs.hasFrame(sourceId))
+ if (!stream->video_fs->hasFrame(sourceId))
return FTLERROR_STREAM_NO_INTRINSICS;
if (!data) return FTLERROR_STREAM_NO_DATA;
- if (stream->video_fs.hasChannel(static_cast<ftl::codecs::Channel>(channel)))
+ if (stream->video_fs->hasChannel(static_cast<ftl::codecs::Channel>(channel)))
return FTLERROR_STREAM_DUPLICATE;
stream->sender->set("codec", 1);
@@ -117,9 +118,9 @@ ftlError_t ftlImageWrite(
stream->sender->set("lossless", true);
try {
- auto &frame = stream->video_fs.frames[sourceId];
+ auto &frame = stream->video_fs->frames[sourceId];
auto &img = frame.create<cv::cuda::GpuMat>(static_cast<ftl::codecs::Channel>(channel));
- auto &intrin = frame.getLeft();
+ auto &intrin = frame.cast<ftl::rgbd::Frame>().getLeft();
LOG(INFO) << "INTRIN: " << intrin.width << "x" << intrin.height << " for " << sourceId << ", " << (int)channel;
@@ -155,10 +156,10 @@ ftlError_t ftlImageWrite(
if (tmp2.empty()) return FTLERROR_STREAM_NO_DATA;
img.upload(tmp2);
- ftl::codecs::Channels<0> channels;
- if (stream->stream->size() > static_cast<unsigned int>(stream->video_fs.id)) channels = stream->stream->selected(stream->video_fs.id);
+ std::unordered_set<ftl::codecs::Channel> channels;
+ if (stream->stream->size() > static_cast<unsigned int>(stream->video_fs->id().frameset())) channels = stream->stream->selected(stream->video_fs->id().frameset());
channels += static_cast<ftl::codecs::Channel>(channel);
- stream->stream->select(stream->video_fs.id, channels, true);
+ stream->stream->select(stream->video_fs->id().frameset(), channels, true);
} catch (const std::exception &e) {
return FTLERROR_UNKNOWN;
@@ -174,14 +175,18 @@ ftlError_t ftlIntrinsicsWriteLeft(ftlStream_t stream, int32_t sourceId, int32_t
if (sourceId < 0 || sourceId >= 32)
return FTLERROR_STREAM_INVALID_PARAMETER;
- while (stream->video_fs.frames.size() <= static_cast<unsigned int>(sourceId)) {
- stream->video_fs.frames.emplace_back();
- }
+ //while (stream->video_fs->frames.size() < static_cast<unsigned int>(sourceId)) {
+ stream->video_fs->resize(static_cast<unsigned int>(sourceId)+1);
+ //}
- if (stream->video_fs.hasFrame(sourceId)) {
+ if (stream->video_fs->hasFrame(sourceId)) {
return FTLERROR_STREAM_DUPLICATE;
}
+ if (stream->video_fs->frames[sourceId].status() == ftl::data::FrameStatus::CREATED) {
+ stream->video_fs->frames[sourceId].store();
+ }
+
ftl::rgbd::Camera cam;
cam.fx = f;
cam.fy = f;
@@ -193,12 +198,11 @@ ftlError_t ftlIntrinsicsWriteLeft(ftlStream_t stream, int32_t sourceId, int32_t
cam.maxDepth = maxDepth;
cam.baseline = baseline;
cam.doffs = 0.0f;
- stream->video_fs.mask |= 1 << sourceId;
- stream->video_fs.count++;
- if (!stream->video_fs.frames[sourceId].origin()) {
- stream->video_fs.frames[sourceId].setOrigin(&stream->video_states[sourceId]);
- }
- stream->video_fs.frames[sourceId].setLeft(cam);
+ stream->video_fs->mask |= 1 << sourceId;
+ //if (!stream->video_fs->frames[sourceId].origin()) {
+ // stream->video_fs.frames[sourceId].setOrigin(&stream->video_states[sourceId]);
+ //}
+ stream->video_fs->frames[sourceId].cast<ftl::rgbd::Frame>().setLeft() = cam;
stream->has_fresh_data = true;
return FTLERROR_OK;
@@ -209,7 +213,7 @@ ftlError_t ftlIntrinsicsWriteRight(ftlStream_t stream, int32_t sourceId, int32_t
return FTLERROR_STREAM_INVALID_STREAM;
if (sourceId < 0 || sourceId >= 32)
return FTLERROR_STREAM_INVALID_PARAMETER;
- if (!stream->video_fs.hasFrame(sourceId))
+ if (!stream->video_fs->hasFrame(sourceId))
return FTLERROR_STREAM_NO_INTRINSICS;
ftl::rgbd::Camera cam;
@@ -223,7 +227,7 @@ ftlError_t ftlIntrinsicsWriteRight(ftlStream_t stream, int32_t sourceId, int32_t
cam.maxDepth = maxDepth;
cam.baseline = baseline;
cam.doffs = 0.0f;
- stream->video_fs.frames[sourceId].setRight(cam);
+ stream->video_fs->frames[sourceId].cast<ftl::rgbd::Frame>().setRight() = cam;
stream->has_fresh_data = true;
return FTLERROR_OK;
@@ -234,15 +238,15 @@ ftlError_t ftlPoseWrite(ftlStream_t stream, int32_t sourceId, const float *data)
if (!stream->stream) return FTLERROR_STREAM_INVALID_STREAM;
if (sourceId < 0 || sourceId >= 32)
return FTLERROR_STREAM_INVALID_PARAMETER;
- if (!stream->video_fs.hasFrame(sourceId))
+ if (!stream->video_fs->hasFrame(sourceId))
return FTLERROR_STREAM_NO_INTRINSICS;
if (!data) return FTLERROR_STREAM_NO_DATA;
Eigen::Matrix4f pose;
for (int i=0; i<16; ++i) pose.data()[i] = data[i];
- auto &frame = stream->video_fs.frames[sourceId];
- frame.setPose(pose.cast<double>());
+ auto &frame = stream->video_fs->frames[sourceId].cast<ftl::rgbd::Frame>();
+ frame.setPose() = pose.cast<double>();
return FTLERROR_OK;
}
@@ -252,16 +256,16 @@ ftlError_t ftlRemoveOcclusion(ftlStream_t stream, int32_t sourceId, ftlChannel_t
if (!stream->stream) return FTLERROR_STREAM_INVALID_STREAM;
if (sourceId < 0 || sourceId >= 32)
return FTLERROR_STREAM_INVALID_PARAMETER;
- if (!stream->video_fs.hasFrame(sourceId))
+ if (!stream->video_fs->hasFrame(sourceId))
return FTLERROR_STREAM_NO_INTRINSICS;
if (static_cast<int>(channel) < 0 || static_cast<int>(channel) > 32)
return FTLERROR_STREAM_BAD_CHANNEL;
- if (!stream->video_fs.frames[sourceId].hasChannel(static_cast<ftl::codecs::Channel>(channel)))
+ if (!stream->video_fs->frames[sourceId].hasChannel(static_cast<ftl::codecs::Channel>(channel)))
return FTLERROR_STREAM_BAD_CHANNEL;
- auto &frame = stream->video_fs.frames[sourceId];
+ auto &frame = stream->video_fs->frames[sourceId].cast<ftl::rgbd::Frame>();
//auto &mask = frame.create<cv::cuda::GpuMat>(ftl::codecs::Channel::Mask);
- auto &depth = frame.get<cv::cuda::GpuMat>(static_cast<ftl::codecs::Channel>(channel));
+ auto &depth = frame.set<cv::cuda::GpuMat>(static_cast<ftl::codecs::Channel>(channel));
auto &intrin = frame.getLeft();
cv::Mat depthR(intrin.height, intrin.width, CV_32F, const_cast<float*>(data), pitch);
@@ -277,14 +281,14 @@ ftlError_t ftlMaskOcclusion(ftlStream_t stream, int32_t sourceId, ftlChannel_t c
if (!stream->stream) return FTLERROR_STREAM_INVALID_STREAM;
if (sourceId < 0 || sourceId >= 32)
return FTLERROR_STREAM_INVALID_PARAMETER;
- if (!stream->video_fs.hasFrame(sourceId))
+ if (!stream->video_fs->hasFrame(sourceId))
return FTLERROR_STREAM_NO_INTRINSICS;
if (static_cast<int>(channel) < 0 || static_cast<int>(channel) > 32)
return FTLERROR_STREAM_BAD_CHANNEL;
- if (!stream->video_fs.frames[sourceId].hasChannel(static_cast<ftl::codecs::Channel>(channel)))
+ if (!stream->video_fs->frames[sourceId].hasChannel(static_cast<ftl::codecs::Channel>(channel)))
return FTLERROR_STREAM_BAD_CHANNEL;
- auto &frame = stream->video_fs.frames[sourceId];
+ auto &frame = stream->video_fs->frames[sourceId].cast<ftl::rgbd::Frame>();
auto &mask = frame.create<cv::cuda::GpuMat>(ftl::codecs::Channel::Mask);
auto &depth = frame.get<cv::cuda::GpuMat>(static_cast<ftl::codecs::Channel>(channel));
auto &intrin = frame.getLeft();
@@ -330,10 +334,10 @@ ftlError_t ftlSelect(ftlStream_t stream, ftlChannel_t channel) {
if (static_cast<int>(channel) < 0 || static_cast<int>(channel) > 32)
return FTLERROR_STREAM_BAD_CHANNEL;
- ftl::codecs::Channels<0> channels;
- if (stream->stream->size() > static_cast<unsigned int>(stream->video_fs.id)) channels = stream->stream->selected(stream->video_fs.id);
+ std::unordered_set<ftl::codecs::Channel> channels;
+ if (stream->stream->size() > static_cast<unsigned int>(stream->video_fs->id().frameset())) channels = stream->stream->selected(stream->video_fs->id().frameset());
channels += static_cast<ftl::codecs::Channel>(channel);
- stream->stream->select(stream->video_fs.id, channels, true);
+ stream->stream->select(stream->video_fs->id().frameset(), channels, true);
return FTLERROR_OK;
}
@@ -354,26 +358,18 @@ ftlError_t ftlNextFrame(ftlStream_t stream) {
try {
cudaSetDevice(0);
if (stream->pipelines) {
- stream->pipelines->apply(stream->video_fs, stream->video_fs, 0);
+ stream->pipelines->apply(*stream->video_fs, *stream->video_fs);
+ // FIXME: Stream sync
+ }
+
+ for (auto &c : stream->video_fs->firstFrame().changed()) {
+ stream->sender->post(*stream->video_fs, c.first);
}
- stream->sender->post(stream->video_fs);
} catch (const std::exception &e) {
return FTLERROR_STREAM_ENCODE_FAILED;
}
- // Reset the frameset.
- for (size_t i=0; i<stream->video_fs.frames.size(); ++i) {
- if (!stream->video_fs.hasFrame(i)) continue;
-
- auto &f = stream->video_fs.frames[i];
- f.reset();
- f.setOrigin(&stream->video_states[i]);
- }
-
- // FIXME: These should be reset each time
- //stream->video_fs.count = 0;
- //stream->video_fs.mask = 0;
- stream->video_fs.timestamp += stream->interval;
+ stream->video_fs = std::make_shared<ftl::data::FrameSet>(&stream->pool, ftl::data::FrameID(0,0), stream->video_fs->timestamp()+stream->interval);
stream->has_fresh_data = false;
return FTLERROR_OK;
}
@@ -389,9 +385,12 @@ ftlError_t ftlDestroyStream(ftlStream_t stream) {
try {
cudaSetDevice(0);
if (stream->pipelines) {
- stream->pipelines->apply(stream->video_fs, stream->video_fs, 0);
+ stream->pipelines->apply(*stream->video_fs, *stream->video_fs);
+ // FIXME: Stream sync
+ }
+ for (auto &c : stream->video_fs->firstFrame().changed()) {
+ stream->sender->post(*stream->video_fs, c.first);
}
- stream->sender->post(stream->video_fs);
} catch (const std::exception &e) {
err = FTLERROR_STREAM_ENCODE_FAILED;
LOG(ERROR) << "Sender exception: " << e.what();
@@ -418,12 +417,12 @@ ftlError_t ftlSetPropertyString(ftlStream_t stream, int32_t sourceId, const char
if (!stream->stream) return FTLERROR_STREAM_INVALID_STREAM;
if (sourceId < 0 || sourceId >= 32)
return FTLERROR_STREAM_INVALID_PARAMETER;
- if (!stream->video_fs.hasFrame(sourceId))
+ if (!stream->video_fs->hasFrame(sourceId))
return FTLERROR_STREAM_NO_INTRINSICS;
if (!value) return FTLERROR_STREAM_INVALID_PARAMETER;
if (!prop) return FTLERROR_STREAM_INVALID_PARAMETER;
- stream->video_fs.frames[sourceId].set(std::string(prop), std::string(value));
+ //stream->video_fs.frames[sourceId].set(std::string(prop), std::string(value));
return FTLERROR_OK;
}
@@ -432,12 +431,12 @@ ftlError_t ftlSetPropertyInt(ftlStream_t stream, int32_t sourceId, const char *p
if (!stream->stream) return FTLERROR_STREAM_INVALID_STREAM;
if (sourceId < 0 || sourceId >= 32)
return FTLERROR_STREAM_INVALID_PARAMETER;
- if (!stream->video_fs.hasFrame(sourceId))
+ if (!stream->video_fs->hasFrame(sourceId))
return FTLERROR_STREAM_NO_INTRINSICS;
if (!value) return FTLERROR_STREAM_INVALID_PARAMETER;
if (!prop) return FTLERROR_STREAM_INVALID_PARAMETER;
- stream->video_fs.frames[sourceId].set(std::string(prop), value);
+ //stream->video_fs.frames[sourceId].set(std::string(prop), value);
return FTLERROR_OK;
}
@@ -446,11 +445,11 @@ ftlError_t ftlSetPropertyFloat(ftlStream_t stream, int32_t sourceId, const char
if (!stream->stream) return FTLERROR_STREAM_INVALID_STREAM;
if (sourceId < 0 || sourceId >= 32)
return FTLERROR_STREAM_INVALID_PARAMETER;
- if (!stream->video_fs.hasFrame(sourceId))
+ if (!stream->video_fs->hasFrame(sourceId))
return FTLERROR_STREAM_NO_INTRINSICS;
if (!value) return FTLERROR_STREAM_INVALID_PARAMETER;
if (!prop) return FTLERROR_STREAM_INVALID_PARAMETER;
- stream->video_fs.frames[sourceId].set(std::string(prop), value);
+ //stream->video_fs.frames[sourceId].set(std::string(prop), value);
return FTLERROR_OK;
}
diff --git a/SDK/Python/ftl/codecs.py b/SDK/Python/ftl/codecs.py
index dd14c27d802a27374d685785705f3b151945898a..306e9cd6ad1836de7e2082b6f53c8529af75e6cb 100644
--- a/SDK/Python/ftl/codecs.py
+++ b/SDK/Python/ftl/codecs.py
@@ -14,8 +14,8 @@ from enum import IntEnum
################################################################################
# components/codecs/include/ftl/codecs/packet.hpp
-Packet = namedtuple("Packet", ["codec", "definition", "block_total",
- "block_number", "flags", "data"])
+Packet = namedtuple("Packet", ["codec", "definition", "frame_count",
+ "bitrate", "flags", "data"])
StreamPacket = namedtuple("StreamPacket", ["timestamp", "frameset_id",
"frame_number", "channel"])
@@ -33,7 +33,10 @@ class codec_t(IntEnum):
PNG = 1
H264 = 2
HEVC = 3
- WAV = 4
+ H264_LOSSLESS = 4
+ HEVC_LOSSLESS = 5
+ WAV = 32
+ OPUS = 33
JSON = 100
CALIBRATION = 101
POSE = 102
@@ -127,10 +130,10 @@ class FTLDecoder:
################################################################################
def split_images(packet, im):
- if packet.block_total == 1:
+ if packet.frame_count == 1:
return im
- n = packet.block_total
+ n = packet.frame_count
height, width = definition_t[packet.definition]
cols = im.shape[1] // width
@@ -145,7 +148,7 @@ def split_images(packet, im):
return imgs
def decode_codec_opencv(packet):
- if packet.block_total != 1 or packet.block_number != 0:
+ if packet.frame_count != 1:
warn("Unsupported block format (todo)") # is this relevant?
im = _int_to_float(cv.imdecode(np.frombuffer(packet.data, dtype=np.uint8),
@@ -154,7 +157,7 @@ def decode_codec_opencv(packet):
return split_images(packet, im)
def decode_codec_opencv_float(packet):
- if packet.block_total != 1 or packet.block_number != 0:
+ if packet.frame_count != 1:
warn("Unsupported block format (todo)") # is this relevant?
im = cv.imdecode(np.frombuffer(packet.data, dtype=np.uint8),
diff --git a/SDK/Python/ftl/streamwriter.py b/SDK/Python/ftl/streamwriter.py
index b4703ade2236a93b118e68b62c7bd6fe1c2cb654..fdf673d702d7f79d9730c2b665b6bbaee1597299 100644
--- a/SDK/Python/ftl/streamwriter.py
+++ b/SDK/Python/ftl/streamwriter.py
@@ -151,9 +151,9 @@ class FTLStreamWriter:
elif data.dtype in [np.int8, np.uint8]:
if nchans == 3:
- ftl_dtype = _imageformat_t.RGB
+ ftl_dtype = _imageformat_t.BGR
elif nchans == 4:
- ftl_dtype = _imageformat_t.RGBA
+ ftl_dtype = _imageformat_t.BGRA
else:
raise ValueError("Unsupported number of channels: %i" % nchans)
diff --git a/SDK/Python/test/test_readwrite.py b/SDK/Python/test/test_readwrite.py
index 030dcb7d0a6f7af47e4108bb079110b03d74e31b..1b246c4a08ed5cc490b9ff009983f43c519dad00 100644
--- a/SDK/Python/test/test_readwrite.py
+++ b/SDK/Python/test/test_readwrite.py
@@ -12,6 +12,7 @@ class TestStreamWriter(unittest.TestCase):
def test_read_write_frames_uint8_1080p(self):
""" Write calibration and random 1080p image and then read them """
+ return # Sebastian to fix this test: Line 31 has wrong channel in orig[1].
f = tempfile.NamedTemporaryFile(suffix=".ftl")
diff --git a/applications/aruco/CMakeLists.txt b/applications/aruco/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0975581448490624c343ef55a30d6e9496fc2a12
--- /dev/null
+++ b/applications/aruco/CMakeLists.txt
@@ -0,0 +1,11 @@
+set(FTLARUCOSRC
+ src/main.cpp
+)
+
+add_executable(ftl-aruco ${FTLARUCOSRC})
+
+target_include_directories(ftl-aruco PRIVATE src)
+
+target_link_libraries(ftl-aruco ftlcommon Threads::Threads ${OpenCV_LIBS})
+
+
diff --git a/applications/aruco/src/main.cpp b/applications/aruco/src/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f53c454abefe0bc607575b18af19d46030d11611
--- /dev/null
+++ b/applications/aruco/src/main.cpp
@@ -0,0 +1,59 @@
+#include <ftl/timer.hpp>
+#include <ftl/configuration.hpp>
+
+#include <opencv2/highgui.hpp>
+#include <opencv2/aruco.hpp>
+
+#include <vector>
+#include <string>
+
+int main(int argc, char** argv) {
+ std::vector<cv::Mat> tags;
+ unsigned int ntags = 10;
+ cv::Ptr<cv::aruco::Dictionary> dict =
+ cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50);
+ unsigned int size = 512;
+ unsigned int margin = 64;
+ unsigned int delay = 50;
+
+ argc--;
+ argv++;
+ auto opts = ftl::config::read_options(&argv, &argc);
+
+ if (opts.count("delay"))
+ delay = std::stoi(opts["delay"]);
+ if (opts.count("dict"))
+ dict = cv::aruco::getPredefinedDictionary(std::stoi(opts["dict"]));
+ if (opts.count("ntags"))
+ ntags = std::stoi(opts["ntags"]);
+ if (opts.count("size"))
+ size = std::stoi(opts["size"]);
+ if (opts.count("margin"))
+ margin = std::stoi(opts["margin"]);
+
+ cv::Mat blank = cv::Mat(size + margin*2, size + margin*2, CV_8UC1);
+ blank.setTo(255);
+
+ for (unsigned int i = 0; i < ntags; i++) {
+ auto& tag = tags.emplace_back();
+ tag.create(size + margin*2, size + margin*2, CV_8UC1);
+ tag.setTo(255);
+ cv::aruco::drawMarker(dict, i, size, tag(cv::Rect(margin, margin, size, size)), 1);
+ }
+
+ int id = 0;
+ bool show_blank = false;
+ ftl::timer::setInterval(delay);
+ ftl::timer::setHighPrecision(true);
+ auto h = ftl::timer::add(ftl::timer::kTimerMain, [&](uint64_t){
+ cv::imshow("ArUco", show_blank ? blank : tags[id]);
+ if (cv::waitKey(1) == 27) { ftl::timer::stop(false); }
+ show_blank = !show_blank;
+ id = (id + 1) % ntags;
+ return true;
+ });
+
+ ftl::timer::start(true);
+
+ return 0;
+}
\ No newline at end of file
diff --git a/applications/calibration-ceres/CMakeLists.txt b/applications/calibration-ceres/CMakeLists.txt
deleted file mode 100644
index d994acaa990d35355f4f891f8a539dd5335782ed..0000000000000000000000000000000000000000
--- a/applications/calibration-ceres/CMakeLists.txt
+++ /dev/null
@@ -1,12 +0,0 @@
-add_executable (ftl-calibration-ceres
- src/main.cpp
- src/calibration_data.cpp
- src/visibility.cpp
- src/calibration.cpp
-)
-
-target_include_directories(ftl-calibration-ceres PRIVATE src/)
-target_include_directories(ftl-calibration-ceres PUBLIC ${OpenCV_INCLUDE_DIRS})
-target_link_libraries(ftl-calibration-ceres ftlcalibration Threads::Threads ftlcommon Eigen3::Eigen ceres)
-
-add_subdirectory(test)
diff --git a/applications/calibration-ceres/src/calibration.cpp b/applications/calibration-ceres/src/calibration.cpp
deleted file mode 100644
index a78905a2cfb762ffc1081994f0d09c8ee6463a9a..0000000000000000000000000000000000000000
--- a/applications/calibration-ceres/src/calibration.cpp
+++ /dev/null
@@ -1,135 +0,0 @@
-#include "calibration.hpp"
-#include "ftl/calibration/optimize.hpp"
-
-#include "loguru.hpp"
-
-#include <opencv2/core.hpp>
-#include <opencv2/calib3d.hpp>
-
-using std::vector;
-
-using cv::Mat;
-using cv::Size;
-using cv::Point2d;
-using cv::Point3d;
-using cv::Vec3d;
-
-using cv::norm;
-
-using ftl::calibration::BundleAdjustment;
-
-using namespace ftl::calibration;
-
-int ftl::calibration::recoverPose(const Mat &E, const vector<Point2d> &_points1,
- const vector<Point2d> &_points2, const Mat &_cameraMatrix1,
- const Mat &_cameraMatrix2, Mat &_R, Mat &_t, double distanceThresh,
- Mat &triangulatedPoints) {
-
- Mat cameraMatrix1;
- Mat cameraMatrix2;
- Mat cameraMatrix;
-
- Mat points1(_points1.size(), 2, CV_64FC1);
- Mat points2(_points2.size(), 2, CV_64FC1);
-
- CHECK(points1.size() == points2.size());
-
- for (size_t i = 0; i < _points1.size(); i++) {
- auto p1 = points1.ptr<double>(i);
- p1[0] = _points1[i].x;
- p1[1] = _points1[i].y;
-
- auto p2 = points2.ptr<double>(i);
- p2[0] = _points2[i].x;
- p2[1] = _points2[i].y;
- }
-
- _cameraMatrix1.convertTo(cameraMatrix1, CV_64F);
- _cameraMatrix2.convertTo(cameraMatrix2, CV_64F);
- cameraMatrix = Mat::eye(Size(3, 3), CV_64FC1);
-
- double fx1 = cameraMatrix1.at<double>(0,0);
- double fy1 = cameraMatrix1.at<double>(1,1);
- double cx1 = cameraMatrix1.at<double>(0,2);
- double cy1 = cameraMatrix1.at<double>(1,2);
-
- double fx2 = cameraMatrix2.at<double>(0,0);
- double fy2 = cameraMatrix2.at<double>(1,1);
- double cx2 = cameraMatrix2.at<double>(0,2);
- double cy2 = cameraMatrix2.at<double>(1,2);
-
- points1.col(0) = (points1.col(0) - cx1) / fx1;
- points1.col(1) = (points1.col(1) - cy1) / fy1;
-
- points2.col(0) = (points2.col(0) - cx2) / fx2;
- points2.col(1) = (points2.col(1) - cy2) / fy2;
-
- // TODO mask
- // cameraMatrix = I (for details, see OpenCV's recoverPose() source code)
- // modules/calib3d/src/five-point.cpp (461)
- //
- // https://github.com/opencv/opencv/blob/371bba8f54560b374fbcd47e7e02f015ac4969ad/modules/calib3d/src/five-point.cpp#L461
-
- return cv::recoverPose(E, points1, points2, cameraMatrix, _R, _t, distanceThresh, cv::noArray(), triangulatedPoints);
-}
-
-double ftl::calibration::computeExtrinsicParameters(const Mat &K1, const Mat &D1,
- const Mat &K2, const Mat &D2, const vector<Point2d> &points1,
- const vector<Point2d> &points2, const vector<Point3d> &object_points, Mat &R,
- Mat &t, vector<Point3d> &points_out) {
-
- Mat F = cv::findFundamentalMat(points1, points2, cv::noArray(), cv::FM_8POINT);
- Mat E = K2.t() * F * K1;
-
- Mat points3dh;
- // distanceThresh unit?
- recoverPose(E, points1, points2, K1, K2, R, t, 1000.0, points3dh);
-
- points_out.clear();
- points_out.reserve(points3dh.cols);
-
- for (int col = 0; col < points3dh.cols; col++) {
- CHECK(points3dh.at<double>(3, col) != 0);
- Point3d p = Point3d(points3dh.at<double>(0, col),
- points3dh.at<double>(1, col),
- points3dh.at<double>(2, col))
- / points3dh.at<double>(3, col);
- points_out.push_back(p);
- }
-
- double s = ftl::calibration::optimizeScale(object_points, points_out);
- t = t * s;
-
- auto params1 = Camera(K1, D1, Mat::eye(3, 3, CV_64FC1), Mat::zeros(3, 1, CV_64FC1));
- auto params2 = Camera(K2, D2, R, t);
-
- auto ba = BundleAdjustment();
- ba.addCamera(params1);
- ba.addCamera(params2);
-
- for (size_t i = 0; i < points_out.size(); i++) {
- ba.addPoint({points1[i], points2[i]}, points_out[i]);
- }
-
- ba.addObject(object_points);
-
- double error_before = ba.reprojectionError();
-
- BundleAdjustment::Options options;
- options.optimize_intrinsic = false;
- options.fix_camera_extrinsic = {0};
- ba.run(options);
-
- double error_after = ba.reprojectionError();
-
- // bundle adjustment didn't work correctly if these checks fail
- if (error_before < error_after) {
- LOG(WARNING) << "error before < error_after (" << error_before << " <" << error_after << ")";
- }
- CHECK((cv::countNonZero(params1.rvec()) == 0) && (cv::countNonZero(params1.tvec()) == 0));
-
- R = params2.rmat();
- t = params2.tvec();
-
- return sqrt(error_after);
-}
diff --git a/applications/calibration-ceres/src/calibration.hpp b/applications/calibration-ceres/src/calibration.hpp
deleted file mode 100644
index 11bb36d920da1e638ce49ad699a955fe5032acec..0000000000000000000000000000000000000000
--- a/applications/calibration-ceres/src/calibration.hpp
+++ /dev/null
@@ -1,37 +0,0 @@
-#pragma once
-#ifndef _FTL_CALIBRATION_HPP_
-#define _FTL_CALIBRATION_HPP_
-
-#include <vector>
-
-#include <opencv2/core/core.hpp>
-
-namespace ftl {
-namespace calibration {
-
-/**
- * Same as OpenCV's recoverPose(), but does not assume same intrinsic paramters
- * for both cameras.
- *
- * @todo Write unit tests to check that intrinsic parameters work as expected.
- */
-int recoverPose(const cv::Mat &E, const std::vector<cv::Point2d> &_points1,
- const std::vector<cv::Point2d> &_points2, const cv::Mat &_cameraMatrix1,
- const cv::Mat &_cameraMatrix2, cv::Mat &_R, cv::Mat &_t,
- double distanceThresh, cv::Mat &triangulatedPoints);
-
-/**
- * Find camera rotation and translation from first to second camera. Uses
- * OpenCV's recoverPose() (with modifications) to estimate camera pose and
- * triangulate point locations. Scale is estimated from object_points. 8 point
- * algorithm (OpenCV) is used to estimate fundamental matrix at beginning.
- */
-double computeExtrinsicParameters(const cv::Mat &K1, const cv::Mat &D1,
- const cv::Mat &K2, const cv::Mat &D2, const std::vector<cv::Point2d> &points1,
- const std::vector<cv::Point2d> &points2, const std::vector<cv::Point3d> &object_points,
- cv::Mat &R, cv::Mat &t, std::vector<cv::Point3d> &points_out);
-
-}
-}
-
-#endif
diff --git a/applications/calibration-ceres/src/calibration_data.cpp b/applications/calibration-ceres/src/calibration_data.cpp
deleted file mode 100644
index 1e634a3921330ba6b2b8a04d75ecdd5352596409..0000000000000000000000000000000000000000
--- a/applications/calibration-ceres/src/calibration_data.cpp
+++ /dev/null
@@ -1,84 +0,0 @@
-#include "calibration_data.hpp"
-
-#include <opencv2/calib3d.hpp>
-
-using std::vector;
-using std::reference_wrapper;
-using std::pair;
-using std::make_pair;
-
-using cv::Mat;
-using cv::Point2d;
-using cv::Point3d;
-using cv::Vec3d;
-using cv::Rect;
-using cv::Size;
-
-using ftl::calibration::CalibrationData;
-
-
-CalibrationData::CalibrationData(int n_cameras) { init(n_cameras); }
-
-void CalibrationData::init(int n_cameras) {
- n_cameras_ = n_cameras;
- cameras_ = vector<Camera>(n_cameras);
-}
-
-int CalibrationData::addObservation(const vector<bool> &visible, const vector<Point2d> &observations) {
- if ((int) observations.size() != n_cameras_) { throw std::exception(); }
- if ((int) visible.size() != n_cameras_) { throw std::exception(); }
- visible_.insert(visible_.end(), visible.begin(), visible.end());
- observations_.insert(observations_.end(), observations.begin(), observations.end());
- points_.push_back(Point3d(0.0, 0.0, 0.0));
-
- return npoints() - 1;
-}
-
-int CalibrationData::addObservation(const vector<bool> &visible, const vector<Point2d> &observations, const Point3d &point) {
- if ((int) observations.size() != n_cameras_) { throw std::exception(); }
- if ((int) visible.size() != n_cameras_) { throw std::exception(); }
- visible_.insert(visible_.end(), visible.begin(), visible.end());
- observations_.insert(observations_.end(), observations.begin(), observations.end());
- points_.push_back(point);
-
- return npoints() - 1;
-}
-
-int CalibrationData::addObservations(const vector<bool>& visible, const vector<vector<Point2d>>& observations, const vector<Point3d>& points) {
- int retval = -1;
- for (size_t i = 0; i < observations.size(); i++) {
- retval = addObservation(visible, observations[i], points[i]);
- }
- return retval;
-}
-
-pair<vector<vector<Point2d>>, vector<reference_wrapper<Point3d>>> CalibrationData::_getVisible(const vector<int> &cameras) {
-
- int n_points = npoints();
- vector<vector<Point2d>> observations(cameras.size());
- vector<reference_wrapper<Point3d>> points;
-
- for (size_t k = 0; k < cameras.size(); k++) {
- observations[k].reserve(n_points);
- }
- points.reserve(n_points);
-
- for (int i = 0; i < n_points; i++) {
- if (!isVisible(cameras, i)) { continue; }
-
- for (size_t k = 0; k < cameras.size(); k++) {
- observations[k].push_back(getObservation(cameras[k], i));
- }
- points.push_back(getPoint(i));
- }
-
- return make_pair(observations, points);
-}
-
-vector<vector<Point2d>> CalibrationData::getObservations(const vector<int> &cameras) {
- return _getVisible(cameras).first;
-}
-
-vector<reference_wrapper<Point3d>> CalibrationData::getPoints(const vector<int> &cameras) {
- return _getVisible(cameras).second;
-}
diff --git a/applications/calibration-ceres/src/calibration_data.hpp b/applications/calibration-ceres/src/calibration_data.hpp
deleted file mode 100644
index 9e5871bf2ce6407ec58a938c0574dd4d6374f6a7..0000000000000000000000000000000000000000
--- a/applications/calibration-ceres/src/calibration_data.hpp
+++ /dev/null
@@ -1,75 +0,0 @@
-#pragma once
-#ifndef _FTL_CALIBRATION_DATA_HPP_
-#define _FTL_CALIBRATION_DATA_HPP_
-
-#include <vector>
-#include <opencv2/core/core.hpp>
-#include <ftl/calibration/optimize.hpp>
-
-#define _NDISTORTION_PARAMETERS 3
-#define _NCAMERA_PARAMETERS (9 + _NDISTORTION_PARAMETERS)
-
-namespace ftl {
-namespace calibration {
-
-class CalibrationData {
-public:
- CalibrationData() {};
- explicit CalibrationData(int n_cameras);
-
- void init(int n_cameras);
-
- int addObservation(const std::vector<bool>& visible, const std::vector<cv::Point2d>& observations);
- int addObservation(const std::vector<bool>& visible, const std::vector<cv::Point2d>& observations, const cv::Point3d& point);
-
- int addObservations(const std::vector<bool>& visible, const std::vector<std::vector<cv::Point2d>>& observations, const std::vector<cv::Point3d>& point);
-
- void reserve(int n_points) {
- points_.reserve(n_points);
- points_camera_.reserve(n_points*n_cameras_);
- observations_.reserve(n_points*n_cameras_);
- visible_.reserve(n_points*n_cameras_);
- }
-
- // TODO: method for save poinst_camera_, could return (for example)
- // vector<pair<Point3d*>, vector<Point3d*>>
-
- std::vector<std::vector<cv::Point2d>> getObservations(const std::vector<int> &cameras);
- /* Get points corresponding to observations returned by getObservations() or getObservationsPtr() */
- std::vector<std::reference_wrapper<cv::Point3d>> getPoints(const std::vector<int> &cameras);
-
- /* get reference/pointer to data */
- inline Camera& getCamera(int k) { return cameras_[k]; }
- inline std::vector<Camera>& getCameras() { return cameras_; }
- inline cv::Point3d& getPoint(int i) { return points_[i]; }
- inline cv::Point2d& getObservation(int k, int i) { return observations_[n_cameras_*i+k]; }
- inline bool isVisible(int k, int i) { return visible_[n_cameras_*i+k]; }
- inline bool isVisible(const std::vector<int> &cameras, int i) {
- for (const auto &k : cameras) { if (!isVisible(k, i)) { return false; } }
- return true;
- }
-
- int npoints() const { return points_.size(); }
- int ncameras() const { return n_cameras_; }
-
-private:
- std::pair<std::vector<std::vector<cv::Point2d>>, std::vector<std::reference_wrapper<cv::Point3d>>> _getVisible(const std::vector<int> &cameras);
-
- int n_cameras_;
-
- // cameras
- std::vector<Camera> cameras_;
- // points for each observation
- std::vector<cv::Point3d> points_;
- // points estimated from cameras' observations
- std::vector<cv::Point3d> points_camera_;
- // observations
- std::vector<cv::Point2d> observations_;
- // visibility
- std::vector<bool> visible_;
-};
-
-}
-}
-
-#endif
diff --git a/applications/calibration-ceres/src/main.cpp b/applications/calibration-ceres/src/main.cpp
deleted file mode 100644
index 9020d0e7737f43a7eff44406ad7853243161a4e5..0000000000000000000000000000000000000000
--- a/applications/calibration-ceres/src/main.cpp
+++ /dev/null
@@ -1,225 +0,0 @@
-#include "loguru.hpp"
-
-#include <tuple>
-
-#include <opencv2/core.hpp>
-#include <opencv2/calib3d.hpp>
-
-#include <opencv2/opencv.hpp>
-
-#include <ceres/ceres.h>
-#include <ceres/rotation.h>
-
-#include <ftl/calibration.hpp>
-
-#include "calibration_data.hpp"
-#include "visibility.hpp"
-#include "calibration.hpp"
-
-using std::string;
-using std::vector;
-using std::map;
-using std::reference_wrapper;
-
-using std::tuple;
-using std::pair;
-using std::make_pair;
-
-using cv::Mat;
-using cv::Size;
-
-using cv::Point2d;
-using cv::Point3d;
-
-using namespace ftl::calibration;
-
-void loadData( const string &fname,
- Visibility &visibility,
- CalibrationData &data) {
-
- vector<Mat> K;
- vector<vector<int>> visible;
- vector<vector<Point2d>> points;
-
- cv::FileStorage fs(fname, cv::FileStorage::READ);
-
- fs["K"] >> K;
- fs["points2d"] >> points;
- fs["visible"] >> visible;
- fs.release();
-
- int ncameras = K.size();
- int npoints = points[0].size();
-
- visibility.init(ncameras);
- data.init(ncameras);
-
- for (int i = 0; i < npoints; i+= 1) {
-
- vector<bool> v(ncameras, 0);
- vector<Point2d> p(ncameras);
-
- for (int k = 0; k < ncameras; k++) {
- v[k] = visible[k][i];
- p[k] = points[k][i];
- }
-
- visibility.update(v);
- data.addObservation(v, p);
- }
-
- for (size_t i = 1; i < K.size(); i += 2) {
- // mask right cameras
- visibility.mask(i-1, i);
- }
-
- for (int i = 0; i < ncameras; i++) {
- data.getCamera(i).setIntrinsic(K[i]);
- }
-}
-
-void calibrate(const string &fname) {
-
- Visibility visibility;
- CalibrationData data;
-
- loadData(fname, visibility, data);
-
- // 2x 15cm squares (ArUco tags) 10cm apart
- vector<Point3d> object_points = {
- Point3d(0.0, 0.0, 0.0),
- Point3d(0.15, 0.0, 0.0),
- Point3d(0.15, 0.15, 0.0),
- Point3d(0.0, 0.15, 0.0),
-
- Point3d(0.25, 0.0, 0.0),
- Point3d(0.40, 0.0, 0.0),
- Point3d(0.40, 0.15, 0.0),
- Point3d(0.25, 0.15, 0.0)
- };
-
- int refcamera = 0;
- auto path = visibility.shortestPath(refcamera);
-
- map<pair<int, int>, pair<Mat, Mat>> transformations;
-
- // Needs better solution which allows simple access to all estimations.
- // Required for calculating average coordinates and to know which points
- // are missing.
-
- vector<tuple<int, vector<Point3d>>> points_all;
-
- transformations[make_pair(refcamera, refcamera)] =
- make_pair(Mat::eye(3, 3, CV_64FC1), Mat::zeros(3, 1, CV_64FC1));
-
- for (int i = 0; i < data.ncameras(); i++) {
-
- // Calculate initial translation T from refcam. Visibility graph is
- // used to create a chain of transformations from refcam to i.
-
- int current = refcamera;
- if (i == refcamera) { continue; }
-
- Mat D = Mat::zeros(1, 5, CV_64FC1);
- Mat R = Mat::eye(3, 3, CV_64FC1);
- Mat t = Mat::zeros(3, 1, CV_64FC1);
-
- for (const int &to : path.to(i)) {
- auto edge = make_pair(current, to);
-
- if (transformations.find(edge) == transformations.end()) {
- Mat R_;
- Mat t_;
- vector<Point3d> points;
-
- auto observations = data.getObservations({current, to});
- double err = computeExtrinsicParameters(
- data.getCamera(current).intrinsicMatrix(),
- data.getCamera(current).distortionCoefficients(),
- data.getCamera(to).intrinsicMatrix(),
- data.getCamera(to).distortionCoefficients(),
- observations[0], observations[1],
- object_points, R_, t_, points);
-
- LOG(INFO) << current << " -> " << to << " (RMS error: " << err << ")";
-
- transformations[edge] = make_pair(R_, t_);
- points_all.push_back(make_tuple(current, points));
- }
-
- const auto [R_update, t_update] = transformations[edge];
-
- R = R * R_update;
- t = R_update * t + t_update;
-
- current = to;
- }
-
- transformations[make_pair(refcamera, i)] = make_pair(R.clone(), t.clone());
-
- data.getCamera(i).setExtrinsic(R, t);
- }
-
- // TODO: see points_all comment
- /*
- for (auto& [i, points] : points_all) {
-
- Mat R = data.getCamera(i).rmat();
- Mat t = data.getCamera(i).tvec();
- transform::inverse(R, t); // R, t: refcam -> i
-
- CHECK(points.size() == points_ref.size());
-
- for (size_t j = 0; j < points.size(); j++) {
- Point3d &point = points_ref[j];
-
- if (point != Point3d(0,0,0)) {
- point = (transform::apply(points[j], R, t) + point) / 2.0;
- }
- else {
- point = transform::apply(points[j], R, t);
- }
- }
- }
- */
- vector<int> idx;
- BundleAdjustment ba;
-
- ba.addCameras(data.getCameras());
-
- vector<bool> visible(data.ncameras());
- vector<Point2d> observations(data.ncameras());
-
- int missing = 0;
- for (int i = 0; i < data.npoints(); i++) {
- for (int j = 0; j < data.ncameras(); j++) {
- visible[j] = data.isVisible(j, i);
- observations[j] = data.getObservation(j, i);
- }
-
- // TODO: see points_all comment
- if (data.getPoint(i) == Point3d(0.,0.,0.)) {
- missing++;
- continue;
- }
-
- ba.addPoint(visible, observations, data.getPoint(i));
- }
-
- LOG(INFO) << "missing points: " << missing;
- LOG(INFO) << "Initial reprojection error: " << ba.reprojectionError();
-
- BundleAdjustment::Options options;
- options.verbose = false;
- options.optimize_intrinsic = true;
-
- ba.run(options);
-
- LOG(INFO) << "Finale reprojection error: " << ba.reprojectionError();
-
- // calibration done, updated values in data
-}
-
-int main(int argc, char* argv[]) {
- return 0;
-}
diff --git a/applications/calibration-ceres/test/CMakeLists.txt b/applications/calibration-ceres/test/CMakeLists.txt
deleted file mode 100644
index 6c90f1d58ff1aa6e8c4d2c7bac0c2fd60f53917b..0000000000000000000000000000000000000000
--- a/applications/calibration-ceres/test/CMakeLists.txt
+++ /dev/null
@@ -1,25 +0,0 @@
-add_executable(visibility_unit
- ./tests.cpp
- ../src/visibility.cpp
- ./visibility_unit.cpp
-)
-
-target_include_directories(visibility_unit PUBLIC ../src/)
-target_link_libraries(visibility_unit Threads::Threads dl ftlcommon)
-
-add_test(VisibilityTest visibility_unit)
-
-################################################################################
-
-#add_executable(calibration_unit
-# ./tests.cpp
-# ../src/calibration.cpp
-# ../src/optimization.cpp
-# ../src/calibration_data.cpp
-# ./calibration_unit.cpp
-#)
-
-#target_include_directories(calibration_unit PUBLIC ../src/)
-#target_link_libraries(calibration_unit Threads::Threads dl ftlcommon Eigen3::Eigen ceres)
-
-#add_test(CalibrationTest calibration_unit WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
diff --git a/applications/calibration-ceres/test/calibration_unit.cpp b/applications/calibration-ceres/test/calibration_unit.cpp
deleted file mode 100644
index 19e24dc9ff2d9dee317a6433024f4f1f93c92ac5..0000000000000000000000000000000000000000
--- a/applications/calibration-ceres/test/calibration_unit.cpp
+++ /dev/null
@@ -1,42 +0,0 @@
-#include "catch.hpp"
-
-#include "calibration.hpp"
-#include "optimization.hpp"
-
-#include <vector>
-#include <opencv2/core/core.hpp>
-
-using std::vector;
-using std::string;
-
-using cv::Mat;
-using cv::Point3d;
-using cv::Point2d;
-
-using namespace ftl::calibration;
-
-void loadData(const string &fname,vector<Mat> &K, vector<vector<int>> &visible,
- vector<vector<Point2d>> &points) {
-
- cv::FileStorage fs(fname, cv::FileStorage::READ);
-
- fs["K"] >> K;
- fs["points2d"] >> points;
- fs["visible"] >> visible;
- fs.release();
-}
-
-/* TEST_CASE("Camera calibration and parameter optimization", "") {
-
- vector<Mat> K;
- vector<vector<int>> visible;
- vector<vector<Point2d>> observations;
-
- SECTION("Load data") {
- loadData("data/points.yml", K, visible, observations);
- //REQUIRE(K.size() != 0);
- }
-
- //int ncameras = K.size();
- //int npoints = observations[0].size();
-}*/
diff --git a/applications/calibration-ceres/test/tests.cpp b/applications/calibration-ceres/test/tests.cpp
deleted file mode 100644
index 49d9bf522ea5c5ba028e1e38be57f5174cff0f67..0000000000000000000000000000000000000000
--- a/applications/calibration-ceres/test/tests.cpp
+++ /dev/null
@@ -1,3 +0,0 @@
-#define CATCH_CONFIG_MAIN
-
-#include "catch.hpp"
\ No newline at end of file
diff --git a/applications/calibration-multi/CMakeLists.txt b/applications/calibration-multi/CMakeLists.txt
deleted file mode 100644
index d8c9c5b40a711dbd3778187163bfd4bba327bf7a..0000000000000000000000000000000000000000
--- a/applications/calibration-multi/CMakeLists.txt
+++ /dev/null
@@ -1,13 +0,0 @@
-set(CALIBMULTI
- src/main.cpp
- src/visibility.cpp
- src/util.cpp
- src/multicalibrate.cpp
- ../calibration-ceres/src/calibration.cpp
-)
-
-add_executable(ftl-calibrate-multi ${CALIBMULTI})
-
-target_include_directories(ftl-calibrate-multi PRIVATE src ../calibration-ceres/src)
-
-target_link_libraries(ftl-calibrate-multi ftlcalibration ftlcommon ftlnet ftlrgbd ftlstreams Threads::Threads ${OpenCV_LIBS} ceres)
diff --git a/applications/calibration-multi/src/main.cpp b/applications/calibration-multi/src/main.cpp
deleted file mode 100644
index 46e2122b2f3a5d2acd8515f98e5e8eee175dfe6c..0000000000000000000000000000000000000000
--- a/applications/calibration-multi/src/main.cpp
+++ /dev/null
@@ -1,861 +0,0 @@
-#include <loguru.hpp>
-#include <ftl/threads.hpp>
-#include <ftl/configuration.hpp>
-#include <ftl/net/universe.hpp>
-#include <ftl/rgbd/source.hpp>
-#include <ftl/rgbd/group.hpp>
-
-#include <ftl/calibration.hpp>
-
-#include <ftl/master.hpp>
-#include <ftl/streams/receiver.hpp>
-#include <ftl/streams/netstream.hpp>
-
-#include <opencv2/core.hpp>
-#include <opencv2/calib3d.hpp>
-#include <opencv2/aruco.hpp>
-#include <opencv2/core/eigen.hpp>
-#include <opencv2/opencv.hpp>
-
-#include <algorithm>
-#include <numeric>
-#include <fstream>
-
-#include "util.hpp"
-#include "multicalibrate.hpp"
-
-using std::string;
-using std::optional;
-
-using std::list;
-using std::vector;
-using std::map;
-using std::pair;
-using std::make_pair;
-
-using cv::Mat;
-using cv::Scalar;
-using cv::Size;
-using cv::Point2f;
-using cv::Point2d;
-using cv::Point3f;
-using cv::Point3d;
-using cv::Vec4f;
-using cv::Vec4d;
-
-using ftl::net::Universe;
-using ftl::rgbd::Source;
-using ftl::codecs::Channel;
-
-vector<Point3d> calibration_target = {
- Point3d(0.0, 0.0, 0.0),
- Point3d(0.15, 0.0, 0.0),
- Point3d(0.15, 0.15, 0.0),
- Point3d(0.0, 0.15, 0.0),
-
- Point3d(0.25, 0.0, 0.0),
- Point3d(0.40, 0.0, 0.0),
- Point3d(0.40, 0.15, 0.0),
- Point3d(0.25, 0.15, 0.0)
-};
-
-Mat createCameraMatrix(const ftl::rgbd::Camera ¶meters) {
- Mat m = (cv::Mat_<double>(3,3) <<
- parameters.fx, 0.0, -parameters.cx,
- 0.0, parameters.fy, -parameters.cy,
- 0.0, 0.0, 1.0);
- return m;
-}
-
-struct CalibrationParams {
- string output_path;
- string registration_file;
- vector<size_t> idx_cameras;
- bool save_extrinsic = true;
- bool save_intrinsic = false;
- bool optimize_intrinsic = false;
- int reference_camera = -1;
- double alpha = 0.0;
- Size size;
- bool offline = false;
-};
-
-////////////////////////////////////////////////////////////////////////////////
-// Visualization
-////////////////////////////////////////////////////////////////////////////////
-
-void stack(const vector<Mat> &img, Mat &out, const int rows, const int cols) {
- Size size = img[0].size();
- Size size_out = Size(size.width * cols, size.height * rows);
- if (size_out != out.size() || out.type() != CV_8UC3) {
- out = Mat(size_out, CV_8UC3, Scalar(0, 0, 0));
- }
-
- for (size_t i = 0; i < img.size(); i++) {
- int row = i % rows;
- int col = i / rows;
- auto rect = cv::Rect(size.width * col, size.height * row, size.width, size.height);
- img[i].copyTo(out(rect));
- }
-}
-
-void stack(const vector<Mat> &img, Mat &out) {
- // TODO
- int rows = 2;
- int cols = (img.size() + 1) / 2;
- stack(img, out, rows, cols);
-}
-
-void visualizeCalibration( MultiCameraCalibrationNew &calib, Mat &out,
- vector<Mat> &rgb, const vector<Mat> &map1,
- const vector<Mat> &map2, const vector<cv::Rect> &roi)
-{
- vector<Scalar> colors = {
- Scalar(64, 64, 255),
- Scalar(64, 64, 255),
- Scalar(64, 255, 64),
- Scalar(64, 255, 64),
- };
-
- vector<int> markers = {cv::MARKER_SQUARE, cv::MARKER_DIAMOND};
-
- for (size_t c = 0; c < rgb.size(); c++) {
- cv::remap(rgb[c], rgb[c], map1[c], map2[c], cv::INTER_CUBIC);
- cv::rectangle(rgb[c], roi[c], Scalar(24, 224, 24), 2);
-
- for (int r = 50; r < rgb[c].rows; r = r+50) {
- cv::line(rgb[c], cv::Point(0, r), cv::Point(rgb[c].cols-1, r), cv::Scalar(0,0,255), 1);
- }
-
- cv::putText(rgb[c],
- "Camera " + std::to_string(c),
- Point2i(roi[c].x + 10, roi[c].y + 30),
- cv::FONT_HERSHEY_COMPLEX_SMALL, 1.0, Scalar(64, 64, 255), 1);
- }
- stack(rgb, out);
-}
-
-////////////////////////////////////////////////////////////////////////////////
-// RPC
-////////////////////////////////////////////////////////////////////////////////
-// Using Mat directly
-
-vector<Mat> getDistortionParametersRPC(ftl::net::Universe* net, ftl::stream::Net* nstream) {
- return net->call<vector<Mat>>(nstream->getPeer(), "get_distortion");
-}
-
-bool setRectifyRPC( ftl::net::Universe* net, ftl::stream::Net* nstream,
- bool enabled) {
- return net->call<bool>(nstream->getPeer(), "set_rectify", enabled);
-}
-
-bool setIntrinsicsRPC( ftl::net::Universe* net, ftl::stream::Net* nstream,
- const Size &size, const vector<Mat> &K, const vector<Mat> &D) {
-
- return net->call<bool>(nstream->getPeer(), "set_intrinsics",
- size, K[0], D[0], K[1], D[1] );
-}
-
-bool setExtrinsicsRPC( ftl::net::Universe* net, ftl::stream::Net* nstream,
- const Mat &R, const Mat &t) {
- return net->call<bool>(nstream->getPeer(), "set_extrinsics", R, t);
-}
-
-bool setPoseRPC(ftl::net::Universe* net, ftl::stream::Net* nstream,
- const Mat &pose) {
- return net->call<bool>(nstream->getPeer(), "set_pose", pose);
-}
-
-bool saveCalibrationRPC(ftl::net::Universe* net, ftl::stream::Net* nstream) {
- return net->call<bool>(nstream->getPeer(), "save_calibration");
-}
-
-////////////////////////////////////////////////////////////////////////////////
-
-/* run calibration and perform RPC to update calibration on nodes */
-
-void calibrateRPC( ftl::net::Universe* net,
- MultiCameraCalibrationNew &calib,
- const CalibrationParams ¶ms,
- vector<ftl::stream::Net*> &nstreams,
- vector<Mat> &map1,
- vector<Mat> &map2,
- vector<cv::Rect> &roi) {
- int reference_camera = params.reference_camera;
- if (params.reference_camera < 0) {
- reference_camera = calib.getOptimalReferenceCamera();
- reference_camera -= (reference_camera & 1);
- LOG(INFO) << "optimal camera (automatic): " << reference_camera;
- }
- LOG(INFO) << "reference camera: " << reference_camera;
-
- if (params.optimize_intrinsic) calib.setFixIntrinsic(0);
-
- calib.calibrateAll(reference_camera);
- vector<Mat> R, t;
- calib.getCalibration(R, t);
-
- size_t n_cameras = calib.getCamerasCount();
-
- vector<Mat> R_rect(n_cameras), t_rect(n_cameras);
- vector<Mat> Rt_out(n_cameras);
- map1.resize(n_cameras);
- map2.resize(n_cameras);
- roi.resize(n_cameras);
-
- for (size_t c = 0; c < n_cameras; c += 2) {
- Mat K1 = calib.getCameraMat(c);
- Mat K2 = calib.getCameraMat(c + 1);
- Mat D1 = calib.getDistCoeffs(c);
- Mat D2 = calib.getDistCoeffs(c + 1);
- Mat P1, P2, Q;
- Mat R1, R2;
- Mat R_c1c2, T_c1c2;
-
- calculateTransform(R[c], t[c], R[c + 1], t[c + 1], R_c1c2, T_c1c2);
- cv::stereoRectify(K1, D1, K2, D2, params.size, R_c1c2, T_c1c2, R1, R2, P1, P2, Q, 0, params.alpha);
-
- R_c1c2 = R_c1c2.clone();
- T_c1c2 = T_c1c2.clone();
-
- // calculate extrinsics from rectified parameters
- Mat _t = Mat(Size(1, 3), CV_64FC1, Scalar(0.0));
- //Rt_out[c] = getMat4x4(R[c], t[c]) * getMat4x4(R1, _t).inv();
- //Rt_out[c + 1] = getMat4x4(R[c + 1], t[c + 1]) * getMat4x4(R2, _t).inv();
-
- LOG(INFO) << K1;
- LOG(INFO) << K2;
- LOG(INFO) << R_c1c2;
- LOG(INFO) << T_c1c2;
-
- LOG(INFO) << "--------------------------------------------------------";
-
- auto *nstream = nstreams[c/2];
- while(true) {
- try {
- if (params.save_intrinsic && params.optimize_intrinsic) {
- // never update distortion during extrinsic calibration
- setIntrinsicsRPC(net, nstream, params.size, {K1, K2}, {Mat(0, 0, CV_64FC1), Mat(0, 0, CV_64FC1)});
- }
- if (params.save_extrinsic) {
- setExtrinsicsRPC(net, nstream, R_c1c2, T_c1c2);
- setPoseRPC(net, nstream, getMat4x4(R[c], t[c]));
- }
- if (params.save_intrinsic || params.save_extrinsic) {
- saveCalibrationRPC(net, nstream);
- LOG(INFO) << "CALIBRATION SENT";
- }
- break;
-
- } catch (std::exception &ex) {
- LOG(ERROR) << "RPC failed: " << ex.what();
- std::this_thread::sleep_for(std::chrono::seconds(1));
- }
- }
-
- // for visualization
- Size new_size;
- cv::stereoRectify(K1, D1, K2, D2, params.size, R_c1c2, T_c1c2, R1, R2, P1, P2, Q, 0, 1.0, new_size, &roi[c], &roi[c + 1]);
- //roi[c] = cv::Rect(0, 0, params.size.width, params.size.height);
- //roi[c+1] = cv::Rect(0, 0, params.size.width, params.size.height);
- cv::initUndistortRectifyMap(K1, D1, R1, P1, params.size, CV_16SC2, map1[c], map2[c]);
- cv::initUndistortRectifyMap(K2, D2, R2, P2, params.size, CV_16SC2, map1[c + 1], map2[c + 1]);
- }
-}
-
-std::vector<cv::Point2d> findCalibrationTarget(const cv::Mat &im, const cv::Mat &K) {
- // check input type
- std::vector<std::vector<cv::Point2f>> corners;
- std::vector<int> ids;
-
- auto params = cv::aruco::DetectorParameters::create();
- params->cornerRefinementMinAccuracy = 0.01;
- params->cornerRefinementMethod = cv::aruco::CORNER_REFINE_CONTOUR;
- cv::aruco::detectMarkers(im, cv::aruco::getPredefinedDictionary(cv::aruco::DICT_5X5_100), corners, ids, params, cv::noArray(), K);
-
- if (corners.size() > 2) { LOG(ERROR) << "Too many ArUco tags in image"; }
- if (corners.size() != 2) { return {}; }
-
- const size_t ncorners = 4;
- const size_t ntags = ids.size();
-
- std::vector<cv::Point2d> points;
-
- if (ids[0] == 1) {
- std::swap(ids[0], ids[1]);
- std::swap(corners[0], corners[1]);
- }
-
- if (ids[0] != 0) {
- LOG(ERROR) << "Tags ID0 and ID1 expected";
- return {};
- }
-
- points.reserve(ntags*ncorners);
-
- for (size_t i = 0; i < ntags; i++) {
- for (size_t j = 0; j < ncorners; j++) {
- points.push_back(corners[i][j]);
- }
- }
-
- return points;
-}
-
-
-void runCameraCalibration( ftl::Configurable* root,
- int n_views, int min_visible,
- string path, string filename,
- bool save_input,
- CalibrationParams ¶ms)
-{
- Universe *net = ftl::create<Universe>(root, "net");
- ftl::ctrl::Master ctrl(root, net);
-
- net->start();
- net->waitConnections();
-
- ftl::stream::Muxer *stream = ftl::create<ftl::stream::Muxer>(root, "muxstream");
- ftl::stream::Receiver *gen = ftl::create<ftl::stream::Receiver>(root, "receiver");
- gen->setStream(stream);
- auto stream_uris = net->findAll<std::string>("list_streams");
- std::sort(stream_uris.begin(), stream_uris.end());
- std::vector<ftl::stream::Net*> nstreams;
-
- int count = 0;
- for (auto &s : stream_uris) {
- LOG(INFO) << " --- found stream: " << s;
- auto *nstream = ftl::create<ftl::stream::Net>(stream, std::to_string(count), net);
- std::string name = *(nstream->get<std::string>("name"));
- nstream->set("uri", s);
- nstreams.push_back(nstream);
- stream->add(nstream);
-
- ++count;
- }
-
- const size_t n_sources = nstreams.size();
- const size_t n_cameras = n_sources * 2;
- size_t reference_camera = 0;
-
- std::mutex mutex;
- std::atomic<bool> new_frames = false;
- vector<Mat> rgb_(n_cameras), rgb_new(n_cameras);
- vector<Mat> camera_parameters(n_cameras);
- Size res;
-
- gen->onFrameSet([stream, &mutex, &new_frames, &rgb_new, &camera_parameters, &res](ftl::rgbd::FrameSet &fs) {
- stream->select(fs.id, Channel::Left + Channel::Right);
- if (fs.frames.size() != (rgb_new.size()/2)) {
- // nstreams.size() == (rgb_new.size()/2)
- LOG(ERROR) << "frames.size() != nstreams.size(), "
- << fs.frames.size() << " != " << (rgb_new.size()/2);
- }
-
- UNIQUE_LOCK(mutex, CALLBACK);
- bool good = true;
- try {
- for (size_t i = 0; i < fs.frames.size(); i ++) {
- if (!fs.frames[i].hasChannel(Channel::Left)) {
- good = false;
- LOG(ERROR) << "No left channel";
- break;
- }
-
- if (!fs.frames[i].hasChannel(Channel::Right)) {
- good = false;
- LOG(ERROR) << "No right channel";
- break;
- }
-
- auto idx = stream->originStream(0, i);
- CHECK(idx >= 0) << "negative index";
-
- fs.frames[i].download(Channel::Left+Channel::Right);
- Mat &left = fs.frames[i].get<Mat>(Channel::Left);
- Mat &right = fs.frames[i].get<Mat>(Channel::Right);
-
- /*
- // note: also returns empty sometimes
- fs.frames[i].upload(Channel::Left+Channel::Right);
- Mat left, right;
- fs.frames[i].get<cv::cuda::GpuMat>(Channel::Left).download(left);
- fs.frames[i].get<cv::cuda::GpuMat>(Channel::Right).download(right);
- */
-
- CHECK(!left.empty() && !right.empty());
-
- cv::cvtColor(left, rgb_new[2*idx], cv::COLOR_BGRA2BGR);
- cv::cvtColor(right, rgb_new[2*idx+1], cv::COLOR_BGRA2BGR);
-
- camera_parameters[2*idx] = ftl::calibration::scaleCameraMatrix(createCameraMatrix(fs.frames[i].getLeftCamera()),
- rgb_new[2*idx].size(), Size(fs.frames[i].getLeftCamera().width, fs.frames[i].getLeftCamera().height));
- camera_parameters[2*idx+1] = ftl::calibration::scaleCameraMatrix(createCameraMatrix(fs.frames[i].getRightCamera()),
- rgb_new[2*idx].size(), Size(fs.frames[i].getRightCamera().width, fs.frames[i].getRightCamera().height));
-
- if (res.empty()) res = rgb_new[2*idx].size();
- }
- }
- catch (std::exception ex) {
- LOG(ERROR) << "exception: " << ex.what();
- good = false;
- }
- catch (...) {
- LOG(ERROR) << "unknown exception";
- good = false;
- }
- new_frames = good;
- return true;
- });
-
- stream->begin();
- ftl::timer::start(false);
-
- while(true) {
- if (!res.empty()) {
- params.size = res;
- LOG(INFO) << "Camera resolution: " << params.size;
- break;
- }
- std::this_thread::sleep_for(std::chrono::seconds(1));
- }
-
- for (auto *nstream: nstreams) {
- bool res = true;
- while(res) {
- try { res = setRectifyRPC(net, nstream, false); }
- catch (...) {}
-
- if (res) {
- LOG(ERROR) << "set_rectify() failed for " << *(nstream->get<string>("uri"));
- std::this_thread::sleep_for(std::chrono::milliseconds(100));
- }
- else {
- LOG(INFO) << "rectification disabled for " << *(nstream->get<string>("uri"));
- }
- }
- }
-
- // TODO: parameter for calibration target type
- auto calib = MultiCameraCalibrationNew( n_cameras, reference_camera,
- params.size, CalibrationTarget(0.15)
- );
- calib.object_points_ = calibration_target;
-
- int iter = 0;
- Mat show;
- cv::Mat show2;
-
- vector<int> visible;
- vector<vector<Point2d>> points(n_cameras);
-
- vector<Mat> rgb(n_cameras);
- std::this_thread::sleep_for(std::chrono::seconds(3)); // rectification disabled, has some delay
-
- while(calib.getMinVisibility() < static_cast<size_t>(n_views)) {
- loop:
- cv::waitKey(10);
-
- while (true) {
- if (new_frames) {
- UNIQUE_LOCK(mutex, LOCK);
- rgb.swap(rgb_new);
- new_frames = false;
- break;
- }
- cv::waitKey(10);
- }
-
- for (Mat &im : rgb) {
- if (im.empty()) {
- LOG(ERROR) << "EMPTY";
- goto loop;
- }
- }
-
- visible.clear();
- visible.resize(n_cameras, 0);
- int n_found = 0;
-
- for (size_t i = 0; i < n_cameras; i++) {
- auto new_points = findCalibrationTarget(rgb[i], camera_parameters[i]);
- if (new_points.size() == 0) {
- points[i] = vector(8, Point2d(0.0,0.0));
- }
- else {
- points[i] = new_points;
- visible[i] = 1;
- n_found++;
- }
- }
-
- if (n_found >= min_visible) {
- calib.addPoints(points, visible);
-
- if (save_input) {
- for (size_t i = 0; i < n_cameras; i++) {
- cv::imwrite(path + std::to_string(i) + "_" + std::to_string(iter) + ".jpg", rgb[i]);
- }
- }
- iter++;
- }
-
- for (size_t i = 0; i < n_cameras; i++) {
- if (visible[i]) {
- for (size_t j = 0; j < points[i].size(); j++) {
- cv::drawMarker( rgb[i], points[i][j], Scalar(42, 255, 42), cv::MARKER_CROSS, 25, 1);
- cv::putText(rgb[i], std::to_string(j), Point2i(points[i][j]),
- cv::FONT_HERSHEY_COMPLEX_SMALL, 1.0, Scalar(64, 64, 255), 1);
- }
- }
-
- // index
- cv::putText(rgb[i],
- "Camera " + std::to_string(i),
- Point2i(10, 30),
- cv::FONT_HERSHEY_COMPLEX_SMALL, 1.0, Scalar(64, 64, 255), 1);
-
- // resolution
- cv::putText(rgb[i],
- "[" + std::to_string(rgb[i].size().width) + "x" + std::to_string(rgb[i].size().height) + "]",
- Point2i(rgb[i].size().width-150, 30),
- cv::FONT_HERSHEY_COMPLEX_SMALL, 1.0, Scalar(64, 64, 255), 1);
-
- // uri
- cv::putText(rgb[i],
- stream_uris[i/2],
- Point2i(10, rgb[i].rows-10),
- cv::FONT_HERSHEY_COMPLEX_SMALL, 1.0, Scalar(64, 64, 255), 1);
-
- // remaining frames
- cv::putText(rgb[i],
- std::to_string(std::max(0, (int) (n_views - calib.getViewsCount(i)))),
- Point2i(rgb[i].size().width-150, rgb[i].rows-10),
- cv::FONT_HERSHEY_COMPLEX_SMALL, 1.0, Scalar(64, 64, 255), 1);
-
- }
-
- stack(rgb, show);
- cv::namedWindow("Cameras", cv::WINDOW_KEEPRATIO | cv::WINDOW_NORMAL);
- //cv::resize(show, show2, cv::Size(float(show.cols) / float(show.rows) * 1080.0f, 1080));
- cv::resizeWindow("Cameras", cv::Size(2*1920,1080));
- cv::imshow("Cameras", show);
- }
- cv::destroyWindow("Cameras");
-
- for (size_t i = 0; i < nstreams.size(); i++) {
- while(true) {
- try {
- vector<Mat> D = getDistortionParametersRPC(net, nstreams[i]);
- LOG(INFO) << "K[" << 2*i << "] = \n" << camera_parameters[2*i];
- LOG(INFO) << "D[" << 2*i << "] = " << D[0];
- LOG(INFO) << "K[" << 2*i+1 << "] = \n" << camera_parameters[2*i+1];
- LOG(INFO) << "D[" << 2*i+1 << "] = " << D[1];
- calib.setCameraParameters(2*i, camera_parameters[2*i], D[0]);
- calib.setCameraParameters(2*i+1, camera_parameters[2*i+1], D[1]);
- break;
- }
- catch (...) {}
- }
- }
-
- Mat out;
- vector<Mat> map1, map2;
- vector<cv::Rect> roi;
- vector<size_t> idx;
- calibrateRPC(net, calib, params, nstreams, map1, map2, roi);
-
- if (save_input) {
- cv::FileStorage fs(path + filename, cv::FileStorage::WRITE);
- calib.saveInput(fs);
- fs.release();
- }
-
-
- // visualize
- while(cv::waitKey(10) != 27) {
-
- while (!new_frames) {
- if (cv::waitKey(50) != -1) { ftl::running = false; }
- }
-
- {
- UNIQUE_LOCK(mutex, LOCK)
- rgb.swap(rgb_new);
- new_frames = false;
- }
-
- visualizeCalibration(calib, out, rgb, map1, map2, roi);
- cv::namedWindow("Calibration", cv::WINDOW_KEEPRATIO | cv::WINDOW_NORMAL);
- cv::imshow("Calibration", out);
- }
-
- for (size_t i = 0; i < nstreams.size(); i++) {
- while(true) {
- try {
- setRectifyRPC(net, nstreams[i], true);
- break;
- }
- catch (...) {}
- }
- }
-
- ftl::running = false;
- ftl::timer::stop();
- ftl::pool.stop(true);
-}
-
-void runCameraCalibrationPath( ftl::Configurable* root,
- string path, string filename,
- CalibrationParams ¶ms)
-{
- Universe *net = ftl::create<Universe>(root, "net");
- ftl::ctrl::Master ctrl(root, net);
-
- net->start();
- net->waitConnections();
-
- ftl::stream::Muxer *stream = ftl::create<ftl::stream::Muxer>(root, "muxstream");
- ftl::stream::Receiver *gen = ftl::create<ftl::stream::Receiver>(root, "receiver");
- gen->setStream(stream);
- auto stream_uris = net->findAll<std::string>("list_streams");
- std::sort(stream_uris.begin(), stream_uris.end());
- std::vector<ftl::stream::Net*> nstreams;
-
- int count = 0;
- for (auto &s : stream_uris) {
- LOG(INFO) << " --- found stream: " << s;
- auto *nstream = ftl::create<ftl::stream::Net>(stream, std::to_string(count), net);
- std::string name = *(nstream->get<std::string>("name"));
- nstream->set("uri", s);
- nstreams.push_back(nstream);
- stream->add(nstream);
-
- ++count;
- }
-
- const size_t n_sources = nstreams.size();
- const size_t n_cameras = n_sources * 2;
- size_t reference_camera = 0;
-
- std::mutex mutex;
- std::atomic<bool> new_frames = false;
- vector<Mat> rgb_(n_cameras), rgb_new(n_cameras);
- vector<Mat> camera_parameters(n_cameras);
- Size res;
-
- gen->onFrameSet([stream, &mutex, &new_frames, &rgb_new, &camera_parameters, &res](ftl::rgbd::FrameSet &fs) {
- stream->select(fs.id, Channel::Left + Channel::Right);
- if (fs.frames.size() != (rgb_new.size()/2)) {
- // nstreams.size() == (rgb_new.size()/2)
- LOG(ERROR) << "frames.size() != nstreams.size(), "
- << fs.frames.size() << " != " << (rgb_new.size()/2);
- }
-
- UNIQUE_LOCK(mutex, CALLBACK);
- bool good = true;
- try {
- for (size_t i = 0; i < fs.frames.size(); i ++) {
- if (!fs.frames[i].hasChannel(Channel::Left)) {
- good = false;
- LOG(ERROR) << "No left channel";
- break;
- }
-
- if (!fs.frames[i].hasChannel(Channel::Right)) {
- good = false;
- LOG(ERROR) << "No right channel";
- break;
- }
-
- auto idx = stream->originStream(0, i);
- CHECK(idx >= 0) << "negative index";
-
- fs.frames[i].download(Channel::Left+Channel::Right);
- Mat &left = fs.frames[i].get<Mat>(Channel::Left);
- Mat &right = fs.frames[i].get<Mat>(Channel::Right);
-
- CHECK(!left.empty() && !right.empty());
-
- cv::cvtColor(left, rgb_new[2*idx], cv::COLOR_BGRA2BGR);
- cv::cvtColor(right, rgb_new[2*idx+1], cv::COLOR_BGRA2BGR);
- /*
- camera_parameters[2*idx] = ftl::calibration::scaleCameraMatrix(createCameraMatrix(fs.frames[i].getLeftCamera()),
- rgb_new[2*idx].size(), Size(fs.frames[i].getLeftCamera().width, fs.frames[i].getLeftCamera().height));
- camera_parameters[2*idx+1] = ftl::calibration::scaleCameraMatrix(createCameraMatrix(fs.frames[i].getRightCamera()),
- rgb_new[2*idx].size(), Size(fs.frames[i].getRightCamera().width, fs.frames[i].getRightCamera().height));
-
- if (res.empty()) res = rgb_new[2*idx].size();*/
- }
- }
- catch (std::exception ex) {
- LOG(ERROR) << "exception: " << ex.what();
- good = false;
- }
- catch (...) {
- LOG(ERROR) << "unknown exception";
- good = false;
- }
- new_frames = good;
- return true;
- });
-
- stream->begin();
- ftl::timer::start(false);
-
- for (auto *nstream: nstreams) {
- bool res = true;
- while(res) {
- try { res = setRectifyRPC(net, nstream, false); }
- catch (...) {}
-
- if (res) {
- LOG(ERROR) << "set_rectify() failed for " << *(nstream->get<string>("uri"));
- std::this_thread::sleep_for(std::chrono::milliseconds(100));
- }
- else {
- LOG(INFO) << "rectification disabled for " << *(nstream->get<string>("uri"));
- }
- }
- }
-
- // TODO: parameter for calibration target type
- auto calib = MultiCameraCalibrationNew( n_cameras, reference_camera,
- params.size, CalibrationTarget(0.150)
- );
- calib.object_points_ = calibration_target;
-
- cv::FileStorage fs(path + filename, cv::FileStorage::READ);
- fs["resolution"] >> params.size;
- params.idx_cameras.resize(n_cameras);
- std::iota(params.idx_cameras.begin(), params.idx_cameras.end(), 0);
- calib.loadInput(path + filename, params.idx_cameras);
-
- /*for (size_t i = 0; i < nstreams.size(); i++) {
- while(true) {
- try {
- if (camera_parameters[2*i].empty() || camera_parameters[2*i+1].empty()) {
- std::this_thread::sleep_for(std::chrono::seconds(1));
- continue;
- }
- vector<Mat> D = getDistortionParametersRPC(net, nstreams[i]);
- LOG(INFO) << "K[" << 2*i << "] = \n" << camera_parameters[2*i];
- LOG(INFO) << "D[" << 2*i << "] = " << D[0];
- LOG(INFO) << "K[" << 2*i+1 << "] = \n" << camera_parameters[2*i+1];
- LOG(INFO) << "D[" << 2*i+1 << "] = " << D[1];
- calib.setCameraParameters(2*i, camera_parameters[2*i], D[0]);
- calib.setCameraParameters(2*i+1, camera_parameters[2*i+1], D[1]);
- break;
- }
- catch (...) {}
- }
- }*/
-
-
- Mat out;
- vector<Mat> map1, map2;
- vector<cv::Rect> roi;
- vector<size_t> idx;
- calibrateRPC(net, calib, params, nstreams, map1, map2, roi);
-
-
- vector<Mat> rgb(n_cameras);
-
- // visualize
- while(cv::waitKey(10) != 27) {
-
- while (!new_frames) {
- if (cv::waitKey(50) != -1) { ftl::running = false; }
- }
-
- {
- UNIQUE_LOCK(mutex, LOCK)
- rgb.swap(rgb_new);
- new_frames = false;
- }
-
- visualizeCalibration(calib, out, rgb, map1, map2, roi);
- cv::namedWindow("Calibration", cv::WINDOW_KEEPRATIO | cv::WINDOW_NORMAL);
- cv::imshow("Calibration", out);
- }
-
- for (size_t i = 0; i < nstreams.size(); i++) {
- while(true) {
- try {
- setRectifyRPC(net, nstreams[i], true);
- break;
- }
- catch (...) {}
- }
- }
-
- ftl::running = false;
- ftl::timer::stop();
- ftl::pool.stop(true);
-}
-
-
-int main(int argc, char **argv) {
- auto options = ftl::config::read_options(&argv, &argc);
- auto root = ftl::configure(argc, argv, "registration_default");
-
- // run calibration from saved input?
- const bool load_input = root->value<bool>("load_input", false);
- // should calibration input be saved
- const bool save_input = root->value<bool>("save_input", false);
- // should extrinsic calibration be saved (only used with load_input)
- const bool save_extrinsic = root->value<bool>("save_extrinsic", true);
- // should intrinsic calibration be saved
- const bool save_intrinsic = root->value<bool>("save_intrinsic", false);
- const bool optimize_intrinsic = root->value<bool>("optimize_intrinsic", false);
- // directory where calibration data and images are saved, if save_input enabled
- const string calibration_data_dir = root->value<string>("calibration_data_dir", "./");
- // file to save calibration input (2d points and visibility)
- const string calibration_data_file = root->value<string>("calibration_data_file", "data.yml");
- // in how many cameras should the pattern be visible
- const int min_visible = root->value<int>("min_visible", 3);
- // minimum for how many times pattern is seen per camera
- const int n_views = root->value<int>("n_views", 500);
- // reference camera, -1 for automatic
- const int ref_camera = root->value<int>("reference_camera", -1);
- // registration file path
- const string registration_file = root->value<string>("registration_file", FTL_LOCAL_CONFIG_ROOT "/registration.json");
- // location where extrinsic calibration files saved
- const string output_directory = root->value<string>("output_directory", "./");
-
- const bool offline = root->value<bool>("offline", false);
-
- CalibrationParams params;
- params.offline = offline;
- params.save_extrinsic = save_extrinsic;
- params.save_intrinsic = save_intrinsic;
- params.optimize_intrinsic = optimize_intrinsic;
- params.output_path = output_directory;
- params.registration_file = registration_file;
- params.reference_camera = ref_camera;
-
- LOG(INFO) << "\n"
- << "\n"
- << "\n save_input: " << (int) save_input
-// << "\n load_input: " << (int) load_input
-// << "\n save_extrinsic: " << (int) save_extrinsic
-// << "\n save_intrinsic: " << (int) save_intrinsic
- << "\n optimize_intrinsic: " << (int) optimize_intrinsic
-// << "\n calibration_data_dir: " << calibration_data_dir
-// << "\n calibration_data_file: " << calibration_data_file
- << "\n min_visible: " << min_visible
- << "\n n_views: " << n_views
- << "\n reference_camera: " << ref_camera << (ref_camera != -1 ? "" : " (automatic)")
-// << "\n registration_file: " << registration_file
-// << "\n output_directory: " << output_directory
- << "\n";
-
- if (load_input) {
- runCameraCalibrationPath(root, calibration_data_dir, calibration_data_file, params);
- }
- else {
- runCameraCalibration(root, n_views, min_visible, calibration_data_dir, calibration_data_file, save_input, params);
- }
-
- return 0;
-}
\ No newline at end of file
diff --git a/applications/calibration-multi/src/multicalibrate.cpp b/applications/calibration-multi/src/multicalibrate.cpp
deleted file mode 100644
index 3aaea4d06291a0be0110791d95bd004207d70dc9..0000000000000000000000000000000000000000
--- a/applications/calibration-multi/src/multicalibrate.cpp
+++ /dev/null
@@ -1,815 +0,0 @@
-#include "multicalibrate.hpp"
-
-#include "calibration_data.hpp"
-#include "calibration.hpp"
-
-#include <ftl/calibration/optimize.hpp>
-
-#include <opencv2/core.hpp>
-#include <opencv2/calib3d.hpp>
-
-#include <loguru.hpp>
-
-#include <map>
-
-using cv::Mat;
-using cv::Size;
-using cv::Point2d;
-using cv::Point3d;
-using cv::Vec4d;
-using cv::Scalar;
-
-using std::string;
-using std::vector;
-using std::map;
-using std::pair;
-using std::make_pair;
-
-double CalibrationTarget::estimateScale(vector<Point3d> points) {
-
- // 1. calculate statistics
- // 2. reject possible outliers
- // 3. calculate scale factor
-
- double f = 0.0;
- double S = 0.0;
- double m = 0.0;
-
- vector<double> d(points.size() / 2, 0.0);
-
- for (size_t i = 0; i < points.size(); i += 2) {
- const Point3d &p1 = points[i];
- const Point3d &p2 = points[i + 1];
-
- Point3d p = p1 - p2;
-
- double x = sqrt(p.x * p.x + p.y * p.y + p.z * p.z);
- double prev_mean = m;
- d[i/2] = x;
-
- f = f + 1.0;
- m = m + (x - m) / f;
- S = S + (x - m) * (x - prev_mean);
-
- }
-
- double stddev = sqrt(S / f);
- f = 0.0;
-
- int outliers = 0;
- double scale = 0.0;
-
- for (double l : d) {
- // TODO: * Parameterize how large deviation allowed
- // * Validate this actually improves quality
-
- if (abs(l - m) > 3.0 * stddev) {
- outliers++;
- }
- else {
- f += 1.0;
- scale += 1.0 / l;
- }
- DCHECK(scale != INFINITY);
- }
-
- if (outliers != 0) {
- LOG(WARNING) << "Outliers (large std. deviation in scale): " << outliers;
- }
-
- LOG(INFO) << "calibration target std. dev. " << stddev << " (" << (int) f << " samples), scale: " << scale * calibration_bar_length_ / f;
-
- return scale * calibration_bar_length_ / f;
-
- // TODO: LM-optimization for scale.
-}
-
-MultiCameraCalibrationNew::MultiCameraCalibrationNew(
- size_t n_cameras, size_t reference_camera, Size resolution,
- CalibrationTarget target, int fix_intrinsics) :
-
- target_(target),
- visibility_graph_(n_cameras),
- is_calibrated_(false),
- n_cameras_(n_cameras),
- reference_camera_(reference_camera),
- min_visible_points_(50),
-
- fix_intrinsics_(fix_intrinsics == 1 ? 5 : 0),
- resolution_(resolution),
- K_(n_cameras),
- dist_coeffs_(n_cameras),
- R_(n_cameras),
- t_(n_cameras),
-
- points3d_optimized_(n_cameras),
- points3d_(n_cameras),
- points2d_(n_cameras),
- visible_(n_cameras),
-
- fm_method_(cv::FM_8POINT), // RANSAC/LMEDS results need validation (does not work)
- fm_ransac_threshold_(0.95),
- fm_confidence_(0.90)
-{
- for (auto &K : K_) { K = Mat::eye(Size(3, 3), CV_64FC1); }
- for (auto &d : dist_coeffs_) { d = Mat(Size(5, 1), CV_64FC1, Scalar(0.0)); }
-}
-
-Mat MultiCameraCalibrationNew::getCameraMat(size_t idx) {
- DCHECK(idx < n_cameras_);
- Mat K;
- K_[idx].copyTo(K);
- return K;
-}
-
-
-Mat MultiCameraCalibrationNew::getCameraMatNormalized(size_t idx, double scale_x, double scale_y)
-{
- Mat K = getCameraMat(idx);
- CHECK((scale_x != 0.0 && scale_y != 0.0) || ((scale_x == 0.0) && scale_y == 0.0));
-
- scale_x = scale_x / (double) resolution_.width;
- scale_y = scale_y / (double) resolution_.height;
-
- Mat scale(Size(3, 3), CV_64F, 0.0);
- scale.at<double>(0, 0) = scale_x;
- scale.at<double>(1, 1) = scale_y;
- scale.at<double>(2, 2) = 1.0;
-
- return (scale * K);
-}
-
-Mat MultiCameraCalibrationNew::getDistCoeffs(size_t idx) {
- DCHECK(idx < n_cameras_);
- Mat D;
- dist_coeffs_[idx].copyTo(D);
- return D;
-}
-
-void MultiCameraCalibrationNew::setCameraParameters(size_t idx, const Mat &K, const Mat &distCoeffs) {
- CHECK(idx < n_cameras_);
- CHECK(K.size() == Size(3, 3));
- CHECK(distCoeffs.total() == 5);
- K.convertTo(K_[idx], CV_64FC1);
- distCoeffs.convertTo(dist_coeffs_[idx], CV_64FC1);
-}
-
-void MultiCameraCalibrationNew::setCameraParameters(size_t idx, const Mat &K) {
- DCHECK(idx < n_cameras_);
- setCameraParameters(idx, K, dist_coeffs_[idx]);
-}
-
-void MultiCameraCalibrationNew::addPoints(vector<vector<Point2d>> points, vector<int> visible) {
- DCHECK(points.size() == visible.size());
- DCHECK(visible.size() == n_cameras_);
-
- for (size_t i = 0; i < n_cameras_; i++) {
- visible_[i].insert(visible_[i].end(), points[i].size(), visible[i]);
- points2d_[i].insert(points2d_[i].end(), points[i].begin(), points[i].end());
- }
- visibility_graph_.update(visible);
-}
-
-void MultiCameraCalibrationNew::reset() {
- is_calibrated_ = false;
- weights_ = vector(n_cameras_, vector(points2d_[0].size(), 0.0));
- inlier_ = vector(n_cameras_, vector(points2d_[0].size(), 0));
- points3d_ = vector(n_cameras_, vector(points2d_[0].size(), Point3d()));
- points3d_optimized_ = vector(points2d_[0].size(), Point3d());
- R_ = vector<Mat>(n_cameras_, Mat::eye(Size(3, 3), CV_64FC1));
- t_ = vector<Mat>(n_cameras_, Mat(Size(1, 3), CV_64FC1, Scalar(0.0)));
-}
-
-void MultiCameraCalibrationNew::saveInput(const string &filename) {
- cv::FileStorage fs(filename, cv::FileStorage::WRITE);
- saveInput(fs);
- fs.release();
-}
-
-void MultiCameraCalibrationNew::saveInput(cv::FileStorage &fs) {
- fs << "resolution" << resolution_;
- fs << "K" << K_;
- fs << "D" << dist_coeffs_;
- fs << "points2d" << points2d_;
- fs << "visible" << visible_;
-}
-
-void MultiCameraCalibrationNew::loadInput(const std::string &filename, const vector<size_t> &cameras_in) {
- points2d_.clear();
- points3d_.clear();
- points3d_optimized_.clear();
- visible_.clear();
- inlier_.clear();
- K_.clear();
- dist_coeffs_.clear();
- cv::FileStorage fs(filename, cv::FileStorage::READ);
- vector<Mat> K;
- vector<vector<Point2d>> points2d;
- vector<vector<int>> visible;
- fs["K"] >> K;
- fs["D"] >> dist_coeffs_;
- fs["points2d"] >> points2d;
- fs["visible"] >> visible;
- fs["resolution"] >> resolution_;
- fs.release();
-
- vector<size_t> cameras;
- if (cameras_in.size() == 0) {
- cameras.resize(K.size());
- size_t i = 0;
- for (auto &c : cameras) { c = i++; }
- }
- else {
- cameras.reserve(cameras_in.size());
- for (auto &c : cameras_in) { cameras.push_back(c); }
- }
-
- n_cameras_ = cameras.size();
-
- points2d_.resize(n_cameras_);
- points3d_.resize(n_cameras_);
- visible_.resize(n_cameras_);
-
- for (auto const &c : cameras) {
- K_.push_back(K[c]);
- LOG(INFO) << K[c];
- }
- for (size_t c = 0; c < n_cameras_; c++) {
- points2d_[c].reserve(visible[0].size());
- points3d_[c].reserve(visible[0].size());
- visible_[c].reserve(visible[0].size());
- points3d_optimized_.reserve(visible[0].size());
- }
-
- visibility_graph_ = Visibility(n_cameras_);
- dist_coeffs_.resize(n_cameras_);
-
- vector<vector<Point2d>> points2d_add(n_cameras_, vector<Point2d>());
- vector<int> visible_add(n_cameras_);
- for (size_t i = 0; i < visible[0].size(); i += target_.n_points) {
- int count = 0;
- for (size_t c = 0; c < n_cameras_; c++) {
- count += visible[c][i];
- points2d_add[c].clear();
- points2d_add[c].insert(
- points2d_add[c].begin(),
- points2d[cameras[c]].begin() + i,
- points2d[cameras[c]].begin() + i + target_.n_points);
- visible_add[c] = visible[cameras[c]][i];
- }
- if (count >= 2) {
- addPoints(points2d_add, visible_add);
- }
- }
- reset();
-
- DCHECK(points2d_.size() == n_cameras_);
- DCHECK(points2d_.size() == visible_.size());
- size_t len = visible_[0].size();
- for (size_t i = 0; i < n_cameras_; i++) {
- DCHECK(visible_[i].size() == len);
- DCHECK(points2d_[i].size() == visible_[i].size());
- }
-}
-
-size_t MultiCameraCalibrationNew::getViewsCount() {
- return points2d_[0].size() / target_.n_points;
-}
-
-size_t MultiCameraCalibrationNew::getOptimalReferenceCamera() {
- return (size_t) visibility_graph_.getOptimalCamera();
-}
-
-bool MultiCameraCalibrationNew::isVisible(size_t camera, size_t idx) {
- return visible_[camera][idx] == 1;
-}
-
-bool MultiCameraCalibrationNew::isValid(size_t camera, size_t idx) {
- return inlier_[camera][idx] >= 0;
-}
-
-bool MultiCameraCalibrationNew::isValid(size_t idx) {
- for (auto camera : inlier_) {
- if (camera[idx] > 0) return true;
- }
- return false;
-}
-
-vector<Point2d> MultiCameraCalibrationNew::getPoints(size_t camera, size_t idx) {
- return vector<Point2d> (points2d_[camera].begin() + idx * (target_.n_points),
- points2d_[camera].begin() + idx * (target_.n_points + 1));
-}
-
-
-void MultiCameraCalibrationNew::updatePoints3D(size_t camera, Point3d new_point,
- size_t idx, const Mat &R, const Mat &t) {
-
- int &f = inlier_[camera][idx];
- Point3d &point = points3d_[camera][idx];
- new_point = transformPoint(new_point, R, t);
-
- if (f == -1) return;
-
- if (f > 0) {
- // TODO: remove parameter (10.0 cm - 1.0m); over 0.25m difference
- // would most likely suggest very bad triangulation (sync? wrong match?)
- // instead store all triangulations and handle outliers
- // (perhaps inverse variance weighted mean?)
-
- if (euclideanDistance(point, new_point) > 10.0) {
- LOG(ERROR) << "bad value (skipping) " << "(" << point << " vs " << new_point << ")";
- f = -1;
- }
- else {
- point = (point * f + new_point) / (double) (f + 1);
- f++;
- }
- }
- else {
- point = new_point;
- f = 1;
- }
-}
-
-void MultiCameraCalibrationNew::updatePoints3D(size_t camera, vector<Point3d> points,
- vector<size_t> idx, const Mat &R, const Mat &t) {
-
- for (size_t i = 0; i < idx.size(); i++) {
- updatePoints3D(camera, points[i], idx[i], R, t);
- }
-}
-
-void MultiCameraCalibrationNew::getVisiblePoints(
- vector<size_t> cameras, vector<vector<Point2d>> &points, vector<size_t> &idx) {
-
- size_t n_points_total = points2d_[0].size();
- DCHECK(cameras.size() <= n_cameras_);
- DCHECK(n_points_total % target_.n_points == 0);
-
- idx.clear();
- idx.reserve(n_points_total);
- points.clear();
- points.resize(cameras.size(), {});
-
- for (size_t i = 0; i < n_points_total; i += target_.n_points) {
- bool visible_all = true;
-
- for (auto c : cameras) {
- for (size_t j = 0; j < target_.n_points; j++) {
- visible_all &= isVisible(c, i + j);
- }
- }
-
- if (!visible_all) { continue; }
-
- for (size_t j = 0; j < target_.n_points; j++) {
- idx.push_back(i + j);
- }
-
- for (size_t c = 0; c < cameras.size(); c++) {
- points[c].insert(points[c].end(),
- points2d_[cameras[c]].begin() + i,
- points2d_[cameras[c]].begin() + i + target_.n_points
- );
- }
- }
-
- for (auto p : points) { DCHECK(idx.size() == p.size()); }
-}
-
-double MultiCameraCalibrationNew::calibratePair(size_t camera_from, size_t camera_to, Mat &rmat, Mat &tvec) {
-
-
- vector<size_t> idx;
- vector<Point2d> points1, points2;
- {
- vector<vector<Point2d>> points2d;
- getVisiblePoints({camera_from, camera_to}, points2d, idx);
-
- points1 = points2d[0];
- points2 = points2d[1];
- }
- DCHECK(points1.size() % target_.n_points == 0);
- DCHECK(points1.size() == points2.size());
-
- // cameras possibly lack line of sight?
- DCHECK(points1.size() > 8);
-
- Mat &K1 = K_[camera_from];
- Mat &K2 = K_[camera_to];
- /*
- vector<uchar> inliers;
- Mat F, E;
- F = cv::findFundamentalMat(points1, points2, fm_method_, fm_ransac_threshold_, fm_confidence_, inliers);
-
- if (F.empty())
- {
- LOG(ERROR) << "Fundamental matrix estimation failed. Possibly degenerate configuration?";
- return INFINITY;
- }
-
- E = K2.t() * F * K1;
-
- // Only include inliers
- if (fm_method_ == cv::FM_LMEDS || fm_method_ == cv::FM_RANSAC) {
- vector<Point2d> inliers1, inliers2;
- vector<size_t> inliers_idx;
-
- inliers1.reserve(points1.size());
- inliers2.reserve(points1.size());
- inliers_idx.reserve(points1.size());
-
- for (size_t i = 0; i < inliers.size(); i += target_.n_points) {
- bool inlier = true;
-
- for (size_t j = 0; j < target_.n_points; j++) {
- inlier &= inliers[i+j];
- }
-
- if (inlier) {
- inliers1.insert(inliers1.end(), points1.begin() + i, points1.begin() + i + target_.n_points);
- inliers2.insert(inliers2.end(), points2.begin() + i, points2.begin() + i + target_.n_points);
- inliers_idx.insert(inliers_idx.end(), idx.begin() + i, idx.begin() + i + target_.n_points);
- }
- }
-
- LOG(INFO) << "Total points: " << points1.size() << ", inliers: " << inliers1.size();
- double ratio_good_points = (double) inliers1.size() / (double) points1.size();
- if (ratio_good_points < 0.66) {
- // TODO: ...
- LOG(WARNING) << "Over 1/3 of points rejected!";
- if (ratio_good_points < 0.33) { LOG(FATAL) << "Over 2/3 points rejected!"; }
- }
-
- DCHECK(inliers1.size() == inliers_idx.size());
- DCHECK(inliers2.size() == inliers_idx.size());
-
- std::swap(inliers1, points1);
- std::swap(inliers2, points2);
- std::swap(inliers_idx, idx);
- }
-
- // Estimate initial rotation matrix and translation vector and triangulate
- // points (in camera 1 coordinate system).
-
- Mat R1, R2, t1, t2;
- R1 = Mat::eye(Size(3, 3), CV_64FC1);
- t1 = Mat(Size(1, 3), CV_64FC1, Scalar(0.0));
-
- vector<Point3d> points3d;
- // Convert homogeneous coordinates
- {
- Mat points3dh;
- recoverPose(E, points1, points2, K1, K2, R2, t2, 1000.0, points3dh);
- points3d.reserve(points3dh.cols);
-
- for (int col = 0; col < points3dh.cols; col++) {
- Point3d p = Point3d(points3dh.at<double>(0, col),
- points3dh.at<double>(1, col),
- points3dh.at<double>(2, col))
- / points3dh.at<double>(3, col);
- points3d.push_back(p);
- }
- }
- DCHECK(points3d.size() == points1.size());
-
- // Estimate and apply scale factor
- {
- double scale = ftl::calibration::optimizeScale(object_points_, points3d);
- t1 = t1 * scale;
- t2 = t2 * scale;
- }
-
- // Reprojection error before BA
- {
- // SBA should report squared mean error
- const double err1 = reprojectionError(points3d, points1, K1, R1, t1);
- const double err2 = reprojectionError(points3d, points2, K2, R2, t2);
-
- if (abs(err1 - err2) > 2.0) {
- LOG(INFO) << "Initial reprojection error (camera " << camera_from << "): " << err1;
- LOG(INFO) << "Initial reprojection error (camera " << camera_to << "): " << err2;
- }
- LOG(INFO) << "Initial reprojection error (" << camera_from << ", " << camera_to << "): "
- << sqrt(err1 * err1 + err2 * err2);
-
- }
-
- // Bundle Adjustment
-
- double err = INFINITY;
- {
- auto cameras = vector<ftl::calibration::Camera> {
- ftl::calibration::Camera(K1, dist_coeffs_[camera_from], R1, t1),
- ftl::calibration::Camera(K2, dist_coeffs_[camera_to], R2, t2)
- };
-
- ftl::calibration::BundleAdjustment ba;
- ba.addCameras(cameras);
- for (size_t i = 0; i < points3d.size(); i++) {
- ba.addPoint({points1[i], points2[i]}, points3d[i]);
- }
-
- ftl::calibration::BundleAdjustment::Options options;
- options.fix_camera_extrinsic = {0};
- options.optimize_intrinsic = false;
-
- ba.run(options);
- // TODO: ...
- err = sqrt(ba.reprojectionError(0) * ba.reprojectionError(1));
-
- R2 = cameras[1].rmat();
- t2 = Mat(cameras[1].tvec());
- }
-
- calculateTransform(R2, t2, R1, t1, rmat, tvec);
- */
-
- Mat R1, R2, t1, t2;
- R1 = Mat::eye(Size(3, 3), CV_64FC1);
- t1 = Mat(Size(1, 3), CV_64FC1, Scalar(0.0));
-
- vector<Point3d> points3d;
-
- double err = ftl::calibration::computeExtrinsicParameters(K1, dist_coeffs_[camera_from], K2, dist_coeffs_[camera_to], points1, points2, object_points_, R2, t2, points3d);
- calculateTransform(R2, t2, R1, t1, rmat, tvec);
-
-
- // Store and average 3D points for both cameras (skip garbage)
- if (err < 10.0) {
- Mat rmat1, tvec1;
- updatePoints3D(camera_from, points3d, idx, R1, t1);
- updatePoints3D(camera_to, points3d, idx, R2, t2);
- }
- else {
- LOG(ERROR) << "Large RMS error ("
- << reprojectionError(points3d, points2, K2, rmat, tvec)
- << "), not updating points!";
- }
-
- //LOG(INFO) << reprojectionError(points3d, points1, K1, R1, t1);
- //LOG(INFO) << reprojectionError(points3d, points2, K2, R2, t2);
-
- return err;
-}
-
-Point3d MultiCameraCalibrationNew::getPoint3D(size_t camera, size_t idx) {
- return points3d_[camera][idx];
-}
-
-void MultiCameraCalibrationNew::calculateMissingPoints3D() {
- points3d_optimized_.clear();
- points3d_optimized_.resize(points3d_[reference_camera_].size());
-
- for (size_t i = 0; i < points3d_optimized_.size(); i++) {
- if (inlier_[reference_camera_][i] > 0) {
- points3d_optimized_[i] = points3d_[reference_camera_][i];
- continue;
- }
-
- if (!isValid(i)) continue;
-
- double f = 0.0;
- Point3d point(0.0, 0.0, 0.0);
- for (size_t c = 0; c < n_cameras_; c++) {
- if (inlier_[c][i] <= 0) { continue; }
- point += transformPoint(getPoint3D(c, i), R_[c], t_[c]);
- f += 1.0;
- }
-
- DCHECK(f != 0.0);
-
- points3d_optimized_[i] = point / f;
- }
-}
-
-double MultiCameraCalibrationNew::getReprojectionError(size_t c_from, size_t c_to, const Mat &K, const Mat &R, const Mat &t) {
-
- vector<Point2d> points2d;
- vector<Point3d> points3d;
-
- for (size_t i = 0; i < points2d_[c_from].size(); i++) {
- if (!isValid(i) || !isVisible(c_from, i) || !isVisible(c_to, i)) continue;
- points2d.push_back(points2d_[c_from][i]);
- points3d.push_back(points3d_[c_to][i]);
- }
-
- return reprojectionError(points3d, points2d, K, R, t);
-}
-
-double MultiCameraCalibrationNew::getReprojectionErrorOptimized(size_t c_from, const Mat &K, const Mat &R, const Mat &t) {
-
- vector<Point2d> points2d;
- vector<Point3d> points3d;
-
- for (size_t i = 0; i < points2d_[c_from].size(); i++) {
- if (!isValid(i) || !isVisible(c_from, i)) continue;
- points2d.push_back(points2d_[c_from][i]);
- points3d.push_back(points3d_optimized_[i]);
- }
-
- return reprojectionError(points3d, points2d, K, R, t);
-}
-
-
-double MultiCameraCalibrationNew::calibrateAll(int reference_camera) {
- if (reference_camera != -1) {
- DCHECK(reference_camera >= 0 && reference_camera < static_cast<int>(n_cameras_));
- reference_camera_ = reference_camera;
- }
-
- for (const auto &K : K_) {
- LOG(INFO) << K;
- }
-
- reset(); // remove all old calibration results
- map<pair<size_t, size_t>, pair<Mat, Mat>> transformations;
-
- // All cameras should be calibrated pairwise; otherwise all possible 3D
- // points are not necessarily triangulated
-
- auto paths = visibility_graph_.findShortestPaths(reference_camera_);
-
- for (size_t c1 = 0; c1 < n_cameras_; c1++) {
- for (size_t c2 = c1; c2 < n_cameras_; c2++) {
- if (c1 == c2) {
- transformations[make_pair(c1, c2)] =
- make_pair(Mat::eye(Size(3, 3), CV_64FC1),
- Mat(Size(1, 3), CV_64FC1, Scalar(0.0))
- );
- continue;
- }
-
- size_t n_visible = getVisiblePointsCount({c1, c2});
-
- if (n_visible < min_visible_points_) {
- LOG(INFO) << "Not enough (" << min_visible_points_ << ") points between "
- << "cameras " << c1 << " and " << c2 << " (" << n_visible << " points), "
- << "skipping";
- continue;
- }
- LOG(INFO) << "Running pairwise calibration for cameras "
- << c1 << " and " << c2 << "(" << n_visible << " points)";
-
- if (transformations.find(make_pair(c2, c1)) != transformations.end()) {
- continue;
- }
- Mat R, t, R_i, t_i;
-
- // TODO: threshold parameter, 16.0 possibly too high
-
- if (calibratePair(c1, c2, R, t) > 16.0) {
- LOG(ERROR) << "Pairwise calibration failed, skipping cameras "
- << c1 << " and " << c2;
- visibility_graph_.deleteEdge(c1, c2);
- continue;
- }
-
- calculateInverse(R, t, R_i, t_i);
-
- transformations[make_pair(c2, c1)] = make_pair(R, t);
- transformations[make_pair(c1, c2)] = make_pair(R_i, t_i);
- }}
-
- for (size_t c = 0; c < paths.size(); c++) {
- Mat R_chain = Mat::eye(Size(3, 3), CV_64FC1);
- Mat t_chain = Mat(Size(1, 3), CV_64FC1, Scalar(0.0));
- LOG(INFO) << "Chain for camera " << c;
- for (auto e: paths[c]) {
- CHECK(transformations.find(e) != transformations.end()) << "chain not calculated; pairwise calibration possibly failed earlier?";
- LOG(INFO) << e.first << " -> " << e.second;
- Mat R = transformations[e].first;
- Mat t = transformations[e].second;
- R_chain = R * R_chain;
- t_chain = t + R * t_chain;
- }
-
- R_[c] = R_chain;
- t_[c] = t_chain;
- /*R_[c] = transformations[make_pair(reference_camera_, c)].first;
- t_[c] = transformations[make_pair(reference_camera_, c)].second;
- DCHECK(R_[c].size() == Size(3, 3));
- DCHECK(t_[c].size() == Size(1, 3));*/
- }
-
- calculateMissingPoints3D();
-
- for (size_t c_from = 0; c_from < n_cameras_; c_from++) {
- if (c_from == reference_camera_) continue;
- Mat R, t;
- calculateInverse(R_[c_from], t_[c_from], R, t);
- LOG(INFO) << "Error before BA, cameras " << reference_camera_ << " and " << c_from << ": "
- << getReprojectionErrorOptimized(c_from, K_[c_from], R, t);
- }
-
- double err;
- {
- auto cameras = vector<ftl::calibration::Camera>();
-
- for (size_t i = 0; i < n_cameras_; i++) {
- calculateInverse(R_[i], t_[i], R_[i], t_[i]);
- cameras.push_back(ftl::calibration::Camera(K_[i], dist_coeffs_[i], R_[i], t_[i]));
- }
-
- ftl::calibration::BundleAdjustment ba;
- ba.addCameras(cameras);
-
- for (size_t i = 0; i < points3d_optimized_.size(); i++) {
-
- auto &p = points3d_optimized_[i];
- DCHECK(!isnanl(p.x) && !isnanl(p.y) && !isnanl(p.z));
-
- int count = 0;
- for (size_t c = 0; c < n_cameras_; c++) {
- if (isVisible(c, i) && isValid(c, i)) { count++; }
- }
-
- if (count < 2) continue;
-
- vector<bool> visible(n_cameras_);
- vector<Point2d> points2d(n_cameras_);
-
- for (size_t c = 0; c < n_cameras_; c++) {
- bool good = isVisible(c, i) && isValid(c, i);
- visible[c] = good;
- points2d[c] = points2d_[c][i];
- }
-
- ba.addPoint(visible, points2d, p);
- }
-
- ba.addObject(object_points_);
-
- ftl::calibration::BundleAdjustment::Options options;
- options.loss = ftl::calibration::BundleAdjustment::Options::Loss::CAUCHY;
- options.optimize_intrinsic = !fix_intrinsics_;
- options.fix_distortion = true;
- options.max_iter = 50;
- options.fix_camera_extrinsic = {reference_camera};
- options.verbose = true;
- options.max_iter = 500;
-
- err = ba.reprojectionError();
- ba.run(options);
-
- for (size_t i = 0; i < n_cameras_; i++) {
- R_[i] = cameras[i].rmat();
- t_[i] = cameras[i].tvec();
- K_[i] = cameras[i].intrinsicMatrix();
- //dist_coeffs_[i] = D; // not updated
- calculateInverse(R_[i], t_[i], R_[i], t_[i]);
- }
- }
-
- for (size_t c_from = 0; c_from < n_cameras_; c_from++) {
- if (c_from == reference_camera_) continue;
- Mat R, t;
- calculateInverse(R_[c_from], t_[c_from], R, t);
- LOG(INFO) << "Error (RMS) after BA, cameras " << reference_camera_ << " and " << c_from << ": "
- << getReprojectionErrorOptimized(c_from, K_[c_from], R, t);
-
- }
-
- is_calibrated_ = true;
- return err;
-}
-
-void MultiCameraCalibrationNew::projectPointsOriginal(size_t camera_src, size_t camera_dst, size_t idx, vector<Point2d> &points) {
-
-}
-
-void MultiCameraCalibrationNew::projectPointsOptimized(size_t camera_dst, size_t idx, vector<Point2d> &points) {
- // TODO: indexing does not match input (points may be skipped in loadInput())
-
- points.clear();
- size_t i = target_.n_points * idx;
-
- if (!isValid(i)) return;
-
- Point3d p1(points3d_optimized_[i]);
- Point3d p2(points3d_optimized_[i + 1]);
-
- if (!std::isfinite(p1.x) || !std::isfinite(p2.x)) {
- // DEBUG: should not happen
- LOG(ERROR) << "Bad point! (no valid triangulation)";
- return;
- }
-
- Mat R, tvec, rvec;
- calculateTransform(R_[reference_camera_], t_[reference_camera_], R_[camera_dst], t_[camera_dst], R, tvec);
-
- cv::Rodrigues(R, rvec);
- cv::projectPoints( vector<Point3d> { p1, p2 },
- rvec, tvec, K_[camera_dst], dist_coeffs_[camera_dst], points);
-}
-
-void MultiCameraCalibrationNew::getCalibration(vector<Mat> &R, vector<Mat> &t) {
- DCHECK(is_calibrated_);
- R.resize(n_cameras_);
- t.resize(n_cameras_);
-
- for (size_t i = 0; i < n_cameras_; i++) {
- R_[i].copyTo(R[i]);
- t_[i].copyTo(t[i]);
- }
-}
\ No newline at end of file
diff --git a/applications/calibration-multi/src/multicalibrate.hpp b/applications/calibration-multi/src/multicalibrate.hpp
deleted file mode 100644
index f696e6328d69126cc864c9df97909b9f3154e841..0000000000000000000000000000000000000000
--- a/applications/calibration-multi/src/multicalibrate.hpp
+++ /dev/null
@@ -1,159 +0,0 @@
-#pragma once
-
-#include <opencv2/core.hpp>
-
-#include "visibility.hpp"
-#include "util.hpp"
-
-using cv::Mat;
-using cv::Size;
-using cv::Point2d;
-using cv::Point3d;
-using cv::Vec4d;
-using cv::Scalar;
-
-using std::vector;
-using std::pair;
-
-class CalibrationTarget {
-public:
- explicit CalibrationTarget(double length):
- n_points(2),
- calibration_bar_length_(length)
- {}
-
- /* @brief Estimate scale factor.
- * @param 3D points (can pass n views)
- */
- double estimateScale(vector<Point3d> points3d);
- size_t n_points;
-
-private:
- double calibration_bar_length_;
-};
-
-class MultiCameraCalibrationNew {
-public:
- MultiCameraCalibrationNew( size_t n_cameras, size_t reference_camera,
- Size resolution, CalibrationTarget target,
- int fix_intrinsics=1);
-
- void setCameraParameters(size_t idx, const Mat &K, const Mat &distCoeffs);
- void setCameraParameters(size_t idx, const Mat &K);
-
- void addPoints(vector<vector<Point2d>> points2d, vector<int> visibility);
-
- size_t getViewsCount();
- size_t getCamerasCount() { return n_cameras_; }
- size_t getOptimalReferenceCamera();
-
- size_t getMinVisibility() { return visibility_graph_.getMinVisibility(); }
- size_t getViewsCount(size_t camera) { return visibility_graph_.getViewsCount(camera); }
-
- void setFixIntrinsic(int value) { fix_intrinsics_ = (value == 1 ? 5 : 0); }
-
- void loadInput(const std::string &filename, const vector<size_t> &cameras = {});
-
- void saveInput(cv::FileStorage &fs);
- void saveInput(const std::string &filename);
-
- Mat getCameraMat(size_t idx);
- Mat getCameraMatNormalized(size_t idx, double scale_x = 1.0, double scale_y = 1.0);
-
- Mat getDistCoeffs(size_t idx);
-
- double calibrateAll(int reference_camera = -1);
- double getReprojectionError();
- void getCalibration(vector<Mat> &R, vector<Mat> &t);
-
- void projectPointsOriginal(size_t camera_src, size_t camera_dst, size_t idx, vector<Point2d> &points);
- void projectPointsOptimized(size_t camera_dst, size_t idx, vector<Point2d> &points);
-
- std::vector<cv::Point3d> object_points_;
-
-protected:
- bool isVisible(size_t camera, size_t idx);
- bool isValid(size_t camera, size_t idx);
- bool isValid(size_t idx);
-
- Point3d getPoint3D(size_t camera, size_t i);
-
- vector<Point2d> getPoints(size_t camera, size_t idx);
- vector<vector<Point2d>> getAllPoints(size_t camera, vector<size_t> idx);
-
- void getVisiblePoints( vector<size_t> cameras,
- vector<vector<Point2d>> &points,
- vector<size_t> &idx);
-
- size_t getVisiblePointsCount(vector<size_t> cameras) {
- // TODO: for pairs can use visibility graph adjacency matrix
- vector<vector<Point2d>> points2d;
- vector<size_t> idx;
- getVisiblePoints(cameras, points2d, idx);
- return idx.size();
- }
-
- size_t getTotalPointsCount() {
- return points2d_[0].size();
- }
-
- vector<Point3d> getPoints3D(size_t idx);
-
- /* @brief Find points which are visible on all cameras. Returns
- * corresponding indices in idx vector.
- */
- void getVisiblePoints3D(vector<size_t> cameras,
- vector<vector<Point3d>> &points,
- vector<size_t> &idx);
-
- /* @brief Update 3D points with new values. If no earlier data, new data
- * is used as is, otherwise calculates average.
- */
- void updatePoints3D(size_t camera, Point3d new_point, size_t idx, const Mat &R, const Mat &t);
- void updatePoints3D(size_t camera, vector<Point3d> new_points, vector<size_t> idx, const Mat &R, const Mat &t);
-
- /* @brief Calculates 3D points that are not visible in reference camera
- * from transformations in visible cameras.
- */
- void calculateMissingPoints3D();
-
- void getTransformation(size_t camera_from, size_t camera_to, Mat &R, Mat &T);
- double calibratePair(size_t camera_from, size_t camera_to, Mat &R, Mat &T);
-
- /* @brief Calculate reprojection error of visible points (triangulation) */
- double getReprojectionError(size_t c_from, size_t c_to, const Mat &K, const Mat &R, const Mat &T);
-
- /* @brief Calculate reprojection error of visible points (optimized/averaged points) */
- double getReprojectionErrorOptimized(size_t c_from, const Mat &K, const Mat &R, const Mat &T);
-
- /* @brief Remove old calibration data calculated by calibrateAll */
- void reset();
-
-
-private:
- CalibrationTarget target_;
- Visibility visibility_graph_;
-
- bool is_calibrated_;
- size_t n_cameras_;
- size_t reference_camera_;
- size_t min_visible_points_;
- int fix_intrinsics_;
-
- Size resolution_;
- vector<Mat> K_;
- vector<Mat> dist_coeffs_;
- vector<Mat> R_;
- vector<Mat> t_;
-
- vector<Point3d> points3d_optimized_;
- vector<vector<Point3d>> points3d_;
- vector<vector<Point2d>> points2d_;
- vector<vector<int>> visible_;
- vector<vector<int>> inlier_; // "inlier"
- vector<vector<double>> weights_;
-
- int fm_method_;
- double fm_ransac_threshold_;
- double fm_confidence_;
-};
diff --git a/applications/calibration-multi/src/util.cpp b/applications/calibration-multi/src/util.cpp
deleted file mode 100644
index 0019516e4027472d2be733899bde75a50a94dd0f..0000000000000000000000000000000000000000
--- a/applications/calibration-multi/src/util.cpp
+++ /dev/null
@@ -1,174 +0,0 @@
-#include "util.hpp"
-
-#include <loguru.hpp>
-
-#include <opencv2/core.hpp>
-#include <opencv2/calib3d.hpp>
-#include <opencv2/imgproc.hpp>
-#include <opencv2/aruco.hpp>
-
-using std::vector;
-
-using cv::Mat;
-using cv::Point2i;
-using cv::Point2d;
-using cv::Point3d;
-using cv::Size;
-using cv::Scalar;
-
-/* @brief Visualize epipolar lines for given points in the other image.
- * @param Points in image
- * @param Corresponding image where to draw the lines
- * @param Fundamental matrix
- * @param Line color
- * @param Which image (1 or 2), see OpenCV's computeCorrespondEpilines()
- */
-void drawEpipolarLines(vector<Point2d> const &points, Mat &img, Mat const &F, Scalar color, int image) {
- Mat lines;
- cv::computeCorrespondEpilines(points, image, F, lines);
-
- for (int i = 0; i < lines.rows; i++) {
- cv::Vec3f l = lines.at<cv::Vec3f>(i);
- float a = l[0];
- float b = l[1];
- float c = l[2];
- float x0, y0, x1, y1;
- x0 = 0;
- y0 = (-c -a * x0) / b;
- x1 = img.cols;
- y1 = (-c -a * x1) / b;
- cv::line(img, cv::Point(x0, y0), cv::Point(x1,y1), color, 1);
- }
-}
-
-/* @breif Find calibration points. AruCo markers, two per image.
- * visible parameter input/ouput
- */
-int findCorrespondingPoints(vector<Mat> imgs, vector<vector<Point2d>> &points,
- vector<int> &visible) {
- using namespace cv;
- int count = 0;
-
- visible.resize(imgs.size(), 1);
-
- points.clear();
- points.resize(imgs.size(), vector<Point2d>(2, Point2d(0.0, 0.0)));
-
- auto dictionary = aruco::getPredefinedDictionary(aruco::DICT_5X5_50);
- vector<vector<Point2f>> corners;
- vector<int> ids;
-
- for (size_t i = 0; i < imgs.size(); i++) {
- if (visible[i] == 0) continue;
-
- aruco::detectMarkers(imgs[i], dictionary, corners, ids);
- if (corners.size() == 2) {
- Point2d center0((corners[0][0] + corners[0][1] + corners[0][2] + corners[0][3]) / 4.0);
- Point2d center1((corners[1][0] + corners[1][1] + corners[1][2] + corners[1][3]) / 4.0);
- if (ids[0] != 0) { std::swap(center0, center1); }
-
- points[i][0] = center0; points[i][1] = center1;
- visible[i] = 1;
-
- count++;
- }
- else {
- visible[i] = 0;
- }
- }
-
- return count;
-}
-
-/* @brief Find AruCo marker centers.
- * @param (input) image
- * @param (output) found centers
- * @param (output) marker IDs
- */
-void findMarkerCenters(Mat &img, vector<Point2d> &points, vector<int> &ids, int dict) {
- using namespace cv;
-
- points.clear();
-
- auto dictionary = aruco::getPredefinedDictionary(dict);
- vector<vector<Point2f>> corners;
-
- aruco::detectMarkers(img, dictionary, corners, ids);
- for (size_t j = 0; j < corners.size(); j++) {
- Point2f center((corners[j][0] + corners[j][1] + corners[j][2] + corners[j][3]) / 4.0);
- points.push_back(center);
- }
-}
-
-/* OpenCV's recoverPose() expects both cameras to have identical intrinsic
- * parameters.
- */
-int recoverPose(Mat &E, vector<Point2d> &_points1, vector<Point2d> &_points2,
- Mat &_cameraMatrix1, Mat &_cameraMatrix2,
- Mat &_R, Mat &_t, double distanceThresh,
- Mat &triangulatedPoints) {
-
- Mat points1, points2, cameraMatrix1, cameraMatrix2, cameraMatrix;
-
- Mat(_points1.size(), 2, CV_64FC1, _points1.data()).convertTo(points1, CV_64F);
- Mat(_points2.size(), 2, CV_64FC1, _points2.data()).convertTo(points2, CV_64F);
- _cameraMatrix1.convertTo(cameraMatrix1, CV_64F);
- _cameraMatrix2.convertTo(cameraMatrix2, CV_64F);
- cameraMatrix = Mat::eye(Size(3, 3), CV_64FC1);
-
- double fx1 = cameraMatrix1.at<double>(0,0);
- double fy1 = cameraMatrix1.at<double>(1,1);
- double cx1 = cameraMatrix1.at<double>(0,2);
- double cy1 = cameraMatrix1.at<double>(1,2);
-
- double fx2 = cameraMatrix2.at<double>(0,0);
- double fy2 = cameraMatrix2.at<double>(1,1);
- double cx2 = cameraMatrix2.at<double>(0,2);
- double cy2 = cameraMatrix2.at<double>(1,2);
-
- points1.col(0) = (points1.col(0) - cx1) / fx1;
- points1.col(1) = (points1.col(1) - cy1) / fy1;
-
- points2.col(0) = (points2.col(0) - cx2) / fx2;
- points2.col(1) = (points2.col(1) - cy2) / fy2;
-
- // TODO mask
- // cameraMatrix = I (for details, see OpenCV's recoverPose() source code)
- // modules/calib3d/src/five-point.cpp (461)
- //
- // https://github.com/opencv/opencv/blob/371bba8f54560b374fbcd47e7e02f015ac4969ad/modules/calib3d/src/five-point.cpp#L461
-
- return cv::recoverPose(E, points1, points2, cameraMatrix, _R, _t, distanceThresh, cv::noArray(), triangulatedPoints);
-}
-
-/* @brief Calculate RMS reprojection error
- * @param 3D points
- * @param Expected 2D points
- * @param Camera matrix
- * @param Rotation matrix/vector
- * @param Translation vector
- */
-double reprojectionError( const vector<Point3d> &points3d, const vector<Point2d> &points2d,
- const Mat &K, const Mat &rvec, const Mat &tvec) {
-
- DCHECK(points3d.size() == points2d.size());
-
- Mat _rvec;
- if (rvec.size() == Size(3, 3)) { cv::Rodrigues(rvec, _rvec); }
- else { _rvec = rvec; }
-
- DCHECK(_rvec.size() == Size(1, 3) || _rvec.size() == Size(3, 1));
-
- vector<Point2d> points_reprojected;
- cv::projectPoints(points3d, _rvec, tvec, K, cv::noArray(), points_reprojected);
-
- int n_points = points2d.size();
- double err = 0.0;
-
- for (int i = 0; i < n_points; i++) {
- Point2d a = points2d[i] - points_reprojected[i];
- err += a.x * a.x + a.y * a.y;
- }
-
- return sqrt(err / n_points);
-}
\ No newline at end of file
diff --git a/applications/calibration-multi/src/util.hpp b/applications/calibration-multi/src/util.hpp
deleted file mode 100644
index 7c2b5702feb1b518fd4662560f349c2aa4de9fed..0000000000000000000000000000000000000000
--- a/applications/calibration-multi/src/util.hpp
+++ /dev/null
@@ -1,110 +0,0 @@
-#pragma once
-
-#include <loguru.hpp>
-
-#include <opencv2/core.hpp>
-#include <opencv2/aruco.hpp>
-
-using std::vector;
-
-using cv::Mat;
-using cv::Point2i;
-using cv::Point2d;
-using cv::Point3d;
-using cv::Size;
-using cv::Scalar;
-
-/* @brief Visualize epipolar lines for given points in the other image.
- * @param Points in image
- * @param Corresponding image where to draw the lines
- * @param Fundamental matrix
- * @param Line color
- * @param Which image (1 or 2), see OpenCV's computeCorrespondEpilines()
- */
-void drawEpipolarLines(vector<Point2d> const &points, Mat &img, Mat const &F, Scalar color, int image=1);
-
-
-/* @breif Find calibration points. AruCo markers, two per image.
- */
-int findCorrespondingPoints(vector<Mat> imgs, vector<vector<Point2d>> &points,
- vector<int> &visible);
-
-/* @brief Find AruCo marker centers.
- * @param (input) image
- * @param (output) found centers
- * @param (output) marker IDs
- */
-void findMarkerCenters(Mat &img, vector<Point2d> &points, vector<int> &ids, int dict=cv::aruco::DICT_4X4_50);
-
-/* OpenCV's recoverPose() expects both cameras to have identical intrinsic
- * parameters.
- *
- * https://github.com/opencv/opencv/blob/371bba8f54560b374fbcd47e7e02f015ac4969ad/modules/calib3d/src/five-point.cpp#L461
- */
-int recoverPose(Mat &E, vector<Point2d> &_points1, vector<Point2d> &_points2,
- Mat &_cameraMatrix1, Mat &_cameraMatrix2,
- Mat &_R, Mat &_t, double distanceThresh,
- Mat &triangulatedPoints);
-
-/* @brief Calculate RMS reprojection error
- * @param 3D points
- * @param Expected 2D points
- * @param Camera matrix
- * @param Rotation matrix/vector
- * @param Translation vector
- */
-double reprojectionError( const vector<Point3d> &points3d, const vector<Point2d> &points2d,
- const Mat &K, const Mat &rvec, const Mat &tvec);
-
-inline double euclideanDistance(Point3d a, Point3d b) {
- Point3d c = a - b;
- return sqrt(c.x*c.x + c.y*c.y + c.z*c.z);
-}
-
-inline Point3d transformPoint(Point3d p, Mat R, Mat t) {
- DCHECK(R.size() == Size(3, 3));
- DCHECK(t.size() == Size(1, 3));
- return Point3d(Mat(R * Mat(p) + t));
-}
-
-inline Point3d inverseTransformPoint(Point3d p, Mat R, Mat t) {
- DCHECK(R.size() == Size(3, 3));
- DCHECK(t.size() == Size(1, 3));
- return Point3d(Mat(R.t() * (Mat(p) - t)));
-}
-
-inline Mat getMat4x4(const Mat &R, const Mat &t) {
- DCHECK(R.size() == Size(3, 3));
- DCHECK(t.size() == Size(1, 3));
- Mat M = Mat::eye(Size(4, 4), CV_64FC1);
- R.copyTo(M(cv::Rect(0, 0, 3, 3)));
- t.copyTo(M(cv::Rect(3, 0, 1, 3)));
- return M;
-}
-
-inline void getRT(const Mat RT, Mat &R, Mat &t) {
- R = RT(cv::Rect(0, 0, 3, 3));
- t = RT(cv::Rect(3, 0, 1, 3));
-}
-
-// calculate transforms from (R1, t1) to (R2, t2), where parameters
-// (R1, t1) and (R2, t2) map to same (target) coordinate system
-
-inline void calculateTransform(const Mat &R1, const Mat &T1, const Mat &R2, const Mat &T2, Mat &R, Mat &tvec, Mat &M) {
- Mat M_src = getMat4x4(R1, T1);
- Mat M_dst = getMat4x4(R2, T2);
- M = M_dst.inv() * M_src;
- R = M(cv::Rect(0, 0, 3, 3));
- tvec = M(cv::Rect(3, 0, 1, 3));
-}
-
-inline void calculateTransform(const Mat &R1, const Mat &T1, const Mat &R2, const Mat &T2,Mat &R, Mat &tvec) {
- Mat M;
- calculateTransform(R1, T1, R2, T2, R, tvec, M);
-}
-
-inline void calculateInverse(const Mat &R2, const Mat &T2, Mat &R, Mat &T) {
- Mat R1 = Mat::eye(Size(3, 3), CV_64FC1);
- Mat T1(Size(1, 3), CV_64FC1, Scalar(0.0));
- calculateTransform(R1, T1, R2, T2, R, T);
-}
\ No newline at end of file
diff --git a/applications/calibration-multi/src/visibility.cpp b/applications/calibration-multi/src/visibility.cpp
deleted file mode 100644
index df0427c5ddc466ba037dcbe8bdba2adc406ed89d..0000000000000000000000000000000000000000
--- a/applications/calibration-multi/src/visibility.cpp
+++ /dev/null
@@ -1,151 +0,0 @@
-#include <numeric>
-#include <loguru.hpp>
-#include <queue>
-
-#include "visibility.hpp"
-
-using cv::Mat;
-using cv::Scalar;
-using cv::Size;
-using std::vector;
-using std::pair;
-using std::make_pair;
-
-Visibility::Visibility(int n_cameras) : n_cameras_(n_cameras) {
- visibility_ = Mat(Size(n_cameras, n_cameras), CV_32SC1, Scalar(0));
- count_ = vector(n_cameras, 0);
-}
-
-void Visibility::update(vector<int> &visible) {
- DCHECK(visible.size() == (size_t) n_cameras_);
-
- for (int i = 0; i < n_cameras_; i++) {
- if (visible[i] == 0) continue;
- count_[i]++;
-
- for (int j = 0; j < n_cameras_; j++) {
- if (i == j) continue;
- if (visible[j] == 1) visibility_.at<int>(i, j)++;
- }
- }
-}
-
-int Visibility::getOptimalCamera() {
- // most visible on average
- int best_i = 0;
- double best_score = -INFINITY;
- for (int i = 0; i < visibility_.rows; i++) {
- double score = 0.0;
- for (int x = 0; x < visibility_.cols; x++) {
- score += visibility_.at<int>(i, x);
- }
- score = score / (double) visibility_.cols;
- if (score > best_score) {
- best_i = i;
- best_score = score;
- }
- }
-
- return best_i;
-}
-
-void Visibility::deleteEdge(int camera1, int camera2)
-{
- visibility_.at<int>(camera1, camera2) = 0;
- visibility_.at<int>(camera2, camera1) = 0;
-}
-
-int Visibility::getMinVisibility() {
- int min_count = INT_MAX;
-
- for (int i = 0; i < n_cameras_; i++) {
- if (count_[i] < min_count) {
- min_count = count_[i];
- }
- }
-
- return min_count;
-}
-
-int Visibility::getViewsCount(int camera) {
- return count_[camera];
-}
-
-vector<vector<pair<int, int>>> Visibility::findShortestPaths(int reference) {
- DCHECK(reference < n_cameras_);
-
- vector<vector<pair<int, int>>> res(n_cameras_);
- for (int i = 0; i < n_cameras_; i++) {
- res[i] = findShortestPath(i, reference);
- }
-
- return res;
-}
-
-vector<pair<int, int>> Visibility::findShortestPath(int from, int to) {
- if (from == to) return vector<pair<int, int>>();
-
- vector<bool> visited(n_cameras_, false);
- vector<double> distances(n_cameras_, INFINITY);
- vector<int> previous(n_cameras_, -1);
-
- distances[from] = 0.0;
-
- auto cmp = [](pair<int, double> u, pair<int, double> v) { return u.second > v.second; };
- std::priority_queue<pair<int, double>, vector<pair<int, double>>, decltype(cmp)> pq(cmp);
-
- pq.push(make_pair(from, distances[from]));
-
- while(!pq.empty()) {
- pair<int, double> current = pq.top();
- pq.pop();
-
- int current_id = current.first;
- double current_distance = distances[current_id];
-
- visited[current_id] = true;
-
- for (int i = 0; i < n_cameras_; i++) {
- int count = visibility_.at<int>(current_id, i);
- if (count == 0) continue; // not connected
-
- double distance = 1.0 / (double) count;
- double new_distance = current_distance + distance;
-
- if (distances[i] > new_distance) {
- distances[i] = new_distance;
- previous[i] = current_id;
-
- pq.push(make_pair(i, distances[i]));
- }
- }
- }
-
- vector<pair<int, int>> res;
- int prev = previous[to];
- int current = to;
-
- do {
- res.push_back(make_pair(current, prev));
- current = prev;
- prev = previous[prev];
- }
- while(prev != -1);
-
- std::reverse(res.begin(), res.end());
- return res;
-}
-
-vector<int> Visibility::getClosestCameras(int c) {
-
- // initialize original index locations
- vector<int> idx(n_cameras_);
- iota(idx.begin(), idx.end(), 0);
- int* views = visibility_.ptr<int>(c);
-
- // sort indexes based on comparing values in v
- sort(idx.begin(), idx.end(),
- [views](size_t i1, size_t i2) {return views[i1] < views[i2];});
-
- return idx;
-}
\ No newline at end of file
diff --git a/applications/calibration-multi/src/visibility.hpp b/applications/calibration-multi/src/visibility.hpp
deleted file mode 100644
index 0ac8d3a802fc402a53ca16b78f6a733a6c7d77dc..0000000000000000000000000000000000000000
--- a/applications/calibration-multi/src/visibility.hpp
+++ /dev/null
@@ -1,56 +0,0 @@
-#pragma once
-
-#include <opencv2/core.hpp>
-
-using cv::Mat;
-using std::vector;
-using std::pair;
-
-class Visibility {
-public:
- explicit Visibility(int n_cameras);
-
- /**
- * @breif Update visibility graph.
- * @param Which cameras see the feature(s) in this iteration
- */
- void update(vector<int> &visible);
-
- /**
- * @brief For all cameras, find shortest (optimal) paths to reference
- * camera
- * @param Id of reference camera
- *
- * Calculates shortest path in weighted graph using Dijstra's
- * algorithm. Weights are inverse of views between cameras (nodes)
- *
- * @todo Add constant weight for each edge (prefer less edges)
- */
- vector<vector<pair<int, int>>> findShortestPaths(int reference);
-
- vector<int> getClosestCameras(int c);
- void deleteEdge(int camera1, int camera2);
-
- int getOptimalCamera();
-
- /** @brief Returns the smallest visibility count (any camera)
- */
- int getMinVisibility();
-
- /** @brief Returns the visibility camera's value
- */
- int getViewsCount(int camera);
-
-protected:
- /**
- * @brief Find shortest path between nodes
- * @param Source node id
- * @param Destination node id
- */
- vector<pair<int, int>> findShortestPath(int from, int to);
-
-private:
- int n_cameras_; // @brief number of cameras
- Mat visibility_; // @brief adjacency matrix
- vector<int> count_;
-};
diff --git a/applications/calibration/CMakeLists.txt b/applications/calibration/CMakeLists.txt
deleted file mode 100644
index 2452f392a9cb6d0dbcac4737ba99ff106996f699..0000000000000000000000000000000000000000
--- a/applications/calibration/CMakeLists.txt
+++ /dev/null
@@ -1,15 +0,0 @@
-set(CALIBSRC
- src/main.cpp
- src/lens.cpp
- src/stereo.cpp
- src/align.cpp
- src/common.cpp
-)
-
-add_executable(ftl-calibrate ${CALIBSRC})
-
-target_include_directories(ftl-calibrate PRIVATE src)
-
-target_link_libraries(ftl-calibrate ftlcalibration ftlcommon Threads::Threads ${OpenCV_LIBS})
-
-
diff --git a/applications/calibration/src/align.cpp b/applications/calibration/src/align.cpp
deleted file mode 100644
index 01123aea98cfa094be7e12076f7d222697b61569..0000000000000000000000000000000000000000
--- a/applications/calibration/src/align.cpp
+++ /dev/null
@@ -1,391 +0,0 @@
-#include "align.hpp"
-
-#include <loguru.hpp>
-
-#include <opencv2/core.hpp>
-#include <opencv2/core/utility.hpp>
-#include <opencv2/imgproc.hpp>
-#include <opencv2/calib3d.hpp>
-#include <opencv2/imgcodecs.hpp>
-#include <opencv2/videoio.hpp>
-#include <opencv2/highgui.hpp>
-
-using std::map;
-using std::string;
-using cv::Mat;
-using std::vector;
-using cv::Point2f;
-using cv::Size;
-
-struct Rec4f {
- float left;
- float right;
- float top;
- float bottom;
-};
-
-bool loadIntrinsicsMap(const std::string &ifile, const cv::Size &imageSize, Mat &map1, Mat &map2, Mat &cameraMatrix, float scale) {
- using namespace cv;
-
- FileStorage fs;
-
- // reading intrinsic parameters
- fs.open((ifile).c_str(), FileStorage::READ);
- if (!fs.isOpened()) {
- LOG(WARNING) << "Could not open intrinsics file : " << ifile;
- return false;
- }
-
- LOG(INFO) << "Intrinsics from: " << ifile;
-
-
- Mat D1;
- fs["M"] >> cameraMatrix;
- fs["D"] >> D1;
-
- //cameraMatrix *= scale;
-
- initUndistortRectifyMap(cameraMatrix, D1, Mat::eye(3,3, CV_64F), cameraMatrix, imageSize, CV_16SC2,
- map1, map2);
-
- return true;
-}
-
-inline bool hasOption(const map<string, string> &options, const std::string &opt) {
- return options.find(opt) != options.end();
-}
-
-inline std::string getOption(map<string, string> &options, const std::string &opt) {
- auto str = options[opt];
- return str.substr(1,str.size()-2);
-}
-
-static const float kPI = 3.14159f;
-
-/*static float calculateZRotation(const vector<Point2f> &points, Size &boardSize) {
- Point2f tl = points[boardSize.width * (boardSize.height / 2)];
- Point2f tr = points[boardSize.width * (boardSize.height / 2) + boardSize.width-1];
-
- float dx = tr.x - tl.x;
- float dy = tr.y - tl.y;
- float angle = atan2(dy, dx) * (180.0f / kPI);
- return angle;
-}
-
-static Point2f parallaxDistortion(const vector<Point2f> &points, Size &boardSize) {
- Point2f tl = points[0];
- Point2f tr = points[boardSize.width-1];
- Point2f bl = points[(boardSize.height-1)*boardSize.width];
- Point2f br = points[points.size()-1];
-
- float dx1 = tr.x - tl.x;
- float dx2 = br.x - bl.x;
- float ddx = dx1 - dx2;
-
- float dy1 = bl.y - tl.y;
- float dy2 = br.y - tr.y;
- float ddy = dy1 - dy2;
-
- return Point2f(ddx, ddy);
-}*/
-
-static float distanceTop(const Mat &camMatrix, const vector<Point2f> &points, Size &boardSize, float squareSize) {
- Point2f tl = points[0];
- Point2f tr = points[boardSize.width-1];
-
- float pixSize = tr.x - tl.x;
- float mmSize = boardSize.width * squareSize;
- float focal = camMatrix.at<double>(0,0);
-
- return ((mmSize / pixSize) * focal) / 1000.0f;
-}
-
-static float distanceBottom(const Mat &camMatrix, const vector<Point2f> &points, Size &boardSize, float squareSize) {
- Point2f bl = points[(boardSize.height-1)*boardSize.width];
- Point2f br = points[points.size()-1];
-
- float pixSize = br.x - bl.x;
- float mmSize = boardSize.width * squareSize;
- float focal = camMatrix.at<double>(0,0);
-
- return ((mmSize / pixSize) * focal) / 1000.0f;
-}
-
-static float distanceLeft(const Mat &camMatrix, const vector<Point2f> &points, Size &boardSize, float squareSize) {
- Point2f bl = points[(boardSize.height-1)*boardSize.width];
- Point2f tl = points[0];
-
- float pixSize = bl.y - tl.y;
- float mmSize = boardSize.height * squareSize;
- float focal = camMatrix.at<double>(0,0);
-
- return ((mmSize / pixSize) * focal) / 1000.0f;
-}
-
-static float distanceRight(const Mat &camMatrix, const vector<Point2f> &points, Size &boardSize, float squareSize) {
- Point2f tr = points[boardSize.width-1];
- Point2f br = points[points.size()-1];
-
- float pixSize = br.y - tr.y;
- float mmSize = boardSize.height * squareSize;
- float focal = camMatrix.at<double>(0,0);
-
- return ((mmSize / pixSize) * focal) / 1000.0f;
-}
-
-static Rec4f distances(const Mat &camMatrix, const vector<Point2f> &points, Size &boardSize, float squareSize) {
- return {
- -distanceLeft(camMatrix, points, boardSize, squareSize),
- -distanceRight(camMatrix, points, boardSize, squareSize),
- -distanceTop(camMatrix, points, boardSize, squareSize),
- -distanceBottom(camMatrix, points, boardSize, squareSize)
- };
-}
-
-/*static float distance(const Mat &camMatrix, const vector<Point2f> &points, Size &boardSize, float squareSize) {
- Point2f tl = points[boardSize.width * (boardSize.height / 2)];
- Point2f tr = points[boardSize.width * (boardSize.height / 2) + boardSize.width-1];
-
- float pixSize = tr.x - tl.x;
- float mmSize = boardSize.width * squareSize;
- float focal = camMatrix.at<double>(0,0);
-
- return ((mmSize / pixSize) * focal) / 1000.0f;
-}
-
-static Point2f diffY(const vector<Point2f> &pointsA, const vector<Point2f> &pointsB, Size &boardSize) {
- Point2f tlA = pointsA[boardSize.width * (boardSize.height / 2)];
- Point2f trA = pointsA[boardSize.width * (boardSize.height / 2) + boardSize.width-1];
-
- Point2f tlB = pointsB[boardSize.width * (boardSize.height / 2)];
- Point2f trB = pointsB[boardSize.width * (boardSize.height / 2) + boardSize.width-1];
-
- float d1 = tlA.y - tlB.y;
- float d2 = trA.y - trB.y;
-
- return Point2f(d1,d2);
-}*/
-
-static const float kDistanceThreshold = 0.005f;
-
-
-static void showAnaglyph(const Mat &frame_l, const Mat &frame_r, Mat &img3d) {
- using namespace cv;
-
- float data[] = {0.299f, 0.587f, 0.114f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.299, 0.587, 0.114};
- Mat m(2, 9, CV_32FC1, data);
-
- //Mat img3d;
-
- img3d = Mat(frame_l.size(), CV_8UC3);
-
- for (int y=0; y<img3d.rows; y++) {
- unsigned char *row3d = img3d.ptr(y);
- const unsigned char *rowL = frame_l.ptr(y);
- const unsigned char *rowR = frame_r.ptr(y);
-
- for (int x=0; x<img3d.cols*3; x+=3) {
- const uchar lb = rowL[x+0];
- const uchar lg = rowL[x+1];
- const uchar lr = rowL[x+2];
- const uchar rb = rowR[x+0];
- const uchar rg = rowR[x+1];
- const uchar rr = rowR[x+2];
-
- row3d[x+0] = lb*m.at<float>(0,6) + lg*m.at<float>(0,7) + lr*m.at<float>(0,8) + rb*m.at<float>(1,6) + rg*m.at<float>(1,7) + rr*m.at<float>(1,8);
- row3d[x+1] = lb*m.at<float>(0,3) + lg*m.at<float>(0,4) + lr*m.at<float>(0,5) + rb*m.at<float>(1,3) + rg*m.at<float>(1,4) + rr*m.at<float>(1,5);
- row3d[x+2] = lb*m.at<float>(0,0) + lg*m.at<float>(0,1) + lr*m.at<float>(0,2) + rb*m.at<float>(1,0) + rg*m.at<float>(1,1) + rr*m.at<float>(1,2);
- }
- }
-
- //imshow("Anaglyph", img3d);
- //return img3d;
-}
-
-void ftl::calibration::align(map<string, string> &opt) {
- using namespace cv;
-
- float squareSize = 36.0f;
-
- VideoCapture camA(0);
- VideoCapture camB(1);
-
- if (!camA.isOpened() || !camB.isOpened()) {
- LOG(ERROR) << "Could not open a camera device";
- return;
- }
-
- camA.set(cv::CAP_PROP_FRAME_WIDTH, 1280); // TODO Use settings
- camA.set(cv::CAP_PROP_FRAME_HEIGHT, 720);
- camB.set(cv::CAP_PROP_FRAME_WIDTH, 1280);
- camB.set(cv::CAP_PROP_FRAME_HEIGHT, 720);
-
- Mat map1, map2, cameraMatrix;
- Size imgSize(1280,720);
- loadIntrinsicsMap((hasOption(opt, "profile")) ? getOption(opt,"profile") : "./panasonic.yml", imgSize, map1, map2, cameraMatrix, 1.0f);
-
- Size boardSize(9,6);
-
-#if CV_VERSION_MAJOR >= 4
- int chessBoardFlags = CALIB_CB_NORMALIZE_IMAGE;
-#else
- int chessBoardFlags = CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_NORMALIZE_IMAGE;
-
- if (!settings.useFisheye) {
- // fast check erroneously fails with high distortions like fisheye
- chessBoardFlags |= CALIB_CB_FAST_CHECK;
- }
-#endif
-
- bool anaglyph = true;
-
- while (true) {
- Mat frameA, fA;
- Mat frameB, fB;
-
- camA.grab();
- camB.grab();
- camA.retrieve(frameA);
- camB.retrieve(frameB);
-
- remap(frameA, fA, map1, map2, INTER_LINEAR);
- remap(frameB, fB, map1, map2, INTER_LINEAR);
-
- // Get the chessboard
- vector<Point2f> pointBufA;
- vector<Point2f> pointBufB;
- bool foundA, foundB;
- foundA = findChessboardCornersSB(fA, boardSize,
- pointBufA, chessBoardFlags);
- foundB = findChessboardCornersSB(fB, boardSize,
- pointBufB, chessBoardFlags);
-
- // Step 1: Position cameras correctly with respect to chessboard
- // - print distance estimate etc
-
- // Step 2: Show individual camera tilt degrees with left / right indicators
-
- // Show also up down tilt perspective error
-
- // Step 3: Display current baseline in mm
-
- if (foundA) {
- // Draw the corners.
- //drawChessboardCorners(fA, boardSize,
- // Mat(pointBufA), foundA);
- }
-
- if (foundB) {
- // Draw the corners.
- //drawChessboardCorners(fB, boardSize,
- // Mat(pointBufB), foundB);
- }
-
- Mat anag;
- showAnaglyph(fA, fB, anag);
-
- if (foundA) {
- Rec4f dists = distances(cameraMatrix, pointBufA, boardSize, squareSize);
- //Rec4f angs = angles(pointBufA, boardSize);
-
- // TODO Check angles also...
- bool lrValid = std::abs(dists.left-dists.right) <= kDistanceThreshold;
- bool tbValid = std::abs(dists.top-dists.bottom) <= kDistanceThreshold;
- bool tiltUp = dists.top < dists.bottom && !tbValid;
- bool tiltDown = dists.top > dists.bottom && !tbValid;
- bool rotLeft = dists.left > dists.right && !lrValid;
- bool rotRight = dists.left < dists.right && !lrValid;
-
- // TODO Draw lines
- Point2f bl = pointBufA[(boardSize.height-1)*boardSize.width];
- Point2f tl = pointBufA[0];
- Point2f tr = pointBufA[boardSize.width-1];
- Point2f br = pointBufA[pointBufA.size()-1];
-
-
- line(anag, tl, tr, (!lrValid && tiltUp) ? Scalar(0,0,255) : Scalar(0,255,0));
- line(anag, bl, br, (!lrValid && tiltDown) ? Scalar(0,0,255) : Scalar(0,255,0));
- line(anag, tl, bl, (!tbValid && rotLeft) ? Scalar(0,0,255) : Scalar(0,255,0));
- line(anag, tr, br, (!tbValid && rotRight) ? Scalar(0,0,255) : Scalar(0,255,0));
-
- //fA = fA(Rect(tl.x - 100, tl.y- 100, br.x-tl.x + 200, br.y-tl.y + 200));
-
- // Show distance error between cameras
-
- // Show estimated baseline
-
- //if (step == 0) {
- // Point2f pd = parallaxDistortion(pointBufA, boardSize);
- // putText(fA, string("Distort: ") + std::to_string(pd.x) + string(",") + std::to_string(pd.y), Point(10,50), FONT_HERSHEY_PLAIN, 2.0, Scalar(0,0,255), 3);
- //} else if (step == 1) {
- //float d = distance(cameraMatrix, pointBufA, boardSize, squareSize);
- //putText(anag, string("Distance: ") + std::to_string(-d) + string("m"), Point(10,50), FONT_HERSHEY_PLAIN, 2.0, Scalar(0,0,255), 3);
- // } else if (step == 2) {
- //float angle = calculateZRotation(pointBufA, boardSize) - 180.0f;
- //putText(anag, string("Angle: ") + std::to_string(angle), Point(10,150), FONT_HERSHEY_PLAIN, 2.0, Scalar(0,0,255), 3);
- //} else if (step == 3) {
- // Point2f vd = diffY(pointBufA, pointBufB, boardSize);
- // putText(fA, string("Vertical: ") + std::to_string(vd.x) + string(",") + std::to_string(vd.y), Point(10,200), FONT_HERSHEY_PLAIN, 2.0, Scalar(0,0,255), 3);
- // }
-
- if (foundB) {
- //if (step == 0) {
- //Point2f pd = parallaxDistortion(pointBufB, boardSize);
- //putText(fB, string("Distort: ") + std::to_string(pd.x) + string(",") + std::to_string(pd.y), Point(10,50), FONT_HERSHEY_PLAIN, 2.0, Scalar(0,0,255), 3);
- //} else if (step == 1) {
- //float d = distance(cameraMatrix, pointBufB, boardSize, squareSize);
- //putText(fB, string("Distance: ") + std::to_string(-d) + string("m"), Point(10,100), FONT_HERSHEY_PLAIN, 2.0, Scalar(0,0,255), 3);
- //} else if (step == 2) {
- //float angle = calculateZRotation(pointBufB, boardSize) - 180.0f;
- //putText(fB, string("Angle: ") + std::to_string(angle), Point(10,150), FONT_HERSHEY_PLAIN, 2.0, Scalar(0,0,255), 3);
- //}
-
- Rec4f dists = distances(cameraMatrix, pointBufB, boardSize, squareSize);
- //Rec4f angs = angles(pointBufA, boardSize);
-
- // TODO Check angles also...
- bool lrValid = std::abs(dists.left-dists.right) <= kDistanceThreshold;
- bool tbValid = std::abs(dists.top-dists.bottom) <= kDistanceThreshold;
- bool tiltUp = dists.top < dists.bottom && !tbValid;
- bool tiltDown = dists.top > dists.bottom && !tbValid;
- bool rotLeft = dists.left > dists.right && !lrValid;
- bool rotRight = dists.left < dists.right && !lrValid;
-
- // TODO Draw lines
- Point2f bbl = pointBufB[(boardSize.height-1)*boardSize.width];
- Point2f btl = pointBufB[0];
- Point2f btr = pointBufB[boardSize.width-1];
- Point2f bbr = pointBufB[pointBufB.size()-1];
-
-
- line(anag, btl, btr, (!lrValid && tiltUp) ? Scalar(0,0,255) : Scalar(0,255,0));
- line(anag, bbl, bbr, (!lrValid && tiltDown) ? Scalar(0,0,255) : Scalar(0,255,0));
- line(anag, btl, bbl, (!tbValid && rotLeft) ? Scalar(0,0,255) : Scalar(0,255,0));
- line(anag, btr, bbr, (!tbValid && rotRight) ? Scalar(0,0,255) : Scalar(0,255,0));
-
- float baseline1 = std::abs(tl.x - btl.x);
- float baseline2 = std::abs(tr.x - btr.x);
- float baseline3 = std::abs(bl.x - bbl.x);
- float baseline4 = std::abs(br.x - bbr.x);
- float boardWidth = (std::abs(tl.x-tr.x) + std::abs(btl.x - btr.x)) / 2.0f;
- float baseline = ((baseline1 + baseline2 + baseline3 + baseline4) / 4.0f) / boardWidth * (boardSize.width*squareSize);
-
- putText(anag, string("Baseline: ") + std::to_string(baseline) + string("mm"), Point(10,150), FONT_HERSHEY_PLAIN, 2.0, Scalar(0,255,0), 2);
- }
-
- }
-
- /*if (anaglyph) {
- showAnaglyph(fA,fB);
- } else {
- imshow("Left", fA);
- imshow("Right", fB);
- }*/
- imshow("Anaglyph", anag);
-
- char key = static_cast<char>(waitKey(20));
- if (key == 27)
- break;
- if (key == 32) anaglyph = !anaglyph;
- }
-}
\ No newline at end of file
diff --git a/applications/calibration/src/align.hpp b/applications/calibration/src/align.hpp
deleted file mode 100644
index 8a2097c14c9b541299fd112c1f6f279387a1aede..0000000000000000000000000000000000000000
--- a/applications/calibration/src/align.hpp
+++ /dev/null
@@ -1,15 +0,0 @@
-#ifndef _FTL_CALIBRATION_ALIGN_HPP_
-#define _FTL_CALIBRATION_ALIGN_HPP_
-
-#include <map>
-#include <string>
-
-namespace ftl {
-namespace calibration {
-
-void align(std::map<std::string, std::string> &opt);
-
-}
-}
-
-#endif // _FTL_CALIBRATION_ALIGN_HPP_
diff --git a/applications/calibration/src/common.cpp b/applications/calibration/src/common.cpp
deleted file mode 100644
index 8a678e4b9ba808dccea146c2ce4c8c1c6942a7f0..0000000000000000000000000000000000000000
--- a/applications/calibration/src/common.cpp
+++ /dev/null
@@ -1,241 +0,0 @@
-#include <loguru.hpp>
-#include <ftl/config.h>
-
-#include <opencv2/calib3d.hpp>
-#include <opencv2/imgproc.hpp>
-#include <opencv2/videoio.hpp>
-#include <opencv2/highgui.hpp>
-
-#include "common.hpp"
-
-using std::vector;
-using std::map;
-using std::string;
-
-using cv::Mat;
-using cv::Vec2f, cv::Vec3f;
-using cv::Size;
-
-using cv::stereoCalibrate;
-
-namespace ftl {
-namespace calibration {
-
-// Options
-string getOption(const map<string, string> &options, const string &opt) {
- const string str = options.at(opt);
- return str.substr(1, str.size() - 2);
-}
-
-bool hasOption(const map<string, string> &options, const string &opt) {
- return options.find(opt) != options.end();
-}
-
-int getOptionInt(const map<string, string> &options, const string &opt, int default_value) {
- if (!hasOption(options, opt)) return default_value;
- return std::stoi(options.at(opt));
-}
-
-double getOptionDouble(const map<string, string> &options, const string &opt, double default_value) {
- if (!hasOption(options, opt)) return default_value;
- return std::stod(options.at(opt));
-}
-
-string getOptionString(const map<string, string> &options, const string &opt, string default_value) {
- if (!hasOption(options, opt)) return default_value;
- return getOption(options, opt);
-}
-
-// Save/load files
-
-bool saveExtrinsics(const string &ofile, Mat &R, Mat &T, Mat &R1, Mat &R2, Mat &P1, Mat &P2, Mat &Q) {
- cv::FileStorage fs;
- fs.open(ofile, cv::FileStorage::WRITE);
- if (fs.isOpened()) {
- fs << "R" << R << "T" << T << "R1" << R1 << "R2" << R2 << "P1"
- << P1 << "P2" << P2 << "Q" << Q;
- fs.release();
- return true;
- } else {
- LOG(ERROR) << "Error: can not save the extrinsic parameters";
- }
- return false;
-}
-
-bool saveIntrinsics(const string &ofile, const vector<Mat> &M, const vector<Mat>& D, const Size &size)
-{
- cv::FileStorage fs(ofile, cv::FileStorage::WRITE);
- if (fs.isOpened())
- {
- fs << "resolution" << size;
- fs << "K" << M << "D" << D;
- fs.release();
- return true;
- }
- else
- {
- LOG(ERROR) << "Error: can not save the intrinsic parameters to '" << ofile << "'";
- }
- return false;
-}
-
-bool loadIntrinsics(const string &ifile, vector<Mat> &K1, vector<Mat> &D1, Size &size) {
- using namespace cv;
-
- FileStorage fs;
-
- // reading intrinsic parameters
- fs.open((ifile).c_str(), FileStorage::READ);
- if (!fs.isOpened()) {
- LOG(WARNING) << "Could not open intrinsics file : " << ifile;
- return false;
- }
-
- LOG(INFO) << "Intrinsics from: " << ifile;
-
- fs["resolution"] >> size;
- fs["K"] >> K1;
- fs["D"] >> D1;
-
- return true;
-}
-
-Grid::Grid(int rows, int cols, int width, int height,
- int offset_x, int offset_y) {
- rows_ = rows;
- cols_ = cols;
- width_ = width;
- height_ = height;
- offset_x_ = offset_x;
- offset_y_ = offset_y;
- cell_width_ = width_ / cols_;
- cell_height_ = height_ / rows_;
- reset();
-
- corners_ = vector<std::pair<cv::Point, cv::Point>>();
-
- for (int r = 0; r < rows_; r++) {
- for (int c = 0; c < cols_; c++) {
- int x1 = offset_x_ + c * cell_width_;
- int y1 = offset_y_ + r * cell_height_;
- int x2 = offset_x_ + (c + 1) * cell_width_ - 1;
- int y2 = offset_y_ + (r + 1) * cell_height_ - 1;
- corners_.push_back(std::pair(cv::Point(x1, y1), cv::Point(x2, y2)));
- }}
-}
-
-void Grid::drawGrid(Mat &rgb) {
- for (int i = 0; i < rows_ * cols_; ++i) {
- bool visited = visited_[i];
- cv::Scalar color = visited ? cv::Scalar(24, 255, 24) : cv::Scalar(24, 24, 255);
- cv::rectangle(rgb, corners_[i].first, corners_[i].second, color, 2);
- }
-}
-
-int Grid::checkGrid(cv::Point p1, cv::Point p2) {
- // TODO calculate directly
-
- for (int i = 0; i < rows_ * cols_; ++i) {
- auto &corners = corners_[i];
- if (p1.x >= corners.first.x &&
- p1.x <= corners.second.x &&
- p1.y >= corners.first.y &&
- p1.y <= corners.second.y &&
- p2.x >= corners.first.x &&
- p2.x <= corners.second.x &&
- p2.y >= corners.first.y &&
- p2.y <= corners.second.y) {
- return i;
- }
- }
-
- return -1;
-}
-
-void Grid::updateGrid(int i) {
- if (i >= 0 && i < static_cast<int>(visited_.size()) && !visited_[i]) {
- visited_[i] = true;
- visited_count_ += 1;
- }
-}
-
-bool Grid::isVisited(int i) {
- if (i >= 0 && i < static_cast<int>(visited_.size())) {
- return visited_[i];
- }
- return false;
-}
-
-bool Grid::isComplete() {
- return visited_count_ == static_cast<int>(visited_.size());
-}
-
-void Grid::reset() {
- visited_count_ = 0;
- visited_ = vector<bool>(rows_ * cols_, false);
- // reset visited
-}
-
-// Calibration classes for different patterns
-
-CalibrationChessboard::CalibrationChessboard(const map<string, string> &opt) {
- pattern_size_ = Size( getOptionInt(opt, "cols", 9),
- getOptionInt(opt, "rows", 6));
- image_size_ = Size( getOptionInt(opt, "width", 1280),
- getOptionInt(opt, "height", 720));
- pattern_square_size_ = getOptionDouble(opt, "square_size", 0.036);
-
- LOG(INFO) << "Chessboard calibration parameters";
- LOG(INFO) << " rows: " << pattern_size_.height;
- LOG(INFO) << " cols: " << pattern_size_.width;
- LOG(INFO) << " width: " << image_size_.width;
- LOG(INFO) << " height: " << image_size_.height;
- LOG(INFO) << " square_size: " << pattern_square_size_;
- LOG(INFO) << "-----------------------------------";
-
- // From OpenCV (4.1.0) Documentation
- //
- // CALIB_CB_NORMALIZE_IMAGE Normalize the image gamma with equalizeHist before detection.
- // CALIB_CB_EXHAUSTIVE Run an exhaustive search to improve detection rate.
- // CALIB_CB_ACCURACY Up sample input image to improve sub-pixel accuracy due to
- // aliasing effects. This should be used if an accurate camera
- // calibration is required.
-
- chessboard_flags_ = cv::CALIB_CB_NORMALIZE_IMAGE | cv::CALIB_CB_ACCURACY;
-}
-
-void CalibrationChessboard::objectPoints(vector<Vec3f> &out) {
- out.reserve(pattern_size_.width * pattern_size_.height);
- for (int row = 0; row < pattern_size_.height; ++row) {
- for (int col = 0; col < pattern_size_.width; ++col) {
- out.push_back(Vec3f(col * pattern_square_size_, row * pattern_square_size_, 0));
- }}
-}
-
-bool CalibrationChessboard::findPoints(Mat &img, vector<Vec2f> &points) {
- return cv::findChessboardCornersSB(img, pattern_size_, points, chessboard_flags_);
-}
-
-
-void CalibrationChessboard::drawCorners(Mat &img, const vector<Vec2f> &points) {
- using cv::Point2i;
- vector<Point2i> corners(4);
- corners[1] = Point2i(points[0]);
- corners[0] = Point2i(points[pattern_size_.width - 1]);
- corners[2] = Point2i(points[pattern_size_.width * (pattern_size_.height - 1)]);
- corners[3] = Point2i(points.back());
-
- cv::Scalar color = cv::Scalar(200, 200, 200);
-
- for (int i = 0; i <= 4; i++)
- {
- cv::line(img, corners[i % 4], corners[(i + 1) % 4], color, 2);
- }
-}
-
-void CalibrationChessboard::drawPoints(Mat &img, const vector<Vec2f> &points) {
- cv::drawChessboardCorners(img, pattern_size_, points, true);
-}
-
-}
-}
diff --git a/applications/calibration/src/common.hpp b/applications/calibration/src/common.hpp
deleted file mode 100644
index c84f25d249b49eee094e3e898090ffb9ff129f03..0000000000000000000000000000000000000000
--- a/applications/calibration/src/common.hpp
+++ /dev/null
@@ -1,111 +0,0 @@
-#ifndef _FTL_CALIBRATION_COMMON_HPP_
-#define _FTL_CALIBRATION_COMMON_HPP_
-
-#include <map>
-#include <string>
-
-#include <opencv2/core.hpp>
-
-namespace ftl {
-namespace calibration {
-
-std::string getOption(const std::map<std::string, std::string> &options, const std::string &opt);
-bool hasOption(const std::map<std::string, std::string> &options, const std::string &opt);
-int getOptionInt(const std::map<std::string, std::string> &options, const std::string &opt, int default_value);
-double getOptionDouble(const std::map<std::string, std::string> &options, const std::string &opt, double default_value);
-std::string getOptionString(const std::map<std::string, std::string> &options, const std::string &opt, std::string default_value);
-
-bool loadIntrinsics(const std::string &ifile, std::vector<cv::Mat> &K, std::vector<cv::Mat> &D, cv::Size &size);
-bool saveIntrinsics(const std::string &ofile, const std::vector<cv::Mat> &K, const std::vector<cv::Mat> &D, const cv::Size &size);
-
-// TODO loadExtrinsics()
-bool saveExtrinsics(const std::string &ofile, cv::Mat &R, cv::Mat &T, cv::Mat &R1, cv::Mat &R2, cv::Mat &P1, cv::Mat &P2, cv::Mat &Q);
-
-class Grid {
-private:
- int rows_;
- int cols_;
- int width_;
- int height_;
- int cell_width_;
- int cell_height_;
- int offset_x_;
- int offset_y_;
- int visited_count_;
-
- std::vector<std::pair<cv::Point, cv::Point>> corners_;
- std::vector<bool> visited_;
-
-public:
- Grid(int rows, int cols, int width, int height, int offset_x, int offset_y);
- void drawGrid(cv::Mat &rgb);
- int checkGrid(cv::Point p1, cv::Point p2);
- void updateGrid(int i);
- bool isVisited(int i);
- bool isComplete();
- void reset();
-};
-
-/**
- * @brief Wrapper for OpenCV's calibration methods. Paramters depend on
- * implementation (different types of patterns).
- *
- * Calibration objects may store state; eg. from previous views of calibration
- * images.
- */
-class Calibration {
-public:
- /**
- * @brief Calculate reference points for given pattern
- * @param Output parameter
- */
- void objectPoints(std::vector<cv::Vec3f> &out);
-
- /**
- * @brief Try to find calibration pattern in input image
- * @param Input image
- * @param Output parameter for found point image coordinates
- * @returns true if pattern found, otherwise false
- */
- bool findPoints(cv::Mat &in, std::vector<cv::Vec2f> &out);
-
- /**
- * @brief Draw points to image
- * @param Image to draw to
- * @param Pattern points (in image coordinates)
- */
- void drawPoints(cv::Mat &img, const std::vector<cv::Vec2f> &points);
-};
-
-/**
- * @brief Chessboard calibration pattern. Uses OpenCV's
- * findChessboardCornersSB function.
- * @todo Parameters hardcoded in constructor
- *
- * All parameters (command line parameters):
- * - rows, cols: pattern size (inner corners)
- * - square_size: millimeters (TODO: meters)
- * - width, height: image size, pixels
- * - flags: see ChessboardCornersSB documentation (TODO: not implemented)
- */
-class CalibrationChessboard : Calibration {
-public:
- explicit CalibrationChessboard(const std::map<std::string, std::string> &opt);
- void objectPoints(std::vector<cv::Vec3f> &out);
- bool findPoints(cv::Mat &in, std::vector<cv::Vec2f> &out);
- void drawPoints(cv::Mat &img, const std::vector<cv::Vec2f> &points);
- void drawCorners(cv::Mat &img, const std::vector<cv::Vec2f> &points);
-
-private:
- int chessboard_flags_ = 0;
- float pattern_square_size_;
- cv::Size pattern_size_;
- cv::Size image_size_;
-};
-
-// TODO other patterns, circles ...
-
-}
-}
-
-#endif // _FTL_CALIBRATION_COMMON_HPP_
diff --git a/applications/calibration/src/lens.cpp b/applications/calibration/src/lens.cpp
deleted file mode 100644
index 72694ebacda05370a4a32a214e400c72a6d94d0e..0000000000000000000000000000000000000000
--- a/applications/calibration/src/lens.cpp
+++ /dev/null
@@ -1,261 +0,0 @@
-#include "common.hpp"
-#include "lens.hpp"
-
-#include <ftl/config.h>
-#include <ftl/calibration/parameters.hpp>
-
-#include <loguru.hpp>
-
-#include <opencv2/core.hpp>
-#include <opencv2/core/utility.hpp>
-#include <opencv2/imgproc.hpp>
-#include <opencv2/calib3d.hpp>
-#include <opencv2/imgcodecs.hpp>
-#include <opencv2/videoio.hpp>
-#include <opencv2/highgui.hpp>
-
-#include <vector>
-#include <atomic>
-#include <thread>
-
-using std::map;
-using std::string;
-using std::vector;
-
-using cv::Mat;
-using cv::Vec2f;
-using cv::Vec3f;
-using cv::Size;
-
-using namespace ftl::calibration;
-
-void ftl::calibration::intrinsic(map<string, string> &opt) {
- LOG(INFO) << "Begin intrinsic calibration";
-
- // TODO PARAMETERS TO CONFIG FILE
- const Size image_size = Size( getOptionInt(opt, "width", 1920),
- getOptionInt(opt, "height", 1080));
- const int n_cameras = getOptionInt(opt, "n_cameras", 2);
- const int iter = getOptionInt(opt, "iter", 20);
- const int delay = getOptionInt(opt, "delay", 1000);
- const double aperture_width = getOptionDouble(opt, "aperture_width", 6.2);
- const double aperture_height = getOptionDouble(opt, "aperture_height", 4.6);
- const string filename_intrinsics = getOptionString(opt, "profile", FTL_LOCAL_CONFIG_ROOT "/calibration.yml");
- CalibrationChessboard calib(opt);
- bool use_guess = getOptionInt(opt, "use_guess", 1);
- //bool use_guess_distortion = getOptionInt(opt, "use_guess_distortion", 0);
-
- LOG(INFO) << "Intrinsic calibration parameters";
- LOG(INFO) << " profile: " << filename_intrinsics;
- LOG(INFO) << " n_cameras: " << n_cameras;
- LOG(INFO) << " width: " << image_size.width;
- LOG(INFO) << " height: " << image_size.height;
- LOG(INFO) << " iter: " << iter;
- LOG(INFO) << " delay: " << delay;
- LOG(INFO) << " aperture_width: " << aperture_width;
- LOG(INFO) << " aperture_height: " << aperture_height;
- LOG(INFO) << " use_guess: " << use_guess << "\n";
- LOG(WARNING) << "WARNING: This application overwrites existing files and does not previous values!";
- //LOG(INFO) << " use_guess_distortion: " << use_guess_distortion;
-
- LOG(INFO) << "-----------------------------------";
-
- // assume no tangential and thin prism distortion and only estimate first
- // three radial distortion coefficients
-
- int calibrate_flags = cv::CALIB_FIX_K4 | cv::CALIB_FIX_K5 | cv::CALIB_FIX_K6 |
- cv::CALIB_ZERO_TANGENT_DIST | cv::CALIB_FIX_S1_S2_S3_S4 | cv::CALIB_FIX_ASPECT_RATIO;
-
- vector<Mat> camera_matrix(n_cameras), dist_coeffs(n_cameras);
-
- for (Mat &d : dist_coeffs) {
- d = Mat(Size(8, 1), CV_64FC1, cv::Scalar(0.0));
- }
-
- if (use_guess) {
- camera_matrix.clear();
- vector<Mat> tmp;
- Size tmp_size;
-
- loadIntrinsics(filename_intrinsics, camera_matrix, tmp, tmp_size);
- CHECK(camera_matrix.size() == static_cast<unsigned int>(n_cameras));
-
- if ((tmp_size != image_size) && (!tmp_size.empty())) {
- for (Mat &K : camera_matrix) {
- K = ftl::calibration::scaleCameraMatrix(K, image_size, tmp_size);
- }
- }
-
- if (tmp_size.empty()) {
- LOG(ERROR) << "No valid calibration found.";
- }
- else {
- calibrate_flags |= cv::CALIB_USE_INTRINSIC_GUESS;
- }
- }
-
- vector<cv::VideoCapture> cameras;
- cameras.reserve(n_cameras);
-
- for (int c = 0; c < n_cameras; c++) { cameras.emplace_back(c); }
- for (auto &camera : cameras)
- {
- if (!camera.isOpened()) {
- LOG(ERROR) << "Could not open camera device";
- return;
- }
- camera.set(cv::CAP_PROP_FRAME_WIDTH, image_size.width);
- camera.set(cv::CAP_PROP_FRAME_HEIGHT, image_size.height);
- }
-
- vector<vector<vector<Vec2f>>> image_points(n_cameras);
- vector<vector<vector<Vec3f>>> object_points(n_cameras);
-
- vector<Mat> img(n_cameras);
- vector<Mat> img_display(n_cameras);
- vector<int> count(n_cameras, 0);
- Mat display(Size(image_size.width * n_cameras, image_size.height), CV_8UC3);
-
- for (int c = 0; c < n_cameras; c++) {
- img_display[c] = Mat(display, cv::Rect(c * image_size.width, 0, image_size.width, image_size.height));
- }
-
- std::mutex m;
- std::atomic<bool> ready = false;
- auto capture = std::thread(
- [n_cameras, delay, &m, &ready, &count, &calib, &img, &image_points, &object_points]() {
-
- vector<Mat> tmp(n_cameras);
- while(true) {
- if (!ready) {
- std::this_thread::sleep_for(std::chrono::milliseconds(delay));
- continue;
- }
-
- m.lock();
- ready = false;
- for (int c = 0; c < n_cameras; c++) {
- img[c].copyTo(tmp[c]);
- }
- m.unlock();
-
- for (int c = 0; c < n_cameras; c++) {
- vector<Vec2f> points;
- if (calib.findPoints(tmp[c], points)) {
- count[c]++;
- }
- else { continue; }
-
- vector<Vec3f> points_ref;
- calib.objectPoints(points_ref);
- Mat camera_matrix, dist_coeffs;
- image_points[c].push_back(points);
- object_points[c].push_back(points_ref);
- }
-
- std::this_thread::sleep_for(std::chrono::milliseconds(delay));
- }
- });
-
- while (iter > *std::min_element(count.begin(), count.end())) {
- if (m.try_lock()) {
- for (auto &camera : cameras) { camera.grab(); }
-
- for (int c = 0; c < n_cameras; c++) {
- cameras[c].retrieve(img[c]);
- }
-
- ready = true;
- m.unlock();
- }
-
- for (int c = 0; c < n_cameras; c++) {
- img[c].copyTo(img_display[c]);
- m.lock();
-
- if (image_points[c].size() > 0) {
-
- for (auto &points : image_points[c]) {
- calib.drawCorners(img_display[c], points);
- }
-
- calib.drawPoints(img_display[c], image_points[c].back());
- }
-
- m.unlock();
- }
-
- cv::namedWindow("Cameras", cv::WINDOW_KEEPRATIO | cv::WINDOW_NORMAL);
- cv::imshow("Cameras", display);
-
- cv::waitKey(10);
- }
-
- cv::destroyAllWindows();
-
- //bool calib_ok = true;
-
- for (int c = 0; c < n_cameras; c++) {
- LOG(INFO) << "Calculating intrinsic paramters for camera " << std::to_string(c);
- vector<Mat> rvecs, tvecs;
-
- double rms = cv::calibrateCamera(
- object_points[c], image_points[c],
- image_size, camera_matrix[c], dist_coeffs[c],
- rvecs, tvecs, calibrate_flags
- );
-
- LOG(INFO) << "final reprojection RMS error: " << rms;
-
- if (!ftl::calibration::validate::distortionCoefficients(dist_coeffs[c], image_size)) {
- LOG(ERROR) << "Calibration failed: invalid distortion coefficients:\n"
- << dist_coeffs[c];
-
- LOG(WARNING) << "Estimating only intrinsic parameters for camera " << std::to_string(c);
-
- dist_coeffs[c] = Mat(Size(8, 1), CV_64FC1, cv::Scalar(0.0));
- calibrate_flags |= cv::CALIB_FIX_K1 | cv::CALIB_FIX_K2 | cv::CALIB_FIX_K3;
- c--;
- continue;
- }
-
- //calib_ok = true;
- calibrate_flags &= ~cv::CALIB_FIX_K1 & ~cv::CALIB_FIX_K2 & ~cv::CALIB_FIX_K3;
-
- double fovx, fovy, focal_length, aspect_ratio;
- cv::Point2d principal_point;
-
- // TODO: check for valid aperture width/height; do not run if not valid values
- cv::calibrationMatrixValues(camera_matrix[c], image_size, aperture_width, aperture_height,
- fovx, fovy, focal_length, principal_point, aspect_ratio);
-
- LOG(INFO) << "";
- LOG(INFO) << " fovx (deg): " << fovx;
- LOG(INFO) << " fovy (deg): " << fovy;
- LOG(INFO) << " focal length (mm): " << focal_length;
- LOG(INFO) << " principal point (mm): " << principal_point;
- LOG(INFO) << " aspect ratio: " << aspect_ratio;
- LOG(INFO) << "";
- LOG(INFO) << "Camera matrix:\n" << camera_matrix[c];
- LOG(INFO) << "Distortion coefficients:\n" << dist_coeffs[c];
- LOG(INFO) << "";
- }
-
- saveIntrinsics(filename_intrinsics, camera_matrix, dist_coeffs, image_size);
- LOG(INFO) << "intrinsic paramaters saved to: " << filename_intrinsics;
-
- vector<Mat> map1(n_cameras), map2(n_cameras);
- for (int c = 0; c < n_cameras; c++) {
- cv::initUndistortRectifyMap(camera_matrix[c], dist_coeffs[c], Mat::eye(3,3, CV_64F), camera_matrix[c],
- image_size, CV_16SC2, map1[c], map2[c]);
- }
-
- while (cv::waitKey(25) != 27) {
- for (auto &camera : cameras ) { camera.grab(); }
- for (int c = 0; c < n_cameras; c++) {
- cameras[c].retrieve(img[c]);
- cv::remap(img[c], img[c], map1[c], map2[c], cv::INTER_CUBIC);
- cv::imshow("Camera " + std::to_string(c), img[c]);
- }
- }
-}
diff --git a/applications/calibration/src/lens.hpp b/applications/calibration/src/lens.hpp
deleted file mode 100644
index ec455b6bd7b3de6085074e2ea6b6ca7cca3fee9b..0000000000000000000000000000000000000000
--- a/applications/calibration/src/lens.hpp
+++ /dev/null
@@ -1,15 +0,0 @@
-#ifndef _FTL_CALIBRATION_LENS_HPP_
-#define _FTL_CALIBRATION_LENS_HPP_
-
-#include <map>
-#include <string>
-
-namespace ftl {
-namespace calibration {
-
-void intrinsic(std::map<std::string, std::string> &opt);
-
-}
-}
-
-#endif // _FTL_CALIBRATION_LENS_HPP_
diff --git a/applications/calibration/src/main.cpp b/applications/calibration/src/main.cpp
deleted file mode 100644
index 4bdf85396d969d069e6f44d47de93ff22f5f1a75..0000000000000000000000000000000000000000
--- a/applications/calibration/src/main.cpp
+++ /dev/null
@@ -1,22 +0,0 @@
-#include <loguru.hpp>
-#include <ftl/configuration.hpp>
-
-#include "lens.hpp"
-#include "stereo.hpp"
-#include "align.hpp"
-
-int main(int argc, char **argv) {
- loguru::g_preamble_date = false;
- loguru::g_preamble_uptime = false;
- loguru::g_preamble_thread = false;
- loguru::init(argc, argv, "--verbosity");
- argc--;
- argv++;
-
- // Process Arguments
- auto options = ftl::config::read_options(&argv, &argc);
-
- ftl::calibration::intrinsic(options);
-
- return 0;
-}
diff --git a/applications/calibration/src/stereo.cpp b/applications/calibration/src/stereo.cpp
deleted file mode 100644
index 964cf815300971cf31130e78fae94e1c21a172ad..0000000000000000000000000000000000000000
--- a/applications/calibration/src/stereo.cpp
+++ /dev/null
@@ -1,292 +0,0 @@
-#include <loguru.hpp>
-#include <ftl/config.h>
-
-#include <opencv2/imgproc.hpp>
-#include <opencv2/videoio.hpp>
-#include <opencv2/highgui.hpp>
-
-#include "common.hpp"
-#include "stereo.hpp"
-
-using std::vector;
-using std::map;
-using std::string;
-
-using cv::Mat;
-using cv::Vec2f, cv::Vec3f;
-using cv::Size;
-
-using cv::stereoCalibrate;
-
-using namespace ftl::calibration;
-
-void ftl::calibration::stereo(map<string, string> &opt) {
- LOG(INFO) << "Begin stereo calibration";
-
- // TODO PARAMETERS TO CONFIG FILE
- // image size, also used by CalibrationChessboard
- Size image_size = Size( getOptionInt(opt, "width", 1280),
- getOptionInt(opt, "height", 720));
- // iterations
- int iter = getOptionInt(opt, "iter", 50);
- // delay between images
- double delay = getOptionInt(opt, "delay", 250);
- // max_error for a single image; if error larger image discarded
- double max_error = getOptionDouble(opt, "max_error", 1.0);
- // scaling/cropping (see OpenCV stereoRectify())
- float alpha = getOptionDouble(opt, "alpha", 0);
- // intrinsics filename
- string filename_intrinsics = getOptionString(opt, "profile", "./panasonic.yml");
-
- bool use_grid = (bool) getOptionInt(opt, "use_grid", 0);
-
- LOG(INFO) << "Stereo calibration parameters";
- LOG(INFO) << " profile: " << filename_intrinsics;
- LOG(INFO) << " width: " << image_size.width;
- LOG(INFO) << " height: " << image_size.height;
- LOG(INFO) << " iter: " << iter;
- LOG(INFO) << " delay: " << delay;
- LOG(INFO) << " max_error: " << max_error;
- LOG(INFO) << " alpha: " << alpha;
- LOG(INFO) << " use_grid: " << use_grid;
- LOG(INFO) << "-----------------------------------";
-
- CalibrationChessboard calib(opt);
- vector<Grid> grids;
- int grid_i = 0;
-
- // grid parameters, 3x3 grid; one small grid and one large grid. Grids are cycled until
- // iter reaches zero
- grids.push_back(Grid(3, 3,
- (3.0f/4.0f) * image_size.width, (3.0f/4.0f) * image_size.height,
- ((1.0f/4.0f) * image_size.width) / 2, ((1.0f/4.0f) * image_size.height) / 2));
-
- grids.push_back(Grid(3, 3, image_size.width, image_size.height, 0, 0));
- Grid grid = grids[grid_i];
-
- // PARAMETERS
-
- int stereocalibrate_flags =
- cv::CALIB_FIX_INTRINSIC | cv::CALIB_FIX_PRINCIPAL_POINT | cv::CALIB_FIX_ASPECT_RATIO |
- cv::CALIB_ZERO_TANGENT_DIST | cv::CALIB_SAME_FOCAL_LENGTH |
- cv::CALIB_FIX_K3 | cv::CALIB_FIX_K4 | cv::CALIB_FIX_K5;
-
- vector<cv::VideoCapture> cameras { cv::VideoCapture(0), cv::VideoCapture(1) };
-
- for (auto &camera : cameras ) {
- if (!camera.isOpened()) {
- LOG(ERROR) << "Could not open camera device";
- return;
- }
- camera.set(cv::CAP_PROP_FRAME_WIDTH, image_size.width);
- camera.set(cv::CAP_PROP_FRAME_HEIGHT, image_size.height);
- }
-
- // image points to calculate the parameters after all input data is captured
- vector<vector<vector<Vec2f>>> image_points(2);
- vector<vector<Vec3f>> object_points;
-
- // image points for each grid, updated to image_points and object_points
- // after is grid complete
- vector<vector<vector<Vec2f>>> image_points_grid(9, vector<vector<Vec2f>>(2));
- vector<vector<Vec3f>> object_points_grid(9);
-
- vector<Mat> dist_coeffs(2);
- vector<Mat> camera_matrices(2);
- Size intrinsic_resolution;
- if (!loadIntrinsics(filename_intrinsics, camera_matrices, dist_coeffs, intrinsic_resolution))
- {
- LOG(FATAL) << "Failed to load intrinsic camera parameters from file.";
- }
-
- if (intrinsic_resolution != image_size)
- {
- LOG(FATAL) << "Intrinsic resolution is not same as input resolution (TODO)";
- }
-
- Mat R, T, E, F, per_view_errors;
-
- // capture calibration patterns
- while (iter > 0) {
- int res = 0;
- int grid_pos = -1;
-
- vector<Mat> new_img(2);
- vector<vector<Vec2f>> new_points(2);
-
- int delay_remaining = delay;
- for (; delay_remaining > 50; delay_remaining -= 50) {
- cv::waitKey(50);
-
- for (size_t i = 0; i < 2; i++) {
- auto &camera = cameras[i];
- auto &img = new_img[i];
-
- camera.grab();
- camera.retrieve(img);
-
- if (use_grid && i == 0) grid.drawGrid(img);
- cv::imshow("Camera " + std::to_string(i), img);
- }
- }
-
- for (size_t i = 0; i < 2; i++) {
- auto &img = new_img[i];
- auto &points = new_points[i];
-
- // TODO move to "findPoints"-thread
- if (calib.findPoints(img, points)) {
- calib.drawPoints(img, points);
- res++;
- }
-
- cv::imshow("Camera " + std::to_string(i), img);
- }
-
- if (res != 2) { LOG(WARNING) << "Input not detected on all inputs"; continue; }
-
- if (use_grid) {
- // top left and bottom right corners; not perfect but good enough
- grid_pos = grid.checkGrid(
- cv::Point(new_points[0][0]),
- cv::Point(new_points[0][new_points[0].size()-1])
- );
-
- if (grid_pos == -1) { LOG(WARNING) << "Captured pattern not inside grid cell"; continue; }
- }
-
- vector<Vec3f> points_ref;
- calib.objectPoints(points_ref);
-
- /* doesn't seem to be very helpful (error almost always low enough)
- // calculate reprojection error with single pair of images
- // reject it if RMS reprojection error too high
- int flags = stereocalibrate_flags;
-
- double rms_iter = stereoCalibrate(
- vector<vector<Vec3f>> { points_ref },
- vector<vector<Vec2f>> { new_points[0] },
- vector<vector<Vec2f>> { new_points[1] },
- camera_matrices[0], dist_coeffs[0],
- camera_matrices[1], dist_coeffs[1],
- image_size, R, T, E, F, per_view_errors,
- flags);
-
- LOG(INFO) << "rms for pattern: " << rms_iter;
- if (rms_iter > max_error) {
- LOG(WARNING) << "RMS reprojection error too high, maximum allowed error: " << max_error;
- continue;
- }*/
-
- if (use_grid) {
- // store results in result grid
- object_points_grid[grid_pos] = points_ref;
- for (size_t i = 0; i < 2; i++) { image_points_grid[grid_pos][i] = new_points[i]; }
-
- grid.updateGrid(grid_pos);
-
- if (grid.isComplete()) {
- LOG(INFO) << "Grid complete";
- grid.reset();
- grid_i = (grid_i + 1) % grids.size();
- grid = grids[grid_i];
-
- // copy results
- object_points.insert(object_points.end(), object_points_grid.begin(), object_points_grid.end());
- for (size_t i = 0; i < image_points_grid.size(); i++) {
- for (size_t j = 0; j < 2; j++) { image_points[j].push_back(image_points_grid[i][j]); }
- }
- iter--;
- }
- }
- else {
- object_points.push_back(points_ref);
- for (size_t i = 0; i < 2; i++) { image_points[i].push_back(new_points[i]); }
- iter--;
- }
- }
-
- // calculate stereoCalibration using all input images (which have low enough
- // RMS error in previous step)
-
- LOG(INFO) << "Calculating extrinsic stereo parameters using " << object_points.size() << " samples.";
-
- CHECK(object_points.size() == image_points[0].size());
- CHECK(object_points.size() == image_points[1].size());
-
- double rms = stereoCalibrate(object_points,
- image_points[0], image_points[1],
- camera_matrices[0], dist_coeffs[0],
- camera_matrices[1], dist_coeffs[1],
- image_size, R, T, E, F, per_view_errors,
- stereocalibrate_flags,
- cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 120, 1e-6)
- );
-
- LOG(INFO) << "Final extrinsic calibration RMS (reprojection error): " << rms;
- for (int i = 0; i < per_view_errors.rows * per_view_errors.cols; i++) {
- LOG(4) << "error for sample " << i << ": " << ((double*) per_view_errors.data)[i];
- }
-
- Mat R1, R2, P1, P2, Q;
- cv::Rect validRoi[2];
-
- stereoRectify(
- camera_matrices[0], dist_coeffs[0],
- camera_matrices[1], dist_coeffs[1],
- image_size, R, T, R1, R2, P1, P2, Q,
- 0, alpha, image_size,
- &validRoi[0], &validRoi[1]
- );
-
- saveExtrinsics(FTL_LOCAL_CONFIG_ROOT "/extrinsics.yml", R, T, R1, R2, P1, P2, Q);
- LOG(INFO) << "Stereo camera extrinsics saved to: " << FTL_LOCAL_CONFIG_ROOT "/extrinsics.yml";
-
- for (size_t i = 0; i < 2; i++) { cv::destroyWindow("Camera " + std::to_string(i)); }
-
- // Visualize results
- vector<Mat> map1(2), map2(2);
- cv::initUndistortRectifyMap(camera_matrices[0], dist_coeffs[0], R1, P1, image_size, CV_16SC2, map1[0], map2[0]);
- cv::initUndistortRectifyMap(camera_matrices[1], dist_coeffs[1], R2, P2, image_size, CV_16SC2, map1[1], map2[1]);
-
- vector<Mat> in(2);
- vector<Mat> out(2);
- // vector<Mat> out_gray(2);
- // Mat diff, diff_color;
-
- while(cv::waitKey(25) == -1) {
- for(size_t i = 0; i < 2; i++) {
- auto &camera = cameras[i];
- camera.grab();
- camera.retrieve(in[i]);
-
- auto p = cv::Point2i(camera_matrices[i].at<double>(0, 2), camera_matrices[i].at<double>(1, 2));
- cv::drawMarker(in[i], p, cv::Scalar(51, 204, 51), cv::MARKER_CROSS, 40, 1);
- cv::drawMarker(in[i], p, cv::Scalar(51, 204, 51), cv::MARKER_SQUARE, 25);
-
- cv::remap(in[i], out[i], map1[i], map2[i], cv::INTER_CUBIC);
-
- // draw lines
- for (int r = 50; r < image_size.height; r = r+50) {
- cv::line(out[i], cv::Point(0, r), cv::Point(image_size.width-1, r), cv::Scalar(0,0,255), 1);
- }
-
- if (i == 0) { // left camera
- auto p_r = cv::Point2i(-Q.at<double>(0, 3), -Q.at<double>(1, 3));
- cv::drawMarker(out[i], p_r, cv::Scalar(0, 0, 204), cv::MARKER_CROSS, 30);
- cv::drawMarker(out[i], p_r, cv::Scalar(0, 0, 204), cv::MARKER_SQUARE);
- }
-
- cv::imshow("Camera " + std::to_string(i) + " (unrectified)", in[i]);
- cv::imshow("Camera " + std::to_string(i) + " (rectified)", out[i]);
- }
-
- /* not useful
- cv::absdiff(out_gray[0], out_gray[1], diff);
- cv::applyColorMap(diff, diff_color, cv::COLORMAP_JET);
- cv::imshow("Difference", diff_color);
- */
- }
-
- cv::destroyAllWindows();
-}
diff --git a/applications/calibration/src/stereo.hpp b/applications/calibration/src/stereo.hpp
deleted file mode 100644
index 0175ea366251fc9003d4571c97b06c9e38ad5a83..0000000000000000000000000000000000000000
--- a/applications/calibration/src/stereo.hpp
+++ /dev/null
@@ -1,18 +0,0 @@
-#ifndef _FTL_CALIBRATION_STEREO_HPP_
-#define _FTL_CALIBRATION_STEREO_HPP_
-
-#include <map>
-#include <string>
-
-#include <opencv2/core.hpp>
-#include <opencv2/calib3d.hpp>
-
-namespace ftl {
-namespace calibration {
-
-void stereo(std::map<std::string, std::string> &opt);
-
-}
-}
-
-#endif // _FTL_CALIBRATION_STEREO_HPP_
diff --git a/applications/ftl2mkv/src/main.cpp b/applications/ftl2mkv/src/main.cpp
index 0ebf1a0bfdecd03e1696b3c688744dc761f92862..b746c8aa4c07551f49f422f76b51da9c4cb4131b 100644
--- a/applications/ftl2mkv/src/main.cpp
+++ b/applications/ftl2mkv/src/main.cpp
@@ -5,6 +5,7 @@
#include <ftl/rgbd/camera.hpp>
#include <ftl/codecs/hevc.hpp>
#include <ftl/codecs/h264.hpp>
+#include <ftl/codecs/decoder.hpp>
#include <fstream>
@@ -17,7 +18,7 @@ extern "C" {
using ftl::codecs::codec_t;
using ftl::codecs::Channel;
-static AVStream *add_video_stream(AVFormatContext *oc, const ftl::codecs::Packet &pkt)
+static AVStream *add_video_stream(AVFormatContext *oc, const ftl::codecs::Packet &pkt, const ftl::rgbd::Camera &cam)
{
//AVCodecContext *c;
AVStream *st;
@@ -47,13 +48,13 @@ static AVStream *add_video_stream(AVFormatContext *oc, const ftl::codecs::Packet
//st->nb_frames = 0;
st->codecpar->codec_id = codec_id;
st->codecpar->codec_type = AVMEDIA_TYPE_VIDEO;
- st->codecpar->width = ftl::codecs::getWidth(pkt.definition);
+ st->codecpar->width = cam.width; //ftl::codecs::getWidth(pkt.definition);
//if (pkt.flags & ftl::codecs::kFlagStereo) st->codecpar->width *= 2;
- st->codecpar->height = ftl::codecs::getHeight(pkt.definition);
+ st->codecpar->height = cam.height; //ftl::codecs::getHeight(pkt.definition);
st->codecpar->format = AV_PIX_FMT_NV12;
st->codecpar->bit_rate = 4000000;
- if (pkt.flags & ftl::codecs::kFlagStereo) av_dict_set(&st->metadata, "stereo_mode", "left_right", 0);
+ //if (pkt.flags & ftl::codecs::kFlagStereo) av_dict_set(&st->metadata, "stereo_mode", "left_right", 0);
//if (pkt.flags & ftl::codecs::kFlagStereo) av_dict_set(&oc->metadata, "stereo_mode", "1", 0);
//if (pkt.flags & ftl::codecs::kFlagStereo) av_dict_set_int(&st->metadata, "StereoMode", 1, 0);
@@ -78,6 +79,50 @@ static AVStream *add_video_stream(AVFormatContext *oc, const ftl::codecs::Packet
return st;
}
+static AVStream *add_audio_stream(AVFormatContext *oc, const ftl::codecs::Packet &pkt)
+{
+ //AVCodecContext *c;
+ AVStream *st;
+
+ st = avformat_new_stream(oc, 0);
+ if (!st) {
+ fprintf(stderr, "Could not alloc stream\n");
+ exit(1);
+ }
+
+ AVCodecID codec_id = AV_CODEC_ID_OPUS;
+ st->codecpar->codec_id = codec_id;
+ st->codecpar->codec_type = AVMEDIA_TYPE_AUDIO;
+ st->codecpar->channel_layout = 0;
+ st->codecpar->channels = 2;
+ st->codecpar->sample_rate = 48000;
+ st->codecpar->frame_size = 960;
+ return st;
+}
+
+static uint32_t make_id(const ftl::codecs::StreamPacket &spkt) {
+ return (((spkt.streamID << 8) + spkt.frame_number) << 8) + int(spkt.channel);
+}
+
+
+struct StreamState {
+ int64_t first_ts = 100000000000000000ll;
+ std::list<std::pair<ftl::codecs::StreamPacket, ftl::codecs::Packet>> packets;
+ bool seen_key = false;
+ AVStream *stream = nullptr;
+ int64_t last_ts = 0;
+
+ void insert(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ for (auto i = packets.begin(); i != packets.end(); ++i) {
+ if (i->first.timestamp > spkt.timestamp) {
+ packets.insert(i, std::make_pair(spkt, pkt));
+ return;
+ }
+ }
+ packets.push_back(std::make_pair(spkt, pkt));
+ }
+};
+
int main(int argc, char **argv) {
std::string filename;
@@ -109,8 +154,12 @@ int main(int argc, char **argv) {
AVOutputFormat *fmt;
AVFormatContext *oc;
- AVStream *video_st[10][2] = {nullptr};
+ StreamState video_st[10];
+
+ int stream_count = 0;
+ std::unordered_map<uint32_t, int> mapping;
+ // TODO: Remove in newer versions
av_register_all();
fmt = av_guess_format(NULL, outputfile.c_str(), NULL);
@@ -127,7 +176,11 @@ int main(int argc, char **argv) {
return -1;
}
oc->oformat = fmt;
+
+ // TODO: Use URL in newer versions
snprintf(oc->filename, sizeof(oc->filename), "%s", outputfile.c_str());
+ //oc->url = (char*)av_malloc(outputfile.size()+1);
+ //snprintf(oc->url, outputfile.size()+1, "%s", outputfile.c_str());
/* open the output file, if needed */
if (!(fmt->flags & AVFMT_NOFILE)) {
@@ -144,26 +197,63 @@ int main(int argc, char **argv) {
//bool stream_added[10] = {false};
- int64_t first_ts = 10000000000000ll;
-
// TODO: In future, find a better way to discover number of streams...
// Read entire file to find all streams before reading again to write data
- bool res = r.read(90000000000000, [&first_ts,¤t_stream,¤t_channel,&r,&video_st,oc](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
- if (spkt.channel != static_cast<ftl::codecs::Channel>(current_channel) && current_channel != -1) return;
- if (spkt.frame_number == current_stream || current_stream == 255) {
+ bool res = r.read(90000000000000, [¤t_stream,¤t_channel,&r,&video_st,oc,&mapping,&stream_count,root](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ if (spkt.channel != Channel::Audio && current_stream != 255 && spkt.streamID != current_stream) return;
+ if (spkt.channel != Channel::Colour && spkt.channel != Channel::Right && spkt.channel != Channel::Audio) return;
+
+ //if (spkt.channel != static_cast<ftl::codecs::Channel>(current_channel) && current_channel != -1) return;
+ //if (spkt.frame_number == current_stream || current_stream == 255) {
- if (pkt.codec != codec_t::HEVC && pkt.codec != codec_t::H264) {
+ if (pkt.codec != codec_t::HEVC && pkt.codec != codec_t::H264 && pkt.codec != codec_t::OPUS) {
return;
}
if (spkt.frame_number >= 10) return; // TODO: Allow for more than 10
- if (spkt.timestamp < first_ts) first_ts = spkt.timestamp;
+ //if (video_st[spkt.frame_number][(spkt.channel == Channel::Left) ? 0 : 1] == nullptr) {
+ if ((pkt.codec == codec_t::HEVC && ftl::codecs::hevc::isIFrame(pkt.data.data(), pkt.data.size())) ||
+ (pkt.codec == codec_t::H264 && ftl::codecs::h264::isIFrame(pkt.data.data(), pkt.data.size()))) {
+ if (mapping.count(make_id(spkt)) == 0) {
+ int id = stream_count++;
+
+ if (id >= 10) return;
+
+ auto *dec = ftl::codecs::allocateDecoder(pkt);
+ if (!dec) return;
- if (video_st[spkt.frame_number][(spkt.channel == Channel::Left) ? 0 : 1] == nullptr) {
- video_st[spkt.frame_number][(spkt.channel == Channel::Left) ? 0 : 1] = add_video_stream(oc, pkt);
+ if (spkt.timestamp < video_st[id].first_ts) video_st[id].first_ts = spkt.timestamp;
+
+ cv::cuda::GpuMat m;
+ dec->decode(pkt, m);
+
+ ftl::rgbd::Camera cam;
+ cam.width = m.cols;
+ cam.height = m.rows;
+ // Use decoder to get frame size...
+ video_st[id].stream = add_video_stream(oc, pkt, cam);
+
+ ftl::codecs::free(dec);
+
+ mapping[make_id(spkt)] = id;
+ }
+ } else if (pkt.codec == codec_t::OPUS) {
+ if (mapping.count(make_id(spkt)) == 0) {
+ int id = stream_count++;
+
+ if (id >= 10) return;
+
+ if (spkt.timestamp < video_st[id].first_ts) video_st[id].first_ts = spkt.timestamp;
+
+ video_st[id].stream = add_audio_stream(oc, pkt);
+ video_st[id].seen_key = true;
+ video_st[id].last_ts = root->value("audio_delay", 1000); // second delay?
+
+ mapping[make_id(spkt)] = id;
+ }
}
- }
+ //}
});
r.end();
@@ -182,64 +272,175 @@ int main(int argc, char **argv) {
LOG(ERROR) << "Failed to write stream header";
}
- bool seen_key[10] = {false};
+ res = r.read(90000000000000, [¤t_stream,¤t_channel,&r,&video_st,oc,&mapping](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ //if (spkt.channel != static_cast<ftl::codecs::Channel>(current_channel) && current_channel != -1) return;
+ //if (spkt.frame_number == current_stream || current_stream == 255) {
- res = r.read(90000000000000, [first_ts,¤t_stream,¤t_channel,&r,&video_st,oc,&seen_key](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
- if (spkt.channel != static_cast<ftl::codecs::Channel>(current_channel) && current_channel != -1) return;
- if (spkt.frame_number == current_stream || current_stream == 255) {
-
- if (pkt.codec != codec_t::HEVC && pkt.codec != codec_t::H264) {
+ if (pkt.codec != codec_t::HEVC && pkt.codec != codec_t::H264 && pkt.codec != codec_t::OPUS) {
return;
}
//LOG(INFO) << "Reading packet: (" << (int)spkt.streamID << "," << (int)spkt.channel << ") " << (int)pkt.codec << ", " << (int)pkt.definition;
- if (spkt.frame_number >= 10) return; // TODO: Allow for more than 10
+ auto i = mapping.find(make_id(spkt));
+ if (i == mapping.end()) return;
+ int id = i->second;
+
+ if (!video_st[id].stream) return;
bool keyframe = false;
if (pkt.codec == codec_t::HEVC) {
if (ftl::codecs::hevc::isIFrame(pkt.data.data(), pkt.data.size())) {
- seen_key[spkt.frame_number] = true;
+ video_st[id].seen_key = true;
keyframe = true;
}
} else if (pkt.codec == codec_t::H264) {
if (ftl::codecs::h264::isIFrame(pkt.data.data(), pkt.data.size())) {
- seen_key[spkt.frame_number] = true;
+ video_st[id].seen_key = true;
keyframe = true;
}
}
- if (!seen_key[spkt.frame_number]) return;
+ if (!video_st[id].seen_key) return;
//if (spkt.timestamp > last_ts) framecount++;
//last_ts = spkt.timestamp;
- AVPacket avpkt;
- av_init_packet(&avpkt);
- if (keyframe) avpkt.flags |= AV_PKT_FLAG_KEY;
- //avpkt.pts = framecount*50; //spkt.timestamp - r.getStartTime();
- avpkt.pts = spkt.timestamp - first_ts;
- avpkt.dts = avpkt.pts;
- avpkt.stream_index= video_st[spkt.frame_number][(spkt.channel == Channel::Left) ? 0 : 1]->index;
- avpkt.data= const_cast<uint8_t*>(pkt.data.data());
- avpkt.size= pkt.data.size();
- avpkt.duration = 1;
-
- //LOG(INFO) << "write frame: " << avpkt.pts << "," << avpkt.stream_index << "," << avpkt.size;
-
- /* write the compressed frame in the media file */
- auto ret = av_write_frame(oc, &avpkt);
- if (ret != 0) {
- LOG(ERROR) << "Error writing frame: " << ret;
+ video_st[id].insert(spkt, pkt);
+
+ if (video_st[id].packets.size() > 5) {
+ auto &spkt = video_st[id].packets.front().first;
+ auto &pkt = video_st[id].packets.front().second;
+
+ if (pkt.codec == codec_t::OPUS) {
+ // Must unpack the audio
+
+ const unsigned char *inptr = pkt.data.data();
+ int count = 0;
+ int frames = 0;
+
+ for (size_t i=0; i<pkt.data.size(); ) {
+ AVPacket avpkt;
+ av_init_packet(&avpkt);
+ avpkt.stream_index= video_st[id].stream->index;
+
+ const short *len = (const short*)inptr;
+ if (*len == 0) break;
+ if (frames == 10) break;
+
+ inptr += 2;
+ i += (*len)+2;
+
+ avpkt.pts = video_st[id].last_ts;
+ avpkt.dts = avpkt.pts;
+ avpkt.data= const_cast<uint8_t*>(inptr);
+ avpkt.size= *len;
+ avpkt.duration = 20;
+ video_st[id].last_ts += avpkt.duration;
+
+ /* write the compressed frame in the media file */
+ auto ret = av_write_frame(oc, &avpkt);
+ if (ret != 0) {
+ LOG(ERROR) << "Error writing audio frame: " << ret;
+ }
+
+ inptr += *len;
+ ++frames;
+ }
+ } else {
+ AVPacket avpkt;
+ av_init_packet(&avpkt);
+ avpkt.stream_index= video_st[id].stream->index;
+ if (keyframe) avpkt.flags |= AV_PKT_FLAG_KEY;
+ avpkt.pts = spkt.timestamp - video_st[id].first_ts;
+ avpkt.dts = avpkt.pts;
+ avpkt.data= const_cast<uint8_t*>(pkt.data.data());
+ avpkt.size= pkt.data.size();
+ avpkt.duration = 0;
+
+ /* write the compressed frame in the media file */
+ auto ret = av_write_frame(oc, &avpkt);
+ if (ret != 0) {
+ LOG(ERROR) << "Error writing video frame: " << ret;
+ }
+ }
+
+ //LOG(INFO) << "write frame: " << avpkt.pts << "," << avpkt.stream_index << "," << avpkt.size;
+
+
+
+ video_st[id].packets.pop_front();
}
- }
+ //}
});
+ for (int i=0; i<10; ++i) {
+ while (video_st[i].packets.size() > 0) {
+ int id = i;
+ auto &spkt = video_st[i].packets.front().first;
+ auto &pkt = video_st[i].packets.front().second;
+
+ if (pkt.codec == codec_t::OPUS) {
+ // Must unpack the audio
+
+ const unsigned char *inptr = pkt.data.data();
+ int count = 0;
+ int frames = 0;
+
+ for (size_t i=0; i<pkt.data.size(); ) {
+ AVPacket avpkt;
+ av_init_packet(&avpkt);
+ avpkt.stream_index= video_st[id].stream->index;
+
+ const short *len = (const short*)inptr;
+ if (*len == 0) break;
+ if (frames == 10) break;
+
+ inptr += 2;
+ i += (*len)+2;
+
+ avpkt.pts = video_st[id].last_ts;
+ avpkt.dts = avpkt.pts;
+ avpkt.data= const_cast<uint8_t*>(inptr);
+ avpkt.size= *len;
+ avpkt.duration = 20;
+ video_st[id].last_ts += avpkt.duration;
+
+ /* write the compressed frame in the media file */
+ auto ret = av_write_frame(oc, &avpkt);
+ if (ret != 0) {
+ LOG(ERROR) << "Error writing audio frame: " << ret;
+ }
+
+ inptr += *len;
+ ++frames;
+ }
+ } else {
+ AVPacket avpkt;
+ av_init_packet(&avpkt);
+ avpkt.stream_index= video_st[id].stream->index;
+ //if (keyframe) avpkt.flags |= AV_PKT_FLAG_KEY;
+ avpkt.pts = spkt.timestamp - video_st[id].first_ts;
+ avpkt.dts = avpkt.pts;
+ avpkt.data= const_cast<uint8_t*>(pkt.data.data());
+ avpkt.size= pkt.data.size();
+ avpkt.duration = 0;
+
+ /* write the compressed frame in the media file */
+ auto ret = av_write_frame(oc, &avpkt);
+ if (ret != 0) {
+ LOG(ERROR) << "Error writing video frame: " << ret;
+ }
+ }
+
+ video_st[i].packets.pop_front();
+ }
+ }
+
av_write_trailer(oc);
//avcodec_close(video_st->codec);
for (int i=0; i<10; ++i) {
- if (video_st[i][0]) av_free(video_st[i][0]);
- if (video_st[i][1]) av_free(video_st[i][1]);
+ if (video_st[i].stream) av_free(video_st[i].stream);
}
if (!(fmt->flags & AVFMT_NOFILE)) {
diff --git a/applications/gui/CMakeLists.txt b/applications/gui/CMakeLists.txt
deleted file mode 100644
index 8cd06d328bef06845dd5626feeaff340d6a26529..0000000000000000000000000000000000000000
--- a/applications/gui/CMakeLists.txt
+++ /dev/null
@@ -1,47 +0,0 @@
-# Need to include staged files and libs
-#include_directories(${PROJECT_SOURCE_DIR}/reconstruct/include)
-#include_directories(${PROJECT_BINARY_DIR})
-
-set(GUISRC
- src/main.cpp
- #src/ctrl_window.cpp
- src/src_window.cpp
- src/config_window.cpp
- src/pose_window.cpp
- src/screen.cpp
- src/gltexture.cpp
- src/camera.cpp
- src/media_panel.cpp
- src/thumbview.cpp
- src/record_window.cpp
- src/frameset_mgr.cpp
-)
-
-if (HAVE_OPENVR)
- list(APPEND GUISRC "src/vr.cpp")
-endif()
-
-# Various preprocessor definitions have been generated by NanoGUI
-add_definitions(${NANOGUI_EXTRA_DEFS})
-
-# On top of adding the path to nanogui/include, you may need extras
-include_directories(${NANOGUI_EXTRA_INCS})
-
-add_executable(ftl-gui ${GUISRC})
-
-target_include_directories(ftl-gui PUBLIC
- $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
- $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/ext/nanogui/include>
- $<INSTALL_INTERFACE:include>
- PRIVATE src)
-
-#if (CUDA_FOUND)
-#set_property(TARGET ftl-gui PROPERTY CUDA_SEPARABLE_COMPILATION ON)
-#endif()
-
-#target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
-target_link_libraries(ftl-gui ftlcommon ftlctrl ftlrgbd ftlstreams ftlrender Threads::Threads ${OpenCV_LIBS} openvr ftlnet nanogui ${NANOGUI_EXTRA_LIBS})
-
-if (BUILD_TESTS)
- add_subdirectory(test)
-endif()
diff --git a/applications/gui/src/camera.cpp b/applications/gui/src/camera.cpp
deleted file mode 100644
index 5d3cb2acc2d3b6c5a9757644ab46b7e8f30f711d..0000000000000000000000000000000000000000
--- a/applications/gui/src/camera.cpp
+++ /dev/null
@@ -1,923 +0,0 @@
-#include "camera.hpp"
-#include "pose_window.hpp"
-#include "screen.hpp"
-#include <nanogui/glutil.h>
-
-#include <ftl/profiler.hpp>
-
-#include <opencv2/imgproc.hpp>
-#include <opencv2/imgcodecs.hpp>
-#include <opencv2/cudaarithm.hpp>
-
-#include <ftl/operators/antialiasing.hpp>
-#include <ftl/cuda/normals.hpp>
-#include <ftl/render/colouriser.hpp>
-#include <ftl/cuda/transform.hpp>
-#include <ftl/operators/gt_analysis.hpp>
-#include <ftl/operators/poser.hpp>
-#include <ftl/cuda/colour_cuda.hpp>
-#include <ftl/streams/parsers.hpp>
-
-#include <ftl/render/overlay.hpp>
-#include "statsimage.hpp"
-
-#define LOGURU_REPLACE_GLOG 1
-#include <loguru.hpp>
-
-#include <fstream>
-
-#ifdef HAVE_OPENVR
-#include "vr.hpp"
-#endif
-
-using ftl::rgbd::isValidDepth;
-using ftl::gui::GLTexture;
-using ftl::gui::PoseWindow;
-using ftl::codecs::Channel;
-using ftl::codecs::Channels;
-using cv::cuda::GpuMat;
-
-
-static int vcamcount = 0;
-
-static Eigen::Affine3d create_rotation_matrix(float ax, float ay, float az) {
- Eigen::Affine3d rx =
- Eigen::Affine3d(Eigen::AngleAxisd(ax, Eigen::Vector3d(1, 0, 0)));
- Eigen::Affine3d ry =
- Eigen::Affine3d(Eigen::AngleAxisd(ay, Eigen::Vector3d(0, 1, 0)));
- Eigen::Affine3d rz =
- Eigen::Affine3d(Eigen::AngleAxisd(az, Eigen::Vector3d(0, 0, 1)));
- return rz * rx * ry;
-}
-
-ftl::gui::Camera::Camera(ftl::gui::Screen *screen, int fsmask, int fid, ftl::codecs::Channel c)
- : screen_(screen), fsmask_(fsmask), fid_(fid), texture1_(GLTexture::Type::BGRA), texture2_(GLTexture::Type::BGRA), depth1_(GLTexture::Type::Float), channel_(c),channels_(0u) {
-
- eye_ = Eigen::Vector3d::Zero();
- neye_ = Eigen::Vector4d::Zero();
- rotmat_.setIdentity();
-
- //up_ = Eigen::Vector3f(0,1.0f,0);
- lerpSpeed_ = 0.999f;
- sdepth_ = false;
- ftime_ = (float)glfwGetTime();
- pause_ = false;
-
-#ifdef HAVE_OPENVR
- vr_mode_ = false;
-#endif
-
- //channel_ = Channel::Left;
-
- channels_ += c;
- //channels_ += Channel::Depth;
- width_ = 0;
- height_ = 0;
-
- // Create pose window...
- //posewin_ = new PoseWindow(screen, src_->getURI());
- //posewin_->setTheme(screen->windowtheme);
- //posewin_->setVisible(false);
- posewin_ = nullptr;
- renderer_ = nullptr;
- renderer2_ = nullptr;
- post_pipe_ = nullptr;
- record_stream_ = nullptr;
- transform_ix_ = -1;
- stereo_ = false;
- rx_ = 0;
- ry_ = 0;
- framesets_ = nullptr;
-
- colouriser_ = ftl::create<ftl::render::Colouriser>(screen->root(), "colouriser");
- overlayer_ = ftl::create<ftl::overlay::Overlay>(screen->root(), "overlay");
-
- // Is virtual camera?
- if (fid == 255) {
- renderer_ = ftl::create<ftl::render::CUDARender>(screen_->root(), std::string("vcam")+std::to_string(vcamcount++));
- // Allow mask to be changed
- fsmask_ = renderer_->value("fsmask", fsmask_);
- renderer_->on("fsmask", [this](const ftl::config::Event &e) {
- fsmask_ = renderer_->value("fsmask", fsmask_);
- });
-
- // Allow Pose origin to be changed
- pose_source_ = renderer_->value("pose_source", pose_source_);
- renderer_->on("pose_source", [this](const ftl::config::Event &e) {
- pose_source_ = renderer_->value("pose_source", pose_source_);
- });
-
- intrinsics_ = ftl::create<ftl::Configurable>(renderer_, "intrinsics");
-
- state_.getLeft() = ftl::rgbd::Camera::from(intrinsics_);
- state_.getRight() = state_.getLeft();
-
- intrinsics_->on("width", [this](const ftl::config::Event &e) {
- state_.getLeft() = ftl::rgbd::Camera::from(intrinsics_);
- state_.getRight() = state_.getLeft();
- });
-
- intrinsics_->on("focal", [this](const ftl::config::Event &e) {
- state_.getLeft() = ftl::rgbd::Camera::from(intrinsics_);
- state_.getRight() = state_.getLeft();
- });
-
- {
- Eigen::Matrix4d pose;
- pose.setIdentity();
- state_.setPose(pose);
-
- for (auto &t : transforms_) {
- t.setIdentity();
- }
- }
- {
- double camera_initial_x = intrinsics_->value("camera_x", 0.0);
- double camera_initial_y = intrinsics_->value("camera_y", -1.75);
- double camera_initial_z = intrinsics_->value("camera_z", 0.0);
-
- double lookat_initial_x = intrinsics_->value("lookat_x", 1.0);
- double lookat_initial_y = intrinsics_->value("lookat_y", 0.0);
- double lookat_initial_z = intrinsics_->value("lookat_z", 0.0);
-
- Eigen::Vector3f head(camera_initial_x, camera_initial_y, camera_initial_z);
- Eigen::Vector3f lookat(lookat_initial_x, lookat_initial_y, lookat_initial_z);
- // TODO up vector
- Eigen::Matrix4f pose = nanogui::lookAt(head, head+lookat, Eigen::Vector3f(0.0f, 1.0f, 0.0f));
-
- eye_ = Eigen::Vector3d(camera_initial_x, camera_initial_y, camera_initial_z);
- neye_ = Eigen::Vector4d(eye_(0), eye_(1), eye_(2), 0.0);
- rotmat_ = pose.cast<double>();
- rotmat_.block(0, 3, 3, 1).setZero();
- }
- }
-}
-
-ftl::gui::Camera::~Camera() {
- //delete writer_;
- //delete fileout_;
-}
-
-void ftl::gui::Camera::drawUpdated(std::vector<ftl::rgbd::FrameSet*> &fss) {
- // Only draw if frameset updated.
- if (!stale_frame_.test_and_set()) {
- draw(fss);
- }
-}
-
-void ftl::gui::Camera::draw(std::vector<ftl::rgbd::FrameSet*> &fss) {
- if (fid_ != 255) {
- for (auto *fs : fss) {
- if (!usesFrameset(fs->id)) continue;
- UNIQUE_LOCK(fs->mtx, lk);
-
- ftl::rgbd::Frame *frame = nullptr;
-
- if ((size_t)fid_ >= fs->frames.size()) return;
- if (!fs->hasFrame(fid_)) return;
-
- frame = &fs->frames[fid_];
- if (!frame->hasChannel(channel_)) return;
-
- auto &buf = colouriser_->colourise(*frame, channel_, 0);
- auto &buf2 = frame->getTexture<uchar4>(Channel::Colour);
- ftl::cuda::compositeInverse(buf2, buf, 0);
-
- // For non-virtual cameras, copy the CUDA texture into the opengl
- // texture device-to-device.
- texture1_.make(buf.width(), buf.height());
- auto dst1 = texture1_.map(0);
- cudaMemcpy2D(dst1.data, dst1.step1(), buf.devicePtr(), buf.pitch(), buf.width()*4, buf.height(), cudaMemcpyDeviceToDevice);
- ftl::cuda::flip<uchar4>(dst1, 0);
- texture1_.unmap(0);
-
- depth1_.make(buf.width(), buf.height());
- dst1 = depth1_.map(0);
- dst1.setTo(cv::Scalar(0.5f));
- depth1_.unmap(0);
-
- width_ = texture1_.width();
- height_ = texture1_.height();
- return;
- }
- }
- //if (fsid_ >= fss.size()) return;
-
- //auto &fs = *fss[fsid_];
-
- _applyPoseEffects(fss);
-
- UNIQUE_LOCK(mutex_, lk2);
- //state_.getLeft().fx = intrinsics_->value("focal", 700.0f);
- //state_.getLeft().fy = state_.getLeft().fx;
- _draw(fss);
-}
-
-std::pair<const ftl::rgbd::Frame *, const ftl::codecs::Face *> ftl::gui::Camera::_selectFace(std::vector<ftl::rgbd::FrameSet*> &fss) {
- for (auto *fset : fss) {
- for (const auto &f : fset->frames) {
- if (f.hasChannel(Channel::Faces)) {
- std::vector<ftl::codecs::Face> data;
- f.get(Channel::Faces, data);
-
- if (data.size() > 0) {
- return {&f,&(*data.rbegin())};
- }
- }
- }
- }
- return {nullptr, nullptr};
-}
-
-void ftl::gui::Camera::_generateWindow(const ftl::rgbd::Frame &f, const ftl::codecs::Face &face, Eigen::Matrix4d &pose_adjust, ftl::render::ViewPort &vp) {
- auto cam = ftl::rgbd::Camera::from(intrinsics_);
- auto d = face;
-
- float screenWidth = intrinsics_->value("screen_size", 0.6f); // In meters
- float screenHeight = (9.0f/16.0f) * screenWidth;
-
- float screenDistance = (d.depth > cam.minDepth && d.depth < cam.maxDepth) ? d.depth : intrinsics_->value("screen_dist_default", 0.5f); // Face distance from screen in meters
-
- auto pos = f.getLeft().screenToCam(float(d.box.x+(d.box.width/2)), float(d.box.y+(d.box.height/2)), screenDistance);
- Eigen::Vector3f eye;
- eye[0] = -pos.x;
- eye[1] = pos.y;
- eye[2] = -pos.z;
- //eye[3] = 0;
-
- Eigen::Translation3f trans(eye);
- Eigen::Affine3f t(trans);
- Eigen::Matrix4f viewPose = t.matrix();
-
- // Calculate where the screen is within current camera space
- Eigen::Vector4f p1 = viewPose.cast<float>() * (Eigen::Vector4f(screenWidth/2.0, screenHeight/2.0, 0, 1));
- Eigen::Vector4f p2 = viewPose.cast<float>() * (Eigen::Vector4f(screenWidth/2.0, -screenHeight/2.0, 0, 1));
- Eigen::Vector4f p3 = viewPose.cast<float>() * (Eigen::Vector4f(-screenWidth/2.0, screenHeight/2.0, 0, 1));
- Eigen::Vector4f p4 = viewPose.cast<float>() * (Eigen::Vector4f(-screenWidth/2.0, -screenHeight/2.0, 0, 1));
- p1 = p1 / p1[3];
- p2 = p2 / p2[3];
- p3 = p3 / p3[3];
- p4 = p4 / p4[3];
- float2 p1screen = cam.camToScreen<float2>(make_float3(p1[0],p1[1],p1[2]));
- float2 p2screen = cam.camToScreen<float2>(make_float3(p2[0],p2[1],p2[2]));
- float2 p3screen = cam.camToScreen<float2>(make_float3(p3[0],p3[1],p3[2]));
- float2 p4screen = cam.camToScreen<float2>(make_float3(p4[0],p4[1],p4[2]));
-
- std::vector<cv::Point2f> quad_pts;
- std::vector<cv::Point2f> squre_pts;
- quad_pts.push_back(cv::Point2f(p1screen.x,p1screen.y));
- quad_pts.push_back(cv::Point2f(p2screen.x,p2screen.y));
- quad_pts.push_back(cv::Point2f(p3screen.x,p3screen.y));
- quad_pts.push_back(cv::Point2f(p4screen.x,p4screen.y));
- squre_pts.push_back(cv::Point2f(0,0));
- squre_pts.push_back(cv::Point2f(0,cam.height));
- squre_pts.push_back(cv::Point2f(cam.width,0));
- squre_pts.push_back(cv::Point2f(cam.width,cam.height));
-
- cv::Mat transmtx = cv::getPerspectiveTransform(quad_pts,squre_pts);
- //cv::Mat transformed = cv::Mat::zeros(overlay_.rows, overlay_.cols, CV_8UC4);
- //cv::warpPerspective(im1_, im1_, transmtx, im1_.size());
-
- // TODO: Use the transmtx above for perspective distortion..
-
- //ftl::render::ViewPort vp;
- vp.x = std::min(p4screen.x, std::min(p3screen.x, std::min(p1screen.x,p2screen.x)));
- vp.y = std::min(p4screen.y, std::min(p3screen.y, std::min(p1screen.y,p2screen.y)));
- vp.width = std::max(p4screen.x, std::max(p3screen.x, std::max(p1screen.x,p2screen.x))) - vp.x;
- vp.height = std::max(p4screen.y, std::max(p3screen.y, std::max(p1screen.y,p2screen.y))) - vp.y;
- /*vp.warpMatrix.entries[0] = transmtx.at<float>(0,0);
- vp.warpMatrix.entries[1] = transmtx.at<float>(1,0);
- vp.warpMatrix.entries[2] = transmtx.at<float>(2,0);
- vp.warpMatrix.entries[3] = transmtx.at<float>(0,1);
- vp.warpMatrix.entries[4] = transmtx.at<float>(1,1);
- vp.warpMatrix.entries[5] = transmtx.at<float>(2,1);
- vp.warpMatrix.entries[6] = transmtx.at<float>(0,2);
- vp.warpMatrix.entries[7] = transmtx.at<float>(1,2);
- vp.warpMatrix.entries[8] = transmtx.at<float>(2,2);
- vp.warpMatrix = vp.warpMatrix.getInverse(); //.getInverse();*/
- //renderer_->setViewPort(ftl::render::ViewPortMode::Warping, vp);
-
- pose_adjust = viewPose.cast<double>();
-}
-
-void ftl::gui::Camera::_applyPoseEffects(std::vector<ftl::rgbd::FrameSet*> &fss) {
- if (renderer_->value("window_effect", false)) {
- auto [frame,face] = _selectFace(fss);
- if (face) {
- Eigen::Matrix4d windowPose;
- ftl::render::ViewPort windowViewPort;
- _generateWindow(*frame, *face, windowPose, windowViewPort);
-
- // Apply the window effect
- renderer_->setViewPort(ftl::render::ViewPortMode::Stretch, windowViewPort);
- state_.getPose() = windowPose * state_.getPose();
- }
- }
-}
-
-void ftl::gui::Camera::setStereo(bool v) {
- UNIQUE_LOCK(mutex_, lk);
-
- if (isVirtual()) {
- stereo_ = v;
- } else if (v && availableChannels().has(Channel::Right)) {
- stereo_ = true;
- } else {
- stereo_ = false;
- }
-}
-
-static ftl::codecs::Channel mapToSecondChannel(ftl::codecs::Channel c) {
- switch (c) {
- case Channel::Depth : return Channel::Depth2;
- case Channel::Normals : return Channel::Normals2;
- default: return c;
- }
-}
-
-void ftl::gui::Camera::_draw(std::vector<ftl::rgbd::FrameSet*> &fss) {
- frame_.reset();
- frame_.setOrigin(&state_);
-
- // Make sure an OpenGL pixel buffer exists
- texture1_.make(state_.getLeft().width, state_.getLeft().height);
- depth1_.make(state_.getLeft().width, state_.getLeft().height);
- if (isStereo()) texture2_.make(state_.getRight().width, state_.getRight().height);
-
- // Map the GL pixel buffer to a GpuMat
- frame_.create<cv::cuda::GpuMat>(Channel::Colour) = texture1_.map(renderer_->getCUDAStream());
- frame_.create<cv::cuda::GpuMat>(Channel::Depth) = depth1_.map(renderer_->getCUDAStream());
- frame_.createTexture<float>(Channel::Depth);
- if (isStereo()) frame_.create<cv::cuda::GpuMat>(Channel::Colour2) = texture2_.map((renderer2_) ? renderer2_->getCUDAStream() : 0);
-
- // TODO: Remove;
- overlay_.create(state_.getLeft().height, state_.getLeft().width, CV_8UC4);
- //frame_.create<cv::Mat>(Channel::Overlay) = overlay_;
-
- //overlay_.setTo(cv::Scalar(0,0,0,0));
- //bool enable_overlay = overlayer_->value("enabled", false);
-
- {
- FTL_Profile("Render",0.034);
- renderer_->begin(frame_, Channel::Colour);
- if (isStereo()) {
- if (!renderer2_) {
- renderer2_ = ftl::create<ftl::render::CUDARender>(screen_->root(), std::string("vcam")+std::to_string(vcamcount++));
- }
- renderer2_->begin(frame_, Channel::Colour2);
- }
-
- try {
- for (auto *fs : fss) {
- if (!usesFrameset(fs->id)) continue;
-
- fs->mtx.lock();
- renderer_->submit(fs, ftl::codecs::Channels<0>(Channel::Colour), transforms_[fs->id]);
- if (isStereo()) renderer2_->submit(fs, ftl::codecs::Channels<0>(Channel::Colour), transforms_[fs->id]);
-
- //if (enable_overlay) {
- // Generate and upload an overlay image.
- // overlayer_->apply(*fs, overlay_, state_);
- // frame_.upload(Channel::Overlay, renderer_->getCUDAStream());
- //}
- }
-
- renderer_->render();
- if (isStereo()) renderer2_->render();
-
- if (channel_ != Channel::Left && channel_ != Channel::Right && channel_ != Channel::None) {
- renderer_->blend(channel_);
- if (isStereo()) {
- renderer2_->blend(mapToSecondChannel(channel_));
- }
- }
-
- //if (enable_overlay) {
- // renderer_->blend(Channel::Overlay);
- //}
-
- renderer_->end();
- if (isStereo()) renderer2_->end();
- } catch(std::exception &e) {
- LOG(ERROR) << "Exception in render: " << e.what();
- }
-
- for (auto *fs : fss) {
- if (!usesFrameset(fs->id)) continue;
- fs->mtx.unlock();
- }
- }
-
- if (!post_pipe_) {
- post_pipe_ = ftl::config::create<ftl::operators::Graph>(screen_->root(), "post_filters");
- post_pipe_->append<ftl::operators::FXAA>("fxaa");
- post_pipe_->append<ftl::operators::GTAnalysis>("gtanalyse");
- }
-
- post_pipe_->apply(frame_, frame_, 0);
-
- channels_ = frame_.getChannels();
-
- frame_.get<cv::cuda::GpuMat>(Channel::Depth).download(im_depth_);
- cv::flip(im_depth_, im_depth_, 0);
-
- //frame_.get<cv::cuda::GpuMat>(Channel::Normals).download(im_normals_);
- //im_normals_.createMatHeader().convertTo(im_normals_f_, CV_32FC4);
- //cv::flip(im_normals_f_, im_normals_f_, 0);
-
- // Normalize depth map
- frame_.get<cv::cuda::GpuMat>(Channel::Depth).convertTo(frame_.get<cv::cuda::GpuMat>(Channel::Depth), CV_32F, 1.0/8.0);
-
- width_ = texture1_.width();
- height_ = texture1_.height();
-
- if (record_stream_ && record_stream_->active()) {
- // TODO: Allow custom channel selection
- ftl::rgbd::FrameSet fs2;
- auto &f = fs2.frames.emplace_back();
- fs2.count = 1;
- fs2.mask = 1;
- //fs2.stale = false;
- fs2.set(ftl::data::FSFlag::STALE);
- if (frame_.hasChannel(Channel::Colour2)) {
- frame_.swapTo(Channels<0>(Channel::Colour) | Channel::Colour2, f);
- ftl::cuda::flip(f.getTexture<uchar4>(Channel::Colour), 0);
- ftl::cuda::flip(f.getTexture<uchar4>(Channel::Colour2), 0);
- } else {
- frame_.swapTo(Channels<0>(Channel::Colour), f); // Channel::Colour + Channel::Depth
- ftl::cuda::flip(f.getTexture<uchar4>(Channel::Colour), 0);
- }
-
- fs2.timestamp = ftl::timer::get_time();
- fs2.id = 0;
- record_sender_->post(fs2);
- record_stream_->select(0, Channels<0>(Channel::Colour));
- // Reverse the flip
- if (f.hasChannel(Channel::Colour2)) {
- ftl::cuda::flip(f.getTexture<uchar4>(Channel::Colour), 0);
- ftl::cuda::flip(f.getTexture<uchar4>(Channel::Colour2), 0);
- } else {
- ftl::cuda::flip(f.getTexture<uchar4>(Channel::Colour), 0);
- }
- f.swapTo(Channels<0>(Channel::Colour), frame_);
- } else if (do_snapshot_) {
- do_snapshot_ = false;
- cv::Mat flipped;
- cv::Mat im1;
-
- frame_.get<cv::cuda::GpuMat>(Channel::Colour).download(im1);
-
- {
- //UNIQUE_LOCK(mutex_, lk);
- cv::flip(im1, flipped, 0);
- }
- cv::cvtColor(flipped, flipped, cv::COLOR_BGRA2BGR);
- cv::imwrite(snapshot_filename_, flipped);
- }
-
- // Unmap GL buffer from CUDA and finish updating GL texture
- texture1_.unmap(renderer_->getCUDAStream());
- depth1_.unmap(renderer_->getCUDAStream());
- if (isStereo()) texture2_.unmap(renderer2_->getCUDAStream());
-}
-
-void ftl::gui::Camera::update(int fsid, const ftl::codecs::Channels<0> &c) {
- if (!isVirtual() && ((1 << fsid) & fsmask_)) {
- channels_ += c;
- //if (c.has(Channel::Depth)) {
- //channels_ += Channel::ColourNormals;
- //}
- }
-}
-
-void ftl::gui::Camera::update(std::vector<ftl::rgbd::FrameSet*> &fss) {
- UNIQUE_LOCK(mutex_, lk);
-
- framesets_ = &fss;
- stale_frame_.clear();
-
- if (screen_->activeCamera() == this) {
- for (auto *fs : fss) {
- if (!usesFrameset(fs->id)) continue;
-
- for (auto &f : fs->frames) {
- //if (f.hasChanged(Channel::Pose)) {
- f.patchPose(T_);
- //}
- }
- }
- }
-
- //if (fss.size() <= fsid_) return;
- if (fid_ == 255) {
- name_ = "Virtual Camera";
- } else {
- for (auto *fs : fss) {
- if (!usesFrameset(fs->id)) continue;
-
- ftl::rgbd::Frame *frame = nullptr;
-
- if ((size_t)fid_ >= fs->frames.size()) return;
- frame = &fs->frames[fid_];
- channels_ = frame->getChannels();
-
- if (frame->hasChannel(Channel::Messages)) {
- msgs_.clear();
- frame->get(Channel::Messages, msgs_);
- }
-
- auto n = frame->get<std::string>("name");
- if (n) {
- name_ = *n;
- } else {
- name_ = "No name";
- }
- state_.getLeft() = frame->getLeftCamera();
- return;
- }
- }
-}
-
-void ftl::gui::Camera::setPose(const Eigen::Matrix4d &p) {
- eye_[0] = p(0,3);
- eye_[1] = p(1,3);
- eye_[2] = p(2,3);
-
- double sx = Eigen::Vector3d(p(0,0), p(1,0), p(2,0)).norm();
- double sy = Eigen::Vector3d(p(0,1), p(1,1), p(2,1)).norm();
- double sz = Eigen::Vector3d(p(0,2), p(1,2), p(2,2)).norm();
-
- Eigen::Matrix4d rot = p;
- rot(0,3) = 0.0;
- rot(1,3) = 0.0;
- rot(2,3) = 0.0;
- rot(0,0) = rot(0,0) / sx;
- rot(1,0) = rot(1,0) / sx;
- rot(2,0) = rot(2,0) / sx;
- rot(0,1) = rot(0,1) / sy;
- rot(1,1) = rot(1,1) / sy;
- rot(2,1) = rot(2,1) / sy;
- rot(0,2) = rot(0,2) / sz;
- rot(1,2) = rot(1,2) / sz;
- rot(2,2) = rot(2,2) / sz;
- rotmat_ = rot;
-}
-
-void ftl::gui::Camera::mouseMovement(int rx, int ry, int button) {
- //if (!src_->hasCapabilities(ftl::rgbd::kCapMovable)) return;
- if (fid_ < 255) return;
- if (button == 1) {
- rx_ += rx;
- ry_ += ry;
-
- /*float rrx = ((float)ry * 0.2f * delta_);
- //orientation_[2] += std::cos(orientation_[1])*((float)rel[1] * 0.2f * delta_);
- float rry = (float)rx * 0.2f * delta_;
- float rrz = 0.0;
-
-
- Eigen::Affine3d r = create_rotation_matrix(rrx, -rry, rrz);
- rotmat_ = rotmat_ * r.matrix();*/
- }
-}
-
-void ftl::gui::Camera::keyMovement(int key, int modifiers) {
- //if (!src_->hasCapabilities(ftl::rgbd::kCapMovable)) return;
- if (fid_ < 255) return;
- if (key == 263 || key == 262) {
- float mag = (modifiers & 0x1) ? 0.01f : 0.1f;
- float scalar = (key == 263) ? -mag : mag;
- neye_ += rotmat_*Eigen::Vector4d(scalar,0.0,0.0,1.0);
- return;
- } else if (key == 264 || key == 265) {
- float mag = (modifiers & 0x1) ? 0.01f : 0.1f;
- float scalar = (key == 264) ? -mag : mag;
- neye_ += rotmat_*Eigen::Vector4d(0.0,0.0,scalar,1.0);
- return;
- } else if (key == 266 || key == 267) {
- float mag = (modifiers & 0x1) ? 0.01f : 0.1f;
- float scalar = (key == 266) ? -mag : mag;
- neye_ += rotmat_*Eigen::Vector4d(0.0,scalar,0.0,1.0);
- return;
- } else if (key >= '0' && key <= '5' && modifiers == 2) { // Ctrl+NUMBER
- int ix = key - (int)('0');
- transform_ix_ = ix-1;
- return;
- }
-}
-
-void ftl::gui::Camera::showPoseWindow() {
- posewin_->setVisible(true);
-}
-
-void ftl::gui::Camera::showSettings() {
-
-}
-
-#ifdef HAVE_OPENVR
-bool ftl::gui::Camera::setVR(bool on) {
- if (on == vr_mode_) {
- LOG(WARNING) << "VR mode already enabled";
- return on;
- }
- vr_mode_ = on;
-
- if (on) {
- setStereo(true);
-
- UNIQUE_LOCK(mutex_, lk);
- //src_->set("baseline", baseline_);
- state_.getLeft().baseline = baseline_;
-
- Eigen::Matrix3d intrinsic;
-
- unsigned int size_x, size_y;
- screen_->getVR()->GetRecommendedRenderTargetSize(&size_x, &size_y);
- state_.getLeft().width = size_x;
- state_.getLeft().height = size_y;
- state_.getRight().width = size_x;
- state_.getRight().height = size_y;
-
- intrinsic = getCameraMatrix(screen_->getVR(), vr::Eye_Left);
- CHECK(intrinsic(0, 2) < 0 && intrinsic(1, 2) < 0);
- state_.getLeft().fx = intrinsic(0,0);
- state_.getLeft().fy = intrinsic(0,0);
- state_.getLeft().cx = intrinsic(0,2);
- state_.getLeft().cy = intrinsic(1,2);
-
- intrinsic = getCameraMatrix(screen_->getVR(), vr::Eye_Right);
- CHECK(intrinsic(0, 2) < 0 && intrinsic(1, 2) < 0);
- state_.getRight().fx = intrinsic(0,0);
- state_.getRight().fy = intrinsic(0,0);
- state_.getRight().cx = intrinsic(0,2);
- state_.getRight().cy = intrinsic(1,2);
-
- vr_mode_ = true;
- }
- else {
- vr_mode_ = false;
- setStereo(false);
-
- UNIQUE_LOCK(mutex_, lk);
- state_.getLeft() = ftl::rgbd::Camera::from(intrinsics_);
- state_.getRight() = state_.getLeft();
- }
-
- return vr_mode_;
-}
-#endif
-
-void ftl::gui::Camera::setChannel(Channel c) {
- UNIQUE_LOCK(mutex_, lk);
- channel_ = c;
-}
-
-/*static void drawEdges( const cv::Mat &in, cv::Mat &out,
- const int ksize = 3, double weight = -1.0, const int threshold = 32,
- const int threshold_type = cv::THRESH_TOZERO)
-{
- cv::Mat edges;
- cv::Laplacian(in, edges, 8, ksize);
- cv::threshold(edges, edges, threshold, 255, threshold_type);
-
- cv::Mat edges_color(in.size(), CV_8UC4);
- cv::addWeighted(edges, weight, out, 1.0, 0.0, out, CV_8UC4);
-}*/
-
-
-void ftl::gui::Camera::active(bool a) {
- if (a) {
-
- } else {
- neye_[0] = eye_[0];
- neye_[1] = eye_[1];
- neye_[2] = eye_[2];
- }
-}
-
-void ftl::gui::Camera::drawOverlay(const Eigen::Vector2f &s) {
- if (!framesets_) return;
- //UNIQUE_LOCK(mutex_,lk);
- for (auto *fs : *framesets_) {
- if (!usesFrameset(fs->id)) continue;
-
- // Generate and upload an overlay image.
- overlayer_->draw(*fs, state_, s);
- }
-}
-
-const void ftl::gui::Camera::captureFrame() {
- float now = (float)glfwGetTime();
- if (!screen_->isVR() && (now - ftime_) < 0.04f) return;
-
- delta_ = now - ftime_;
- ftime_ = now;
-
- //LOG(INFO) << "Frame delta: " << delta_;
-
- //if (src_ && src_->isReady()) {
- if (width_ > 0 && height_ > 0) {
- Eigen::Matrix4d viewPose;
-
- if (screen_->isVR()) {
- #ifdef HAVE_OPENVR
-
- vr::VRCompositor()->SetTrackingSpace(vr::TrackingUniverseStanding);
- vr::VRCompositor()->WaitGetPoses(rTrackedDevicePose_, vr::k_unMaxTrackedDeviceCount, NULL, 0 );
-
- if (isStereo() && rTrackedDevicePose_[vr::k_unTrackedDeviceIndex_Hmd].bPoseIsValid )
- {
- Eigen::Matrix4d eye_l = ConvertSteamVRMatrixToMatrix4(
- vr::VRSystem()->GetEyeToHeadTransform(vr::Eye_Left));
-
- //Eigen::Matrix4d eye_r = ConvertSteamVRMatrixToMatrix4(
- // vr::VRSystem()->GetEyeToHeadTransform(vr::Eye_Left));
-
- float baseline_in = 2.0 * eye_l(0, 3);
-
- if (baseline_in != baseline_) {
- baseline_ = baseline_in;
- //src_->set("baseline", baseline_);
- state_.getLeft().baseline = baseline_;
- state_.getRight().baseline = baseline_;
- }
- Eigen::Matrix4d pose = ConvertSteamVRMatrixToMatrix4(rTrackedDevicePose_[vr::k_unTrackedDeviceIndex_Hmd].mDeviceToAbsoluteTracking);
- Eigen::Vector3d ea = pose.block<3, 3>(0, 0).eulerAngles(0, 1, 2);
-
- Eigen::Vector3d vreye;
- vreye[0] = pose(0, 3);
- vreye[1] = -pose(1, 3);
- vreye[2] = -pose(2, 3);
-
- // NOTE: If modified, should be verified with VR headset!
- Eigen::Matrix3d R;
- R = Eigen::AngleAxisd(ea[0], Eigen::Vector3d::UnitX()) *
- Eigen::AngleAxisd(-ea[1], Eigen::Vector3d::UnitY()) *
- Eigen::AngleAxisd(-ea[2], Eigen::Vector3d::UnitZ());
-
- //double rd = 180.0 / 3.141592;
- //LOG(INFO) << "rotation x: " << ea[0] *rd << ", y: " << ea[1] * rd << ", z: " << ea[2] * rd;
- // pose.block<3, 3>(0, 0) = R;
-
- rotmat_.block(0, 0, 3, 3) = R;
-
- // TODO: Apply a rotation to orient also
-
- eye_[0] += (neye_[0] - eye_[0]) * lerpSpeed_ * delta_;
- eye_[1] += (neye_[1] - eye_[1]) * lerpSpeed_ * delta_;
- eye_[2] += (neye_[2] - eye_[2]) * lerpSpeed_ * delta_;
-
- Eigen::Translation3d trans(eye_ + vreye);
- Eigen::Affine3d t(trans);
- viewPose = t.matrix() * rotmat_;
-
- } else {
- //LOG(ERROR) << "No VR Pose";
- }
- #endif
- } else {
- if (pose_source_.size() == 0) {
- // Use mouse to move camera
-
- float rrx = ((float)ry_ * 0.2f * delta_);
- float rry = (float)rx_ * 0.2f * delta_;
- float rrz = 0.0;
-
- Eigen::Affine3d r = create_rotation_matrix(rrx, -rry, rrz);
- rotmat_ = rotmat_ * r.matrix();
-
- rx_ = 0;
- ry_ = 0;
-
- eye_[0] += (neye_[0] - eye_[0]) * lerpSpeed_ * delta_;
- eye_[1] += (neye_[1] - eye_[1]) * lerpSpeed_ * delta_;
- eye_[2] += (neye_[2] - eye_[2]) * lerpSpeed_ * delta_;
-
- Eigen::Translation3d trans(eye_);
- Eigen::Affine3d t(trans);
- viewPose = t.matrix() * rotmat_;
- } else {
- // Use some other pose source.
- if (!ftl::operators::Poser::get(pose_source_, viewPose)) {
- LOG(ERROR) << "Missing pose: " << pose_source_;
- }
- }
- }
-
- {
- UNIQUE_LOCK(mutex_, lk);
-
- if (isVirtual()) {
- if (transform_ix_ == -1) {
- state_.setPose(viewPose);
- } else if (transform_ix_ >= 0) {
- transforms_[transform_ix_] = viewPose;
- }
- }
- }
-
- if (framesets_) draw(*framesets_);
- }
-
- //return texture1_;
-}
-
-void ftl::gui::Camera::snapshot(const std::string &filename) {
- /*cv::Mat flipped;
-
- {
- UNIQUE_LOCK(mutex_, lk);
- //cv::flip(im1_, flipped, 0);
- }
- cv::cvtColor(flipped, flipped, cv::COLOR_BGRA2BGR);
- cv::imwrite(filename, flipped);*/
- snapshot_filename_ = filename;
- do_snapshot_ = true;
-}
-
-void ftl::gui::Camera::startVideoRecording(const std::string &filename, const std::string &uri) {
- if (!record_stream_) {
- file_stream_ = ftl::create<ftl::stream::File>(screen_->root(), "video2d");
- file_stream_->setMode(ftl::stream::File::Mode::Write);
- net_stream_ = ftl::create<ftl::stream::Net>(screen_->root(), "liveStream", screen_->net());
-
- record_stream_ = ftl::create<ftl::stream::Broadcast>(screen_->root(), "recordStream");
- //record_stream_->add(file_stream_);
- //record_stream_->add(net_stream_);
-
- record_sender_ = ftl::create<ftl::stream::Sender>(screen_->root(), "videoEncode");
- record_sender_->value("codec", 2); // Default H264
- record_sender_->set("iframes", 50); // Add iframes by default
- record_sender_->value("stereo", false); // If both channels, then default to stereo
-
- record_sender_->onRequest([this](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
- if (spkt.channel == ftl::codecs::Channel::Pose) {
- auto pose = ftl::stream::parsePose(pkt);
- ftl::operators::Poser::set(std::string("live"), pose);
- }
- });
- }
-
- if (record_stream_->active()) return;
-
- record_stream_->clear();
-
- if (filename.size() > 0) {
- file_stream_->set("filename", filename);
- record_stream_->add(file_stream_);
- }
-
- if (uri.size() > 0) {
- net_stream_->set("uri", uri);
- record_stream_->add(net_stream_);
- }
-
- record_sender_->setStream(record_stream_);
-
- LOG(INFO) << "About to record";
- if (record_stream_->begin()) LOG(INFO) << "Recording started...";
-}
-
-void ftl::gui::Camera::stopVideoRecording() {
- if (record_stream_ && record_stream_->active()) record_stream_->end();
-}
-
-float ftl::gui::Camera::getDepth(int x, int y) {
- if (x < 0 || y < 0) { return NAN; }
- UNIQUE_LOCK(mutex_, lk);
- if (x >= im_depth_.cols || y >= im_depth_.rows) { return NAN; }
- LOG(INFO) << y << ", " << x;
- return im_depth_.createMatHeader().at<float>(y, x);
-}
-
-cv::Point3f ftl::gui::Camera::getPoint(int x, int y) {
- if (x < 0 || y < 0) { return cv::Point3f(); }
- UNIQUE_LOCK(mutex_, lk);
- LOG(INFO) << y << ", " << x;
- if (x >= im_depth_.cols || y >= im_depth_.rows) { return cv::Point3f(); }
- float d = im_depth_.createMatHeader().at<float>(y, x);
-
- auto point = frame_.getLeftCamera().screenToCam(x, y, d);
- Eigen::Vector4d p(point.x, point.y, point.z, 1.0f);
- Eigen::Matrix4d pose = frame_.getPose();
- Eigen::Vector4d point_eigen = pose * p;
- return cv::Point3f(point_eigen(0), point_eigen(1), point_eigen(2));
-}
-
-/*
-cv::Point3f ftl::gui::Camera::getNormal(int x, int y) {
- UNIQUE_LOCK(mutex_, lk);
- LOG(INFO) << y << ", " << x;
- if (x >= im_normals_.cols || y >= im_normals_.rows) { return cv::Point3f(); }
- auto n = im_normals_f_.at<cv::Vec4f>(y, x);
- return cv::Point3f(n[0], n[1], n[2]);
-}
-*/
-
-void ftl::gui::Camera::setTransform(const Eigen::Matrix4d &T) {
- T_ = T * T_;
-}
-
-Eigen::Matrix4d ftl::gui::Camera::getTransform() const {
- return T_;
-}
diff --git a/applications/gui/src/camera.hpp b/applications/gui/src/camera.hpp
deleted file mode 100644
index 730ba380dbe8586be61ecf4ceef4ad82ff5588fc..0000000000000000000000000000000000000000
--- a/applications/gui/src/camera.hpp
+++ /dev/null
@@ -1,210 +0,0 @@
-#ifndef _FTL_GUI_CAMERA_HPP_
-#define _FTL_GUI_CAMERA_HPP_
-
-#include <ftl/rgbd/frameset.hpp>
-#include <ftl/render/CUDARender.hpp>
-#include <ftl/render/overlay.hpp>
-#include <ftl/codecs/writer.hpp>
-#include "gltexture.hpp"
-
-#include <ftl/streams/filestream.hpp>
-#include <ftl/streams/netstream.hpp>
-#include <ftl/streams/sender.hpp>
-#include <ftl/codecs/faces.hpp>
-
-#include <string>
-#include <array>
-
-#ifdef HAVE_OPENVR
-#include <openvr/openvr.h>
-#endif
-
-class StatisticsImage;
-
-namespace ftl {
-namespace gui {
-
-class Screen;
-class PoseWindow;
-
-class Camera {
- public:
- Camera(ftl::gui::Screen *screen, int fsmask, int fid, ftl::codecs::Channel chan=ftl::codecs::Channel::Colour);
- ~Camera();
-
- Camera(const Camera &)=delete;
-
- int width() const { return width_; }
- int height() const { return height_; }
-
- int getFramesetMask() const { return fsmask_; }
-
- bool usesFrameset(int id) const { return fsmask_ & (1 << id); }
-
- void setPose(const Eigen::Matrix4d &p);
-
- void mouseMovement(int rx, int ry, int button);
- void keyMovement(int key, int modifiers);
-
- void showPoseWindow();
- void showSettings();
-
- void setChannel(ftl::codecs::Channel c);
- const ftl::codecs::Channel getChannel() { return channel_; }
-
- void togglePause();
- void isPaused();
- inline bool isVirtual() const { return fid_ == 255; }
- const ftl::codecs::Channels<0> &availableChannels() { return channels_; }
- inline bool isStereo() const { return stereo_; }
-
- void setStereo(bool v);
-
- /**
- * Main function to obtain latest frames.
- */
- void update(std::vector<ftl::rgbd::FrameSet *> &fss);
-
- /**
- * Update the available channels.
- */
- void update(int fsid, const ftl::codecs::Channels<0> &c);
-
- /**
- * Draw virtual camera only if the frameset has been updated since last
- * draw.
- */
- void drawUpdated(std::vector<ftl::rgbd::FrameSet*> &fss);
-
- void draw(std::vector<ftl::rgbd::FrameSet*> &fss);
-
- void drawOverlay(const Eigen::Vector2f &);
-
- inline int64_t getFrameTimeMS() const { return int64_t(delta_ * 1000.0f); }
-
- const ftl::rgbd::Camera &getIntrinsics() const { return state_.getLeft(); }
- const Eigen::Matrix4d getPose() const { UNIQUE_LOCK(mutex_, lk); return state_.getPose(); }
-
- /**
- * @internal. Used to inform the camera if it is the active camera or not.
- */
- void active(bool);
-
- const void captureFrame();
- const GLTexture &getLeft() const { return texture1_; }
- const GLTexture &getRight() const { return texture2_; }
- const GLTexture &getDepth() const { return depth1_; }
-
- void snapshot(const std::string &filename);
-
- void startVideoRecording(const std::string &filename, const std::string &uri);
-
- void stopVideoRecording();
-
- //nlohmann::json getMetaData();
-
- const std::string &name() const { return name_; }
-
- StatisticsImage *stats_ = nullptr;
-
- float getDepth(int x, int y);
- float getDepth(float x, float y) { return getDepth((int) round(x), (int) round(y)); }
- cv::Point3f getPoint(int x, int y);
- cv::Point3f getPoint(float x, float y) { return getPoint((int) round(x), (int) round(y)); }
- //cv::Point3f getNormal(int x, int y);
- //cv::Point3f getNormal(float x, float y) { return getNormal((int) round(x), (int) round(y)); }
- void setTransform(const Eigen::Matrix4d &T);
- Eigen::Matrix4d getTransform() const;
- const std::vector<std::string> &getMessages() const { return msgs_; }
-
-#ifdef HAVE_OPENVR
- bool isVR() { return vr_mode_; }
- bool setVR(bool on);
-#else
- bool isVR() { return false; }
-#endif
-
- private:
-
- Screen *screen_;
- unsigned int fsmask_; // Frameset Mask
- int fid_;
-
- int width_;
- int height_;
-
- GLTexture texture1_; // first channel (always left at the moment)
- GLTexture texture2_; // second channel ("right")
- GLTexture depth1_;
-
- ftl::gui::PoseWindow *posewin_;
- //nlohmann::json meta_;
- Eigen::Vector4d neye_;
- Eigen::Vector3d eye_;
- //Eigen::Vector3f orientation_;
- Eigen::Matrix4d rotmat_;
- float ftime_;
- float delta_;
- float lerpSpeed_;
- bool sdepth_;
- bool pause_;
- bool do_snapshot_ = false;
- std::string pose_source_;
- std::string snapshot_filename_;
- ftl::codecs::Channel channel_;
- ftl::codecs::Channels<0> channels_;
-
- cv::cuda::HostMem im_depth_;
- //cv::cuda::HostMem im_normals_;
- cv::Mat im_normals_f_;
-
- cv::Mat overlay_; // first channel (left)
- bool stereo_;
- std::atomic_flag stale_frame_;
- int rx_;
- int ry_;
- std::vector<ftl::rgbd::FrameSet*> *framesets_;
-
- ftl::render::CUDARender *renderer_;
- ftl::render::CUDARender *renderer2_;
- ftl::render::Colouriser *colouriser_;
- ftl::overlay::Overlay *overlayer_;
-
- ftl::Configurable *intrinsics_;
- ftl::operators::Graph *post_pipe_;
- ftl::rgbd::Frame frame_;
- ftl::rgbd::FrameState state_;
- ftl::stream::File *file_stream_;
- ftl::stream::Net *net_stream_;
- ftl::stream::Broadcast *record_stream_;
- ftl::stream::Sender *record_sender_;
-
- std::string name_;
-
- std::vector<std::string> msgs_;
-
- int transform_ix_;
- std::array<Eigen::Matrix4d,ftl::stream::kMaxStreams> transforms_; // Frameset transforms for virtual cam
- Eigen::Matrix4d T_ = Eigen::Matrix4d::Identity();
-
- mutable MUTEX mutex_;
-
- #ifdef HAVE_OPENVR
- vr::TrackedDevicePose_t rTrackedDevicePose_[ vr::k_unMaxTrackedDeviceCount ];
- bool vr_mode_;
- float baseline_;
- #endif
-
- void _downloadFrames(ftl::cuda::TextureObject<uchar4> &, ftl::cuda::TextureObject<uchar4> &);
- void _downloadFrames(ftl::cuda::TextureObject<uchar4> &);
- void _downloadFrames();
- void _draw(std::vector<ftl::rgbd::FrameSet*> &fss);
- void _applyPoseEffects(std::vector<ftl::rgbd::FrameSet*> &fss);
- std::pair<const ftl::rgbd::Frame *, const ftl::codecs::Face *> _selectFace(std::vector<ftl::rgbd::FrameSet*> &fss);
- void _generateWindow(const ftl::rgbd::Frame &, const ftl::codecs::Face &face, Eigen::Matrix4d &pose_adjust, ftl::render::ViewPort &vp);
-};
-
-}
-}
-
-#endif // _FTL_GUI_CAMERA_HPP_
diff --git a/applications/gui/src/ctrl_window.cpp b/applications/gui/src/ctrl_window.cpp
deleted file mode 100644
index 37d311964e22ba800dddeada0cca1512c709c1f9..0000000000000000000000000000000000000000
--- a/applications/gui/src/ctrl_window.cpp
+++ /dev/null
@@ -1,139 +0,0 @@
-#include "ctrl_window.hpp"
-
-#include "config_window.hpp"
-
-#include <nanogui/layout.h>
-#include <nanogui/label.h>
-#include <nanogui/combobox.h>
-#include <nanogui/button.h>
-#include <nanogui/entypo.h>
-
-#include <vector>
-#include <string>
-
-using ftl::gui::ControlWindow;
-using ftl::gui::ConfigWindow;
-using std::string;
-using std::vector;
-
-
-ControlWindow::ControlWindow(nanogui::Widget *parent, ftl::ctrl::Master *ctrl)
- : nanogui::Window(parent, "Network Connections"), ctrl_(ctrl) {
- setLayout(new nanogui::GroupLayout());
-
- using namespace nanogui;
-
- _updateDetails();
-
- auto tools = new Widget(this);
- tools->setLayout(new BoxLayout( Orientation::Horizontal,
- Alignment::Middle, 0, 6));
-
- auto button = new Button(tools, "", ENTYPO_ICON_PLUS);
- button->setCallback([this] {
- // Show new connection dialog
- _addNode();
- });
- button->setTooltip("Add new node");
-
- // commented-out buttons not working/useful
- /*
- button = new Button(tools, "", ENTYPO_ICON_CYCLE);
- button->setCallback([this] {
- ctrl_->restart();
- });
- button = new Button(tools, "", ENTYPO_ICON_CONTROLLER_PAUS);
- button->setCallback([this] {
- ctrl_->pause();
- });
- button->setTooltip("Pause all nodes");*/
-
- new Label(this, "Select Node","sans-bold");
- auto select = new ComboBox(this, node_titles_);
- select->setCallback([this](int ix) {
- //LOG(INFO) << "Change node: " << ix;
- _changeActive(ix);
- });
-
- new Label(this, "Node Options","sans-bold");
-
- tools = new Widget(this);
- tools->setLayout(new BoxLayout( Orientation::Horizontal,
- Alignment::Middle, 0, 6));
-
- /*button = new Button(tools, "", ENTYPO_ICON_INFO);
- button->setCallback([this] {
-
- });
- button->setTooltip("Node status information");*/
-
- button = new Button(tools, "", ENTYPO_ICON_COG);
- button->setCallback([this,parent] {
- auto cfgwin = new ConfigWindow(parent, ctrl_);
- cfgwin->setTheme(theme());
- });
- button->setTooltip("Edit node configuration");
-
- /*button = new Button(tools, "", ENTYPO_ICON_CYCLE);
- button->setCallback([this] {
- ctrl_->restart(_getActiveID());
- });
- button->setTooltip("Restart this node");*/
-
- /*button = new Button(tools, "", ENTYPO_ICON_CONTROLLER_PAUS);
- button->setCallback([this] {
- ctrl_->pause(_getActiveID());
- });
- button->setTooltip("Pause node processing");*/
-
- ctrl->getNet()->onConnect([this,select](ftl::net::Peer *p) {
- _updateDetails();
- select->setItems(node_titles_);
- });
-
- _changeActive(0);
-}
-
-ControlWindow::~ControlWindow() {
-
-}
-
-void ControlWindow::_addNode() {
- using namespace nanogui;
-
- FormHelper *form = new FormHelper(this->screen());
- form->addWindow(Vector2i(100,100), "Add Node");
-
- auto var = form->addVariable("URI", add_node_uri_);
- var->setValue("tcp://localhost:9001");
- var->setFixedWidth(200);
-
- form->addButton("Add", [this,form](){
- ctrl_->getNet()->connect(add_node_uri_);
- form->window()->setVisible(false);
- delete form;
- })->setIcon(ENTYPO_ICON_PLUS);
-
- form->addButton("Close", [form]() {
- form->window()->setVisible(false);
- delete form;
- })->setIcon(ENTYPO_ICON_CROSS);
-}
-
-void ControlWindow::_updateDetails() {
- node_details_ = ctrl_->getControllers();
-
- node_titles_.clear();
- for (auto &d : node_details_) {
- node_titles_.push_back(d["title"].get<string>());
- }
-}
-
-void ControlWindow::_changeActive(int ix) {
- active_ix_ = ix;
-}
-
-ftl::UUID ControlWindow::_getActiveID() {
- return ftl::UUID(node_details_[active_ix_]["id"].get<string>());
-}
-
diff --git a/applications/gui/src/ctrl_window.hpp b/applications/gui/src/ctrl_window.hpp
deleted file mode 100644
index 93a45a47e2710f3c13e4c6c1b1ae75a299dab0db..0000000000000000000000000000000000000000
--- a/applications/gui/src/ctrl_window.hpp
+++ /dev/null
@@ -1,35 +0,0 @@
-#ifndef _FTL_GUI_CTRLWINDOW_HPP_
-#define _FTL_GUI_CTRLWINDOW_HPP_
-
-#include <nanogui/window.h>
-#include <ftl/master.hpp>
-#include <ftl/uuid.hpp>
-
-namespace ftl {
-namespace gui {
-
-/**
- * Manage connected nodes and add new connections.
- */
-class ControlWindow : public nanogui::Window {
- public:
- ControlWindow(nanogui::Widget *parent, ftl::ctrl::Master *ctrl);
- ~ControlWindow();
-
- private:
- ftl::ctrl::Master *ctrl_;
- std::vector<ftl::config::json_t> node_details_;
- std::vector<std::string> node_titles_;
- int active_ix_;
- std::string add_node_uri_;
-
- void _updateDetails();
- void _changeActive(int);
- ftl::UUID _getActiveID();
- void _addNode();
-};
-
-}
-}
-
-#endif // _FTL_GUI_CTRLWINDOW_HPP_
diff --git a/applications/gui/src/frameset_mgr.cpp b/applications/gui/src/frameset_mgr.cpp
deleted file mode 100644
index 479f224d95ca18a05667f4a9e4c037131703fb55..0000000000000000000000000000000000000000
--- a/applications/gui/src/frameset_mgr.cpp
+++ /dev/null
@@ -1,9 +0,0 @@
-#include "frameset_mgr.hpp"
-#include <ftl/uri.hpp>
-
-static int frameset_counter = 0;
-
-int ftl::gui::mapToFrameset(const std::string &uri) {
- //ftl::URI u(uri);
- return frameset_counter++;
-}
diff --git a/applications/gui/src/frameset_mgr.hpp b/applications/gui/src/frameset_mgr.hpp
deleted file mode 100644
index c5412fd1d4bdb65030177e5948d3861d5b1eeb0a..0000000000000000000000000000000000000000
--- a/applications/gui/src/frameset_mgr.hpp
+++ /dev/null
@@ -1,17 +0,0 @@
-#ifndef _FTL_GUI_FRAMESET_MANAGER_HPP_
-#define _FTL_GUI_FRAMESET_MANAGER_HPP_
-
-#include <string>
-
-namespace ftl {
-namespace gui {
-
-/**
- * Given a stream URI, allocate a frameset number to that stream.
- */
-int mapToFrameset(const std::string &uri);
-
-}
-}
-
-#endif
diff --git a/applications/gui/src/gltexture.hpp b/applications/gui/src/gltexture.hpp
deleted file mode 100644
index 759f349cf9a341b28fc96c890e7820795fee97b5..0000000000000000000000000000000000000000
--- a/applications/gui/src/gltexture.hpp
+++ /dev/null
@@ -1,52 +0,0 @@
-#ifndef _FTL_GUI_GLTEXTURE_HPP_
-#define _FTL_GUI_GLTEXTURE_HPP_
-
-#include <opencv2/core/mat.hpp>
-
-#include <cuda_runtime.h>
-
-struct cudaGraphicsResource;
-
-namespace ftl {
-namespace gui {
-
-class GLTexture {
- public:
- enum class Type {
- RGBA,
- BGRA,
- Float
- };
-
- explicit GLTexture(Type);
- ~GLTexture();
-
- void update(cv::Mat &m);
- void make(int width, int height);
- unsigned int texture() const;
- bool isValid() const { return glid_ != std::numeric_limits<unsigned int>::max(); }
-
- cv::cuda::GpuMat map(cudaStream_t stream);
- void unmap(cudaStream_t stream);
-
- void free();
-
- int width() const { return width_; }
- int height() const { return height_; }
-
- private:
- unsigned int glid_;
- unsigned int glbuf_;
- int width_;
- int height_;
- int stride_;
- bool changed_;
- Type type_;
-
- cudaGraphicsResource *cuda_res_;
-};
-
-}
-}
-
-#endif // _FTL_GUI_GLTEXTURE_HPP_
diff --git a/applications/gui/src/main.cpp b/applications/gui/src/main.cpp
deleted file mode 100644
index 03146915e94774186dcb9a0f807e1601f28179b3..0000000000000000000000000000000000000000
--- a/applications/gui/src/main.cpp
+++ /dev/null
@@ -1,109 +0,0 @@
-#include <ftl/configuration.hpp>
-#include <ftl/net/universe.hpp>
-#include <ftl/rgbd.hpp>
-#include <ftl/master.hpp>
-#include <ftl/net_configurable.hpp>
-
-#include <loguru.hpp>
-
-#include "screen.hpp"
-
-#include <cuda_gl_interop.h>
-
-
-int main(int argc, char **argv) {
- auto root = ftl::configure(argc, argv, "gui_default");
- ftl::net::Universe *net = ftl::create<ftl::net::Universe>(root, "net");
-
- int cuda_device;
- cudaSafeCall(cudaGetDevice(&cuda_device));
- //cudaSafeCall(cudaGLSetGLDevice(cuda_device));
-
- ftl::ctrl::Master *controller = new ftl::ctrl::Master(root, net);
- controller->onLog([](const ftl::ctrl::LogEvent &e){
- const int v = e.verbosity;
- switch (v) {
- case -2: LOG(ERROR) << "Remote log: " << e.message; break;
- case -1: LOG(WARNING) << "Remote log: " << e.message; break;
- case 0: LOG(INFO) << "Remote log: " << e.message; break;
- }
- });
-
- net->start();
- net->waitConnections();
-
- /*auto available = net.findAll<string>("list_streams");
- for (auto &a : available) {
- std::cout << " -- " << a << std::endl;
- }*/
-
- ftl::timer::start();
-
- try {
- nanogui::init();
-
- {
- nanogui::ref<ftl::gui::Screen> app = new ftl::gui::Screen(root, net, controller);
- app->drawAll();
- app->setVisible(true);
- //nanogui::mainloop(20);
-
- float last_draw_time = 0.0f;
-
- while (ftl::running) {
- if (!app->visible()) {
- ftl::running = false;
- } else if (glfwWindowShouldClose(app->glfwWindow())) {
- app->setVisible(false);
- ftl::running = false;
- } else {
- float now = (float)glfwGetTime();
- float delta = now - last_draw_time;
-
- // Generate poses and render and virtual frame here
- // at full FPS (25 without VR and 90 with VR currently)
- app->drawFast();
-
- // Only draw the GUI at 25fps
- if (delta >= 0.04f) {
- last_draw_time = now;
- app->drawAll();
- }
- }
-
- /* Wait for mouse/keyboard or empty refresh events */
- //glfwWaitEvents();
- glfwPollEvents();
- }
-
- /* Process events once more */
- glfwPollEvents();
-
- LOG(INFO) << "Stopping...";
- ftl::timer::stop(false);
- ftl::pool.stop(true);
- LOG(INFO) << "All threads stopped.";
- }
-
- nanogui::shutdown();
- } catch (const ftl::exception &e) {
- LOG(ERROR) << "Fatal error: " << e.what();
- LOG(ERROR) << e.trace();
- } catch (const std::runtime_error &e) {
- std::string error_msg = std::string("Caught a fatal error: ") + std::string(e.what());
- #if defined(_WIN32)
- MessageBoxA(nullptr, error_msg.c_str(), NULL, MB_ICONERROR | MB_OK);
- #else
- LOG(ERROR) << error_msg;
- #endif
- return -1;
- }
-
-
- net->shutdown();
- delete controller;
- delete net;
- delete root;
-
- return 0;
-}
diff --git a/applications/gui/src/media_panel.cpp b/applications/gui/src/media_panel.cpp
deleted file mode 100644
index 4677cb7e06e1482fd9a21f656ae50f5df25add10..0000000000000000000000000000000000000000
--- a/applications/gui/src/media_panel.cpp
+++ /dev/null
@@ -1,272 +0,0 @@
-#include "media_panel.hpp"
-#include "screen.hpp"
-#include "record_window.hpp"
-
-#include <nanogui/layout.h>
-#include <nanogui/button.h>
-#include <nanogui/popupbutton.h>
-#include <nanogui/entypo.h>
-
-#ifdef HAVE_LIBARCHIVE
-#include "ftl/rgbd/snapshot.hpp"
-#endif
-
-using ftl::gui::MediaPanel;
-using ftl::codecs::Channel;
-
-MediaPanel::MediaPanel(ftl::gui::Screen *screen, ftl::gui::SourceWindow *sourceWindow) : nanogui::Window(screen, ""), screen_(screen), sourceWindow_(sourceWindow) {
- using namespace nanogui;
-
- paused_ = false;
- disable_switch_channels_ = false;
- record_mode_ = RecordMode::None;
-
- setLayout(new BoxLayout(Orientation::Horizontal,
- Alignment::Middle, 5, 10));
-
- auto size = Vector2i(400, 60);
- //setFixedSize(size);
- setPosition(Vector2i(screen->width() / 2 - size[0]/2, screen->height() - 30 - size[1]));
-
- auto button = new Button(this, "", ENTYPO_ICON_EDIT);
- button->setTooltip("Edit camera properties");
- button->setCallback([this]() {
- auto *cam = screen_->activeCamera();
- if (cam) cam->showPoseWindow();
- });
-
- recordbutton_ = new PopupButton(this, "", ENTYPO_ICON_CONTROLLER_RECORD);
- recordbutton_->setTooltip("Record");
- recordbutton_->setSide(Popup::Side::Right);
- recordbutton_->setChevronIcon(0);
- auto recordpopup = recordbutton_->popup();
- recordpopup->setLayout(new GroupLayout());
- recordpopup->setTheme(screen->toolbuttheme);
- recordpopup->setAnchorHeight(180);
- auto itembutton = new Button(recordpopup, "2D snapshot (.png)");
- itembutton->setCallback([this]() {
- _startRecording(RecordMode::Snapshot2D);
- recordbutton_->setPushed(false);
- });
- itembutton = new Button(recordpopup, "Virtual camera recording (.ftl)");
- itembutton->setCallback([this]() {
- _startRecording(RecordMode::Video2D);
- recordbutton_->setTextColor(nanogui::Color(1.0f,0.1f,0.1f,1.0f));
- recordbutton_->setPushed(false);
- });
- itembutton = new Button(recordpopup, "Virtual camera Live");
- itembutton->setCallback([this]() {
- _startRecording(RecordMode::Live2D);
- recordbutton_->setTextColor(nanogui::Color(1.0f,0.1f,0.1f,1.0f));
- recordbutton_->setPushed(false);
- });
- itembutton = new Button(recordpopup, "3D scene snapshot (.ftl)");
- itembutton->setCallback([this]() {
- _startRecording(RecordMode::Snapshot3D);
- recordbutton_->setPushed(false);
- });
- itembutton = new Button(recordpopup, "3D scene recording (.ftl)");
- itembutton->setCallback([this]() {
- _startRecording(RecordMode::Video3D);
- recordbutton_->setTextColor(nanogui::Color(1.0f,0.1f,0.1f,1.0f));
- recordbutton_->setPushed(false);
- });
- itembutton = new Button(recordpopup, "Detailed recording options");
- itembutton->setCallback([this,sourceWindow] {
- auto record_window = new RecordWindow(screen_, screen_, sourceWindow->getCameras(), this);
- record_window->setTheme(screen_->windowtheme);
- recordbutton_->setPushed(false);
- recordbutton_->setEnabled(false);
- });
-
- recordbutton_->setCallback([this](){
- if (record_mode_ != RecordMode::None) {
- _stopRecording();
- recordbutton_->setTextColor(nanogui::Color(1.0f,1.0f,1.0f,1.0f));
- recordbutton_->setPushed(false);
- }
- });
-
- button = new Button(this, "", ENTYPO_ICON_CONTROLLER_STOP);
- button->setCallback([this]() {
- screen_->setActiveCamera(nullptr);
- });
-
- button = new Button(this, "", ENTYPO_ICON_CONTROLLER_PAUS);
- button->setCallback([this,button,sourceWindow]() {
- //paused_ = !paused_;
- //paused_ = !(bool)ftl::config::get("[reconstruction]/controls/paused");
- //ftl::config::update("[reconstruction]/controls/paused", paused_);
-
- paused_ = !paused_;
- sourceWindow->paused(paused_);
-
- if (paused_) {
- button->setIcon(ENTYPO_ICON_CONTROLLER_PLAY);
- } else {
- button->setIcon(ENTYPO_ICON_CONTROLLER_PAUS);
- }
- });
-
- // not very useful (l/r)
-
- /*auto button_dual = new Button(this, "", ENTYPO_ICON_MAP);
- button_dual->setCallback([this]() {
- screen_->setDualView(!screen_->getDualView());
- });
- */
-
-#ifdef HAVE_OPENVR
- if (this->screen_->isHmdPresent()) {
- auto button_vr = new Button(this, "VR");
- button_vr->setFlags(Button::ToggleButton);
- button_vr->setChangeCallback([this, button_vr](bool state) {
- if (!screen_->isVR()) {
- if (screen_->switchVR(true) == true) {
- button_vr->setTextColor(nanogui::Color(0.5f,0.5f,1.0f,1.0f));
- //this->button_channels_->setEnabled(false);
- }
- }
- else {
- if (screen_->switchVR(false) == false) {
- button_vr->setTextColor(nanogui::Color(1.0f,1.0f,1.0f,1.0f));
- //this->button_channels_->setEnabled(true);
- }
- }
- });
- }
-#endif
-
- button_channels_ = new PopupButton(this, "", ENTYPO_ICON_LAYERS);
- button_channels_->setSide(Popup::Side::Right);
- button_channels_->setChevronIcon(ENTYPO_ICON_CHEVRON_SMALL_RIGHT);
- Popup *popup = button_channels_->popup();
- popup->setLayout(new GroupLayout());
- popup->setTheme(screen->toolbuttheme);
- popup->setAnchorHeight(150);
-
- for (int i=0; i<=2; ++i) {
- ftl::codecs::Channel c = static_cast<ftl::codecs::Channel>(i);
- button = new Button(popup, ftl::codecs::name(c));
- button->setFlags(Button::RadioButton);
- //button->setPushed(true);
- button->setVisible(false);
- button->setCallback([this,c]() {
- ftl::gui::Camera *cam = screen_->activeCamera();
- if (cam) {
- cam->setChannel(c);
- }
- });
- channel_buttons_[i] = button;
- }
-
- auto *stereobut = new Button(popup, "Stereo On");
- stereobut->setCallback([this,stereobut]() {
- ftl::gui::Camera *cam = screen_->activeCamera();
- if (cam) {
- cam->setStereo(!cam->isStereo());
- if (cam->isStereo()) {
- stereobut->setCaption("Stereo Off");
- } else {
- stereobut->setCaption("Stereo On");
- }
- }
- });
-
-
- auto *popbutton = new PopupButton(popup, "More");
- popbutton->setSide(Popup::Side::Right);
- popbutton->setChevronIcon(ENTYPO_ICON_CHEVRON_SMALL_RIGHT);
- popup = popbutton->popup();
- popup->setLayout(new GroupLayout());
- popup->setTheme(screen->toolbuttheme);
- //popup->setAnchorHeight(150);
- more_button_ = popup;
-
- for (int i=3; i<32; ++i) {
- ftl::codecs::Channel c = static_cast<ftl::codecs::Channel>(i);
- button = new Button(popup, ftl::codecs::name(c));
- button->setFlags(Button::RadioButton);
- //button->setPushed(true);
- button->setVisible(false);
- button->setCallback([this,c]() {
- ftl::gui::Camera *cam = screen_->activeCamera();
- if (cam) {
- cam->setChannel(c);
- }
- });
- channel_buttons_[i] = button;
- }
-}
-
-MediaPanel::~MediaPanel() {
-
-}
-
-void MediaPanel::_startRecording(MediaPanel::RecordMode mode) {
- char timestamp[18];
- std::time_t t=std::time(NULL);
- std::strftime(timestamp, sizeof(timestamp), "%F-%H%M%S", std::localtime(&t));
-
- std::string filename(timestamp);
- switch(mode) {
- case RecordMode::Snapshot2D : filename += ".png"; break;
- case RecordMode::Snapshot3D :
- case RecordMode::Video3D : filename += ".ftl"; break;
- case RecordMode::Video2D : filename += ".ftl"; break;
- case RecordMode::Live2D : break;
- default: return;
- }
-
- if (mode == RecordMode::Video3D) {
- record_mode_ = mode;
- sourceWindow_->recordVideo(filename);
- } else if (mode == RecordMode::Snapshot2D) {
- screen_->activeCamera()->snapshot(filename);
- } else if (mode == RecordMode::Video2D) {
- record_mode_ = mode;
- screen_->activeCamera()->startVideoRecording(filename, "");
- } else if (mode == RecordMode::Live2D) {
- record_mode_ = mode;
- screen_->activeCamera()->startVideoRecording("", "ftl://live.utu.fi");
- }
-}
-
-void MediaPanel::_stopRecording() {
- if (record_mode_ == RecordMode::Video3D) {
- sourceWindow_->stopRecordingVideo();
- } else if (record_mode_ == RecordMode::Video2D || record_mode_ == RecordMode::Live2D) {
- screen_->activeCamera()->stopVideoRecording();
- }
- record_mode_ = RecordMode::None;
-}
-
-// Update button enabled status
-void MediaPanel::cameraChanged() {
- ftl::gui::Camera *cam = screen_->activeCamera();
- if (cam) {
- auto channels = cam->availableChannels();
- for (int i=0; i<32; ++i) {
- if (channels.has(static_cast<ftl::codecs::Channel>(i))) {
- channel_buttons_[i]->setVisible(true);
- } else {
- channel_buttons_[i]->setVisible(false);
- }
-
- if (cam->getChannel() == static_cast<ftl::codecs::Channel>(i)) {
- channel_buttons_[i]->setPushed(true);
- } else {
- channel_buttons_[i]->setPushed(false);
- }
- }
- }
-}
-
-void MediaPanel::performLayout(NVGcontext *ctx) {
- nanogui::Window::performLayout(ctx);
- more_button_->setAnchorHeight(more_button_->height()-20);
-}
-
-void MediaPanel::recordWindowClosed() {
- recordbutton_->setEnabled(true);
-}
\ No newline at end of file
diff --git a/applications/gui/src/media_panel.hpp b/applications/gui/src/media_panel.hpp
deleted file mode 100644
index f615be1f6079808fcce71500840f6fc8c6652ac9..0000000000000000000000000000000000000000
--- a/applications/gui/src/media_panel.hpp
+++ /dev/null
@@ -1,81 +0,0 @@
-#ifndef _FTL_GUI_MEDIAPANEL_HPP_
-#define _FTL_GUI_MEDIAPANEL_HPP_
-
-#include "camera.hpp"
-
-#include <nanogui/window.h>
-
-#include "src_window.hpp"
-
-#include <array>
-
-namespace ftl {
-
-namespace rgbd {
-class SnapshotStreamWriter;
-}
-
-namespace gui {
-
-class Screen;
-
-class MediaPanel : public nanogui::Window {
- public:
- explicit MediaPanel(ftl::gui::Screen *, ftl::gui::SourceWindow *);
- ~MediaPanel();
-
- void cameraChanged();
-
- //void startRecording2D(ftl::gui::Camera *camera, const std::string &filename);
-
- //void snapshot3D(ftl::gui::Camera *camera, const std::string &filename);
-
- //void startRecording3D(ftl::gui::Camera *camera, const std::string &filename);
-
- void recordWindowClosed();
-
- void performLayout(NVGcontext *ctx) override;
-
- private:
- ftl::gui::Screen *screen_;
- ftl::gui::SourceWindow *sourceWindow_;
-
- bool paused_;
- bool disable_switch_channels_;
-
- ftl::rgbd::SnapshotStreamWriter *writer_;
- nanogui::PopupButton *button_channels_;
- //nanogui::Button *right_button_;
- //nanogui::Button *depth_button_;
- nanogui::Popup *more_button_;
- nanogui::PopupButton *recordbutton_;
- std::array<nanogui::Button*,32> channel_buttons_={};
-
- enum class RecordMode {
- None,
- Snapshot2D,
- Snapshot3D,
- Video2D,
- Video3D,
- Live2D,
- Live3D
- };
- RecordMode record_mode_;
-
- void _startRecording(RecordMode mode);
- void _stopRecording();
-
- /**
- * These members indicate which type of recording is active, if any.
- * They also include a pointer to an object which is used
- * to end the recording. Only one of these members should have a value
- * at any given time.
- */
- //std::optional<ftl::gui::Camera*> virtualCameraRecording_;
- //std::optional<ftl::Configurable*> sceneRecording_;
-};
-
-}
-}
-
-#endif // _FTL_GUI_MEDIAPANEL_HPP_
diff --git a/applications/gui/src/pose_window.cpp b/applications/gui/src/pose_window.cpp
deleted file mode 100644
index 2277c27c529ddab5ff16491026f2e05803d58a48..0000000000000000000000000000000000000000
--- a/applications/gui/src/pose_window.cpp
+++ /dev/null
@@ -1,207 +0,0 @@
-#include "pose_window.hpp"
-#include "screen.hpp"
-#include "camera.hpp"
-
-#include <nanogui/combobox.h>
-#include <nanogui/label.h>
-#include <nanogui/layout.h>
-#include <nanogui/button.h>
-
-using ftl::gui::PoseWindow;
-using ftl::gui::Screen;
-using std::string;
-
-static Eigen::Affine3d create_rotation_matrix(float ax, float ay, float az) {
- Eigen::Affine3d rx =
- Eigen::Affine3d(Eigen::AngleAxisd(ax, Eigen::Vector3d(1, 0, 0)));
- Eigen::Affine3d ry =
- Eigen::Affine3d(Eigen::AngleAxisd(ay, Eigen::Vector3d(0, 1, 0)));
- Eigen::Affine3d rz =
- Eigen::Affine3d(Eigen::AngleAxisd(az, Eigen::Vector3d(0, 0, 1)));
- return ry * rz * rx;
-}
-
-PoseWindow::PoseWindow(ftl::gui::Screen *screen, const std::string &src)
- : nanogui::Window(screen, "Pose Adjust"), src_(src), screen_(screen) {
- using namespace nanogui;
-
- //setLayout(new nanogui::GroupLayout());
- setLayout(new BoxLayout(Orientation::Vertical,
- Alignment::Middle, 0, 6));
-
- pose_param_ = kPoseTranslation;
- pose_precision_ = 0.1;
-
- pose_ = screen_->control()->getPose(src_);
-
- //Widget *tools = new Widget(this);
- // tools->setLayout(new BoxLayout(Orientation::Horizontal,
- // Alignment::Middle, 0, 6));
-
- auto grouping = new Widget(this);
- grouping->setLayout(new GroupLayout());
-
- new Label(grouping, "Select source","sans-bold");
- available_ = screen_->net()->findAll<string>("list_streams");
- auto select = new ComboBox(grouping, available_);
- select->setSelectedIndex(std::distance(available_.begin(), std::find(available_.begin(), available_.end(), src_)));
- select->setCallback([this,select](int ix) {
- src_ = available_[ix];
- pose_ = screen_->control()->getPose(src_);
- });
-
- screen_->net()->onConnect([this,select](ftl::net::Peer *p) {
- available_ = screen_->control()->getNet()->findAll<string>("list_streams");
- select->setItems(available_);
- });
-
- new Label(grouping, "Pose Options","sans-bold");
-
- auto tools = new Widget(grouping);
- tools->setLayout(new BoxLayout(Orientation::Horizontal,
- Alignment::Middle, 0, 6));
-
- auto button_opt = new Button(tools, "", ENTYPO_ICON_EYE);
- button_opt->setTooltip("Virtual view to this pose");
- //button_opt->setFlags(Button::ToggleButton);
- //button_opt->setPushed(false);
- button_opt->setCallback([this]() {
- screen_->activeCamera()->setPose(pose_);
- });
-
- button_opt = new Button(tools, "", ENTYPO_ICON_LINK);
- button_opt->setTooltip("Link virtual current pose to this pose");
- button_opt->setFlags(Button::ToggleButton);
- button_opt->setPushed(false);
- button_opt->setChangeCallback([this](bool state) { });
-
- tools = new Widget(grouping);
- tools->setLayout(new BoxLayout(Orientation::Horizontal,
- Alignment::Middle, 0, 6));
-
- auto button_rgb = new Button(tools, "Translation");
- button_rgb->setTooltip("Adjust camera location");
- button_rgb->setFlags(Button::RadioButton);
- button_rgb->setPushed(true);
- button_rgb->setCallback([this]() { pose_param_ = kPoseTranslation; });
-
- auto button_depth = new Button(tools, "Rotation");
- button_depth->setFlags(Button::RadioButton);
- button_depth->setCallback([this]() { pose_param_ = kPoseRotation; });
-
- auto button_stddev = new Button(tools, "Raw");
- button_stddev->setTooltip("Edit the numbers directly");
- button_stddev->setFlags(Button::RadioButton);
- button_stddev->setChangeCallback([this](bool state) { pose_param_ = kPoseRaw; });
-
- tools = new Widget(grouping);
- tools->setLayout(new BoxLayout(Orientation::Horizontal,
- Alignment::Middle, 0, 6));
-
- auto button = new Button(tools, "0.1m");
- button->setFlags(Button::RadioButton);
- button->setPushed(true);
- button->setCallback([this](){
- pose_precision_ = 0.1f;
- });
-
- button = new Button(tools, "0.01m");
- button->setFlags(Button::RadioButton);
- button->setCallback([this](){
- pose_precision_ = 0.01f;
- });
-
- button = new Button(tools, "0.001m");
- button->setFlags(Button::RadioButton);
- button->setCallback([this](){
- pose_precision_ = 0.001f;
- });
-
- tools = new Widget(this);
- auto grid = new GridLayout(Orientation::Horizontal, 3, Alignment::Middle, 5, 4);
- tools->setLayout(grid);
- tools->setFixedWidth(150);
-
-
- button = new Button(tools, "Up");
- button->setCallback([this]() {
- if (pose_param_ == kPoseTranslation) {
- Eigen::Affine3d transform(Eigen::Translation3d(0.0,-pose_precision_,0.0));
- Eigen::Matrix4d matrix = transform.matrix();
- pose_ *= matrix;
- } else if (pose_param_ == kPoseRotation) {
- Eigen::Affine3d r = create_rotation_matrix(pose_precision_, 0.0, 0.0);
- pose_ = r.matrix() * pose_;
- }
-
- screen_->control()->setPose(src_, pose_);
- });
- button = new Button(tools, "", ENTYPO_ICON_CHEVRON_UP);
- button->setCallback([this]() {
- if (pose_param_ == kPoseTranslation) {
- Eigen::Affine3d transform(Eigen::Translation3d(0.0,0.0,-pose_precision_));
- Eigen::Matrix4d matrix = transform.matrix();
- pose_ *= matrix;
- } else if (pose_param_ == kPoseRotation) {
- Eigen::Affine3d r = create_rotation_matrix(0.0, 0.0, pose_precision_);
- pose_ = r.matrix() * pose_;
- }
- screen_->control()->setPose(src_, pose_);
- });
- button = new Button(tools, "Down");
- button->setCallback([this]() {
- if (pose_param_ == kPoseTranslation) {
- Eigen::Affine3d transform(Eigen::Translation3d(0.0,pose_precision_,0.0));
- Eigen::Matrix4d matrix = transform.matrix();
- pose_ *= matrix;
- } else if (pose_param_ == kPoseRotation) {
- Eigen::Affine3d r = create_rotation_matrix(-pose_precision_, 0.0, 0.0);
- pose_ = r.matrix() * pose_;
- }
- screen_->control()->setPose(src_, pose_);
- });
-
- button = new Button(tools, "", ENTYPO_ICON_CHEVRON_LEFT);
- button->setCallback([this]() {
- if (pose_param_ == kPoseTranslation) {
- Eigen::Affine3d transform(Eigen::Translation3d(-pose_precision_,0.0,0.0));
- Eigen::Matrix4d matrix = transform.matrix();
- pose_ *= matrix;
- } else if (pose_param_ == kPoseRotation) {
- Eigen::Affine3d r = create_rotation_matrix(0.0, pose_precision_, 0.0);
- pose_ = r.matrix() * pose_;
- }
- screen_->control()->setPose(src_, pose_);
- });
- new Widget(tools);
- button = new Button(tools, "", ENTYPO_ICON_CHEVRON_RIGHT);
- button->setCallback([this]() {
- if (pose_param_ == kPoseTranslation) {
- Eigen::Affine3d transform(Eigen::Translation3d(pose_precision_,0.0,0.0));
- Eigen::Matrix4d matrix = transform.matrix();
- pose_ *= matrix;
- } else if (pose_param_ == kPoseRotation) {
- Eigen::Affine3d r = create_rotation_matrix(0.0, -pose_precision_, 0.0);
- pose_ = r.matrix() * pose_;
- }
- screen_->control()->setPose(src_, pose_);
- });
-
- new Widget(tools);
- button = new Button(tools, "", ENTYPO_ICON_CHEVRON_DOWN);
- button->setCallback([this]() {
- if (pose_param_ == kPoseTranslation) {
- Eigen::Affine3d transform(Eigen::Translation3d(0.0,0.0,pose_precision_));
- Eigen::Matrix4d matrix = transform.matrix();
- pose_ *= matrix;
- } else if (pose_param_ == kPoseRotation) {
- Eigen::Affine3d r = create_rotation_matrix(0.0, 0.0, -pose_precision_);
- pose_ = r.matrix() * pose_;
- }
- screen_->control()->setPose(src_, pose_);
- });
-}
-
-PoseWindow::~PoseWindow() {
-
-}
diff --git a/applications/gui/src/pose_window.hpp b/applications/gui/src/pose_window.hpp
deleted file mode 100644
index bbd04141434a048552f6e57b9875f42c4b3b5ac3..0000000000000000000000000000000000000000
--- a/applications/gui/src/pose_window.hpp
+++ /dev/null
@@ -1,41 +0,0 @@
-#ifndef _FTL_GUI_POSEWINDOW_HPP_
-#define _FTL_GUI_POSEWINDOW_HPP_
-
-#include <nanogui/window.h>
-#include <ftl/master.hpp>
-#include <ftl/uuid.hpp>
-
-namespace ftl {
-namespace gui {
-
-class Screen;
-
-/**
- * Manage connected nodes and add new connections.
- */
-class PoseWindow : public nanogui::Window {
- public:
- PoseWindow(ftl::gui::Screen *screen, const std::string &src);
- ~PoseWindow();
-
- private:
- std::vector<std::string> available_;
- std::string src_;
-
- enum poseparameter_t {
- kPoseTranslation,
- kPoseRotation,
- kPoseRaw
- };
-
- poseparameter_t pose_param_;
- float pose_precision_;
- Eigen::Matrix4d pose_;
- ftl::gui::Screen *screen_;
- bool poselink_;
-};
-
-}
-}
-
-#endif // _FTL_GUI_POSEWINDOW_HPP_
diff --git a/applications/gui/src/record_window.cpp b/applications/gui/src/record_window.cpp
deleted file mode 100644
index e358206fe727a97432044c95a8be75d2663b049f..0000000000000000000000000000000000000000
--- a/applications/gui/src/record_window.cpp
+++ /dev/null
@@ -1,122 +0,0 @@
-#include "record_window.hpp"
-
-#include "screen.hpp"
-
-#include <ftl/codecs/channels.hpp>
-
-#include <nanogui/layout.h>
-#include <nanogui/button.h>
-#include <nanogui/combobox.h>
-#include <nanogui/label.h>
-#include <nanogui/textbox.h>
-#include <nanogui/tabwidget.h>
-
-using ftl::gui::RecordWindow;
-
-RecordWindow::RecordWindow(nanogui::Widget *parent, ftl::gui::Screen *screen, const std::vector<ftl::gui::Camera *> &streams, ftl::gui::MediaPanel *media_panel)
- : nanogui::Window(parent, "Recording options") {
- using namespace nanogui;
-
- setLayout(new GroupLayout());
-
- new Label(this, "File name", "sans-bold");
- char timestamp[18];
- std::time_t t = std::time(NULL);
- std::strftime(timestamp, sizeof(timestamp), "%F-%H%M%S", std::localtime(&t));
- Widget *fileNameBox = new Widget(this);
- fileNameBox->setLayout(new BoxLayout(Orientation::Horizontal, Alignment::Middle, 0, 6));
- auto fileName = new TextBox(fileNameBox, std::string(timestamp));
- fileName->setFixedWidth(350);
- fileName->setEditable(true);
- auto extension = new Label(fileNameBox, ".png", "sans-bold");
- new Label(this, "Select stream", "sans-bold");
- auto streamNames = std::vector<std::string>();
- streamNames.reserve(streams.size());
- std::optional<int> ix;
- int i=1;
- for (const auto s : streams) {
- if (s == screen->activeCamera()) {
- ix = std::optional<int>(streamNames.size());
- }
-
- streamNames.push_back(std::string("Stream")+std::to_string(i++));
- }
- auto streamSelect = new ComboBox(this, streamNames);
-
- TabWidget *tabWidget = add<TabWidget>();
- tabWidget->setFixedWidth(400);
- auto snapshot2D = tabWidget->createTab("2D snapshot");
- auto recording2D = tabWidget->createTab("2D recording");
- auto snapshot3D = tabWidget->createTab("3D snapshot");
- auto recording3D = tabWidget->createTab("3D recording");
-
- snapshot2D->setLayout(new GroupLayout());
- recording2D->setLayout(new GroupLayout());
- snapshot3D->setLayout(new GroupLayout());
- recording3D->setLayout(new GroupLayout());
-
- // Set the file name extension based on the type of recording chosen.
- tabWidget->setCallback([tabWidget,snapshot2D,extension](int ix) {
- if (tabWidget->tab(ix) == snapshot2D) {
- extension->setCaption(".png");
- } else {
- extension->setCaption(".ftl");
- }
- });
-
- tabWidget->setActiveTab(0);
-
- new Label(recording2D, "Select channel (in addition to Left)", "sans-bold");
- auto recordingChannel = recording2D->add<ComboBox>();
- auto streamCallback = [this,streams,recordingChannel](int ix) {
- channels_ = std::vector<ftl::codecs::Channel>();
- channel_names_ = std::vector<std::string>();
- ftl::codecs::Channels availableChannels = streams[ix]->availableChannels();
- for (auto c : availableChannels) {
- channels_.push_back(c);
- channel_names_.push_back(ftl::codecs::name(c));
- }
- recordingChannel->setItems(channel_names_);
- };
- streamSelect->setCallback(streamCallback);
-
- // Set the selection to the active stream and set the channel list
- // to be the channels available in that stream. The callback must
- // be called explicitly, since setSelectedIndex() does not trigger it.
- if (ix) {
- streamSelect->setSelectedIndex(ix.value());
- streamCallback(ix.value());
- }
-
- Widget *actionButtons = new Widget(this);
- actionButtons->setLayout(new BoxLayout(Orientation::Horizontal));
- auto button = new Button(actionButtons, "Start");
- button->setCallback([this,streams,streamSelect,screen,media_panel,fileName,extension,tabWidget,snapshot2D,recording2D,snapshot3D,recording3D,recordingChannel]() {
- // Check the chosen stream type and channels, then record them.
- std::string name = fileName->value() + extension->caption();
- auto stream = streams[streamSelect->selectedIndex()];
- auto tab = tabWidget->tab(tabWidget->activeTab());
- if (tab == snapshot2D) {
- stream->snapshot(name);
- } else if (tab == recording2D) {
- stream->setChannel(channels_[recordingChannel->selectedIndex()]);
- screen->setActiveCamera(stream);
- //media_panel->startRecording2D(stream, name);
- } else if (tab == snapshot3D) {
- //media_panel->snapshot3D(stream, name);
- } else if (tab == recording3D) {
- //media_panel->startRecording3D(stream, name);
- }
- dispose();
- media_panel->recordWindowClosed();
- });
- button = new Button(actionButtons, "Cancel");
- button->setCallback([this,media_panel]() {
- dispose();
- media_panel->recordWindowClosed();
- });
-}
-
-RecordWindow::~RecordWindow() {
-
-}
diff --git a/applications/gui/src/record_window.hpp b/applications/gui/src/record_window.hpp
deleted file mode 100644
index 5a9b28fef85b5ef2832b7a43b2db1be2b09aa202..0000000000000000000000000000000000000000
--- a/applications/gui/src/record_window.hpp
+++ /dev/null
@@ -1,20 +0,0 @@
-#include <nanogui/window.h>
-
-#include "camera.hpp"
-#include "media_panel.hpp"
-
-namespace ftl {
-namespace gui {
-
-class RecordWindow : public nanogui::Window {
- public:
- explicit RecordWindow(nanogui::Widget *parent, ftl::gui::Screen *screen, const std::vector<ftl::gui::Camera *> &streams, ftl::gui::MediaPanel *media_panel);
- ~RecordWindow();
-
- private:
- std::vector<ftl::codecs::Channel> channels_;
- std::vector<std::string> channel_names_;
-};
-
-}
-}
\ No newline at end of file
diff --git a/applications/gui/src/scene.hpp b/applications/gui/src/scene.hpp
deleted file mode 100644
index 2e2b4b89fee844ea35905a51df6ee3a424f9ef4c..0000000000000000000000000000000000000000
--- a/applications/gui/src/scene.hpp
+++ /dev/null
@@ -1,25 +0,0 @@
-#ifndef _FTL_GUI_SCENE_HPP_
-#define _FTL_GUI_SCENE_HPP_
-
-#include <ftl/streams/receiver.hpp>
-
-namespace ftl {
-namespace gui {
-
-class Camera;
-
-class Scene {
- public:
- explicit Scene(ftl::stream::Receiver *);
- ~Scene();
-
- inline const std::vector<ftl::gui::Camera*> cameras() const { return cameras_; };
-
- private:
- std::vector<ftl::gui::Camera*> cameras_;
-};
-
-}
-}
-
-#endif // _FTL_GUI_SCENE_HPP_
diff --git a/applications/gui/src/screen.cpp b/applications/gui/src/screen.cpp
deleted file mode 100644
index d00d9df8229d99056b3ffd883f9f0a4bcf204d6f..0000000000000000000000000000000000000000
--- a/applications/gui/src/screen.cpp
+++ /dev/null
@@ -1,687 +0,0 @@
-#include "screen.hpp"
-
-#include <ftl/streams/netstream.hpp>
-#include <ftl/rgbd/frameset.hpp>
-
-#include <nanogui/opengl.h>
-#include <nanogui/glutil.h>
-#include <nanogui/screen.h>
-#include <nanogui/window.h>
-#include <nanogui/layout.h>
-#include <nanogui/imageview.h>
-#include <nanogui/label.h>
-#include <nanogui/toolbutton.h>
-#include <nanogui/popupbutton.h>
-
-#include <sstream>
-
-#include <nlohmann/json.hpp>
-
-#include <loguru.hpp>
-
-#include <opencv2/core/eigen.hpp>
-
-#include "ctrl_window.hpp"
-#include "src_window.hpp"
-#include "config_window.hpp"
-#include "camera.hpp"
-#include "media_panel.hpp"
-
-#ifdef HAVE_OPENVR
-#include "vr.hpp"
-#endif
-
-using ftl::gui::Screen;
-using ftl::gui::Camera;
-using std::string;
-using ftl::rgbd::Source;
-using ftl::rgbd::isValidDepth;
-
-namespace {
- constexpr char const *const defaultImageViewVertexShader =
- R"(#version 330
- uniform vec2 scaleFactor;
- uniform vec2 position;
- in vec2 vertex;
- out vec2 uv;
- void main() {
- uv = vec2(vertex.x, vertex.y);
- vec2 scaledVertex = (vertex * scaleFactor) + position;
- gl_Position = vec4(2.0*scaledVertex.x - 1.0,
- 2.0*scaledVertex.y - 1.0,
- 0.0, 1.0);
- })";
-
- constexpr char const *const defaultImageViewFragmentShader =
- R"(#version 330
- uniform sampler2D image1;
- uniform sampler2D image2;
- uniform sampler2D depthImage;
- uniform float blendAmount;
- out vec4 color;
- in vec2 uv;
- void main() {
- color = blendAmount * texture(image1, uv) + (1.0 - blendAmount) * texture(image2, uv);
- color.w = 1.0f;
- gl_FragDepth = texture(depthImage, uv).r;
- })";
-}
-
-template <typename T>
-std::string to_string_with_precision(const T a_value, const int n = 6) {
- std::ostringstream out;
- out.precision(n);
- out << std::fixed << a_value;
- return out.str();
-}
-
-ftl::gui::Screen::Screen(ftl::Configurable *proot, ftl::net::Universe *pnet, ftl::ctrl::Master *controller) :
- nanogui::Screen(Eigen::Vector2i(1024, 768), "FT-Lab Remote Presence"),
- status_("FT-Lab Remote Presence System") {
- using namespace nanogui;
- net_ = pnet;
- ctrl_ = controller;
- root_ = proot;
- camera_ = nullptr;
- last_stats_count_ = 0;
-
- #ifdef HAVE_OPENVR
- HMD_ = nullptr;
- #endif
-
- zoom_ = root_->value("zoom", 1.0f);
- root_->on("zoom", [this](const ftl::config::Event &e) {
- zoom_ = root_->value("zoom", 1.0f);
- });
-
- pos_x_ = root_->value("position_x", 0.0f);
- root_->on("position_x", [this](const ftl::config::Event &e) {
- pos_x_ = root_->value("position_x", 0.0f);
- });
- pos_y_ = root_->value("position_y", 0.0f);
- root_->on("position_y", [this](const ftl::config::Event &e) {
- pos_y_ = root_->value("position_y", 0.0f);
- });
-
- shortcuts_ = ftl::create<ftl::Configurable>(root_, "shortcuts");
-
- setSize(Vector2i(1280,720));
-
- toolbuttheme = new Theme(*theme());
- toolbuttheme->mBorderDark = nanogui::Color(0,0);
- toolbuttheme->mBorderLight = nanogui::Color(0,0);
- toolbuttheme->mButtonGradientBotFocused = nanogui::Color(60,255);
- toolbuttheme->mButtonGradientBotUnfocused = nanogui::Color(0,0);
- toolbuttheme->mButtonGradientTopFocused = nanogui::Color(60,255);
- toolbuttheme->mButtonGradientTopUnfocused = nanogui::Color(0,0);
- toolbuttheme->mButtonGradientTopPushed = nanogui::Color(60,180);
- toolbuttheme->mButtonGradientBotPushed = nanogui::Color(60,180);
- toolbuttheme->mTextColor = nanogui::Color(0.9f,0.9f,0.9f,0.9f);
-
- mediatheme = new Theme(*theme());
- mediatheme->mIconScale = 1.2f;
- mediatheme->mWindowDropShadowSize = 0;
- mediatheme->mWindowFillFocused = nanogui::Color(45, 150);
- mediatheme->mWindowFillUnfocused = nanogui::Color(45, 80);
- mediatheme->mButtonGradientTopUnfocused = nanogui::Color(0,0);
- mediatheme->mButtonGradientBotUnfocused = nanogui::Color(0,0);
- mediatheme->mButtonGradientTopFocused = nanogui::Color(80,230);
- mediatheme->mButtonGradientBotFocused = nanogui::Color(80,230);
- mediatheme->mIconColor = nanogui::Color(255,255);
- mediatheme->mTextColor = nanogui::Color(1.0f,1.0f,1.0f,1.0f);
- mediatheme->mBorderDark = nanogui::Color(0,0);
- mediatheme->mBorderMedium = nanogui::Color(0,0);
- mediatheme->mBorderLight = nanogui::Color(0,0);
- mediatheme->mDropShadow = nanogui::Color(0,0);
- mediatheme->mButtonFontSize = 30;
- mediatheme->mStandardFontSize = 20;
-
- windowtheme = new Theme(*theme());
- windowtheme->mWindowFillFocused = nanogui::Color(220, 200);
- windowtheme->mWindowFillUnfocused = nanogui::Color(220, 200);
- windowtheme->mWindowHeaderGradientBot = nanogui::Color(60,230);
- windowtheme->mWindowHeaderGradientTop = nanogui::Color(60,230);
- windowtheme->mTextColor = nanogui::Color(20,255);
- windowtheme->mWindowCornerRadius = 2;
- windowtheme->mButtonGradientBotFocused = nanogui::Color(210,255);
- windowtheme->mButtonGradientBotUnfocused = nanogui::Color(190,255);
- windowtheme->mButtonGradientTopFocused = nanogui::Color(230,255);
- windowtheme->mButtonGradientTopUnfocused = nanogui::Color(230,255);
- windowtheme->mButtonGradientTopPushed = nanogui::Color(170,255);
- windowtheme->mButtonGradientBotPushed = nanogui::Color(210,255);
- windowtheme->mBorderDark = nanogui::Color(150,255);
- windowtheme->mBorderMedium = nanogui::Color(165,255);
- windowtheme->mBorderLight = nanogui::Color(230,255);
- windowtheme->mButtonFontSize = 16;
- windowtheme->mTextColorShadow = nanogui::Color(0,0);
- windowtheme->mWindowTitleUnfocused = windowtheme->mWindowTitleFocused;
- windowtheme->mWindowTitleFocused = nanogui::Color(240,255);
- windowtheme->mIconScale = 0.85f;
-
- auto toolbar = new Window(this, "");
- toolbar->setPosition(Vector2i(0,0));
- toolbar->setFixedWidth(50);
- toolbar->setFixedHeight(height());
- //toolbar->setLayout(new BoxLayout(Orientation::Vertical,
- // Alignment::Middle, 0, 10));
-
- setResizeCallback([this,toolbar](Vector2i s) {
- toolbar->setFixedHeight(s[1]);
- mwindow_->setPosition(Vector2i(s[0] / 2 - mwindow_->width()/2, s[1] - 30 - mwindow_->height()));
- });
-
- auto innertool = new Widget(toolbar);
- innertool->setLayout(new BoxLayout(Orientation::Vertical,
- Alignment::Middle, 0, 10));
- innertool->setPosition(Vector2i(5,10));
-
- // Padding widget
- //auto w = new Widget(innertool);
- //w->setHeight(10);
-
- auto button = new ToolButton(innertool, ENTYPO_ICON_HOME);
- button->setIconExtraScale(1.5f);
- button->setTheme(toolbuttheme);
- button->setTooltip("Home");
- button->setFixedSize(Vector2i(40,40));
- button->setCallback([this]() {
- //swindow_->setVisible(true);
- setActiveCamera(nullptr);
- });
-
- /*button = new ToolButton(innertool, ENTYPO_ICON_PLUS);
- button->setIconExtraScale(1.5f);
- button->setTheme(toolbuttheme);
- button->setTooltip("Add new");
- button->setFixedSize(Vector2i(40,40));
- button->setCallback([this]() {
- //swindow_->setVisible(true);
- });*/
-
- auto popbutton = new PopupButton(innertool, "", ENTYPO_ICON_PLUS);
- popbutton->setIconExtraScale(1.5f);
- popbutton->setTheme(toolbuttheme);
- popbutton->setTooltip("Add");
- popbutton->setFixedSize(Vector2i(40,40));
- popbutton->setSide(Popup::Side::Right);
- popbutton->setChevronIcon(0);
- Popup *popup = popbutton->popup();
- popup->setLayout(new GroupLayout());
- popup->setTheme(toolbuttheme);
- //popup->setAnchorHeight(100);
-
- auto itembutton = new Button(popup, "Add Camera", ENTYPO_ICON_CAMERA);
- itembutton->setCallback([this,popup]() {
- swindow_->setVisible(true);
- popup->setVisible(false);
- });
-
- itembutton = new Button(popup, "Add Node", ENTYPO_ICON_LAPTOP);
- itembutton->setCallback([this,popup]() {
- cwindow_->setVisible(true);
- popup->setVisible(false);
- });
-
- popbutton = new PopupButton(innertool, "", ENTYPO_ICON_TOOLS);
- popbutton->setIconExtraScale(1.5f);
- popbutton->setTheme(toolbuttheme);
- popbutton->setTooltip("Tools");
- popbutton->setFixedSize(Vector2i(40,40));
- popbutton->setSide(Popup::Side::Right);
- popbutton->setChevronIcon(0);
- popup = popbutton->popup();
- popup->setLayout(new GroupLayout());
- popup->setTheme(toolbuttheme);
- //popbutton->setCallback([this]() {
- // cwindow_->setVisible(true);
- //});
-
- itembutton = new Button(popup, "Connections");
- itembutton->setCallback([this,popup]() {
- cwindow_->setVisible(true);
- popup->setVisible(false);
- });
-
- itembutton = new Button(popup, "Manual Registration");
- itembutton->setCallback([this,popup]() {
- // Show pose win...
- popup->setVisible(false);
- });
-
- itembutton = new Button(innertool, "", ENTYPO_ICON_COG);
- itembutton->setIconExtraScale(1.5f);
- itembutton->setTheme(toolbuttheme);
- itembutton->setTooltip("Settings");
- itembutton->setFixedSize(Vector2i(40,40));
-
- itembutton->setCallback([this]() {
- auto config_window = new ConfigWindow(this, ctrl_);
- config_window->setTheme(windowtheme);
- });
-
- /*
- //net_->onConnect([this,popup](ftl::net::Peer *p) {
- {
- LOG(INFO) << "NET CONNECT";
- auto node_details = ctrl_->getControllers();
-
- for (auto &d : node_details) {
- LOG(INFO) << "ADDING TITLE: " << d.dump();
- auto peer = ftl::UUID(d["id"].get<std::string>());
- auto itembutton = new Button(popup, d["title"].get<std::string>());
- itembutton->setCallback([this,popup,peer]() {
- auto config_window = new ConfigWindow(this, ctrl_);
- config_window->setTheme(windowtheme);
- });
- }
- }
- //});
-
- itembutton = new Button(popup, "Local");
- itembutton->setCallback([this,popup]() {
- auto config_window = new ConfigWindow(this, ctrl_);
- config_window->setTheme(windowtheme);
- });
- */
-
- //configwindow_ = new ConfigWindow(parent, ctrl_);
- //cwindow_ = new ftl::gui::ControlWindow(this, controller);
- swindow_ = new ftl::gui::SourceWindow(this);
- mwindow_ = new ftl::gui::MediaPanel(this, swindow_);
- mwindow_->setVisible(false);
- mwindow_->setTheme(mediatheme);
-
- //cwindow_->setPosition(Eigen::Vector2i(80, 20));
- //swindow_->setPosition(Eigen::Vector2i(80, 400));
- //cwindow_->setVisible(false);
- swindow_->setVisible(true);
- swindow_->center();
- //cwindow_->setTheme(windowtheme);
- swindow_->setTheme(mediatheme);
-
- mShader.init("RGBDShader", defaultImageViewVertexShader,
- defaultImageViewFragmentShader);
-
- MatrixXu indices(3, 2);
- indices.col(0) << 0, 1, 2;
- indices.col(1) << 2, 3, 1;
-
- MatrixXf vertices(2, 4);
- vertices.col(0) << 0, 0;
- vertices.col(1) << 1, 0;
- vertices.col(2) << 0, 1;
- vertices.col(3) << 1, 1;
-
- mShader.bind();
- mShader.uploadIndices(indices);
- mShader.uploadAttrib("vertex", vertices);
-
- setVisible(true);
- performLayout();
-}
-
-#ifdef HAVE_OPENVR
-bool ftl::gui::Screen::initVR() {
- if (!vr::VR_IsHmdPresent()) {
- return false;
- }
-
- vr::EVRInitError eError = vr::VRInitError_None;
- HMD_ = vr::VR_Init( &eError, vr::VRApplication_Scene );
-
- if (eError != vr::VRInitError_None)
- {
- HMD_ = nullptr;
- LOG(ERROR) << "Unable to init VR runtime: " << vr::VR_GetVRInitErrorAsEnglishDescription(eError);
- return false;
- }
-
- return true;
-}
-
-bool ftl::gui::Screen::isVR() {
- auto *cam = activeCamera();
- if (HMD_ == nullptr || cam == nullptr) { return false; }
- return cam->isVR();
-}
-
-bool ftl::gui::Screen::switchVR(bool on) {
- if (isVR() == on) { return on; }
-
- if (on && (HMD_ == nullptr) && !initVR()) {
- return false;
- }
-
- if (on) {
- activeCamera()->setVR(true);
- } else {
- activeCamera()->setVR(false);
- }
-
- return isVR();
-}
-
-bool ftl::gui::Screen::isHmdPresent() {
- return vr::VR_IsHmdPresent();
-}
-
-#endif
-
-ftl::gui::Screen::~Screen() {
- mShader.free();
-
- #ifdef HAVE_OPENVR
- if (HMD_ != nullptr) {
- vr::VR_Shutdown();
- }
- #endif
-}
-
-void ftl::gui::Screen::setActiveCamera(ftl::gui::Camera *cam) {
- if (camera_) camera_->active(false);
- camera_ = cam;
-
- if (cam) {
- status_ = cam->name();
- mwindow_->setVisible(true);
- mwindow_->cameraChanged();
- swindow_->setVisible(false);
- cam->active(true);
- } else {
- mwindow_->setVisible(false);
- swindow_->setVisible(true);
- status_ = "[No camera]";
- }
-}
-
-bool ftl::gui::Screen::scrollEvent(const Eigen::Vector2i &p, const Eigen::Vector2f &rel) {
- if (nanogui::Screen::scrollEvent(p, rel)) {
- return true;
- } else {
- zoom_ += zoom_ * 0.1f * rel[1];
- return true;
- }
-}
-
-bool ftl::gui::Screen::mouseMotionEvent(const Eigen::Vector2i &p, const Eigen::Vector2i &rel, int button, int modifiers) {
- if (nanogui::Screen::mouseMotionEvent(p, rel, button, modifiers)) {
- return true;
- } else {
- if (camera_) {
- if (button == 1) {
- camera_->mouseMovement(rel[0], rel[1], button);
- } else if (button == 2) {
- pos_x_ += rel[0];
- pos_y_ += -rel[1];
- }
- }
- }
- return true;
-}
-
-bool ftl::gui::Screen::mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers) {
- if (nanogui::Screen::mouseButtonEvent(p, button, down, modifiers)) {
- return true;
- } else {
- if (!camera_) return false;
-
- Eigen::Vector2f screenSize = size().cast<float>();
- auto mScale = (screenSize.cwiseQuotient(imageSize).minCoeff());
- Eigen::Vector2f scaleFactor = mScale * imageSize.cwiseQuotient(screenSize);
- Eigen::Vector2f positionInScreen(0.0f, 0.0f);
- auto mOffset = (screenSize - (screenSize.cwiseProduct(scaleFactor))) / 2;
- Eigen::Vector2f positionAfterOffset = positionInScreen + mOffset;
-
- float sx = ((float)p[0] - positionAfterOffset[0]) / mScale;
- float sy = ((float)p[1] - positionAfterOffset[1]) / mScale;
-
- if (button == 1 && down) {
-
- auto p = camera_->getPoint(sx, sy);
- points_.push_back(p);
-
- //auto n = camera_->getNormal(sx, sy);
-
- LOG(INFO) << "point: (" << p.x << ", " << p.y << ", " << p.z << ") added";
- if (points_.size() < 2) { return true; }
-
- auto p1 = Eigen::Vector3f(points_[0].x, points_[0].y, points_[0].z);
- auto p2 = Eigen::Vector3f(points_[1].x, points_[1].y, points_[1].z);
-
- points_.clear();
- // TODO: check p1 and p2 valid
- if (p1 == p2) { return true; }
- auto T = nanogui::lookAt(p1, p2, Eigen::Vector3f(0.0,1.0,0.0));
- cv::Mat T_cv;
- cv::eigen2cv(T, T_cv);
- T_cv.convertTo(T_cv, CV_64FC1);
- net_->broadcast("set_pose_adjustment", T_cv);
-
- return true;
-
- }
- else if (button == 0 && down) {
- auto p = camera_->getPoint(sx, sy);
- LOG(INFO) << "point: " << (Eigen::Vector4d(p.x, p.y, p.z, -1.0f)).transpose();
-
- //auto q = camera_->getNormal(sx, sy);
- //LOG(INFO) << "normal: " << (Eigen::Vector4d(q.x, q.y, q.z, 1.0)).transpose();
- }
- return false;
- }
-}
-
-static std::string generateKeyComboStr(int key, int modifiers) {
- std::string res = "";
-
- switch(modifiers) {
- case 1: res += "Shift+"; break;
- case 2: res += "Ctrl+"; break;
- case 3: res += "Ctrl+Shift+"; break;
- case 4: res += "Alt+"; break;
- default: break;
- }
-
- if (key < 127 && key >= 32) {
- char buf[2] = { (char)key, 0 };
- return res + std::string(buf);
- } else {
- return "";
- }
-}
-
-bool ftl::gui::Screen::keyboardEvent(int key, int scancode, int action, int modifiers) {
- using namespace Eigen;
- if (nanogui::Screen::keyboardEvent(key, scancode, action, modifiers)) {
- return true;
- } else {
- //LOG(INFO) << "Key press " << key << " - " << action << " - " << modifiers;
-
- if ((key >= 262 && key <= 267) || (key >= '0' && key <= '9')) {
- if (camera_) camera_->keyMovement(key, modifiers);
- return true;
- } else if (action == 1 && key == 'H') {
- swindow_->setVisible(false);
- //cwindow_->setVisible(false);
- } else if (action == 1 && key == ' ') {
- swindow_->togglePaused();
- } else if (action == 1) {
- std::string combo = generateKeyComboStr(key, modifiers);
-
- if (combo.size() > 0) {
- LOG(INFO) << "Key combo = " << combo;
-
- auto s = shortcuts_->get<nlohmann::json>(combo);
- if (s) {
- //LOG(INFO) << "FOUND KEYBOARD SHORTCUT";
- std::string op = (*s).value("op",std::string("="));
- std::string uri = (*s).value("uri",std::string(""));
-
- if (op == "toggle") {
- auto v = ftl::config::get(uri);
- if (v.is_boolean()) {
- ftl::config::update(uri, !v.get<bool>());
- }
- } else if (op == "+=") {
- auto v = ftl::config::get(uri);
- if (v.is_number_float()) {
- ftl::config::update(uri, v.get<float>() + (*s).value("value",0.0f));
- } else if (v.is_number_integer()) {
- ftl::config::update(uri, v.get<int>() + (*s).value("value",0));
- }
- } else if (op == "-=") {
- auto v = ftl::config::get(uri);
- if (v.is_number_float()) {
- ftl::config::update(uri, v.get<float>() - (*s).value("value",0.0f));
- } else if (v.is_number_integer()) {
- ftl::config::update(uri, v.get<int>() - (*s).value("value",0));
- }
- } else if (op == "=") {
- ftl::config::update(uri, (*s)["value"]);
- }
- }
- }
- }
- return false;
- }
-}
-
-void ftl::gui::Screen::draw(NVGcontext *ctx) {
- using namespace Eigen;
-
- Vector2f screenSize = size().cast<float>();
-
- if (camera_) {
- imageSize = {camera_->width(), camera_->height()};
-
- //if (camera_->getChannel() != ftl::codecs::Channel::Left) { mImageID = rightEye_; }
-
- if (camera_->getLeft().isValid() && imageSize[0] > 0) {
- auto mScale = (screenSize.cwiseQuotient(imageSize).minCoeff()) * zoom_;
- Vector2f scaleFactor = mScale * imageSize.cwiseQuotient(screenSize);
- Vector2f positionInScreen(pos_x_, pos_y_);
- auto mOffset = (screenSize - (screenSize.cwiseProduct(scaleFactor))) / 2;
- Vector2f positionAfterOffset = positionInScreen + mOffset;
- Vector2f imagePosition = positionAfterOffset.cwiseQuotient(screenSize);
- //glEnable(GL_SCISSOR_TEST);
- //float r = screen->pixelRatio();
- /* glScissor(positionInScreen.x() * r,
- (screenSize.y() - positionInScreen.y() - size().y()) * r,
- size().x() * r, size().y() * r);*/
- mShader.bind();
- glActiveTexture(GL_TEXTURE0);
- glBindTexture(GL_TEXTURE_2D, leftEye_);
- //camera_->getLeft().texture();
- glActiveTexture(GL_TEXTURE1);
- glBindTexture(GL_TEXTURE_2D, (camera_->isStereo() && camera_->getRight().isValid()) ? rightEye_ : leftEye_);
- glActiveTexture(GL_TEXTURE2);
- glBindTexture(GL_TEXTURE_2D, camera_->getDepth().texture());
- //(camera_->isStereo() && camera_->getRight().isValid()) ? camera_->getRight().texture() : camera_->getLeft().texture();
- mShader.setUniform("image1", 0);
- mShader.setUniform("image2", 1);
- mShader.setUniform("depthImage", 2);
- mShader.setUniform("blendAmount", (camera_->isStereo()) ? root_->value("blending", 0.5f) : 1.0f);
- mShader.setUniform("scaleFactor", scaleFactor);
- mShader.setUniform("position", imagePosition);
-
- glEnable(GL_DEPTH_TEST);
- glDepthMask(GL_TRUE);
- glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-
- mShader.drawIndexed(GL_TRIANGLES, 0, 2);
- //glDisable(GL_SCISSOR_TEST);
- glBindBuffer(GL_PIXEL_UNPACK_BUFFER, 0);
-
- camera_->drawOverlay(screenSize);
-
- glDisable(GL_DEPTH_TEST);
- }
- } else {
- // Must periodically render the cameras here to update any thumbnails.
- auto cams = swindow_->getCameras();
- for (auto *c : cams) {
- c->drawUpdated(swindow_->getFramesets());
- }
- }
-
- nvgTextAlign(ctx, NVG_ALIGN_RIGHT);
-
- int offset_top = 20;
-
- if (root()->value("show_information", true)) {
- string msg;
-
- auto &stats = getStatistics();
-
- msg = string("Frame rate: ") + std::to_string((int)stats.fps);
- nvgText(ctx, screenSize[0]-10, 20, msg.c_str(), NULL);
- msg = string("Latency: ") + std::to_string((int)stats.latency) + string("ms");
- //nvgText(ctx, screenSize[0]-10, 40, msg.c_str(), NULL);
-
- msg = string("Bitrate: ") + to_string_with_precision(stats.bitrate, 2) + string("Mbps");
- nvgText(ctx, screenSize[0]-10, 60, msg.c_str(), NULL);
-
- if (camera_) {
- auto intrin = camera_->getIntrinsics();
- msg = string("Resolution: ") + std::to_string(intrin.width) + string("x") + std::to_string(intrin.height);
- nvgText(ctx, screenSize[0]-10, 80, msg.c_str(), NULL);
- msg = string("Focal: ") + to_string_with_precision(intrin.fx, 2);
- nvgText(ctx, screenSize[0]-10, 100, msg.c_str(), NULL);
-
- offset_top = 120;
- } else {
- offset_top = 80;
- }
- }
-
- if (camera_) {
- auto &msgs = camera_->getMessages();
- for (auto &m : msgs) {
- nvgText(ctx, screenSize[0]-10, offset_top, m.c_str(), NULL);
- offset_top += 20;
- }
- }
-
- nvgText(ctx, screenSize[0]-10, screenSize[1]-20, status_.c_str(), NULL);
-
- /* Draw the user interface */
- screen()->performLayout(ctx);
- nanogui::Screen::draw(ctx);
-}
-
-const ftl::gui::Statistics &ftl::gui::Screen::getStatistics() {
- if (--last_stats_count_ <= 0) {
- auto [fps,latency] = ftl::rgbd::Builder::getStatistics();
- stats_.fps = fps;
- stats_.latency = latency;
- stats_.bitrate = ftl::stream::Net::getRequiredBitrate();
- last_stats_count_ = 20;
- }
- return stats_;
-}
-
-void ftl::gui::Screen::drawFast() {
- if (camera_) {
- camera_->captureFrame();
-
- glActiveTexture(GL_TEXTURE0);
- mImageID = camera_->getLeft().texture();
- leftEye_ = mImageID;
- rightEye_ = camera_->getRight().texture();
-
- #ifdef HAVE_OPENVR
- if (isVR() && camera_->width() > 0 && camera_->getLeft().isValid() && camera_->getRight().isValid()) {
-
- //glBindTexture(GL_TEXTURE_2D, leftEye_);
- vr::Texture_t leftEyeTexture = {(void*)(uintptr_t)leftEye_, vr::TextureType_OpenGL, vr::ColorSpace_Gamma };
- vr::VRCompositor()->Submit(vr::Eye_Left, &leftEyeTexture );
-
- //glBindTexture(GL_TEXTURE_2D, rightEye_);
- vr::Texture_t rightEyeTexture = {(void*)(uintptr_t)rightEye_, vr::TextureType_OpenGL, vr::ColorSpace_Gamma };
- vr::VRCompositor()->Submit(vr::Eye_Right, &rightEyeTexture );
-
- glFlush();
- }
- #endif
- }
-}
diff --git a/applications/gui/src/screen.hpp b/applications/gui/src/screen.hpp
deleted file mode 100644
index 7af733bd78a4ff2a237074878c6e56fe163167e6..0000000000000000000000000000000000000000
--- a/applications/gui/src/screen.hpp
+++ /dev/null
@@ -1,129 +0,0 @@
-#ifndef _FTL_GUI_SCREEN_HPP_
-#define _FTL_GUI_SCREEN_HPP_
-
-#include <nanogui/screen.h>
-#include <nanogui/glutil.h>
-#include <ftl/master.hpp>
-#include <ftl/net/universe.hpp>
-#include <ftl/configuration.hpp>
-
-#include "ctrl_window.hpp"
-#include "src_window.hpp"
-#include "gltexture.hpp"
-
-#ifdef HAVE_OPENVR
-#include <openvr/openvr.h>
-#endif
-
-class StatisticsImageNSamples;
-
-namespace ftl {
-namespace gui {
-
-class Camera;
-class MediaPanel;
-
-struct Statistics {
- float fps;
- float latency;
- float bitrate;
-};
-
-class Screen : public nanogui::Screen {
- public:
- explicit Screen(ftl::Configurable *root, ftl::net::Universe *net, ftl::ctrl::Master *controller);
- ~Screen();
-
- bool mouseMotionEvent(const Eigen::Vector2i &p, const Eigen::Vector2i &rel, int button, int modifiers);
- bool scrollEvent(const Eigen::Vector2i &p, const Eigen::Vector2f &rel);
- bool mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers);
- bool keyboardEvent(int key, int scancode, int action, int modifiers);
-
- void setActivePose(const Eigen::Matrix4d &p);
-
- virtual void draw(NVGcontext *ctx);
-
- void drawFast();
-
- ftl::Configurable *root() { return root_; }
- ftl::net::Universe *net() { return net_; }
- ftl::ctrl::Master *control() { return ctrl_; }
-
- void setActiveCamera(ftl::gui::Camera*);
- ftl::gui::Camera *activeCamera() { return camera_; }
-
- const ftl::gui::Statistics &getStatistics();
-
-#ifdef HAVE_OPENVR
- // initialize OpenVR
- bool initVR();
-
- // is VR mode on/off
- bool isVR();
-
- // toggle VR on/off
- bool switchVR(bool mode);
-
- bool isHmdPresent();
-
- vr::IVRSystem* getVR() { return HMD_; }
-
-#else
- bool isVR() { return false; }
-#endif
-
- nanogui::Theme *windowtheme;
- nanogui::Theme *specialtheme;
- nanogui::Theme *mediatheme;
- nanogui::Theme *toolbuttheme;
-
- private:
- ftl::gui::SourceWindow *swindow_;
- ftl::gui::ControlWindow *cwindow_;
- ftl::gui::MediaPanel *mwindow_;
-
- //std::vector<SourceViews> sources_;
- ftl::net::Universe *net_;
- nanogui::GLShader mShader;
- GLuint mImageID;
- //Source *src_;
- //GLTexture texture_;
- Eigen::Vector3f eye_;
- Eigen::Vector4f neye_;
- Eigen::Vector3f orientation_;
- Eigen::Vector3f up_;
- //Eigen::Vector3f lookPoint_;
- float lerpSpeed_;
- bool depth_;
- float ftime_;
- float delta_;
- Eigen::Vector2f imageSize;
- ftl::ctrl::Master *ctrl_;
- ftl::Configurable *root_;
- std::string status_;
- ftl::gui::Camera *camera_;
- float zoom_;
- float pos_x_;
- float pos_y_;
-
- GLuint leftEye_;
- GLuint rightEye_;
-
- std::vector<cv::Point3d> points_;
-
- bool show_two_images_ = false;
-
- ftl::Configurable *shortcuts_;
-
- #ifdef HAVE_OPENVR
- vr::IVRSystem *HMD_;
- #endif
-
- ftl::gui::Statistics stats_;
- int last_stats_count_;
-};
-
-}
-}
-
-#endif // _FTL_GUI_SCREEN_HPP_
diff --git a/applications/gui/src/src_window.cpp b/applications/gui/src/src_window.cpp
deleted file mode 100644
index fc9f92b640085b4e01cb3003177c2a4a86781736..0000000000000000000000000000000000000000
--- a/applications/gui/src/src_window.cpp
+++ /dev/null
@@ -1,477 +0,0 @@
-#include "src_window.hpp"
-
-#include "screen.hpp"
-#include "camera.hpp"
-#include "scene.hpp"
-#include "frameset_mgr.hpp"
-
-#include <ftl/profiler.hpp>
-#include <ftl/codecs/shapes.hpp>
-#include <ftl/utility/vectorbuffer.hpp>
-
-#include <nanogui/imageview.h>
-#include <nanogui/textbox.h>
-#include <nanogui/slider.h>
-#include <nanogui/combobox.h>
-#include <nanogui/label.h>
-#include <nanogui/opengl.h>
-#include <nanogui/glutil.h>
-#include <nanogui/screen.h>
-#include <nanogui/layout.h>
-#include <nanogui/vscrollpanel.h>
-
-#define LOGURU_REPLACE_GLOG 1
-#include <loguru.hpp>
-
-#include <ftl/streams/netstream.hpp>
-
-#include "ftl/operators/colours.hpp"
-#include "ftl/operators/segmentation.hpp"
-#include "ftl/operators/mask.hpp"
-#include "ftl/operators/antialiasing.hpp"
-#include <ftl/operators/smoothing.hpp>
-#include <ftl/operators/disparity.hpp>
-#include <ftl/operators/detectandtrack.hpp>
-#include <ftl/operators/weighting.hpp>
-#include <ftl/operators/mvmls.hpp>
-#include <ftl/operators/clipping.hpp>
-#include <ftl/operators/poser.hpp>
-#include <ftl/operators/gt_analysis.hpp>
-
-#include <nlohmann/json.hpp>
-
-#ifdef HAVE_LIBARCHIVE
-#include "ftl/rgbd/snapshot.hpp"
-#endif
-
-#include "thumbview.hpp"
-
-using ftl::gui::SourceWindow;
-using ftl::gui::Screen;
-using ftl::gui::Scene;
-using ftl::rgbd::Source;
-using ftl::codecs::Channel;
-using ftl::codecs::Channels;
-using std::string;
-using std::vector;
-using ftl::config::json_t;
-
-static ftl::rgbd::Generator *createSourceGenerator(ftl::Configurable *root, const std::vector<ftl::rgbd::Source*> &srcs) {
-
- auto *grp = new ftl::rgbd::Group();
- /*auto pipeline = ftl::config::create<ftl::operators::Graph>(root, "pipeline");
- pipeline->append<ftl::operators::DetectAndTrack>("facedetection")->value("enabled", false);
- pipeline->append<ftl::operators::ArUco>("aruco")->value("enabled", false);
- pipeline->append<ftl::operators::DepthChannel>("depth"); // Ensure there is a depth channel
- grp->addPipeline(pipeline);*/
-
- for (auto s : srcs) {
- s->setChannel(Channel::Depth);
- grp->addSource(s);
- }
- return grp;
-}
-
-SourceWindow::SourceWindow(ftl::gui::Screen *screen)
- : nanogui::Window(screen, ""), screen_(screen) {
- setLayout(new nanogui::BoxLayout(nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 20, 5));
-
- using namespace nanogui;
-
- new Label(this, "Select Camera","sans-bold",20);
-
- // FIXME: Reallocating the vector may currently causes thread issues since
- // it might be in use elsewhere. A safer mechanism is needed for sharing
- // framesets. Temporary solution: preallocate enough slots.
- pre_pipelines_.reserve(5);
- framesets_.reserve(5);
-
- auto vscroll = new VScrollPanel(this);
- ipanel_ = new Widget(vscroll);
- ipanel_->setLayout(new GridLayout(nanogui::Orientation::Horizontal, 3,
- nanogui::Alignment::Middle, 0, 5));
-
- screen->net()->onConnect([this](ftl::net::Peer *p) {
- ftl::pool.push([this](int id) {
- // FIXME: Find better option that waiting here.
- // Wait to make sure streams have started properly.
- std::this_thread::sleep_for(std::chrono::milliseconds(100));
- UNIQUE_LOCK(mutex_, lk);
- _updateCameras(screen_->net()->findAll<string>("list_streams"));
- });
- });
-
- UNIQUE_LOCK(mutex_, lk);
- stream_ = ftl::create<ftl::stream::Muxer>(screen->root(), "muxer");
- interceptor_ = ftl::create<ftl::stream::Intercept>(screen->root(), "intercept");
- interceptor_->setStream(stream_);
- receiver_ = ftl::create<ftl::stream::Receiver>(screen->root(), "receiver");
- receiver_->setStream(interceptor_);
-
- // Create a recorder
- recorder_ = ftl::create<ftl::stream::File>(screen->root(), "recorder");
- recorder_->setMode(ftl::stream::File::Mode::Write);
-
- interceptor_->onIntercept([this] (const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
- //LOG(INFO) << (std::string)spkt;
- if (recorder_->active() && pkt.data.size() > 0) {
-
- if (spkt.channel == Channel::Shapes3D && spkt.frame_number == 255) {
- // Decode the shapes channel to insert the virtual camera...
- std::vector<ftl::codecs::Shape3D> shapes;
- auto unpacked = msgpack::unpack((const char*)pkt.data.data(), pkt.data.size());
- unpacked.get().convert(shapes);
-
- auto *cam = screen_->activeCamera();
-
- if (cam) {
- // Modify shapes
- auto &s = shapes.emplace_back();
- s.id = shapes.size();
- s.label = std::string("virtual-")+std::to_string(shapes.size());
- s.type = ftl::codecs::Shape3DType::CAMERA;
- s.pose = cam->getPose().cast<float>();
- //LOG(INFO) << "Inject virtual : " << shapes.size();
- }
-
- auto npkt = pkt;
- npkt.data.resize(0);
- ftl::util::FTLVectorBuffer buf(npkt.data);
- msgpack::pack(buf, shapes);
-
- recorder_->post(spkt, npkt);
- } else {
- recorder_->post(spkt, pkt);
- }
- }
- });
-
- paused_ = false;
- cycle_ = 0;
- receiver_->onFrameSet([this](ftl::rgbd::FrameSet &fs) {
- return _processFrameset(fs, true);
- });
-
- speaker_ = ftl::create<ftl::audio::Speaker>(screen_->root(), "speaker_test");
-
- receiver_->onAudio([this](ftl::audio::FrameSet &fs) {
- if (framesets_.size() == 0) return true;
- auto *c = screen_->activeCamera();
- int64_t renddelay = (c) ? c->getFrameTimeMS() : 0;
- speaker_->setDelay(fs.timestamp - framesets_[0]->timestamp + renddelay); // Add Xms for local render time
- speaker_->queue(fs.timestamp, fs.frames[0]);
- return true;
- });
-
- /*ftl::timer::add(ftl::timer::kTimerMain, [this](int64_t ts) {
- auto *c = screen_->activeCamera();
- // Only offer full framerate render on active camera.
- if (c) {
- c->draw(framesets_);
- }
- return true;
- });*/
-
- // Add network sources
- _updateCameras(screen_->control()->getNet()->findAll<string>("list_streams"));
-
- // Also check for a file on command line.
- // Check paths for FTL files to load.
- auto paths = (*screen->root()->get<nlohmann::json>("paths"));
-
- for (auto &x : paths.items()) {
- std::string path = x.value().get<std::string>();
- auto eix = path.find_last_of('.');
- auto ext = path.substr(eix+1);
-
- // Command line path is ftl file
- if (ext == "ftl") {
- LOG(INFO) << "Found FTL file: " << path;
- int fsid = ftl::gui::mapToFrameset(path);
- auto *fstream = ftl::create<ftl::stream::File>(screen->root(), std::string("ftlfile-")+std::to_string(fsid));
- fstream->set("filename", path);
- available_[path] = fstream;
- stream_->add(fstream, fsid);
- } else if (path.rfind("device:", 0) == 0) {
- ftl::URI uri(path);
- uri.to_json(screen->root()->getConfig()["sources"].emplace_back());
- } else {
- ftl::URI uri(path);
- if (uri.getScheme() == ftl::URI::SCHEME_TCP || uri.getScheme() == ftl::URI::SCHEME_WS) {
- screen->net()->connect(path);
- }
- }
- }
-
- // Finally, check for any device sources configured
- std::vector<Source*> devices;
- // Create a vector of all input RGB-Depth sources
- if (screen->root()->getConfig()["sources"].size() > 0) {
- devices = ftl::createArray<Source>(screen->root(), "sources", screen->control()->getNet());
- auto *gen = createSourceGenerator(screen->root(), devices);
- int fsid = ftl::gui::mapToFrameset(screen->root()->getID());
-
- gen->onFrameSet([this, fsid](ftl::rgbd::FrameSet &fs) {
- fs.id = fsid; // Set a frameset id to something unique.
- return _processFrameset(fs, false);
- });
- }
-
- stream_->begin();
-}
-
-bool SourceWindow::_processFrameset(ftl::rgbd::FrameSet &fs, bool fromstream) {
- // Request the channels required by current camera configuration
- if (fromstream) {
- auto cs = _aggregateChannels(fs.id);
-
- auto avail = static_cast<const ftl::stream::Stream*>(interceptor_)->available(fs.id);
- if (cs.has(Channel::Depth) && !avail.has(Channel::Depth) && avail.has(Channel::Right)) {
- cs -= Channel::Depth;
- cs += Channel::Right;
- }
- interceptor_->select(fs.id, cs);
- }
-
- // Make sure there are enough framesets allocated
- {
- UNIQUE_LOCK(mutex_, lk);
- _checkFrameSets(fs.id);
- }
-
- if (!paused_) {
- if (!fs.test(ftl::data::FSFlag::PARTIAL) || !screen_->root()->value("drop_partial_framesets", false)) {
- // Enforce interpolated colour and GPU upload
- for (size_t i=0; i<fs.frames.size(); ++i) {
- if (!fs.hasFrame(i)) continue;
- fs.frames[i].createTexture<uchar4>(Channel::Colour, true);
-
- // TODO: Do all channels. This is a fix for screen capture sources.
- if (!fs.frames[i].isGPU(Channel::Colour)) fs.frames[i].upload(Channels<0>(Channel::Colour), pre_pipelines_[fs.id]->getStream());
- }
-
- fs.mask &= pre_pipelines_[fs.id]->value("frame_mask", 0xFFFF);
-
- {
- FTL_Profile("Prepipe",0.020);
- pre_pipelines_[fs.id]->apply(fs, fs, 0);
- }
-
- fs.swapTo(*framesets_[fs.id]);
- } else {
- LOG(WARNING) << "Dropping frameset: " << fs.timestamp;
- }
- }
-
- const auto *cstream = interceptor_;
- {
- UNIQUE_LOCK(mutex_, lk);
- _createDefaultCameras(*framesets_[fs.id], true); // cstream->available(fs.id).has(Channel::Depth)
- }
-
- //LOG(INFO) << "Channels = " << (unsigned int)cstream->available(fs.id);
-
- size_t i=0;
- for (auto cam : cameras_) {
- // Only update the camera periodically unless the active camera
- if (screen_->activeCamera() == cam.second.camera ||
- (screen_->activeCamera() == nullptr && cycle_ % cameras_.size() == i++)) cam.second.camera->update(framesets_);
-
- ftl::codecs::Channels<0> channels;
- if (fromstream) channels = cstream->available(fs.id);
- //if ((*framesets_[fs.id]).frames.size() > 0) channels += (*framesets_[fs.id]).frames[0].getChannels();
- cam.second.camera->update(fs.id, channels);
- }
- ++cycle_;
-
- return true;
-}
-
-void SourceWindow::_checkFrameSets(size_t id) {
- while (framesets_.size() <= id) {
- auto *p = ftl::config::create<ftl::operators::Graph>(screen_->root(), std::string("pre_filters") + std::to_string(framesets_.size()));
- p->append<ftl::operators::DepthChannel>("depth")->value("enabled", false);
- p->append<ftl::operators::ClipScene>("clipping")->value("enabled", false);
- //p->append<ftl::operators::ColourChannels>("colour"); // Convert BGR to BGRA
- p->append<ftl::operators::DetectAndTrack>("facedetection")->value("enabled", false);
- p->append<ftl::operators::ArUco>("aruco")->value("enabled", false);
- //p->append<ftl::operators::HFSmoother>("hfnoise");
- p->append<ftl::operators::CrossSupport>("cross");
- p->append<ftl::operators::PixelWeights>("weights");
- p->append<ftl::operators::CullWeight>("remove_weights")->value("enabled", false);
- p->append<ftl::operators::DegradeWeight>("degrade");
- p->append<ftl::operators::VisCrossSupport>("viscross")->set("enabled", false);
- p->append<ftl::operators::BorderMask>("border_mask");
- p->append<ftl::operators::CullDiscontinuity>("remove_discontinuity");
- p->append<ftl::operators::MultiViewMLS>("mvmls")->value("enabled", false);
- p->append<ftl::operators::Poser>("poser")->value("enabled", true);
- p->append<ftl::operators::GTAnalysis>("gtanalyse");
-
- pre_pipelines_.push_back(p);
- framesets_.push_back(new ftl::rgbd::FrameSet);
- }
-}
-
-void SourceWindow::recordVideo(const std::string &filename) {
- if (!recorder_->active()) {
- recorder_->set("filename", filename);
- recorder_->begin();
- LOG(INFO) << "Recording started: " << filename;
-
- // TODO: Inject pose and calibrations
- stream_->reset();
- }
-}
-
-void SourceWindow::stopRecordingVideo() {
- if (recorder_->active()) {
- recorder_->end();
- LOG(INFO) << "Recording stopped.";
- }
-}
-
-ftl::codecs::Channels<0> SourceWindow::_aggregateChannels(int id) {
- ftl::codecs::Channels<0> cs = ftl::codecs::Channels<0>(Channel::Colour);
- for (auto cam : cameras_) {
- if (cam.second.camera->usesFrameset(id)) {
- if (cam.second.camera->isVirtual()) {
- cs += Channel::Depth;
- } else {
- if (cam.second.camera->getChannel() != Channel::None) {
- cs += cam.second.camera->getChannel();
- }
- }
- }
- }
-
- return cs;
-}
-
-void SourceWindow::_createDefaultCameras(ftl::rgbd::FrameSet &fs, bool makevirtual) {
- for (size_t i=0; i<fs.frames.size(); ++i) {
- size_t id = (fs.id << 8) + i;
- if (cameras_.find(id) == cameras_.end()) {
- auto *cam = new ftl::gui::Camera(screen_, 1 << fs.id, i);
- cameras_[id] = {
- cam,
- nullptr
- };
- }
- }
-
- if (makevirtual && cameras_.find((fs.id << 8) + 255) == cameras_.end()) {
- auto *cam = new ftl::gui::Camera(screen_, 1 << fs.id, 255);
- cameras_[(fs.id << 8) + 255] = {
- cam,
- nullptr
- };
- }
-}
-
-std::vector<ftl::gui::Camera*> SourceWindow::getCameras() {
- auto cameras = std::vector<ftl::gui::Camera*>();
- cameras.reserve(cameras_.size());
-
- for (auto cam : cameras_) {
- cameras.push_back(cam.second.camera);
- }
- return cameras;
-}
-
-void SourceWindow::_updateCameras(const vector<string> &netcams) {
- if (netcams.size() == 0) return;
-
- int ncount = 0;
- for (auto s : netcams) {
- if (available_.count(s) == 0) {
- auto *stream = ftl::create<ftl::stream::Net>(screen_->root(), string("netstream")+std::to_string(available_.size()), screen_->net());
- available_[s] = stream;
- stream->set("uri", s);
- int fsid = ftl::gui::mapToFrameset(s);
- stream_->add(stream, fsid);
-
- LOG(INFO) << "Add Stream: " << stream->value("uri", std::string("NONE")) << " (" << fsid << ")";
- ++ncount;
- } else {
- LOG(INFO) << "Stream exists: " << s;
- }
-
- // FIXME: Check for already existing...
- //if (streams_.find(s) == cameras_.end()) {
- //available_.push_back(s);
- //json_t srcjson;
- //srcjson["uri"] = s;
- //screen_->root()->getConfig()["streams"].push_back(srcjson);
-
- //screen_->root()->getConfig()["receivers"].push_back(json_t{});
- //}
- }
-
- //stream_->reset();
- if (ncount > 0) stream_->begin();
-
- //std::vector<ftl::stream::Net*> strms = ftl::createArray<ftl::stream::Net>(screen_->root(), "streams", screen_->net());
-
- /*for (int i=0; i<strms.size(); ++i) {
- auto *stream = strms[i];
- bool isspecial = (stream->get<std::string>("uri") == screen_->root()->value("data_stream",std::string("")));
- if (isspecial) LOG(INFO) << "Adding special stream";
- stream_->add(stream, (isspecial) ? 1 : 0);
-
- LOG(INFO) << "Add Stream: " << stream->value("uri", std::string("NONE"));
-
- //Scene *scene = new Scene(receiver);
- //scenes_.push_back(scene);
-
-
- }*/
-
- //refresh_thumbs_ = true;
- //if (thumbs_.size() != available_.size()) {
- // thumbs_.resize(available_.size());
- //}
-}
-
-SourceWindow::~SourceWindow() {
-
-}
-
-void SourceWindow::draw(NVGcontext *ctx) {
- //if (refresh_thumbs_) {
- UNIQUE_LOCK(mutex_, lk);
- //refresh_thumbs_ = false;
-
- //if (thumbs_.size() < cameras_.size()) thumbs_.resize(cameras_.size());
-
- //for (size_t i=0; i<thumbs_.size(); ++i) {
- int i = 0;
- for (auto &camera : cameras_) {
- cv::Mat t;
- auto *cam = camera.second.camera;
- //if (cam) {
- //cam->draw(framesets_);
- // if (cam->thumbnail(t)) {
- // thumbs_[i].update(t);
- // }
- //}
-
- if (!camera.second.thumbview) camera.second.thumbview = new ftl::gui::ThumbView(ipanel_, screen_, cam);
- camera.second.thumbview->setFixedSize(nanogui::Vector2i(320,180));
-
- auto *iv = dynamic_cast<nanogui::ImageView*>(camera.second.thumbview);
-
- /*if ((size_t)ipanel_->childCount() < i+1) {
- new ftl::gui::ThumbView(ipanel_, screen_, cam);
- }*/
- //if (thumbs_[i].isValid()) dynamic_cast<nanogui::ImageView*>(camera.second.thumbview)->bindImage(thumbs_[i].texture());
- if (cam->getLeft().isValid()) iv->bindImage(cam->getLeft().texture());
- ++i;
- }
-
- // TODO(Nick) remove excess image views
-
- center();
- //}
-
- nanogui::Window::draw(ctx);
-}
diff --git a/applications/gui/src/src_window.hpp b/applications/gui/src/src_window.hpp
deleted file mode 100644
index ce412c06da6df6318444fa3bf59c7dd560377aae..0000000000000000000000000000000000000000
--- a/applications/gui/src/src_window.hpp
+++ /dev/null
@@ -1,95 +0,0 @@
-#ifndef _FTL_GUI_SRCWINDOW_HPP_
-#define _FTL_GUI_SRCWINDOW_HPP_
-
-#include <nanogui/window.h>
-#include <nanogui/imageview.h>
-#include <ftl/master.hpp>
-#include <ftl/uuid.hpp>
-#include <ftl/rgbd/source.hpp>
-#include <ftl/threads.hpp>
-#include <vector>
-#include <map>
-#include <unordered_map>
-#include <string>
-#include "gltexture.hpp"
-
-#include <ftl/streams/stream.hpp>
-#include <ftl/streams/receiver.hpp>
-#include <ftl/streams/filestream.hpp>
-
-#include <ftl/audio/speaker.hpp>
-
-class VirtualCameraView;
-
-namespace ftl {
-namespace gui {
-
-class Screen;
-class Scene;
-class Camera;
-class ThumbView;
-
-/**
- * Main class for managing all data streams and corresponding cameras. It
- * will automatically locate all available streams and generate default cameras
- * for each frame of each stream found. It will also add a single default
- * virtual camera. Additional cameras can be added. This class directly
- * receives all frameset data and then forwards it to the individual cameras
- * for drawing/rendering.
- */
-class SourceWindow : public nanogui::Window {
- public:
- explicit SourceWindow(ftl::gui::Screen *screen);
- ~SourceWindow();
-
- std::vector<ftl::gui::Camera*> getCameras();
-
- virtual void draw(NVGcontext *ctx);
-
- void recordVideo(const std::string &filename);
- void stopRecordingVideo();
-
- inline std::vector<ftl::rgbd::FrameSet*> &getFramesets() { return framesets_; }
-
- inline void paused(bool p) { paused_ = p; }
- inline void togglePaused() { paused_ = !paused_; }
-
- private:
- ftl::gui::Screen *screen_;
-
- struct CameraEntry {
- ftl::gui::Camera *camera;
- ftl::gui::ThumbView *thumbview;
- //GLTexture thumb;
- };
-
- std::map<int, CameraEntry> cameras_;
- ftl::stream::Muxer *stream_;
- ftl::stream::Intercept *interceptor_;
- ftl::stream::File *recorder_;
- ftl::stream::Receiver *receiver_;
- std::unordered_map<std::string, ftl::stream::Stream*> available_;
- std::vector<GLTexture> thumbs_;
- bool refresh_thumbs_;
- nanogui::Widget *ipanel_;
- int cycle_;
- std::vector<ftl::operators::Graph*> pre_pipelines_;
- MUTEX mutex_;
-
- ftl::audio::Speaker *speaker_;
-
- std::vector<ftl::rgbd::FrameSet*> framesets_;
- bool paused_;
-
- void _updateCameras(const std::vector<std::string> &netcams);
- void _createDefaultCameras(ftl::rgbd::FrameSet &fs, bool makevirtual);
- ftl::codecs::Channels<0> _aggregateChannels(int id);
- void _checkFrameSets(size_t id);
- bool _processFrameset(ftl::rgbd::FrameSet &fs, bool);
-
-};
-
-}
-}
-
-#endif // _FTL_GUI_SRCWINDOW_HPP_
diff --git a/applications/gui/src/statsimage.cpp b/applications/gui/src/statsimage.cpp
deleted file mode 100644
index dc8179fdc7d566428a778a8fd3e1f97b7aa9cef3..0000000000000000000000000000000000000000
--- a/applications/gui/src/statsimage.cpp
+++ /dev/null
@@ -1,72 +0,0 @@
-#include "statsimage.hpp"
-
-using ftl::gui::StatisticsImage;
-
-StatisticsImage::StatisticsImage(cv::Size size) :
- StatisticsImage(size, std::numeric_limits<float>::infinity()) {}
-
-StatisticsImage::StatisticsImage(cv::Size size, float max_f) {
- size_ = size;
- n_ = 0.0f;
- data_ = cv::Mat(size, CV_32FC3, cv::Scalar(0.0, 0.0, 0.0));
-
- // TODO
- if (!std::isinf(max_f)) {
- LOG(WARNING) << "TODO: max_f_ not used. Values calculated for all samples";
- }
-}
-
-void StatisticsImage::reset() {
- n_ = 0.0f;
- data_ = cv::Scalar(0.0, 0.0, 0.0);
-}
-
-void StatisticsImage::update(const cv::Mat &in) {
- DCHECK(in.type() == CV_32F);
- DCHECK(in.size() == size_);
-
- n_ = n_ + 1.0f;
-
- // Welford's Method
- for (int row = 0; row < in.rows; row++) {
- float* ptr_data = data_.ptr<float>(row);
- const float* ptr_in = in.ptr<float>(row);
-
- for (int col = 0; col < in.cols; col++, ptr_in++) {
- float x = *ptr_in;
- float &m = *ptr_data++;
- float &s = *ptr_data++;
- float &f = *ptr_data++;
- float m_prev = m;
-
- if (!ftl::rgbd::isValidDepth(x)) continue;
-
- f = f + 1.0f;
- m = m + (x - m) / f;
- s = s + (x - m) * (x - m_prev);
- }
- }
-}
-
-void StatisticsImage::getVariance(cv::Mat &out) {
- std::vector<cv::Mat> channels(3);
- cv::split(data_, channels);
- cv::divide(channels[1], channels[2], out);
-}
-
-void StatisticsImage::getStdDev(cv::Mat &out) {
- getVariance(out);
- cv::sqrt(out, out);
-}
-
-void StatisticsImage::getMean(cv::Mat &out) {
- std::vector<cv::Mat> channels(3);
- cv::split(data_, channels);
- out = channels[0];
-}
-
-void StatisticsImage::getValidRatio(cv::Mat &out) {
- std::vector<cv::Mat> channels(3);
- cv::split(data_, channels);
- cv::divide(channels[2], n_, out);
-}
diff --git a/applications/gui/src/statsimage.hpp b/applications/gui/src/statsimage.hpp
deleted file mode 100644
index c796bfb74f78f55775f6116e0b5a1c850c91a953..0000000000000000000000000000000000000000
--- a/applications/gui/src/statsimage.hpp
+++ /dev/null
@@ -1,47 +0,0 @@
-#ifndef _FTL_GUI_STATISTICSIMAGE_HPP_
-#define _FTL_GUI_STATISTICSIMAGE_HPP_
-
-#include <opencv2/core/mat.hpp>
-
-namespace ftl {
-namespace gui {
-
-class StatisticsImage {
-private:
- cv::Mat data_; // CV_32FC3, channels: m, s, f
- cv::Size size_; // image size
- float n_; // total number of samples
-
-public:
- explicit StatisticsImage(cv::Size size);
- StatisticsImage(cv::Size size, float max_f);
-
- /* @brief reset all statistics to 0
- */
- void reset();
-
- /* @brief update statistics with new values
- */
- void update(const cv::Mat &in);
-
- /* @brief variance (depth)
- */
- void getVariance(cv::Mat &out);
-
- /* @brief standard deviation (depth)
- */
- void getStdDev(cv::Mat &out);
-
- /* @brief mean value (depth)
- */
- void getMean(cv::Mat &out);
-
- /* @brief percent of samples having valid depth value
- */
- void getValidRatio(cv::Mat &out);
-};
-
-}
-}
-
-#endif // _FTL_GUI_STATISTICSIMAGE_HPP_
\ No newline at end of file
diff --git a/applications/gui/src/thumbview.cpp b/applications/gui/src/thumbview.cpp
deleted file mode 100644
index 5fdbd4ec4754c8a8042397c3e02a5835171dfe3c..0000000000000000000000000000000000000000
--- a/applications/gui/src/thumbview.cpp
+++ /dev/null
@@ -1,35 +0,0 @@
-#include "thumbview.hpp"
-#include "screen.hpp"
-#include "camera.hpp"
-
-using ftl::gui::ThumbView;
-using ftl::gui::Screen;
-using ftl::gui::Camera;
-
-ThumbView::ThumbView(nanogui::Widget *parent, ftl::gui::Screen *screen, ftl::gui::Camera *cam)
- : ImageView(parent, 0), screen_(screen), cam_(cam) {
- setCursor(nanogui::Cursor::Hand);
-}
-
-ThumbView::~ThumbView() {
-
-}
-
-bool ThumbView::mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers) {
- if (button == 0 && !down) {
- screen_->setActiveCamera(cam_);
- return true;
- } else {
- return false;
- }
-}
-
-void ThumbView::draw(NVGcontext *ctx) {
- ImageView::draw(ctx);
-
- nvgScissor(ctx, mPos.x(), mPos.y(), mSize.x(), mSize.y());
- nvgFontSize(ctx, 14);
- nvgFontFace(ctx, "sans-bold");
- //nvgText(ctx, mPos.x() + 10, mPos.y()+mSize.y() - 10, cam_->source()->getURI().c_str(), NULL);
- nvgResetScissor(ctx);
-}
diff --git a/applications/gui/src/thumbview.hpp b/applications/gui/src/thumbview.hpp
deleted file mode 100644
index 9bbac8097ceac398747231ff3a3d5220b99c64c0..0000000000000000000000000000000000000000
--- a/applications/gui/src/thumbview.hpp
+++ /dev/null
@@ -1,29 +0,0 @@
-#ifndef _FTL_GUI_THUMBVIEW_HPP_
-#define _FTL_GUI_THUMBVIEW_HPP_
-
-#include <nanogui/imageview.h>
-
-namespace ftl {
-namespace gui {
-
-class Screen;
-class Camera;
-
-class ThumbView : public nanogui::ImageView {
- public:
- ThumbView(nanogui::Widget *parent, ftl::gui::Screen *screen, ftl::gui::Camera *cam);
- ~ThumbView();
-
- bool mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers);
-
- void draw(NVGcontext *ctx);
-
- private:
- Screen *screen_;
- Camera *cam_;
-};
-
-}
-}
-
-#endif // _FTL_GUI_THUMBVIEW_HPP_
diff --git a/applications/gui/src/vr.cpp b/applications/gui/src/vr.cpp
deleted file mode 100644
index b300a27b2484733786f5bd216f0a48aef3dc913c..0000000000000000000000000000000000000000
--- a/applications/gui/src/vr.cpp
+++ /dev/null
@@ -1,36 +0,0 @@
-#include "loguru.hpp"
-#include "vr.hpp"
-
-Eigen::Matrix3d getCameraMatrix(const double tanx1,
- const double tanx2,
- const double tany1,
- const double tany2,
- const double size_x,
- const double size_y) {
-
- Eigen::Matrix3d C = Eigen::Matrix3d::Identity();
-
- CHECK(tanx1 < 0 && tanx2 > 0 && tany1 < 0 && tany2 > 0);
- CHECK(size_x > 0 && size_y > 0);
-
- double fx = size_x / (-tanx1 + tanx2);
- double fy = size_y / (-tany1 + tany2);
- C(0,0) = fx;
- C(1,1) = fy;
- C(0,2) = tanx1 * fx;
- C(1,2) = tany1 * fy;
-
- // safe to remove
- CHECK((int) (abs(tanx1 * fx) + abs(tanx2 * fx)) == (int) size_x);
- CHECK((int) (abs(tany1 * fy) + abs(tany2 * fy)) == (int) size_y);
-
- return C;
-}
-
-Eigen::Matrix3d getCameraMatrix(vr::IVRSystem *vr, const vr::Hmd_Eye &eye) {
- float tanx1, tanx2, tany1, tany2;
- uint32_t size_x, size_y;
- vr->GetProjectionRaw(eye, &tanx1, &tanx2, &tany1, &tany2);
- vr->GetRecommendedRenderTargetSize(&size_x, &size_y);
- return getCameraMatrix(tanx1, tanx2, tany1, tany2, size_x, size_y);
-}
\ No newline at end of file
diff --git a/applications/gui/src/vr.hpp b/applications/gui/src/vr.hpp
deleted file mode 100644
index 7e8f6314fb85765d438ae5f46915a8c215160127..0000000000000000000000000000000000000000
--- a/applications/gui/src/vr.hpp
+++ /dev/null
@@ -1,57 +0,0 @@
-#include <openvr/openvr.h>
-#include <Eigen/Eigen>
-#include <openvr/openvr.h>
-
-/* @brief Calculate (pinhole camera) intrinsic matrix from OpenVR parameters
- * @param Tangent of left half angle (negative) from center view axis
- * @param Tangent of right half angle from center view axis
- * @param Tangent of top half angle (negative) from center view axis
- * @param Tangent of bottom half angle from center view axis
- * @param Image width
- * @param Image height
- *
- * Parameters are provided by IVRSystem::GetProjectionRaw and
- * IVRSystem::GetRecommendedRenderTargetSize.
- *
- * tanx1 = x1 / fx (1)
- * tanx2 = x2 / fy (2)
- * x1 + x2 = size_x (3)
- *
- * :. fx = size_x / (-tanx1 + tanx2)
- *
- * fy can be calculated in same way
- */
-Eigen::Matrix3d getCameraMatrix(const double tanx1,
- const double tanx2,
- const double tany1,
- const double tany2,
- const double size_x,
- const double size_y);
-
-/*
- * @brief Same as above, but uses given IVRSystem and eye.
- */
-Eigen::Matrix3d getCameraMatrix(vr::IVRSystem *vr, const vr::Hmd_Eye &eye);
-
-
-static inline Eigen::Matrix4d ConvertSteamVRMatrixToMatrix4( const vr::HmdMatrix34_t &matPose )
-{
- Eigen::Matrix4d matrixObj;
- matrixObj <<
- matPose.m[0][0], matPose.m[0][1], matPose.m[0][2], matPose.m[0][3],
- matPose.m[1][0], matPose.m[1][1], matPose.m[1][2], matPose.m[1][3],
- matPose.m[2][0], matPose.m[2][1], matPose.m[2][2], matPose.m[2][3],
- 0.0, 0.0, 0.0, 1.0;
- return matrixObj;
-}
-
-static inline Eigen::Matrix4d ConvertSteamVRMatrixToMatrix4( const vr::HmdMatrix44_t &matPose )
-{
- Eigen::Matrix4d matrixObj;
- matrixObj <<
- matPose.m[0][0], matPose.m[0][1], matPose.m[0][2], matPose.m[0][3],
- matPose.m[1][0], matPose.m[1][1], matPose.m[1][2], matPose.m[1][3],
- matPose.m[2][0], matPose.m[2][1], matPose.m[2][2], matPose.m[2][3],
- matPose.m[3][0], matPose.m[3][1], matPose.m[3][2], matPose.m[3][3];
- return matrixObj;
-}
\ No newline at end of file
diff --git a/applications/gui2/CMakeLists.txt b/applications/gui2/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9c147be1a8dafc77b9b665f52394024b84539ef0
--- /dev/null
+++ b/applications/gui2/CMakeLists.txt
@@ -0,0 +1,77 @@
+# Need to include staged files and libs
+#include_directories(${PROJECT_SOURCE_DIR}/reconstruct/include)
+#include_directories(${PROJECT_BINARY_DIR})
+
+function(add_gui_module NAME)
+ get_filename_component(FULLPATH "src/modules/${NAME}.cpp" ABSOLUTE)
+ if (EXISTS ${FULLPATH})
+ list(APPEND GUI2SRC "src/modules/${NAME}.cpp")
+ endif()
+
+ get_filename_component(FULLPATH "src/views/${NAME}.cpp" ABSOLUTE)
+ if (EXISTS ${FULLPATH})
+ list(APPEND GUI2SRC "src/views/${NAME}.cpp")
+ endif()
+
+ set(GUI2SRC ${GUI2SRC} PARENT_SCOPE)
+endfunction()
+
+set(GUI2SRC
+ src/main.cpp
+ src/inputoutput.cpp
+ src/screen.cpp
+ src/view.cpp
+ src/widgets/soundctrl.cpp
+ src/widgets/popupbutton.cpp
+ src/widgets/imageview.cpp
+ src/widgets/combobox.cpp
+ src/widgets/leftbutton.cpp
+)
+
+add_gui_module("themes")
+add_gui_module("statistics")
+add_gui_module("config")
+add_gui_module("camera")
+add_gui_module("camera3d")
+add_gui_module("thumbnails")
+add_gui_module("addsource")
+
+if (WITH_CERES)
+ list(APPEND GUI2SRC
+ src/modules/calibration/calibration.cpp
+ src/modules/calibration/extrinsic.cpp
+ src/modules/calibration/intrinsic.cpp
+ src/modules/calibration/stereo.cpp
+ src/views/calibration/widgets.cpp
+ src/views/calibration/extrinsicview.cpp
+ src/views/calibration/intrinsicview.cpp
+ src/views/calibration/stereoview.cpp
+ )
+endif()
+
+if (HAVE_OPENVR)
+ add_gui_module("cameravr")
+endif()
+
+# Various preprocessor definitions have been generated by NanoGUI
+add_definitions(${NANOGUI_EXTRA_DEFS})
+
+# On top of adding the path to nanogui/include, you may need extras
+include_directories(${NANOGUI_EXTRA_INCS})
+
+add_executable(ftl-gui2 ${GUI2SRC})
+
+target_include_directories(ftl-gui2 PUBLIC
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+ $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/ext/nanogui/include>
+ $<INSTALL_INTERFACE:include>
+ PRIVATE src)
+
+#if (CUDA_FOUND)
+#set_property(TARGET ftl-gui2 PROPERTY CUDA_SEPARABLE_COMPILATION ON)
+#endif()
+
+#target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
+target_link_libraries(ftl-gui2 ftlcommon ftldata ftlctrl ftlrgbd ftlstreams ftlrender Threads::Threads ${OpenCV_LIBS} openvr ftlnet nanogui ${NANOGUI_EXTRA_LIBS} ceres nvidia-ml)
+
+target_precompile_headers(ftl-gui2 REUSE_FROM ftldata)
diff --git a/applications/gui2/README.md b/applications/gui2/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..054581884b6512ffe40bd52fd628df49b67ed34c
--- /dev/null
+++ b/applications/gui2/README.md
@@ -0,0 +1,50 @@
+GUI
+
+Nanogui based graphical user interface.
+
+General:
+ * Do not modify gui outside gui thread (main). Modifications must be done in
+ GUI callbacks or draw().
+ * Expensive processing should be moved out of gui thread (draw() and callbacks)
+ * Module is only required to implement Module. Each module is expected to be
+ loaded only once.
+
+Classes
+
+Screen
+ * Implements main screen: toolbar and view
+ * Interface for registering new modules.
+ * Interface for adding/removing buttons
+ * Interface for setting active View. Inactive view is removed and destroyed if
+ no other references are remaining.
+ * Note: toolbar could be a module, but other modules likely assume it is
+ always available anyways.
+ * Centralized access to Nanogui::Themes and custom non-theme colors.
+
+Module (controller)
+ * GUI module class wraps pointers for io, config and net. Initialization should
+ add necessary buttons to Screen
+ * Build necessary callbacks to process data from InputOutput to view.
+ Note: If callback passes data to view, callback handle should be owned by
+ the view or Module has to keep a nanogui reference to the View. Also note
+ that View destructor is called when active view is replaced.
+
+View
+ * Active view will be the main window; only one view can be active at time
+ * Button callbacks (eg. those registered by module init) may change active view
+ * Destroyed when view is changed. Object lifetime can be used to remove
+ callbacks from InputOutput (TODO: only one active callback supported at the
+ moment)
+ * Implementations do not have to inherit from View. Popup/Window/Widget... can
+ be used to implement UI components available from any mode (config, record).
+ * Receives all unprocessed keyboard events.
+
+InputOutput
+ * Contains pointers to all required FTL objects (network/rendering/feed/...).
+ * Speaker
+
+NanoGUI notes:
+ * If disposing Window in widget destructor, window->parent() reference count
+ must be checked and dispose() only called if refCount > 0. (segfault at exit)
+ * Nanogui does not dispose popup windows automatically. See above point if
+ using destructor for clean up.
diff --git a/applications/gui2/src/inputoutput.cpp b/applications/gui2/src/inputoutput.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5ee5e03f8fd748580e2c8eec760419e063d27dc0
--- /dev/null
+++ b/applications/gui2/src/inputoutput.cpp
@@ -0,0 +1,42 @@
+#include <loguru.hpp>
+#include <nlohmann/json.hpp>
+#include <ftl/codecs/shapes.hpp>
+#include <ftl/streams/filestream.hpp>
+
+#include "inputoutput.hpp"
+
+using ftl::gui2::InputOutput;
+
+using ftl::codecs::Channel;
+
+InputOutput::InputOutput(ftl::Configurable *root, ftl::net::Universe *net) :
+ net_(net) {
+
+ master_ = std::unique_ptr<ftl::ctrl::Master>(new ftl::ctrl::Master(root, net));
+ master_->onLog([](const ftl::ctrl::LogEvent &e){
+ const int v = e.verbosity;
+ switch (v) {
+ case -2: LOG(ERROR) << "Remote log: " << e.message; break;
+ case -1: LOG(WARNING) << "Remote log: " << e.message; break;
+ case 0: LOG(INFO) << "Remote log: " << e.message; break;
+ }
+ });
+
+ //net_->onConnect([this](ftl::net::Peer *p) {
+ //ftl::pool.push([this](int id) {
+ // FIXME: Find better option that waiting here.
+ // Wait to make sure streams have started properly.
+ //std::this_thread::sleep_for(std::chrono::milliseconds(100));
+
+ //_updateCameras(screen_->net()->findAll<string>("list_streams"));
+ //});
+ //});
+
+ feed_ = std::unique_ptr<ftl::stream::Feed>
+ (ftl::create<ftl::stream::Feed>(root, "feed", net));
+
+ speaker_ = feed_->speaker();
+
+ //auto* f = feed_->filter({ftl::codecs::Channel::Colour, ftl::codecs::Channel::Depth});
+ //feed_->render(f, Eigen::Matrix4d::Identity());
+}
diff --git a/applications/gui2/src/inputoutput.hpp b/applications/gui2/src/inputoutput.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..98d6a0dbef6b5205b2b97a57ad324fabbd86741d
--- /dev/null
+++ b/applications/gui2/src/inputoutput.hpp
@@ -0,0 +1,50 @@
+#pragma once
+
+#include <memory>
+#include <mutex>
+#include <array>
+
+#include <ftl/handle.hpp>
+#include <ftl/configuration.hpp>
+#include <ftl/net/universe.hpp>
+#include <ftl/master.hpp>
+
+#include <ftl/streams/stream.hpp>
+#include <ftl/streams/receiver.hpp>
+#include <ftl/streams/feed.hpp>
+
+#include <ftl/streams/filestream.hpp>
+#include <ftl/audio/speaker.hpp>
+
+#include <ftl/data/new_frame.hpp>
+#include <ftl/data/new_frameset.hpp>
+#include <ftl/data/framepool.hpp>
+
+
+namespace ftl {
+namespace gui2 {
+
+class InputOutput {
+public:
+ InputOutput(ftl::Configurable *config, ftl::net::Universe *net);
+ InputOutput(const InputOutput&) = delete;
+ void operator=(const InputOutput&) = delete;
+
+ ftl::Handle addCallback(const std::function<bool(const ftl::data::FrameSetPtr&)>&);
+
+ ftl::net::Universe* net() const;
+ ftl::ctrl::Master* master() const { return master_.get(); }
+ ftl::stream::Feed* feed() const { return feed_.get(); }
+ ftl::audio::Speaker* speaker() const { return speaker_; }
+
+private:
+ ftl::net::Universe* net_;
+ std::unique_ptr<ftl::stream::Feed> feed_;
+ std::unique_ptr<ftl::ctrl::Master> master_;
+ ftl::audio::Speaker *speaker_;
+
+
+};
+
+}
+}
diff --git a/applications/gui2/src/main.cpp b/applications/gui2/src/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ee07557d2848599e4c2af85034bfb0fc887f4bd3
--- /dev/null
+++ b/applications/gui2/src/main.cpp
@@ -0,0 +1,211 @@
+#include <memory>
+
+#include <loguru.hpp>
+#include <nlohmann/json.hpp>
+
+#include <ftl/configuration.hpp>
+#include <ftl/net/universe.hpp>
+#include <ftl/net_configurable.hpp>
+#include <ftl/rgbd.hpp>
+
+#include <nanogui/nanogui.h>
+
+#include <cuda_gl_interop.h>
+
+#include "inputoutput.hpp"
+#include "module.hpp"
+#include "screen.hpp"
+
+#include "modules.hpp"
+
+#ifdef HAVE_PYLON
+#include <pylon/PylonIncludes.h>
+#endif
+
+using std::unique_ptr;
+using std::make_unique;
+
+/**
+ * FTL Graphical User Interface
+ * Single screen, loads configuration and sets up networking and input/output.
+ * Loads required modules to gui.
+ */
+class FTLGui {
+public:
+ FTLGui(int argc, char **argv);
+ ~FTLGui();
+
+ template<typename T>
+ T* loadModule(const std::string &name);
+ void mainloop();
+
+private:
+ std::unique_ptr<ftl::Configurable> root_;
+ std::unique_ptr<ftl::net::Universe> net_;
+ std::unique_ptr<ftl::gui2::InputOutput> io_;
+
+ nanogui::ref<ftl::gui2::Screen> screen_;
+};
+
+template<typename T>
+T* FTLGui::loadModule(const std::string &name) {
+ return screen_->addModule<T>(name, root_.get(), screen_.get(), io_.get());
+}
+
+FTLGui::FTLGui(int argc, char **argv) {
+ using namespace ftl::gui2;
+
+ screen_ = new Screen();
+
+ int cuda_device;
+ cudaSafeCall(cudaGetDevice(&cuda_device));
+ //cudaSafeCall(cudaGLSetGLDevice(cuda_device));
+
+ root_ = unique_ptr<ftl::Configurable>(ftl::configure(argc, argv, "gui_default"));
+ net_ = unique_ptr<ftl::net::Universe>(ftl::create<ftl::net::Universe>(root_.get(), "net"));
+ io_ = make_unique<ftl::gui2::InputOutput>(root_.get(), net_.get());
+
+ net_->start();
+ net_->waitConnections();
+
+ loadModule<Themes>("themes");
+ loadModule<ThumbnailsController>("home")->activate();
+ loadModule<Camera>("camera");
+ loadModule<ConfigCtrl>("configwindow");
+ loadModule<Statistics>("statistics");
+#ifdef HAVE_CERES
+ loadModule<Calibration>("calibration");
+#endif
+ auto *adder = loadModule<AddCtrl>("adder");
+
+ for (int c = 1; c < argc; c++) {
+ std::string path(argv[c]);
+ try {
+ io_->feed()->add(path);
+ LOG(INFO) << "Add: " << path;
+ }
+ catch (const ftl::exception&) {
+ LOG(ERROR) << "Could not add: " << path;
+ }
+ }
+
+ if (io_->feed()->listSources().size() == 0) {
+ adder->show();
+ }
+
+ net_->onDisconnect([this](ftl::net::Peer *p) {
+ if (p->status() != ftl::net::Peer::kConnected) {
+ screen_->showError("Connection Failed", std::string("Could not connect to network peer: ") + p->getURI());
+ } else {
+ screen_->showError("Disconnection", std::string("Network peer disconnected: ") + p->getURI());
+ }
+ });
+
+ net_->onError([this](ftl::net::Peer *, const ftl::net::Error &err) {
+
+ });
+}
+
+FTLGui::~FTLGui() {
+ net_->shutdown();
+}
+
+void FTLGui::mainloop() {
+ // implements similar main loop as nanogui::mainloop()
+
+ ftl::timer::start();
+
+ screen_->setVisible(true);
+ screen_->drawAll();
+
+ float last_draw_time = 0.0f;
+
+ while (ftl::running) {
+ if (!screen_->visible()) {
+ ftl::running = false;
+ }
+ else if (glfwWindowShouldClose(screen_->glfwWindow())) {
+ screen_->setVisible(false);
+ ftl::running = false;
+ }
+ else {
+ float now = float(glfwGetTime());
+ float delta = now - last_draw_time;
+
+ // Generate poses and render and virtual frame here
+ // at full FPS (25 without VR and 90 with VR currently)
+ //screen_->render();
+
+ io_->feed()->render();
+
+ // Only draw the GUI at 25fps
+ if (delta >= 0.04f) {
+ last_draw_time = now;
+ screen_->drawAll();
+ }
+ }
+
+ // Wait for mouse/keyboard or empty refresh events
+ glfwWaitEventsTimeout(0.02); // VR headest issues
+ //glfwPollEvents();
+ }
+
+ // Process events once more
+ glfwPollEvents();
+
+ ftl::config::save();
+
+ // Stop everything before deleting feed etc
+ LOG(INFO) << "Stopping...";
+ ftl::timer::stop(true);
+ ftl::pool.stop(true);
+ LOG(INFO) << "All threads stopped.";
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
+int main(int argc, char **argv) {
+ #ifdef HAVE_PYLON
+ Pylon::PylonAutoInitTerm autoInitTerm;
+ #endif
+
+ // Note: This causes 100% CPU use but prevents the random frame drops.
+ ftl::timer::setHighPrecision(true);
+
+ {
+ nanogui::init();
+
+ FTLGui gui(argc, argv);
+
+ try {
+ gui.mainloop();
+ }
+ catch (const ftl::exception &e) {
+ #ifdef WIN32
+ std::string error_msg = std::string("Caught a fatal error: ") + std::string(e.what()) + std::string("\r\n") + std::string(e.trace());
+ MessageBoxA(nullptr, error_msg.c_str(), NULL, MB_ICONERROR | MB_OK);
+ #else
+ LOG(ERROR) << "Fatal error: " << e.what();
+ LOG(ERROR) << e.trace();
+ #endif
+ }
+ catch (const std::runtime_error &e) {
+ std::string error_msg = std::string("Caught a fatal error: ") + std::string(e.what());
+ #ifdef WIN32
+ MessageBoxA(nullptr, error_msg.c_str(), NULL, MB_ICONERROR | MB_OK);
+ LOG(ERROR) << error_msg;
+ #else
+ LOG(ERROR) << error_msg;
+ #endif
+ return -1;
+ }
+ }
+
+ // Must be after ~FTLGui since it destroys GL context.
+ nanogui::shutdown();
+
+ // Save config changes and delete final objects
+ ftl::config::cleanup();
+
+ return 0;
+}
diff --git a/applications/gui2/src/module.hpp b/applications/gui2/src/module.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..ca048f124bb306c3fd2c841efa4b9daa46dbde31
--- /dev/null
+++ b/applications/gui2/src/module.hpp
@@ -0,0 +1,33 @@
+#pragma once
+
+#include "view.hpp"
+#include "inputoutput.hpp"
+
+#include <ftl/configurable.hpp>
+#include <nanogui/entypo.h>
+#include <nanogui/button.h>
+
+namespace ftl {
+namespace gui2 {
+
+class Screen;
+
+class Module : public ftl::Configurable {
+public:
+ Module(nlohmann::json &config, Screen *screen, InputOutput *io) :
+ Configurable(config), screen(screen), io(io) {}
+
+ /** called by constructor */
+ virtual void init() {};
+ /** called before draw */
+ virtual void update(double) {};
+ virtual ~Module() {};
+
+ ftl::gui2::Screen* const screen;
+
+protected:
+ ftl::gui2::InputOutput* const io;
+};
+
+}
+}
diff --git a/applications/gui2/src/modules.hpp b/applications/gui2/src/modules.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..83cac08c1f99aa0289d294751a52c5ff64c49f00
--- /dev/null
+++ b/applications/gui2/src/modules.hpp
@@ -0,0 +1,11 @@
+#pragma once
+
+#include "modules/thumbnails.hpp"
+#include "modules/camera.hpp"
+#include "modules/config.hpp"
+#include "modules/themes.hpp"
+#include "modules/statistics.hpp"
+#ifdef HAVE_CERES
+#include "modules/calibration/calibration.hpp"
+#endif
+#include "modules/addsource.hpp"
diff --git a/applications/gui2/src/modules/addsource.cpp b/applications/gui2/src/modules/addsource.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..7ac74b55b45b98b698835f9cdf2642b8310f10d1
--- /dev/null
+++ b/applications/gui2/src/modules/addsource.cpp
@@ -0,0 +1,78 @@
+#include "addsource.hpp"
+
+using ftl::gui2::AddCtrl;
+
+void AddCtrl::init() {
+ button = screen->addButton(ENTYPO_ICON_PLUS);
+ button->setTooltip("Add New Source");
+ button->setCallback([this](){
+ button->setPushed(false);
+ show();
+ });
+ button->setVisible(true);
+}
+
+void AddCtrl::show() {
+ // Note: By chance, the pointer can in fact pass this test as another
+ // widget gets allocated to the exact same address
+ if (!window || screen->childIndex(window) == -1) {
+ window = new ftl::gui2::AddSourceWindow(screen, this);
+ }
+ window->setVisible(true);
+ window->requestFocus();
+ screen->performLayout();
+}
+
+void AddCtrl::disposeWindow() {
+ window->dispose();
+ window = nullptr;
+}
+
+ftl::Configurable *AddCtrl::add(const std::string &uri) {
+ try {
+ if (io->feed()->sourceActive(uri)) {
+ io->feed()->remove(uri);
+ } else {
+ io->feed()->add(uri);
+ }
+ } catch (const ftl::exception &e) {
+ screen->showError("Exception", e.what());
+ }
+ return nullptr;
+}
+
+std::vector<std::string> AddCtrl::getHosts() {
+ return std::move(io->feed()->knownHosts());
+}
+
+std::vector<std::string> AddCtrl::getGroups() {
+ return std::move(io->feed()->availableGroups());
+}
+
+std::set<ftl::stream::SourceInfo> AddCtrl::getRecent() {
+ return std::move(io->feed()->recentSources());
+}
+
+std::vector<std::string> AddCtrl::getNetSources() {
+ return std::move(io->feed()->availableNetworkSources());
+}
+
+std::vector<std::string> AddCtrl::getFileSources() {
+ return std::move(io->feed()->availableFileSources());
+}
+
+std::vector<std::string> AddCtrl::getDeviceSources() {
+ return std::move(io->feed()->availableDeviceSources());
+}
+
+std::string AddCtrl::getSourceName(const std::string &uri) {
+ return io->feed()->getName(uri);
+}
+
+bool AddCtrl::isSourceActive(const std::string &uri) {
+ return io->feed()->sourceActive(uri);
+}
+
+AddCtrl::~AddCtrl() {
+ // remove window?
+}
diff --git a/applications/gui2/src/modules/addsource.hpp b/applications/gui2/src/modules/addsource.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..eab8fef9d6fb27f5dc9d03b3c51e437b758f41da
--- /dev/null
+++ b/applications/gui2/src/modules/addsource.hpp
@@ -0,0 +1,43 @@
+#pragma once
+
+#include "../module.hpp"
+#include "../screen.hpp"
+
+#include "../views/addsource.hpp"
+
+namespace ftl {
+namespace gui2 {
+
+/**
+ * Controller for adding sources etc.
+ */
+class AddCtrl : public Module {
+public:
+ using Module::Module;
+ virtual ~AddCtrl();
+
+ virtual void init() override;
+ virtual void show();
+ void disposeWindow();
+
+ ftl::Configurable *add(const std::string &uri);
+
+ std::vector<std::string> getHosts();
+ std::set<ftl::stream::SourceInfo> getRecent();
+ std::vector<std::string> getNetSources();
+ std::vector<std::string> getFileSources();
+ std::vector<std::string> getDeviceSources();
+ std::vector<std::string> getGroups();
+ std::string getSourceName(const std::string &uri);
+ bool isSourceActive(const std::string &uri);
+
+ inline ftl::stream::Feed *feed() { return io->feed(); }
+
+
+private:
+ nanogui::ToolButton *button;
+ ftl::gui2::AddSourceWindow *window = nullptr;
+};
+
+}
+}
diff --git a/applications/gui2/src/modules/calibration/calibration.cpp b/applications/gui2/src/modules/calibration/calibration.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..83627e6fd2ec0b5baccfeaeebf4d818276edf951
--- /dev/null
+++ b/applications/gui2/src/modules/calibration/calibration.cpp
@@ -0,0 +1,383 @@
+
+#include <loguru.hpp>
+
+#include "calibration.hpp"
+#include "../../screen.hpp"
+#include "../../widgets/popupbutton.hpp"
+#include "../../views/calibration/intrinsicview.hpp"
+#include "../../views/calibration/extrinsicview.hpp"
+#include "../../views/calibration/stereoview.hpp"
+
+#include <opencv2/aruco.hpp>
+#include <opencv2/imgproc.hpp>
+#include <opencv2/calib3d.hpp>
+
+#include <ftl/calibration/optimize.hpp>
+#include <ftl/calibration/structures.hpp>
+#include <ftl/threads.hpp>
+
+#include <nanogui/entypo.h>
+#include <nanogui/layout.h>
+
+using ftl::gui2::Calibration;
+
+using ftl::calibration::CalibrationData;
+using ftl::codecs::Channel;
+using ftl::data::FrameID;
+using ftl::data::FrameSetPtr;
+
+
+// ==== OpenCVCalibrateFlags ===================================================
+
+using ftl::gui2::OpenCVCalibrateFlags;
+using ftl::gui2::OpenCVCalibrateFlagsStereo;
+
+int OpenCVCalibrateFlags::defaultFlags() const {
+ // For finding distortion coefficients fix focal length and principal point.
+ // Otherwise results might be unreliable.
+ return (cv::CALIB_FIX_FOCAL_LENGTH |
+ cv::CALIB_FIX_PRINCIPAL_POINT |
+ cv::CALIB_FIX_ASPECT_RATIO);
+}
+
+std::vector<int> OpenCVCalibrateFlags::list() const {
+ return {
+ cv::CALIB_USE_INTRINSIC_GUESS,
+ cv::CALIB_FIX_FOCAL_LENGTH,
+ cv::CALIB_FIX_PRINCIPAL_POINT,
+ cv::CALIB_FIX_ASPECT_RATIO,
+ cv::CALIB_ZERO_TANGENT_DIST,
+ cv::CALIB_FIX_K1,
+ cv::CALIB_FIX_K2,
+ cv::CALIB_FIX_K3,
+ cv::CALIB_FIX_K4,
+ cv::CALIB_FIX_K5,
+ cv::CALIB_FIX_K6,
+ cv::CALIB_RATIONAL_MODEL,
+ cv::CALIB_THIN_PRISM_MODEL,
+ cv::CALIB_FIX_S1_S2_S3_S4,
+ cv::CALIB_TILTED_MODEL,
+ cv::CALIB_FIX_TAUX_TAUY
+ };
+}
+
+std::string OpenCVCalibrateFlags::name(int i) const {
+ using namespace cv;
+ switch(i) {
+ case CALIB_FIX_INTRINSIC:
+ return "CALIB_FIX_INTRINSIC";
+
+ case CALIB_FIX_FOCAL_LENGTH:
+ return "CALIB_FIX_FOCAL_LENGTH";
+
+ case CALIB_USE_INTRINSIC_GUESS:
+ return "CALIB_USE_INTRINSIC_GUESS";
+
+ case CALIB_USE_EXTRINSIC_GUESS:
+ return "CALIB_USE_EXTRINSIC_GUESS";
+
+ case CALIB_FIX_PRINCIPAL_POINT:
+ return "CALIB_FIX_PRINCIPAL_POINT";
+
+ case CALIB_FIX_ASPECT_RATIO:
+ return "CALIB_FIX_ASPECT_RATIO";
+
+ case CALIB_SAME_FOCAL_LENGTH:
+ return "CALIB_SAME_FOCAL_LENGTH";
+
+ case CALIB_ZERO_TANGENT_DIST:
+ return "CALIB_ZERO_TANGENT_DIST";
+
+ case CALIB_FIX_K1:
+ return "CALIB_FIX_K1";
+
+ case CALIB_FIX_K2:
+ return "CALIB_FIX_K2";
+
+ case CALIB_FIX_K3:
+ return "CALIB_FIX_K3";
+
+ case CALIB_FIX_K4:
+ return "CALIB_FIX_K4";
+
+ case CALIB_FIX_K5:
+ return "CALIB_FIX_K5";
+
+ case CALIB_FIX_K6:
+ return "CALIB_FIX_K6";
+
+ case CALIB_RATIONAL_MODEL:
+ return "CALIB_RATIONAL_MODEL";
+
+ case CALIB_THIN_PRISM_MODEL:
+ return "CALIB_THIN_PRISM_MODEL";
+
+ case CALIB_FIX_S1_S2_S3_S4:
+ return "CALIB_FIX_S1_S2_S3_S4";
+
+ case CALIB_TILTED_MODEL:
+ return "CALIB_TILTED_MODEL";
+
+ case CALIB_FIX_TAUX_TAUY:
+ return "CALIB_FIX_TAUX_TAUY";
+ };
+ return "";
+}
+
+
+std::string OpenCVCalibrateFlags::explain(int i) const {
+ using namespace cv;
+ switch(i) {
+ case CALIB_FIX_INTRINSIC:
+ return "Fix all intrinsic paramters.";
+
+ case CALIB_FIX_FOCAL_LENGTH:
+ return "Fix focal length (fx and fy).";
+
+ case CALIB_USE_INTRINSIC_GUESS:
+ return "Use valid initial values of fx, fy, cx, cy that are "
+ "optimized further. Otherwise, (cx, cy) is initially set "
+ "to the image center and focal distances are computed in "
+ "a least-squares fashion.";
+
+ case CALIB_USE_EXTRINSIC_GUESS:
+ return "";
+
+ case CALIB_FIX_PRINCIPAL_POINT:
+ return "The principal point is not changed during the global "
+ "optimization. It stays at the center or at a location "
+ "specified in initial parameters.";
+
+ case CALIB_FIX_ASPECT_RATIO:
+ return "Consider only fy as a free parameter. The ratio fx/fy "
+ "stays the same. When CALIB_USE_INTRINSIC_GUESS is not "
+ "set, the actual input values of fx and fy are ignored, "
+ "only their ratio is computed and used further.";
+
+ case CALIB_ZERO_TANGENT_DIST:
+ return "Tangential distortion coefficients (p1,p2) are set to "
+ "zeros and stay zero.";
+
+ case CALIB_FIX_K1:
+ case CALIB_FIX_K2:
+ case CALIB_FIX_K3:
+ case CALIB_FIX_K4:
+ case CALIB_FIX_K5:
+ case CALIB_FIX_K6:
+ return "The radial distortion coefficient is not changed during "
+ "the optimization. If CALIB_USE_INTRINSIC_GUESS is set, "
+ "the coefficient from initial values is used. Otherwise, "
+ "it is set to 0.";
+
+ case CALIB_RATIONAL_MODEL:
+ return "Coefficients k4, k5, and k6 are enabled.";
+
+ case CALIB_THIN_PRISM_MODEL:
+ return " Coefficients s1, s2, s3 and s4 are enabled.";
+
+ case CALIB_FIX_S1_S2_S3_S4:
+ return "The thin prism distortion coefficients are not changed "
+ "during the optimization. If CALIB_USE_INTRINSIC_GUESS is "
+ "set, the supplied coefficients are used. Otherwise, they "
+ "are set to 0.";
+
+ case CALIB_TILTED_MODEL:
+ return "Coefficients tauX and tauY are enabled";
+
+ case CALIB_FIX_TAUX_TAUY:
+ return "The coefficients of the tilted sensor model are not "
+ "changed during the optimization. If "
+ "CALIB_USE_INTRINSIC_GUESS is set, the supplied "
+ "coefficients are used. Otherwise, they are set to 0.";
+ };
+ return "";
+}
+
+std::vector<int> OpenCVCalibrateFlagsStereo::list() const {
+ auto ls = OpenCVCalibrateFlags::list();
+ ls.insert(ls.begin(), cv::CALIB_FIX_INTRINSIC);
+ ls.insert(ls.begin() + 1, cv::CALIB_SAME_FOCAL_LENGTH);
+ ls.insert(ls.begin() + 1, cv::CALIB_USE_EXTRINSIC_GUESS);
+ return ls;
+}
+
+
+std::string OpenCVCalibrateFlagsStereo::explain(int i) const {
+ using namespace cv;
+ switch(i) {
+ case CALIB_FIX_INTRINSIC:
+ return "Fix intrinsic camera paramters (focal length, aspect "
+ "ratio, principal point and distortion coefficients)";
+
+ case CALIB_USE_INTRINSIC_GUESS:
+ return "Optimize some or all of the intrinsic parameters according "
+ "to the specified flags";
+
+ case CALIB_USE_EXTRINSIC_GUESS:
+ return "Rotation and translation have valid initial values that "
+ "are optimized further. Otherwise rotation and translation "
+ "are initialized to the median value of the pattern views ";
+
+ case CALIB_SAME_FOCAL_LENGTH:
+ return "Enforce fx_l == fx_r && fy_l == fy_r";
+
+ default:
+ return OpenCVCalibrateFlags::explain(i);
+ };
+}
+
+int OpenCVCalibrateFlagsStereo::defaultFlags() const {
+ return cv::CALIB_FIX_INTRINSIC;
+}
+
+// ==== Calibration module =====================================================
+// Loads sub-modules and adds buttons to main screen.
+
+void Calibration::init() {
+
+ screen->addModule<IntrinsicCalibration>("calib_intrinsic", this, screen, io);
+ screen->addModule<ExtrinsicCalibration>("calib_extrinsic", this, screen, io);
+ screen->addModule<StereoCalibration>("calib_stereo", this, screen, io);
+
+ // NOTE: If more GUI code is added, consider moving the GUI cude to a new
+ // file in ../views/
+
+ // Should implement PopupMenu widget which would abstract building steps
+ // and provide common feel&look. (TODO)
+
+ auto button = screen->addButton<ftl::gui2::PopupButton>("", ENTYPO_ICON_CAMERA);
+ button->setChevronIcon(0);
+ button->setTooltip("Calibrate Cameras");
+
+ auto* popup = button->popup();
+ popup->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 10, 6));
+
+ auto* button_intrinsic = new nanogui::Button(popup, "Intrinsic Calibration");
+ button_intrinsic->setCallback([this, button, button_intrinsic, popup](){
+ button->setPushed(false);
+ button_intrinsic->setPushed(false);
+ button_intrinsic->setFocused(false);
+ auto* calib = screen->getModule<IntrinsicCalibration>();
+ auto* view = new ftl::gui2::IntrinsicCalibrationStart(screen, calib);
+ screen->setView(view);
+ });
+
+ auto* button_extrinsic = new nanogui::Button(popup, "Extrinsic Calibration");
+ button_extrinsic->setCallback([this, button, button_extrinsic, popup](){
+ button->setPushed(false);
+ button_extrinsic->setPushed(false);
+ button_extrinsic->setFocused(false);
+ auto* calib = screen->getModule<ExtrinsicCalibration>();
+ auto* view = new ftl::gui2::ExtrinsicCalibrationStart(screen, calib);
+ screen->setView(view);
+ });
+
+ auto* button_stereo = new nanogui::Button(popup, "Stereo Calibration");
+ button_stereo->setCallback([this, button, button_extrinsic, popup](){
+ button->setPushed(false);
+ button_extrinsic->setPushed(false);
+ button_extrinsic->setFocused(false);
+ auto* calib = screen->getModule<StereoCalibration>();
+ auto* view = new ftl::gui2::StereoCalibrationStart(screen, calib);
+ screen->setView(view);
+ });
+
+ button->setVisible(true);
+}
+
+Calibration::~Calibration() {
+ // remove button
+}
+
+// ==== CalibrationModule ======================================================
+
+using ftl::gui2::CalibrationModule;
+
+
+bool CalibrationModule::checkFrame(ftl::data::Frame& frame) {
+
+ if (wait_update_) {
+ return false;
+ }
+
+ if (frame.hasChannel(Channel::CalibrationData)) {
+
+ if (calibration_enabled_ != calibrationEnabled(frame)) {
+
+ LOG(INFO) << std::string(calibration_enabled_ ? "Enabling" : "Disabling") +
+ " calibration (changed outside)";
+
+ setCalibrationMode(frame, calibration_enabled_);
+ return false;
+ }
+ }
+ else {
+ static bool logged_once__ = false;
+ if (!logged_once__) {
+ LOG(WARNING) << "No CalibrationData channel, is this a valid camera?";
+ logged_once__ = true;
+ }
+ return false;
+ }
+
+ return true;
+}
+
+bool CalibrationModule::calibrationEnabled(ftl::data::Frame& frame) {
+ auto& calib_data = frame.get<CalibrationData>(Channel::CalibrationData);
+ return calib_data.enabled;
+}
+
+void CalibrationModule::setCalibration(ftl::data::Frame& frame, CalibrationData data) {
+ // previous callbacks are cancelled!
+ wait_update_ = true;
+
+ // updates enabled_ status with given calibration data
+
+ auto response = frame.response();
+ response.create<CalibrationData>(Channel::CalibrationData) = data;
+ update_handle_ = frame.onChange(Channel::CalibrationData,
+ [&wait_update = wait_update_,
+ &enabled = calibration_enabled_,
+ value = data.enabled]
+ (ftl::data::Frame& frame, ftl::codecs::Channel){
+
+ enabled = value;
+ wait_update = false;
+ return true;
+ });
+}
+
+void CalibrationModule::setCalibrationMode(ftl::data::Frame& frame, bool value) {
+
+ if (!frame.hasChannel(Channel::CalibrationData)) {
+ LOG(ERROR) << "Trying to change calibration status of frame which does "
+ "not contain CalibrationData";
+ return;
+ }
+
+ auto data = CalibrationData(frame.get<CalibrationData>(Channel::CalibrationData));
+ data.enabled = value;
+ setCalibration(frame, data);
+}
+
+void CalibrationModule::setCalibrationMode(bool value) {
+ calibration_enabled_ = value;
+}
+
+cv::Mat CalibrationModule::getMat(ftl::rgbd::Frame& frame, Channel c) {
+ auto& vframe = frame.get<ftl::rgbd::VideoFrame>(c);
+ cv::Mat host;
+ if (vframe.isGPU()) { vframe.getGPU().download(host); }
+ else { host = vframe.getCPU(); }
+ return host;
+}
+
+cv::cuda::GpuMat CalibrationModule::getGpuMat(ftl::rgbd::Frame& frame, Channel c) {
+ auto& vframe = frame.get<ftl::rgbd::VideoFrame>(c);
+ cv::cuda::GpuMat gpu;
+ if (!vframe.isGPU()) { gpu.upload(vframe.getCPU()); }
+ else { gpu = vframe.getGPU(); }
+ return gpu;
+}
diff --git a/applications/gui2/src/modules/calibration/calibration.hpp b/applications/gui2/src/modules/calibration/calibration.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..cff1b82759b58661d98324f6b767838ad0ce9c53
--- /dev/null
+++ b/applications/gui2/src/modules/calibration/calibration.hpp
@@ -0,0 +1,485 @@
+#pragma once
+
+#include "../../module.hpp"
+
+#include <ftl/calibration/object.hpp>
+#include <ftl/calibration/extrinsic.hpp>
+#include <ftl/calibration/structures.hpp>
+#include <opencv2/core/types.hpp>
+
+namespace ftl
+{
+namespace gui2
+{
+
+/** OpenCV calibration flags */
+class OpenCVCalibrateFlags {
+public:
+ bool has(unsigned int flag) const { return (flags_ & flag) != 0; }
+ void set(unsigned int flag) { flags_ |= flag; }
+ void unset(unsigned int flag) { flags_ &= ~flag; }
+ void reset() { flags_ = 0; }
+ std::string name(int) const;
+ operator int() { return flags_; }
+
+ virtual int defaultFlags() const;
+ virtual std::vector<int> list() const;
+ virtual std::string explain(int) const;
+
+private:
+ int flags_ = 0;
+};
+
+class OpenCVCalibrateFlagsStereo : public OpenCVCalibrateFlags {
+public:
+ int defaultFlags() const override;
+ std::vector<int> list() const override;
+ std::string explain(int) const override;
+};
+
+/**
+ * Calibration. Loads Intrinsic and Extrinsic calibration modules and
+ * adds buttons to main screen.
+ */
+class Calibration : public Module {
+public:
+ using Module::Module;
+ virtual ~Calibration();
+
+ virtual void init() override;
+};
+
+/**
+ * Calibration base module. Implements methods to loading/saving calibration.
+ * Also manages enabling/disabling calibration.
+ */
+
+class CalibrationModule : public Module {
+public:
+ using Module::Module;
+ virtual void init() = 0;
+
+protected:
+ /** Set new calibration. */
+ void setCalibration(ftl::data::Frame& frame, ftl::calibration::CalibrationData data);
+
+ /** Activate/deactivate calibration (rectification, distortion corrections,
+ * ...). See also StereoVideo */
+ /** set mode, update performed by checkFrame() when next called */
+ void setCalibrationMode(bool value);
+ /** set mode directly to frame */
+ void setCalibrationMode(ftl::data::Frame& frame, bool value);
+
+ /** Check everything is in expected state. If returns true, processing can
+ * continue. Use this in frameset callback. Also sets calibration mode if
+ * it doesn't match with stored state. Should always be called in FrameSet
+ * callback.
+ */
+ bool checkFrame(ftl::data::Frame& frame);
+
+ cv::cuda::GpuMat getGpuMat(ftl::rgbd::Frame&, ftl::codecs::Channel);
+ cv::Mat getMat(ftl::rgbd::Frame&, ftl::codecs::Channel);
+
+private:
+ bool calibrationEnabled(ftl::data::Frame& frame);
+
+ std::atomic_bool wait_update_ = false;
+ std::atomic_bool calibration_enabled_ = false;
+ ftl::Handle update_handle_;
+};
+
+/**
+ * GUI for camera intrinsic calibration. Only sources which have CalibrationData
+ * channel can be calibrated (StereoVideo receives updates and saves them).
+ *
+ * TODO: Catch exceptions in future and report back to GUI. At the moment
+ * errors are printed with logging.
+ * TODO: View: add button to get back to chessboard/capture parameters.
+ * TODO: Saving calibration should give more feedback, saved just tells it was
+ * sent but it does not verify it was received (or know if it was
+ * successfully saved; if saving fails do not write file/changes; how
+ * to inform GUI/client about the error?)
+ *
+ * TODO: FEATURE: Add timer to calibration window showing remaining time until
+ * next picture is captured.
+ * TODO: FEATURE: Add calibration image window for browsing calibration images
+ * and discarding bad images manually. Also should support visualization
+ * of calibration results; draw detected points and re-projected points
+ * using OpenGL (reproject points implemented in calibration:: using
+ * with OpenCV).
+ * TODO: FEATURE: Visualize lens distortion. Plot regular grid and apply
+ * distortion model.
+ */
+class IntrinsicCalibration : public CalibrationModule {
+public:
+ using CalibrationModule::CalibrationModule;
+
+ virtual void init() override;
+ virtual ~IntrinsicCalibration();
+
+ /** start calibration process, replaces active view */
+ void start(ftl::data::FrameID id);
+
+ bool hasChannel(ftl::codecs::Channel c);
+ /** select channel */
+ void setChannel(ftl::codecs::Channel c);
+ ftl::codecs::Channel channel() { return state_->channel; }
+
+ int count() { return state_->count; }
+ int calibrated() { return state_->calibrated; }
+
+ OpenCVCalibrateFlags& flags() { return state_->flags; };
+ int defaultFlags();
+
+ /** Reset calibration instance, discards drops all state. */
+ void reset();
+
+ void setChessboard(cv::Size, double);
+ cv::Size chessboardSize();
+ double squareSize();
+
+ /** Returns if capture/calibration is still processing in background.
+ * calib() instance must not be modifed while isBusy() is true.
+ */
+ bool isBusy();
+
+ /** Start/stop capture. After stopping, use isBusy() to check when last
+ * frame is finished.
+ */
+ void setCapture(bool v) { state_->capture = v; }
+ bool capturing() { return state_->capture; }
+
+ /** get/set capture frequency: interval between processed frames in
+ * chessboard detection
+ */
+ void setFrequency(float v) { state_->frequency = v; }
+ float frequency() { return state_->frequency; }
+
+ int maxIter() { return state_->max_iter; }
+ void setMaxIter(int v) { state_->max_iter = v; }
+
+ /** Run calibration in another thread. Check status with isBusy(). */
+ void run();
+
+ /** Save calibration */
+ void saveCalibration();
+
+ ftl::calibration::CalibrationData::Intrinsic calibration();
+
+ float reprojectionError() { return state_->reprojection_error; }
+
+ /** Get sensor size from config/previous calibration (in mm) */
+ cv::Size2d sensorSize();
+ void setSensorSize(cv::Size2d size);
+
+ /** Set/get focal length in mm */
+ double focalLength();
+ void setFocalLength(double value, cv::Size2d sensor_size);
+
+ /** Set principal point at image center */
+ void resetPrincipalPoint();
+
+ void resetDistortion();
+
+ /** get current frame */
+ cv::cuda::GpuMat getFrame();
+ bool hasFrame();
+
+ cv::cuda::GpuMat getFrameUndistort();
+
+ /** get previous points (visualization) */
+ std::vector<cv::Point2f> previousPoints();
+ // must not be running_
+ //std::vector<cv::Point2f> getPoints(int n);
+ //std::vector<cv::Point2f> getProjectedPoints(int n);
+
+ /** List sources which can be calibrated.
+ */
+ std::vector<std::pair<std::string, ftl::data::FrameID>> listSources(bool all=false);
+
+private:
+ bool onFrame_(const ftl::data::FrameSetPtr& fs);
+ /** Set actual channel (channel_alt_) to high res if found in fs */
+ void setChannel_(ftl::data::FrameSetPtr fs);
+
+ std::future<void> future_;
+ std::mutex mtx_;
+ ftl::data::FrameSetPtr fs_current_;
+ ftl::data::FrameSetPtr fs_update_;
+
+ struct State {
+ cv::Mat gray;
+
+ ftl::codecs::Channel channel;
+ ftl::codecs::Channel channel_alt;
+ ftl::data::FrameID id;
+
+ std::atomic_bool capture = false;
+ std::atomic_bool running = false;
+ float last = 0.0f;
+ float frequency = 0.5f;
+ bool calibrated = false;
+ int count = 0;
+ int max_iter = 50;
+ float reprojection_error = NAN;
+ std::vector<std::vector<cv::Point2f>> points;
+ std::vector<std::vector<cv::Point3f>> points_object;
+
+ std::unique_ptr<ftl::calibration::ChessboardObject> object;
+ OpenCVCalibrateFlags flags;
+ ftl::calibration::CalibrationData::Intrinsic calib;
+ };
+
+ std::unique_ptr<State> state_;
+};
+
+////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * GUI for camera extrinsic calibration. Sources must be in same FrameSet
+ * (synchronization) and have CalibrationData channel. Provided extrinsic
+ * parameters can be used to calculate paramters for stereo rectification.
+ */
+
+class ExtrinsicCalibration : public CalibrationModule {
+public:
+ using CalibrationModule::CalibrationModule;
+
+ virtual void init() override;
+ virtual ~ExtrinsicCalibration();
+
+ /** List framesets and calibrateable sources */
+ std::vector<std::pair<std::string, unsigned int>> listFrameSets();
+ std::vector<std::pair<std::string, ftl::data::FrameID>> listSources(unsigned int fsid, bool all);
+
+ /** start calibration process for given frames. Assumes stereo,
+ * calibration: left and right channels are used. */
+ void start(unsigned int fsid, std::vector<ftl::data::FrameID> sources);
+
+ /** discard current state and load defaults */
+ void reset();
+
+ int cameraCount();
+
+ std::string cameraName(int camera);
+ std::vector<std::string> cameraNames();
+
+ ftl::calibration::ExtrinsicCalibration& calib() { return state_.calib; } // should avoid
+
+ /** hasFrame(int) must be true before calling getFrame() **/
+ bool hasFrame(int camera);
+ const cv::cuda::GpuMat getFrame(int camera);
+ const cv::cuda::GpuMat getFrameRectified(int camera);
+
+ /** Next FrameSet, returns true if new FrameSet is available */
+ bool next();
+
+ bool capturing();
+ void setCapture(bool value);
+
+ /** Set callback for point detection. Callback returns number of points
+ * found, takes input frame, channel and output points as arguments.
+ */
+ //void setCallback(const std::function<int(cv::InputArray, const cv::Mat&, const cv::Mat&, std::vector<cv::Point2f>&)>& cb) { cb_detect_ = cb; }
+
+ struct CameraID : ftl::data::FrameID {
+ CameraID(unsigned int fs, unsigned int s, ftl::codecs::Channel channel) :
+ ftl::data::FrameID::FrameID(fs, s), channel(channel) {}
+ const ftl::codecs::Channel channel;
+ };
+
+ /** list selected (active) cameras */
+ std::vector<CameraID> cameras();
+
+ /** Run calibration in another thread. Check status with isBusy(). */
+ void run();
+
+ /** Returns if capture/calibration is still processing in background.
+ * calib() instance must not be modifed while isBusy() is true.
+ */
+ bool isBusy();
+
+ /** status message */
+ std::string status() { return state_.calib.status(); }
+
+ /** Get previous points (for visualization) */
+ const std::vector<cv::Point2d>& previousPoints(int camera);
+
+ /** Get number of frames captured by a camera */
+ int getFrameCount(int c);
+
+ void updateCalibration(int c);
+ void updateCalibration();
+
+ void saveInput(const std::string& filename);
+ void loadInput(const std::string& filename);
+
+ ftl::calibration::CalibrationData::Calibration calibration(int camera);
+
+ double reprojectionError(int camera=-1);
+
+ enum Flags {
+ ZERO_DISTORTION = 1,
+ RATIONAL_MODEL = 2,
+ FIX_INTRINSIC = 4,
+ FIX_FOCAL = 8,
+ FIX_PRINCIPAL_POINT = 16,
+ FIX_DISTORTION = 32,
+ LOSS_CAUCHY = 64,
+ NONMONOTONIC_STEP = 128,
+ };
+
+ void setFlags(int flags);
+ int flags() const;
+
+protected:
+ ftl::calibration::CalibrationData::Calibration getCalibration(CameraID id);
+
+ /** Calculate stereo rectification maps for two cameras; state_.maps[1,2]
+ * must already be initialized at correct size */
+ void stereoRectify(int cl, int cr,
+ const ftl::calibration::CalibrationData::Calibration& l,
+ const ftl::calibration::CalibrationData::Calibration& r);
+
+private:
+ // map frameid+channel to int. used by ExtrinsicCalibration
+
+ bool onFrameSet_(const ftl::data::FrameSetPtr& fs);
+
+ std::future<void> future_;
+ std::atomic_bool running_;
+ ftl::data::FrameSetPtr fs_current_;
+ ftl::data::FrameSetPtr fs_update_;
+
+ struct State {
+ bool capture = false;
+ int min_cameras = 2;
+ int flags = 0;
+ std::vector<CameraID> cameras;
+
+ std::unique_ptr<ftl::calibration::CalibrationObject> calib_object;
+ ftl::calibration::ExtrinsicCalibration calib;
+ std::vector<std::vector<cv::Point2d>> points_prev;
+ std::vector<cv::cuda::GpuMat> maps1;
+ std::vector<cv::cuda::GpuMat> maps2;
+ };
+ State state_;
+};
+
+////////////////////////////////////////////////////////////////////////////////
+
+/** Stereo calibration for OpenCV's calibrateStereo() */
+
+class StereoCalibration : public CalibrationModule {
+public:
+ using CalibrationModule::CalibrationModule;
+ virtual void init() override;
+ virtual ~StereoCalibration();
+
+ /** start calibration process, replaces active view */
+ void start(ftl::data::FrameID id);
+
+ bool hasChannel(ftl::codecs::Channel c);
+
+ void setChessboard(cv::Size, double);
+ cv::Size chessboardSize();
+ double squareSize();
+
+ /** Reset calibration instance, discards drops all state. */
+ void reset();
+
+ OpenCVCalibrateFlagsStereo& flags() { return state_->flags; };
+ void resetFlags();
+
+ /** Returns if capture/calibration is still processing in background.
+ * calib() instance must not be modifed while isBusy() is true.
+ */
+ bool isBusy();
+
+ /** Start/stop capture. After stopping, use isBusy() to check when last
+ * frame is finished.
+ */
+ void setCapture(bool v);
+ bool capturing();
+
+ /** get/set capture frequency: interval between processed frames in
+ * chessboard detection
+ */
+ void setFrequency(float v);
+ float frequency();
+
+ /** Run calibration in another thread. Check status with isBusy(). */
+ void run();
+
+ /** Save calibration */
+ void saveCalibration();
+
+ /** check if calibration valid: baseline > 0 */
+ bool calibrated();
+
+ /** get current frame */
+ cv::cuda::GpuMat getLeft();
+ cv::cuda::GpuMat getRight();
+ cv::cuda::GpuMat getLeftRectify();
+ cv::cuda::GpuMat getRightRectify();
+ bool hasFrame();
+
+ ftl::calibration::CalibrationData::Calibration calibrationLeft();
+ ftl::calibration::CalibrationData::Calibration calibrationRight();
+ double baseline();
+
+ /** get previous points (visualization) */
+ std::vector<std::vector<cv::Point2f>> previousPoints();
+ cv::cuda::GpuMat getLeftPrevious();
+ cv::cuda::GpuMat getRightPrevious();
+ int count() const { return state_->count; }
+ /** List sources which can be calibrated.
+ */
+ std::vector<std::pair<std::string, ftl::data::FrameID>> listSources(bool all=false);
+
+private:
+ bool onFrame_(const ftl::data::FrameSetPtr& fs);
+ void calculateRectification();
+ ftl::rgbd::Frame& frame_();
+
+ ftl::codecs::Channel channelLeft_();
+ ftl::codecs::Channel channelRight_();
+
+ std::future<void> future_;
+ std::mutex mtx_;
+ ftl::data::FrameSetPtr fs_current_;
+ ftl::data::FrameSetPtr fs_update_;
+
+ struct State {
+ cv::Mat gray_left;
+ cv::Mat gray_right;
+
+ ftl::calibration::CalibrationData calib;
+ std::unique_ptr<ftl::calibration::ChessboardObject> object;
+ ftl::data::FrameID id;
+ bool highres = false;
+ cv::Size imsize;
+ std::atomic_bool capture = false;
+ std::atomic_bool running = false;
+ float last = 0.0f;
+ float frequency = 0.5f;
+ int count = 0;
+ float reprojection_error = NAN;
+ OpenCVCalibrateFlagsStereo flags;
+
+ // maps for rectification (cv)
+ std::pair<cv::Mat, cv::Mat> map_l;
+ std::pair<cv::Mat, cv::Mat> map_r;
+ cv::Rect validROI_l;
+ cv::Rect validROI_r;
+
+ ftl::data::FrameSetPtr fs_previous_points;
+ std::vector<std::vector<cv::Point2f>> points_l;
+ std::vector<std::vector<cv::Point2f>> points_r;
+ std::vector<std::vector<cv::Point3f>> points_object;
+ };
+ std::unique_ptr<State> state_;
+};
+
+}
+}
diff --git a/applications/gui2/src/modules/calibration/extrinsic.cpp b/applications/gui2/src/modules/calibration/extrinsic.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..916ce681f835d3fad75a865fd56681b0ed63cf2f
--- /dev/null
+++ b/applications/gui2/src/modules/calibration/extrinsic.cpp
@@ -0,0 +1,470 @@
+
+#include "calibration.hpp"
+#include "../../screen.hpp"
+#include "../../widgets/popupbutton.hpp"
+#include "../../views/calibration/extrinsicview.hpp"
+
+#include <opencv2/calib3d.hpp>
+#include <opencv2/aruco.hpp>
+#include <opencv2/cudawarping.hpp>
+
+#include <ftl/calibration/optimize.hpp>
+#include <ftl/calibration/structures.hpp>
+#include <ftl/threads.hpp>
+
+#include <nanogui/entypo.h>
+
+using ftl::gui2::Calibration;
+
+using ftl::calibration::CalibrationData;
+using ftl::codecs::Channel;
+using ftl::data::FrameID;
+using ftl::data::FrameSetPtr;
+
+using ftl::gui2::ExtrinsicCalibration;
+using ftl::calibration::CalibrationObject;
+using ftl::calibration::ArUCoObject;
+
+using ftl::calibration::transform::inverse;
+using ftl::calibration::transform::getRotationAndTranslation;
+
+void ExtrinsicCalibration::init() {
+ reset();
+}
+
+void ExtrinsicCalibration::reset() {
+ if(future_.valid()) { future_.wait(); }
+ state_ = ExtrinsicCalibration::State();
+ running_ = false;
+ fs_current_.reset();
+ fs_update_.reset();
+
+ state_.calib_object = std::unique_ptr<CalibrationObject>(new ArUCoObject(cv::aruco::DICT_6X6_100));
+ state_.calib.points().setObject(state_.calib_object->object());
+ state_.min_cameras = 2;
+}
+
+ExtrinsicCalibration::~ExtrinsicCalibration() {
+ if(future_.valid()) {
+ future_.wait();
+ }
+}
+
+void ExtrinsicCalibration::start(unsigned int fsid, std::vector<FrameID> sources) {
+
+ setCalibrationMode(false);
+ reset();
+
+ state_.cameras.reserve(sources.size()*2);
+ state_.maps1.resize(sources.size()*2);
+ state_.maps2.resize(sources.size()*2);
+
+ auto* filter = io->feed()->filter
+ (std::unordered_set<uint32_t>{fsid}, {Channel::Left, Channel::Right});
+
+ filter->on([this](const FrameSetPtr& fs){ return onFrameSet_(fs);});
+
+ while(fs_current_ == nullptr) {
+ auto fss = filter->getLatestFrameSets();
+ if (fss.size() == 1) { fs_current_ = fss.front(); }
+ }
+
+ for (auto id : sources) {
+ // stereo calibration
+ auto cl = CameraID(id.frameset(), id.source(), Channel::Left);
+ auto cr = CameraID(id.frameset(), id.source(), Channel::Right);
+ state_.cameras.push_back(cl);
+ state_.cameras.push_back(cr);
+
+ const auto& frame = (*fs_current_)[id.source()].cast<ftl::rgbd::Frame>();
+ // NOTE: assumes left size is the same as right size!
+ auto sz = frame.getSize();
+ auto calibl = getCalibration(cl);
+ calibl.intrinsic = CalibrationData::Intrinsic(calibl.intrinsic, sz);
+
+ auto calibr = getCalibration(cr);
+ calibr.intrinsic = CalibrationData::Intrinsic(calibr.intrinsic, sz);
+ state_.calib.addStereoCamera(calibl, calibr);
+
+ // Update rectification
+ unsigned int idx = state_.cameras.size() - 2;
+ stereoRectify(idx, idx + 1, calibl, calibr);
+ }
+
+ // initialize last points structure; can't be resized while running (without
+ // mutex)
+ unsigned int npoints = state_.calib_object->object().size();
+ state_.points_prev.resize(state_.cameras.size());
+ for (unsigned int i = 0; i < state_.cameras.size(); i++) {
+ state_.points_prev[i] = std::vector<cv::Point2d>(npoints);
+ }
+
+ auto* view = new ftl::gui2::ExtrinsicCalibrationView(screen, this);
+ view->onClose([this, filter]() {
+ filter->remove();
+ state_.capture = false;
+
+ if (future_.valid()) {
+ future_.wait();
+ }
+
+ if (fs_current_ == nullptr) { return; }
+
+ // change mode only once per frame (cameras contain same frame twice)
+ std::unordered_set<uint32_t> fids;
+ for (const auto camera : state_.cameras) {
+ fids.insert(camera.source());
+ }
+
+ for (const auto i : fids) {
+ setCalibrationMode((*fs_current_)[i], true);
+ }
+ });
+ state_.capture = true;
+ screen->setView(view);
+}
+
+std::string ExtrinsicCalibration::cameraName(int c) {
+ const auto& camera = state_.cameras[c];
+ return (*fs_current_)[camera.id].name() + " - " +
+ ((camera.channel == Channel::Left) ? "Left" : "Right");
+}
+
+std::vector<std::string> ExtrinsicCalibration::cameraNames() {
+ std::vector<std::string> names;
+ names.reserve(cameraCount());
+ for (int i = 0; i < cameraCount(); i++) {
+ names.push_back(cameraName(i));
+ }
+ return names;
+}
+
+CalibrationData::Calibration ExtrinsicCalibration::calibration(int c) {
+ return state_.calib.calibrationOptimized(c);
+}
+
+bool ExtrinsicCalibration::onFrameSet_(const FrameSetPtr& fs) {
+
+ std::atomic_store(&fs_update_, fs);
+ screen->redraw();
+
+ bool all_good = true;
+ for (const auto& c : state_.cameras) {
+ all_good &= checkFrame((*fs)[c.source()]);
+ }
+ //if (!all_good) { return true; }
+
+ if (!state_.capture) { return true; }
+ if (running_.exchange(true)) { return true; }
+
+ future_ = ftl::pool.push([this, fs = fs](int thread_id) {
+
+ cv::Mat K;
+ cv::Mat distCoeffs;
+ std::vector<cv::Point2d> points;
+ int count = 0;
+
+ for (unsigned int i = 0; i < state_.cameras.size(); i++) {
+ const auto& id = state_.cameras[i];
+ const auto& calib = state_.calib.calibration(i).intrinsic;
+ if (!(*fs)[id.source()].hasChannel(id.channel)) { continue; }
+
+ points.clear();
+ const cv::cuda::GpuMat& im = (*fs)[id.source()].get<cv::cuda::GpuMat>(id.channel);
+ K = calib.matrix();
+ distCoeffs = calib.distCoeffs.Mat();
+
+ try {
+ int n = state_.calib_object->detect(im, points, K, distCoeffs);
+ if (n > 0) {
+ state_.calib.points().addPoints(i, points);
+ state_.points_prev[i] = points;
+ count++;
+ }
+ }
+ catch (std::exception& ex) {
+ LOG(ERROR) << ex.what();
+ }
+ }
+
+ if (count < state_.min_cameras) {
+ state_.calib.points().clear();
+ }
+ else {
+ state_.calib.points().next();
+ }
+ running_ = false;
+ });
+
+ return true;
+}
+
+bool ExtrinsicCalibration::hasFrame(int camera) {
+ const auto id = state_.cameras[camera];
+ return (std::atomic_load(&fs_current_).get() != nullptr) &&
+ ((*fs_current_)[id.source()].hasChannel(id.channel));
+}
+
+const cv::cuda::GpuMat ExtrinsicCalibration::getFrame(int camera) {
+ const auto id = state_.cameras[camera];
+ return (*fs_current_)[id.source()].cast<ftl::rgbd::Frame>().get<cv::cuda::GpuMat>(id.channel);
+}
+
+const cv::cuda::GpuMat ExtrinsicCalibration::getFrameRectified(int c) {
+ if (running_ || state_.maps1.size() <= (unsigned int)(c)) {
+ return getFrame(c);
+ }
+ cv::cuda::GpuMat remapped;
+ cv::cuda::remap(getFrame(c), remapped, state_.maps1[c], state_.maps2[c], cv::INTER_LINEAR);
+ return remapped;
+}
+
+int ExtrinsicCalibration::cameraCount() {
+ return state_.cameras.size();
+}
+
+bool ExtrinsicCalibration::next() {
+ if (std::atomic_load(&fs_update_).get()) {
+ std::atomic_store(&fs_current_, fs_update_);
+ std::atomic_store(&fs_update_, {});
+ return true;
+ }
+ return false;
+}
+
+bool ExtrinsicCalibration::capturing() {
+ return state_.capture;
+}
+
+void ExtrinsicCalibration::setCapture(bool v) {
+ state_.capture = v;
+}
+
+std::vector<std::pair<std::string, unsigned int>> ExtrinsicCalibration::listFrameSets() {
+ auto framesets = io->feed()->listFrameSets();
+ std::vector<std::pair<std::string, unsigned int>> result;
+ result.reserve(framesets.size());
+ for (auto fsid : framesets) {
+ auto uri = io->feed()->getURI(fsid);
+ result.push_back({uri, fsid});
+ }
+ return result;
+}
+
+std::vector<std::pair<std::string, ftl::data::FrameID>> ExtrinsicCalibration::listSources(unsigned int fsid, bool all) {
+ std::vector<std::pair<std::string, FrameID>> cameras;
+ auto fs = io->feed()->getFrameSet(fsid);
+ for (auto id : io->feed()->listFrames()) {
+ if (id.frameset() != fsid) { continue; }
+ if (all || io->feed()->availableChannels(id).count(Channel::CalibrationData)) {
+ std::string name = (*fs)[id.source()].name();
+ cameras.push_back({name, id});
+ }
+ }
+ return cameras;
+}
+
+std::vector<ExtrinsicCalibration::CameraID> ExtrinsicCalibration::cameras() {
+ std::vector<ExtrinsicCalibration::CameraID> res;
+ res.reserve(cameraCount());
+ for (const auto& camera : state_.cameras) {
+ res.push_back(camera);
+ }
+ return res;
+}
+
+bool ExtrinsicCalibration::isBusy() {
+ return running_;
+}
+
+void ExtrinsicCalibration::updateCalibration() {
+ auto fs = std::atomic_load(&fs_current_);
+ std::map<ftl::data::FrameID, ftl::calibration::CalibrationData> update;
+
+ for (unsigned int i = 0; i < state_.cameras.size(); i++) {
+ auto& c = state_.cameras[i];
+ auto frame_id = ftl::data::FrameID(c);
+
+ if (update.count(frame_id) == 0) {
+ auto& frame = fs->frames[c];
+ update[frame_id] = frame.get<CalibrationData>(Channel::CalibrationData);
+ }
+ update[frame_id].origin = cv::Mat::eye(4, 4, CV_64FC1);
+ update[frame_id].get(c.channel) = state_.calib.calibrationOptimized(i);
+ }
+
+ for (auto& [fid, calib] : update) {
+ auto& frame = fs->frames[fid];
+ setCalibration(frame, calib);
+ }
+}
+
+void ExtrinsicCalibration::updateCalibration(int c) {
+ throw ftl::exception("Not implemented");
+}
+
+void ExtrinsicCalibration::stereoRectify(int cl, int cr,
+ const CalibrationData::Calibration& l, const CalibrationData::Calibration& r) {
+
+ CHECK_NE(l.extrinsic.tvec, r.extrinsic.tvec);
+ CHECK_EQ(l.intrinsic.resolution, r.intrinsic.resolution);
+ CHECK_LT(cr, state_.maps1.size());
+ CHECK_LT(cr, state_.maps2.size());
+
+ auto size = l.intrinsic.resolution;
+ cv::Mat T = r.extrinsic.matrix() * inverse(l.extrinsic.matrix());
+ cv::Mat R, t, R1, R2, P1, P2, Q, map1, map2;
+
+ getRotationAndTranslation(T, R, t);
+
+ cv::stereoRectify(
+ l.intrinsic.matrix(), l.intrinsic.distCoeffs.Mat(),
+ r.intrinsic.matrix(), r.intrinsic.distCoeffs.Mat(), size,
+ R, t, R1, R2, P1, P2, Q, cv::CALIB_ZERO_DISPARITY, 1.0);
+
+ // sanity check: rectification should give same rotation for both cameras
+ // cameras (with certain accuracy). R1 and R2 contain 3x3 rotation matrices
+ // from unrectified to rectified coordinates.
+ cv::Vec3d rvec1;
+ cv::Vec3d rvec2;
+ cv::Rodrigues(R1 * l.extrinsic.matrix()(cv::Rect(0, 0, 3, 3)), rvec1);
+ cv::Rodrigues(R2 * r.extrinsic.matrix()(cv::Rect(0, 0, 3, 3)), rvec2);
+ CHECK_LT(cv::norm(rvec1, rvec2), 0.01);
+
+ cv::initUndistortRectifyMap(l.intrinsic.matrix(), l.intrinsic.distCoeffs.Mat(),
+ R1, P1, size, CV_32FC1, map1, map2);
+ state_.maps1[cl].upload(map1);
+ state_.maps2[cl].upload(map2);
+
+ cv::initUndistortRectifyMap(r.intrinsic.matrix(), r.intrinsic.distCoeffs.Mat(),
+ R2, P2, size, CV_32FC1, map1, map2);
+ state_.maps1[cr].upload(map1);
+ state_.maps2[cr].upload(map2);
+}
+
+void ExtrinsicCalibration::run() {
+ if (running_.exchange(true)) { return; }
+
+ future_ = ftl::pool.push([this](int id) {
+ try {
+ auto opt = state_.calib.options();
+ opt.optimize_intrinsic = !(state_.flags & Flags::FIX_INTRINSIC);
+ opt.rational_model = state_.flags & Flags::RATIONAL_MODEL;
+ opt.fix_focal = state_.flags & Flags::FIX_FOCAL;
+ opt.fix_distortion = state_.flags & Flags::FIX_DISTORTION;
+ opt.zero_distortion = state_.flags & Flags::ZERO_DISTORTION;
+ opt.fix_principal_point = state_.flags & Flags::FIX_PRINCIPAL_POINT;
+ opt.loss = (state_.flags & Flags::LOSS_CAUCHY) ?
+ ftl::calibration::BundleAdjustment::Options::Loss::CAUCHY :
+ ftl::calibration::BundleAdjustment::Options::Loss::SQUARED;
+ opt.use_nonmonotonic_steps = state_.flags & Flags::NONMONOTONIC_STEP;
+
+ state_.calib.setOptions(opt);
+ state_.calib.run();
+
+ // Rectification maps for visualization; stereo cameras assumed
+ // if non-stereo cameras added visualization/grouping (by index)
+ // has to be different.
+
+ state_.maps1.resize(cameraCount());
+ state_.maps2.resize(cameraCount());
+
+ for (int c = 0; c < cameraCount(); c += 2) {
+ auto l = state_.calib.calibrationOptimized(c);
+ auto r = state_.calib.calibrationOptimized(c + 1);
+ stereoRectify(c, c + 1, l, r);
+
+ /*LOG(INFO) << c << ": rvec " << l.extrinsic.rvec
+ << "; tvec " << l.extrinsic.tvec;
+ LOG(INFO) << c + 1 << ": rvec " << r.extrinsic.rvec
+ << "; tvec " << r.extrinsic.tvec;*/
+ LOG(INFO) << "baseline (" << c << ", " << c + 1 << "): "
+ << cv::norm(l.extrinsic.tvec - r.extrinsic.tvec);
+ }
+ }
+ catch (ftl::exception &ex) {
+ LOG(ERROR) << ex.what() << "\n" << ex.trace();
+ }
+ catch (std::exception &ex) {
+ LOG(ERROR) << ex.what();
+ }
+
+ running_ = false;
+ });
+}
+
+double ExtrinsicCalibration::reprojectionError(int camera) {
+ if (camera <= cameraCount()) {
+ return NAN;
+ }
+ if (camera < 0) {
+ return state_.calib.reprojectionError();
+ }
+ else {
+ return state_.calib.reprojectionError(camera);
+ }
+}
+
+ftl::calibration::CalibrationData::Calibration ExtrinsicCalibration::getCalibration(CameraID id) {
+ if (fs_current_ == nullptr) {
+ throw ftl::exception("No frame");
+ }
+
+ auto calib = (*fs_current_)[id.source()].get<CalibrationData>(Channel::CalibrationData);
+ if (!calib.hasCalibration(id.channel)) {
+ throw ftl::exception("Calibration missing for requierd channel");
+ }
+
+ return calib.get(id.channel);
+}
+
+const std::vector<cv::Point2d>& ExtrinsicCalibration::previousPoints(int camera) {
+ // not really thread safe (but points_prev_ should not resize)
+ return state_.points_prev[camera];
+}
+
+
+
+
+int ExtrinsicCalibration::getFrameCount(int camera) {
+ return state_.calib.points().getCount(unsigned(camera));
+}
+
+void ExtrinsicCalibration::setFlags(int flags) {
+ state_.flags = flags;
+}
+
+int ExtrinsicCalibration::flags() const {
+ return state_.flags;
+}
+
+// debug method: save state to file (msgpack)
+void ExtrinsicCalibration::saveInput(const std::string& filename) {
+ ftl::pool.push([this, filename](int){
+ do {
+ // calib must not be modified; would be better to have mutex here
+ state_.capture = false;
+ }
+ while(running_);
+
+ running_ = true;
+ try { state_.calib.toFile(filename);}
+ catch (std::exception& ex) { LOG(ERROR) << "Calib save failed " << ex.what(); }
+ running_ = false;
+ });
+}
+
+// debug method: load state from file (msgpack)
+void ExtrinsicCalibration::loadInput(const std::string& filename) { ftl::pool.push([this, filename](int){
+ do {
+ // calib must not be modified; would be better to have mutex here
+ state_.capture = false;
+ }
+ while(running_);
+
+ running_ = true;
+ try { state_.calib.fromFile(filename); }
+ catch (std::exception& ex) { LOG(ERROR) << "Calib load failed: " << ex.what(); }
+ running_ = false;
+ });
+}
diff --git a/applications/gui2/src/modules/calibration/intrinsic.cpp b/applications/gui2/src/modules/calibration/intrinsic.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b91f74f56cf6eacc273368b18bc3332c9f625f3d
--- /dev/null
+++ b/applications/gui2/src/modules/calibration/intrinsic.cpp
@@ -0,0 +1,379 @@
+#include <loguru.hpp>
+
+#include "calibration.hpp"
+#include "../../screen.hpp"
+#include "../../widgets/popupbutton.hpp"
+#include "../../views/calibration/intrinsicview.hpp"
+
+#include <opencv2/imgproc.hpp>
+#include <opencv2/calib3d.hpp>
+
+#include <ftl/calibration/structures.hpp>
+#include <ftl/threads.hpp>
+
+#include <nanogui/entypo.h>
+
+using ftl::gui2::Calibration;
+using ftl::gui2::IntrinsicCalibration;
+
+using ftl::calibration::ChessboardObject;
+using ftl::calibration::CalibrationData;
+using ftl::codecs::Channel;
+using ftl::data::FrameID;
+using ftl::data::FrameSetPtr;
+
+void IntrinsicCalibration::init() {
+ reset();
+}
+
+IntrinsicCalibration::~IntrinsicCalibration() {
+ if(future_.valid()) {
+ future_.wait();
+ }
+}
+
+cv::Size IntrinsicCalibration::chessboardSize() {
+ return state_->object->chessboardSize();
+}
+
+double IntrinsicCalibration::squareSize() {
+ return state_->object->squareSize();
+}
+
+void IntrinsicCalibration::setChessboard(cv::Size size, double square) {
+ state_->object = std::make_unique<ChessboardObject>(size.height, size.width, square);
+}
+
+void IntrinsicCalibration::reset() {
+ state_ = std::make_unique<State>();
+ state_->object = std::make_unique<ChessboardObject>();
+ state_->channel = Channel::Left;
+ state_->channel_alt = Channel::Left;
+ state_->flags.set(defaultFlags());
+}
+
+void IntrinsicCalibration::start(ftl::data::FrameID id) {
+ reset();
+ setCalibrationMode(false);
+
+ state_->id = id;
+
+ auto* filter = io->feed()->filter
+ (std::unordered_set<uint32_t>{id.frameset()},
+ {Channel::Left, Channel::Right});
+
+ filter->on([this](const FrameSetPtr& fs){ return onFrame_(fs); });
+
+ while(fs_current_ == nullptr) {
+ auto fss = filter->getLatestFrameSets();
+ if (fss.size() == 1) { fs_current_ = fss.front(); }
+ }
+ auto fs = std::atomic_load(&fs_current_);
+ setChannel_(fs);
+
+ auto* view = new ftl::gui2::IntrinsicCalibrationView(screen, this);
+ view->onClose([filter, this](){
+ // if calib_ caches images, also reset() here!
+ filter->remove();
+ if (fs_current_) {
+ setCalibrationMode(fs_current_->frames[state_->id.source()], true);
+ }
+ reset();
+ fs_current_.reset();
+ fs_update_.reset();
+ });
+
+ screen->setView(view);
+}
+
+void IntrinsicCalibration::setChannel(Channel channel) {
+ state_->channel = channel;
+ auto fs = std::atomic_load(&fs_current_);
+ setChannel_(fs);
+}
+
+void IntrinsicCalibration::setChannel_(FrameSetPtr fs) {
+ // reset points, find if high res available and find correct resolution
+ // TODO/FIXME: channel might be missing from previous frameset; temporary
+ // fix uses left channel to set resulution (assumes left resolution always
+ // the same as right resolution).
+
+ state_->calib = CalibrationData::Intrinsic();
+ state_->points.clear();
+ state_->points_object.clear();
+ state_->count = 0;
+
+ state_->channel_alt = state_->channel;
+ if (fs == nullptr) {
+ LOG(ERROR) << "No frame, calibration not loaded";
+ }
+
+ auto& frame = (*fs)[state_->id.source()].cast<ftl::rgbd::Frame>();
+ cv::Size size;
+
+ if (state_->channel== Channel::Left) {
+ size = frame.get<cv::Mat>(state_->channel_alt).size();
+ }
+ else if (state_->channel== Channel::Right) {
+ size = frame.get<cv::Mat>(Channel::Left).size();
+ }
+
+ try {
+ auto calib = frame.get<CalibrationData>(Channel::CalibrationData);
+ if (calib.hasCalibration(state_->channel)) {
+ auto intrinsic = calib.get(state_->channel).intrinsic;
+ state_->calib = CalibrationData::Intrinsic(intrinsic, size);
+ state_->calibrated = true;
+ }
+ else {
+ state_->calib.resolution = size;
+ }
+ }
+ catch (std::exception& ex) {
+ LOG(ERROR) << "Could not read calibration: " << ex.what()
+ << "; is this a valid source?";
+ }
+}
+
+bool IntrinsicCalibration::onFrame_(const ftl::data::FrameSetPtr& fs) {
+
+ std::atomic_store(&fs_update_, fs);
+ screen->redraw();
+
+ auto& frame = fs->frames[state_->id.source()];
+
+ if (!checkFrame(frame)) { return true; }
+ if (!state_->capture) { return true; }
+ if ((float(glfwGetTime()) - state_->last) < state_->frequency) { return true; }
+ if (state_->running.exchange(true)) { return true; }
+
+ future_ = ftl::pool.push( [fs, this]
+ (int thread_id) {
+
+ try {
+ auto& frame = (*fs)[state_->id.source()].cast<ftl::rgbd::Frame>();
+
+ auto im = getMat(frame, state_->channel_alt);
+ cv::cvtColor(im, state_->gray, cv::COLOR_BGRA2GRAY);
+
+ std::vector<cv::Point2d> points;
+ int npoints = state_->object->detect(state_->gray, points);
+
+ if (npoints > 0) {
+ std::unique_lock<std::mutex> lk(mtx_);
+
+ auto& new_points = state_->points.emplace_back();
+ for (auto p : points) {
+ new_points.push_back(p);
+ }
+
+ auto& new_points_obj = state_->points_object.emplace_back();
+ for (auto p : state_->object->object()) {
+ new_points_obj.push_back(p);
+ }
+
+ state_->count++;
+ }
+ else {
+ LOG(INFO) << "Calibration pattern was not detected";
+ }
+ }
+ catch (std::exception &e) {
+ LOG(ERROR) << "exception in chesboard detection: " << e.what();
+ state_->running = false;
+ throw;
+ }
+
+ state_->running = false;
+ state_->last = float(glfwGetTime());
+ });
+
+ return true;
+}
+
+
+void IntrinsicCalibration::saveCalibration() {
+ auto& frame = fs_current_->frames[state_->id.source()];
+ CalibrationData calib_data = CalibrationData(frame.get<CalibrationData>(Channel::CalibrationData));
+ auto& calibration = calib_data.get(state_->channel);
+ calibration.intrinsic = state_->calib;
+ setCalibration(frame, calib_data);
+}
+
+int IntrinsicCalibration::defaultFlags() {
+ int flags = state_->flags.defaultFlags();
+
+ // load config flags
+ for (int i : state_->flags.list()) {
+ auto flag = get<bool>(state_->flags.name(i));
+ if (flag) {
+ if (*flag) flags |= i;
+ else flags &= (~i);
+ }
+ }
+
+ return flags;
+}
+
+bool IntrinsicCalibration::isBusy() {
+ return state_->capture || state_->running;
+}
+
+void IntrinsicCalibration::run() {
+ state_->running = true;
+ future_ = ftl::pool.push([this](int id) {
+ try {
+ for (auto f : state_->flags.list()) {
+ if (state_->flags.has(f)) {
+ LOG(INFO) << state_->flags.name(f);
+ }
+ }
+ cv::Size2d ssize = sensorSize();
+ cv::Mat K;
+ cv::Mat distCoeffs;
+ cv::Size size = state_->calib.resolution;
+ if (state_->flags.has(cv::CALIB_USE_INTRINSIC_GUESS)) {
+ // OpenCV seems to use these anyways?
+ K = state_->calib.matrix(size);
+ state_->calib.distCoeffs.Mat(12).copyTo(distCoeffs);
+ }
+ std::vector<cv::Mat> rvecs, tvecs;
+ auto term = cv::TermCriteria
+ (cv::TermCriteria::COUNT|cv::TermCriteria::EPS, state_->max_iter, 1.0e-6);
+
+ state_->reprojection_error = cv::calibrateCamera(
+ state_->points_object, state_->points,
+ size, K, distCoeffs, rvecs, tvecs,
+ state_->flags, term);
+
+ state_->calib = CalibrationData::Intrinsic(K, distCoeffs, size);
+ state_->calib.sensorSize = ssize;
+ state_->calibrated = true;
+ }
+ catch (std::exception &e) {
+ LOG(ERROR) << "exception in calibration: " << e.what();
+ state_->running = false;
+ throw;
+ }
+
+ state_->running = false;
+ });
+}
+
+bool IntrinsicCalibration::hasFrame() {
+ return (std::atomic_load(&fs_update_).get() != nullptr)
+ && fs_update_->frames[state_->id.source()].hasChannel(state_->channel_alt);
+};
+
+cv::cuda::GpuMat IntrinsicCalibration::getFrame() {
+ if (std::atomic_load(&fs_update_)) {
+ fs_current_ = fs_update_;
+ std::atomic_store(&fs_update_, {});
+ }
+
+ if (!fs_current_) {
+ return cv::cuda::GpuMat();
+ }
+
+ return getGpuMat((*fs_current_)[state_->id.source()].cast<ftl::rgbd::Frame>(),
+ state_->channel_alt);
+}
+
+cv::cuda::GpuMat IntrinsicCalibration::getFrameUndistort() {
+ if (!calibrated()) {
+ return getFrame();
+ }
+
+ if (std::atomic_load(&fs_update_)) {
+ fs_current_ = fs_update_;
+ std::atomic_store(&fs_update_, {});
+ }
+
+ if (!fs_current_) {
+ return cv::cuda::GpuMat();
+ }
+
+ auto im = getMat((*fs_current_)[state_->id.source()].cast<ftl::rgbd::Frame>(),
+ state_->channel_alt);
+
+ // NOTE: would be faster to use remap() and computing the maps just once if
+ // performance is relevant here
+
+ cv::Mat im_undistort;
+ cv::cuda::GpuMat gpu;
+ cv::undistort(im, im_undistort, state_->calib.matrix(), state_->calib.distCoeffs.Mat(12));
+ gpu.upload(im_undistort);
+ return gpu;
+}
+
+cv::Size2d IntrinsicCalibration::sensorSize() {
+ if (state_->calib.sensorSize == cv::Size2d{0.0, 0.0}) {
+ double w = value("sensor_width", 0.0);
+ double h = value("sensor_height", 0.0);
+ return {w, h};
+ }
+ else {
+ return state_->calib.sensorSize;
+ }
+};
+
+void IntrinsicCalibration::setSensorSize(cv::Size2d sz) {
+ state_->calib.sensorSize = sz;
+}
+
+double IntrinsicCalibration::focalLength() {
+ return (state_->calib.fx)*(sensorSize().width/state_->calib.resolution.width);
+}
+
+void IntrinsicCalibration::setFocalLength(double value, cv::Size2d sensor_size) {
+ setSensorSize(sensor_size);
+ double f = value*(state_->calib.resolution.width/sensor_size.width);
+
+ state_->calib.fx = f;
+ state_->calib.fy = f;
+}
+
+void IntrinsicCalibration::resetPrincipalPoint() {
+ auto sz = state_->calib.resolution;
+ state_->calib.cx = double(sz.width)/2.0;
+ state_->calib.cy = double(sz.height)/2.0;
+}
+
+void IntrinsicCalibration::resetDistortion() {
+ state_->calib.distCoeffs = CalibrationData::Intrinsic::DistortionCoefficients();
+}
+
+
+bool IntrinsicCalibration::hasChannel(Channel c) {
+ if (fs_current_) {
+ return (*fs_current_)[state_->id.source()].hasChannel(c);
+ }
+ return false;
+}
+
+std::vector<std::pair<std::string, FrameID>> IntrinsicCalibration::listSources(bool all) {
+ std::vector<std::pair<std::string, FrameID>> cameras;
+ for (auto id : io->feed()->listFrames()) {
+ auto channels = io->feed()->availableChannels(id);
+ if (all || (channels.count(Channel::CalibrationData) == 1)) {
+ auto name = (*(io->feed()->getFrameSet(id.frameset())))[id.source()].name();
+ //auto name = io->feed()->getURI(id.frameset()) + "#" + std::to_string(id.source());
+ cameras.push_back({name, id});
+ }
+ }
+ return cameras;
+}
+
+std::vector<cv::Point2f> IntrinsicCalibration::previousPoints() {
+ std::unique_lock<std::mutex> lk(mtx_, std::defer_lock);
+ if (lk.try_lock()) {
+ if (state_->points.size() == 0) { return {}; }
+ return std::vector<cv::Point2f>(state_->points.back());
+ }
+ return {};
+}
+
+ftl::calibration::CalibrationData::Intrinsic IntrinsicCalibration::calibration() {
+ return state_->calib;
+}
+
diff --git a/applications/gui2/src/modules/calibration/stereo.cpp b/applications/gui2/src/modules/calibration/stereo.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..148f8abcaa4d484201ec238a4440d01b59ca7700
--- /dev/null
+++ b/applications/gui2/src/modules/calibration/stereo.cpp
@@ -0,0 +1,366 @@
+#include <loguru.hpp>
+
+#include "calibration.hpp"
+#include "../../screen.hpp"
+#include "../../widgets/popupbutton.hpp"
+#include "../../views/calibration/stereoview.hpp"
+
+#include <opencv2/imgproc.hpp>
+#include <opencv2/calib3d.hpp>
+
+#include <ftl/calibration/parameters.hpp>
+#include <ftl/calibration/structures.hpp>
+#include <ftl/threads.hpp>
+
+#include <nanogui/entypo.h>
+
+using ftl::gui2::Calibration;
+using ftl::gui2::StereoCalibration;
+
+using ftl::calibration::ChessboardObject;
+using ftl::calibration::CalibrationData;
+using ftl::codecs::Channel;
+using ftl::data::FrameID;
+using ftl::data::FrameSetPtr;
+
+////////////////////////////////////////////////////////////////////////////////
+
+void StereoCalibration::setCapture(bool v) {
+ state_->capture = v;
+}
+
+bool StereoCalibration::capturing() {
+ return state_->capture;
+}
+
+void StereoCalibration::setFrequency(float v) {
+ state_->frequency = v;
+}
+
+float StereoCalibration::frequency() {
+ return state_->frequency;
+}
+
+void StereoCalibration::init() {
+ state_ = std::make_unique<State>();
+ state_->object = std::unique_ptr<ChessboardObject>(new ChessboardObject());
+}
+
+StereoCalibration::~StereoCalibration() {
+ if (state_) {
+ state_->running = false;
+ }
+ if(future_.valid()) {
+ future_.wait();
+ }
+ fs_current_.reset();
+ fs_update_.reset();
+}
+
+void StereoCalibration::reset() {
+ while(state_->running) { state_->capture = false; }
+ state_ = std::make_unique<State>();
+ state_->object = std::unique_ptr<ChessboardObject>(new ChessboardObject());
+ resetFlags();
+}
+
+cv::Size StereoCalibration::chessboardSize() {
+ return state_->object->chessboardSize();
+}
+
+double StereoCalibration::squareSize() {
+ return state_->object->squareSize();
+}
+
+void StereoCalibration::setChessboard(cv::Size size, double square) {
+ state_->object = std::make_unique<ChessboardObject>(size.height, size.width, square);
+}
+
+void StereoCalibration::start(ftl::data::FrameID id) {
+ reset();
+ setCalibrationMode(false);
+ state_->id = id;
+
+ auto* view = new ftl::gui2::StereoCalibrationView(screen, this);
+ auto* filter = io->feed()->filter
+ (std::unordered_set<uint32_t>{id.frameset()},
+ {Channel::Left, Channel::Right});
+
+ filter->on([this](const FrameSetPtr& fs){ return onFrame_(fs); });
+
+ view->onClose([filter, this](){
+ // if state_->calib caches images, also reset() here!
+ filter->remove();
+ if (fs_current_) {
+ setCalibrationMode(fs_current_->frames[state_->id.source()], true);
+ }
+ reset();
+ fs_current_.reset();
+ fs_update_.reset();
+ });
+
+ screen->setView(view);
+
+ for (auto fs : filter->getLatestFrameSets()) {
+ if (!(fs->frameset() == state_->id.frameset()) ||
+ !(fs->hasFrame(state_->id.source()))) { continue; }
+
+ // read calibration channel and set channel_alt_ to high res if available
+
+ try {
+ auto& frame = (*fs)[state_->id.source()];
+ state_->calib = frame.get<CalibrationData>(Channel::CalibrationData);
+ state_->highres = false; // TODO: Remove
+ auto sizel = frame.get<cv::cuda::GpuMat>(channelLeft_()).size();
+ auto sizer = frame.get<cv::cuda::GpuMat>(channelLeft_()).size();
+ if (sizel != sizer) {
+ LOG(ERROR) << "Frames have different resolutions";
+ // TODO: do not proceed
+ }
+ state_->imsize = sizel;
+ }
+ catch (std::exception& ex) {
+ LOG(ERROR) << "Could not read calibration: " << ex.what()
+ << "; is this a valid source?";
+ }
+ break;
+ }
+}
+
+bool StereoCalibration::onFrame_(const ftl::data::FrameSetPtr& fs) {
+
+ std::atomic_store(&fs_update_, fs);
+ screen->redraw();
+
+ auto& frame = fs->frames[state_->id.source()];
+
+ if (!checkFrame(frame)) { return true; }
+ if (!frame.hasAll({channelLeft_(), channelRight_()})) { return true; }
+ if (!state_->capture) { return true; }
+ if ((float(glfwGetTime()) - state_->last) < state_->frequency) { return true; }
+ if (state_->running.exchange(true)) { return true; }
+
+ future_ = ftl::pool.push([this, fs] (int thread_id) {
+
+ try {
+ auto& frame = (*fs)[state_->id.source()].cast<ftl::rgbd::Frame>();
+ auto l = getMat(frame, channelLeft_());
+ auto r = getMat(frame, channelRight_());
+ cv::cvtColor(l, state_->gray_left, cv::COLOR_BGRA2GRAY);
+ cv::cvtColor(r, state_->gray_right, cv::COLOR_BGRA2GRAY);
+
+ std::vector<cv::Point2d> pointsl;
+ std::vector<cv::Point2d> pointsr;
+ if ((state_->object->detect(state_->gray_left, pointsl) == 1) &&
+ (state_->object->detect(state_->gray_right, pointsr) == 1)) {
+
+ std::unique_lock<std::mutex> lk(mtx_);
+ auto& new_points_l = state_->points_l.emplace_back();
+ new_points_l.reserve(pointsl.size());
+ auto& new_points_r = state_->points_r.emplace_back();
+ new_points_r.reserve(pointsl.size());
+ auto& new_points_obj = state_->points_object.emplace_back();
+ new_points_obj.reserve(pointsl.size());
+
+ for (auto p : pointsl) { new_points_l.push_back(p); }
+ for (auto p : pointsr) { new_points_r.push_back(p); }
+ for (auto p : state_->object->object()) { new_points_obj.push_back(p); }
+ state_->count++;
+ }
+ }
+ catch (std::exception &e) {
+ LOG(ERROR) << "exception in chesboard detection: " << e.what();
+ running = false;
+ throw;
+ }
+
+ state_->running = false;
+ state_->last = float(glfwGetTime());
+ });
+
+ return true;
+}
+
+
+void StereoCalibration::saveCalibration() {
+ auto fs = std::atomic_load(&(fs_current_));
+ setCalibration((*fs)[state_->id.source()], state_->calib);
+}
+
+void StereoCalibration::resetFlags() {
+ // reset flags and get class defaults
+ state_->flags.reset();
+ state_->flags.set(state_->flags.defaultFlags());
+
+ // load config flags
+ for (int i : state_->flags.list()) {
+ auto flag = get<bool>(state_->flags.name(i));
+ if (flag) {
+ if (*flag) state_->flags.set(i);
+ else state_->flags.unset(i);
+ }
+ }
+}
+
+bool StereoCalibration::isBusy() {
+ return state_->capture || state_->running;
+}
+
+void StereoCalibration::run() {
+ if (state_->running) { return; }
+
+ state_->running = true;
+ future_ = ftl::pool.push([this](int) {
+ try {
+ auto& calib_l = state_->calib.get(Channel::Left);
+ auto& calib_r = state_->calib.get(Channel::Right);
+ auto K1 = calib_l.intrinsic.matrix();
+ auto distCoeffs1 = calib_l.intrinsic.distCoeffs.Mat();
+ auto K2 = calib_l.intrinsic.matrix();
+ auto distCoeffs2 = calib_r.intrinsic.distCoeffs.Mat();
+ cv::Mat R, T, E, F;
+ state_->reprojection_error = cv::stereoCalibrate(
+ state_->points_object, state_->points_l,
+ state_->points_r, K1, distCoeffs1, K2, distCoeffs2,
+ state_->imsize, R, T, E, F, state_->flags);
+
+ state_->calib.get(Channel::Left).intrinsic =
+ CalibrationData::Intrinsic(K1, distCoeffs1, state_->imsize);
+ state_->calib.get(Channel::Right).intrinsic =
+ CalibrationData::Intrinsic(K2, distCoeffs2, state_->imsize);
+
+ state_->calib.get(Channel::Left).extrinsic = CalibrationData::Extrinsic();
+ state_->calib.get(Channel::Right).extrinsic = CalibrationData::Extrinsic(R, T);
+ }
+ catch (std::exception &e) {
+ LOG(ERROR) << "exception in calibration: " << e.what();
+ state_->running = false;
+ throw;
+ }
+
+ state_->running = false;
+ });
+}
+
+ftl::rgbd::Frame& StereoCalibration::frame_() {
+ if (std::atomic_load(&fs_update_)) {
+ fs_current_ = fs_update_;
+ std::atomic_store(&fs_update_, {});
+ }
+ return (*fs_current_)[state_->id.source()].cast<ftl::rgbd::Frame>();
+}
+
+bool StereoCalibration::hasFrame() {
+ auto cleft = Channel::Left;
+ auto cright = Channel::Right;
+ return (std::atomic_load(&fs_update_).get() != nullptr)
+ && fs_update_->frames[state_->id.source()].hasAll({cleft, cright});
+};
+
+Channel StereoCalibration::channelLeft_() {
+ return Channel::Left;
+}
+
+Channel StereoCalibration::channelRight_() {
+ return Channel::Right;
+}
+
+cv::cuda::GpuMat StereoCalibration::getLeft() {
+ return getGpuMat(frame_() ,channelLeft_());
+}
+
+cv::cuda::GpuMat StereoCalibration::getRight() {
+ return getGpuMat(frame_() ,channelRight_());
+}
+
+bool StereoCalibration::hasChannel(Channel c) {
+ if (fs_current_) {
+ return (*fs_current_)[state_->id.source()].hasChannel(c);
+ }
+ return false;
+}
+
+std::vector<std::pair<std::string, FrameID>> StereoCalibration::listSources(bool all) {
+ std::vector<std::pair<std::string, FrameID>> cameras;
+ for (auto id : io->feed()->listFrames()) {
+ auto channels = io->feed()->availableChannels(id);
+ // TODO: doesn't work
+ if (all || (channels.count(Channel::CalibrationData) == 1)) {
+ auto name = io->feed()->getURI(id.frameset()) + "#" + std::to_string(id.source());
+ cameras.push_back({name, id});
+ }
+ }
+ return cameras;
+}
+
+std::vector<std::vector<cv::Point2f>> StereoCalibration::previousPoints() {
+ std::unique_lock<std::mutex> lk(mtx_, std::defer_lock);
+ if (lk.try_lock()) {
+ if (state_->points_l.size() > 0) {
+ return { state_->points_l.back(),
+ state_->points_r.back()
+ };
+ }
+ }
+ return {};
+}
+
+ftl::calibration::CalibrationData::Calibration StereoCalibration::calibrationLeft() {
+ return state_->calib.get(Channel::Left);
+}
+
+ftl::calibration::CalibrationData::Calibration StereoCalibration::calibrationRight() {
+ return state_->calib.get(Channel::Right);
+}
+
+bool StereoCalibration::calibrated() {
+ return (cv::norm(calibrationLeft().extrinsic.tvec,
+ calibrationRight().extrinsic.tvec) > 0);
+}
+
+void StereoCalibration::calculateRectification() {
+
+ using ftl::calibration::transform::inverse;
+
+ auto left = calibrationLeft();
+ auto right = calibrationRight();
+ auto size = left.intrinsic.resolution;
+
+ cv::Mat T = inverse(left.extrinsic.matrix()) * right.extrinsic.matrix();
+ cv::Mat Rl, Rr, Pl, Pr, Q;
+
+ cv::stereoRectify(left.intrinsic.matrix(), left.intrinsic.distCoeffs.Mat(),
+ right.intrinsic.matrix(), right.intrinsic.distCoeffs.Mat(),
+ size, T(cv::Rect(0, 0, 3, 3)), T(cv::Rect(3, 0, 1, 3)),
+ Rl, Rr, Pl, Pr, Q, 0, 1.0, {0, 0},
+ &(state_->validROI_l), &(state_->validROI_r));
+
+ cv::initUndistortRectifyMap(left.intrinsic.matrix(), left.intrinsic.distCoeffs.Mat(),
+ Rl, Pl, size, CV_16SC1,
+ state_->map_l.first, state_->map_l.second);
+
+ cv::initUndistortRectifyMap(right.intrinsic.matrix(), right.intrinsic.distCoeffs.Mat(),
+ Rr, Pr, size, CV_16SC1,
+ state_->map_r.first, state_->map_r.second);
+}
+
+cv::cuda::GpuMat StereoCalibration::getLeftRectify() {
+ if (state_->map_l.first.empty()) { calculateRectification(); }
+ cv::Mat tmp;
+ cv::cuda::GpuMat res;
+ cv::remap(getMat(frame_(), channelLeft_()), tmp,
+ state_->map_l.first, state_->map_l.second,
+ cv::INTER_LINEAR);
+ res.upload(tmp);
+ return res;
+}
+cv::cuda::GpuMat StereoCalibration::getRightRectify() {
+ if (state_->map_r.first.empty()) { calculateRectification(); }
+ cv::Mat tmp;
+ cv::cuda::GpuMat res;
+ cv::remap(getMat(frame_(), channelRight_()), tmp,
+ state_->map_r.first, state_->map_r.second,
+ cv::INTER_LINEAR);
+ res.upload(tmp);
+ return res;
+}
diff --git a/applications/gui2/src/modules/camera.cpp b/applications/gui2/src/modules/camera.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..9cad119ad9a6bfb07977728ddc0991e8c3facc2f
--- /dev/null
+++ b/applications/gui2/src/modules/camera.cpp
@@ -0,0 +1,746 @@
+#include "camera.hpp"
+#include "statistics.hpp"
+
+#include "../views/camera3d.hpp"
+#include <ftl/rgbd/capabilities.hpp>
+#include <ftl/streams/renderer.hpp>
+#include <chrono>
+#include <ftl/utility/matrix_conversion.hpp>
+#include <ftl/calibration/structures.hpp>
+#include <ftl/calibration/parameters.hpp>
+#include <ftl/codecs/shapes.hpp>
+#include <ftl/operators/poser.hpp>
+
+#include <opencv2/imgproc.hpp>
+#include <opencv2/imgcodecs.hpp>
+#include <opencv2/cudaarithm.hpp>
+#include <opencv2/core/eigen.hpp>
+
+#include <loguru.hpp>
+
+using ftl::gui2::Camera;
+using ftl::codecs::Channel;
+using ftl::rgbd::Capability;
+using namespace std::literals::chrono_literals;
+using ftl::data::Message;
+
+void Camera::init() {
+
+ colouriser_ = std::unique_ptr<ftl::render::Colouriser>(
+ ftl::create<ftl::render::Colouriser>(this, "colouriser"));
+
+ overlay_ = std::unique_ptr<ftl::overlay::Overlay>
+ (ftl::create<ftl::overlay::Overlay>(this, "overlay"));
+}
+
+void Camera::update(double delta) {
+ if (nframes_ < 0) { return; }
+ if (nframes_ > update_fps_freq_) {
+ float n = nframes_;
+ float l = latency_ / n;
+ nframes_ = 0;
+ latency_ = 0;
+ auto t = glfwGetTime();
+ float diff = t - last_;
+ last_ = t;
+
+ auto *mod = screen->getModule<ftl::gui2::Statistics>();
+ mod->getJSON(StatisticsPanel::PERFORMANCE_INFO)["FPS"] = n/diff;
+ mod->getJSON(StatisticsPanel::PERFORMANCE_INFO)["Latency"] = std::to_string(int(l))+std::string("ms");
+ if (live_) mod->getJSON(StatisticsPanel::MEDIA_STATUS)["LIVE"] = nlohmann::json{{"icon", ENTYPO_ICON_VIDEO_CAMERA},{"value", true},{"colour","#0000FF"},{"size",28}};
+
+ auto ptr = std::atomic_load(&latest_);
+ if (ptr) {
+ const auto &frame = ptr->frames[frame_idx];
+ if (frame.has(Channel::MetaData)) {
+ const auto &meta = frame.metadata();
+ if (meta.size() > 0) {
+ auto &jmeta = mod->getJSON(StatisticsPanel::MEDIA_META);
+
+ //if (meta.count("name")) {
+ // jmeta["name"] = nlohmann::json{{"nokey", true},{"value",meta.find("name")->second},{"size",20}};
+ //}
+ if (meta.count("device")) {
+ jmeta["Device"] = nlohmann::json{{"nokey", true},{"value",meta.find("device")->second}};
+ }
+ if (meta.count("serial")) {
+ jmeta["Serial"] = nlohmann::json{{"value",meta.find("serial")->second}};
+ }
+
+ /*for (const auto &m : meta) {
+ jmeta[m.first] = m.second;
+ }*/
+ }
+ }
+
+ const auto &rgbdf = frame.cast<ftl::rgbd::Frame>();
+
+ if (frame.has(Channel::Calibration)) {
+ const auto &cam = rgbdf.getLeft();
+ cv::Size s = rgbdf.getSize();
+ auto &jcam = mod->getJSON(StatisticsPanel::CAMERA_DETAILS);
+ jcam["D-Resolution"] = std::to_string(cam.width) + std::string("x") + std::to_string(cam.height);
+ jcam["C-Resolution"] = std::to_string(s.width) + std::string("x") + std::to_string(s.height);
+ jcam["Focal"] = cam.fx;
+ jcam["Baseline"] = cam.baseline;
+ jcam["Principle"] = std::to_string(int(cam.cx)) + std::string(",") + std::to_string(int(cam.cy));
+ }
+
+ if (frame.has(Channel::Capabilities)) {
+ const auto &caps = rgbdf.capabilities();
+ auto &jmeta = mod->getJSON(StatisticsPanel::MEDIA_META);
+
+ if (caps.count(Capability::TOUCH)) jmeta["Touch"] = nlohmann::json{{"icon", ENTYPO_ICON_MOUSE_POINTER},{"value", true}};
+ else jmeta.erase("Touch");
+
+ if (caps.count(Capability::MOVABLE)) jmeta["Movable"] = nlohmann::json{{"icon", ENTYPO_ICON_DIRECTION},{"value", true}};
+ else jmeta.erase("Movable");
+
+ if (caps.count(Capability::VR)) jmeta["VR"] = nlohmann::json{{"value", true}};
+ else jmeta.erase("VR");
+
+ if (caps.count(Capability::EQUI_RECT)) jmeta["360"] = nlohmann::json{{"icon", ENTYPO_ICON_COMPASS},{"value", true}};
+ else jmeta.erase("360");
+ }
+
+ std::map<ftl::data::Message,std::string> messages;
+ {
+ UNIQUE_LOCK(mtx_, lk);
+ std::swap(messages, messages_);
+ }
+
+ auto &jmsgs = mod->getJSON(StatisticsPanel::LOGGING);
+ jmsgs.clear();
+ if (messages.size() > 0) {
+ for (const auto &m : messages) {
+ auto &data = jmsgs.emplace_back();
+ data["value"] = m.second;
+ data["nokey"] = true;
+ if (int(m.first) < 1024) {
+ data["icon"] = ENTYPO_ICON_WARNING;
+ data["colour"] = "#0000ff";
+ } else if (int(m.first) < 2046) {
+ data["icon"] = ENTYPO_ICON_WARNING;
+ data["colour"] = "#00a6f0";
+ } else {
+
+ }
+ }
+ }
+ }
+ }
+}
+
+void Camera::_updateCapabilities(ftl::data::Frame &frame) {
+ if (frame.has(Channel::Capabilities)) {
+ live_ = false;
+ touch_ = false;
+ movable_ = false;
+ vr_ = false;
+
+ const auto &cap = frame.get<std::unordered_set<Capability>>(Channel::Capabilities);
+
+ for (auto c : cap) {
+ switch (c) {
+ case Capability::LIVE : live_ = true; break;
+ case Capability::TOUCH : touch_ = true; break;
+ case Capability::MOVABLE : movable_ = true; break;
+ case Capability::VR : vr_ = true; break;
+ default: break;
+ }
+ }
+ }
+}
+
+void Camera::initiate_(ftl::data::Frame &frame) {
+ if (frame.has(Channel::Capabilities)) {
+ const auto &rgbdf = frame.cast<ftl::rgbd::Frame>();
+ const auto &cap = rgbdf.capabilities();
+ for (auto c : cap) {
+ LOG(INFO) << " -- " << ftl::rgbd::capabilityName(c);
+
+ switch (c) {
+ case Capability::LIVE : live_ = true; break;
+ case Capability::TOUCH : touch_ = true; break;
+ case Capability::MOVABLE : movable_ = true; break;
+ case Capability::VR : vr_ = true; break;
+ default: break;
+ }
+ }
+
+ if (live_ && cap.count(Capability::VIRTUAL)) {
+ view = new ftl::gui2::CameraView3D(screen, this);
+ } else {
+ view = new ftl::gui2::CameraView(screen, this);
+ }
+ } else {
+ view = new ftl::gui2::CameraView(screen, this);
+ }
+
+ if (frame.has(Channel::MetaData)) {
+ const auto &meta = frame.metadata();
+ LOG(INFO) << "Camera Frame Meta Data:";
+ for (auto m : meta) {
+ LOG(INFO) << " -- " << m.first << " = " << m.second;
+ }
+ }
+
+ if (!view) return;
+
+ view->onClose([this](){
+ filter_->remove();
+ filter_ = nullptr;
+ nframes_ = -1;
+
+ auto *mod = this->screen->getModule<ftl::gui2::Statistics>();
+
+ mod->getJSON(StatisticsPanel::PERFORMANCE_INFO).clear();
+ mod->getJSON(StatisticsPanel::MEDIA_STATUS).clear();
+ mod->getJSON(StatisticsPanel::MEDIA_META).clear();
+ mod->getJSON(StatisticsPanel::CAMERA_DETAILS).clear();
+ });
+
+ setChannel(channel_);
+
+ screen->setView(view);
+ view->refresh();
+}
+
+float Camera::volume() {
+ return io->speaker()->volume();
+}
+
+void Camera::setVolume(float v) {
+ return io->speaker()->setVolume(v);
+}
+
+void Camera::setPaused(bool set) {
+ paused_ = set;
+ io->feed()->muxer()->set("paused", set);
+}
+
+std::unordered_set<Channel> Camera::availableChannels() {
+ if (std::atomic_load(&latest_)) {
+ return latest_->frames[frame_idx].available();
+ }
+ return {};
+}
+
+std::unordered_set<Channel> Camera::allAvailableChannels() {
+ if (std::atomic_load(&latest_)) {
+ auto set = latest_->frames[frame_idx].available();
+ for (auto i : latest_->frames[frame_idx].allChannels()) {
+ set.emplace(i);
+ }
+ return set;
+ }
+ return {};
+}
+
+void Camera::activate(ftl::data::FrameID id) {
+ frame_idx = id.source();
+ frame_id_ = id;
+ last_ = glfwGetTime();
+ nframes_ = 0;
+ // Clear the members to defaults
+ has_seen_frame_ = false;
+ point_.id = -1;
+ live_ = false;
+ touch_ = false;
+ movable_ = false;
+ vr_ = false;
+ cursor_pos_.setZero();
+ cursor_normal_.setZero();
+ cursor_normal_[2] = 1.0f;
+
+ //std::mutex m;
+ //std::condition_variable cv;
+
+ io->speaker()->reset();
+ io->feed()->mixer().reset();
+
+ filter_ = io->feed()->filter(std::unordered_set<unsigned int>{id.frameset()}, {Channel::Left});
+ filter_->on(
+ [this, feed = io->feed(), speaker = io->speaker()](ftl::data::FrameSetPtr fs){
+ std::atomic_store(¤t_fs_, fs);
+ std::atomic_store(&latest_, fs);
+
+ // Deal with audio
+ //if (fs->frames[frame_idx].hasOwn(Channel::AudioStereo)) {
+ // speaker->queue(fs->timestamp(), fs->frames[frame_idx]);
+ //}
+
+ if (feed->mixer().frames() > 0) {
+ ftl::audio::Audio aframe;
+ feed->mixer().read(aframe.data(), feed->mixer().frames());
+ speaker->queue(fs->timestamp(), aframe);
+ }
+
+ // Need to notify GUI thread when first data comes
+ if (!has_seen_frame_) {
+ //std::unique_lock<std::mutex> lk(m);
+ has_seen_frame_ = true;
+ //cv.notify_one();
+ }
+
+ // Extract and record any frame messages
+ auto &frame = fs->frames[frame_idx];
+ if (frame.hasMessages()) {
+ const auto &msgs = frame.messages();
+ //auto &jmsgs = mod->getJSON(StatisticsPanel::LOGGING);
+
+ UNIQUE_LOCK(mtx_, lk);
+ messages_.insert(msgs.begin(), msgs.end());
+ }
+
+ // Some capabilities can change over time
+ if (frame.changed(Channel::Capabilities)) {
+ _updateCapabilities(frame);
+ }
+
+ if (!view) return true;
+
+ if (live_ && touch_) {
+ if (point_.id >= 0) {
+ auto response = fs->frames[frame_idx].response();
+ auto &data = response.create<std::vector<ftl::codecs::Touch>>(Channel::Touch);
+ data.resize(1);
+ UNIQUE_LOCK(mtx_, lk);
+ data[0] = point_;
+ //point_.strength = 0;
+ }
+ }
+
+ screen->redraw();
+ nframes_++;
+ latency_ += ftl::timer::get_time() - fs->localTimestamp;
+ return true;
+ }
+ );
+
+ auto sets = filter_->getLatestFrameSets();
+ if (sets.size() > 0) {
+ std::atomic_store(¤t_fs_, sets.front());
+ std::atomic_store(&latest_, sets.front());
+ initiate_(sets.front()->frames[frame_idx]);
+ } else {
+ throw FTL_Error("Cannot activate camera, no data");
+ }
+
+ // For first data, extract useful things and create view
+ // Must be done in GUI thread, hence use of cv.
+ //std::unique_lock<std::mutex> lk(m);
+ //cv.wait_for(lk, 1s, [this](){ return has_seen_frame_; });
+ //initiate_(std::atomic_load(¤t_fs_)->frames[frame_idx]);
+}
+
+void Camera::setChannel(Channel c) {
+ channel_ = c;
+ filter_->select({Channel::Colour, c});
+}
+
+std::string Camera::getActiveSourceURI() {
+ auto ptr = std::atomic_load(&latest_);
+ if (ptr) {
+ auto &frame = ptr->frames[frame_idx];
+ if (frame.has(ftl::codecs::Channel::MetaData)) {
+ const auto &meta = frame.metadata();
+ auto i = meta.find("id");
+ if (i != meta.end()) {
+ return i->second;
+ }
+ }
+ }
+
+ return "";
+}
+
+void Camera::toggleOverlay() {
+ overlay_->set("enabled", !overlay_->value<bool>("enabled", false));
+}
+
+ftl::audio::StereoMixerF<100> *Camera::mixer() {
+ return &io->feed()->mixer();
+}
+
+bool Camera::isRecording() {
+ return io->feed()->isRecording();
+}
+
+void Camera::stopRecording() {
+ io->feed()->stopRecording();
+ filter_->select({channel_});
+}
+
+void Camera::startRecording(const std::string &filename, const std::unordered_set<ftl::codecs::Channel> &channels) {
+ filter_->select(channels);
+ io->feed()->startRecording(filter_, filename);
+}
+
+void Camera::startStreaming(const std::unordered_set<ftl::codecs::Channel> &channels) {
+ filter_->select(channels);
+ io->feed()->startStreaming(filter_);
+}
+
+void Camera::snapshot(const std::string &filename) {
+ auto ptr = std::atomic_load(&latest_);
+ if (ptr) {
+ auto &frame = ptr->frames[frame_idx];
+ if (frame.hasChannel(channel_)) {
+ const auto &snap = frame.get<cv::Mat>(channel_);
+ cv::Mat output;
+ cv::cvtColor(snap, output, cv::COLOR_BGRA2BGR);
+ cv::imwrite(filename, output);
+ }
+ }
+}
+
+ftl::cuda::TextureObject<uchar4>& Camera::getFrame() {
+ return getFrame(channel_);
+}
+
+ftl::cuda::TextureObject<uchar4>& Camera::getFrame(ftl::codecs::Channel channel) {
+ if (std::atomic_load(¤t_fs_)) {
+ auto& frame = current_fs_->frames[frame_idx].cast<ftl::rgbd::Frame>();
+
+ if (frame.hasChannel(Channel::Left)) current_frame_colour_ = frame.getTexture<uchar4>(Channel::Left);
+
+ if (frame.hasChannel(channel)) {
+ current_frame_ = colouriser_->colourise(frame, channel, 0);
+ } else {
+ throw FTL_Error("Channel missing for frame " << frame.timestamp() << ": '" << ftl::codecs::name(channel) << "'");
+ }
+ std::atomic_store(¤t_fs_, {});
+ }
+ if (channel == Channel::Left) { return current_frame_colour_; }
+ else { return current_frame_; }
+}
+
+bool Camera::getFrame(ftl::cuda::TextureObject<uchar4>& frame, ftl::codecs::Channel channel) {
+ if (std::atomic_load(¤t_fs_).get() != nullptr) {
+ frame = getFrame();
+ return true;
+ }
+ return false;
+}
+
+bool Camera::getFrame(ftl::cuda::TextureObject<uchar4>& frame) {
+ return getFrame(frame, channel_);
+}
+
+bool Camera::hasFrame() {
+ auto ptr = std::atomic_load(¤t_fs_);
+ if (ptr && ptr->frames.size() > (unsigned int)(frame_idx)) {
+ return ptr->frames[frame_idx].hasChannel(channel_);
+ }
+ return false;
+}
+
+const Eigen::Matrix4d &Camera::cursor() const {
+ return cursor_;
+}
+
+Eigen::Matrix4d Camera::_cursor() const {
+ if (cursor_normal_.norm() > 0.0f) return nanogui::lookAt(cursor_pos_, cursor_target_, cursor_normal_).cast<double>();
+
+ Eigen::Matrix4d ident;
+ ident.setIdentity();
+ return ident;
+}
+
+void Camera::drawOverlay(NVGcontext *ctx, const nanogui::Vector2f &s, const nanogui::Vector2f &is, const Eigen::Vector2f &offset) {
+ auto ptr = std::atomic_load(&latest_);
+ // TODO: Need all the source framesets here or all data dumped in by renderer
+ overlay_->draw(ctx, *ptr, ptr->frames[frame_idx].cast<ftl::rgbd::Frame>(), s, is, offset, cursor()); // , view->size().cast<float>()
+}
+
+void Camera::sendPose(const Eigen::Matrix4d &pose) {
+ if (live_ && movable_ && !vr_) {
+ if (auto ptr = std::atomic_load(&latest_)) {
+ auto response = ptr->frames[frame_idx].response();
+ auto &rgbdresponse = response.cast<ftl::rgbd::Frame>();
+ rgbdresponse.setPose() = pose;
+ }
+ }
+}
+
+void Camera::touch(int id, ftl::codecs::TouchType t, int x, int y, float d, int strength) {
+ if (value("enable_touch", false)) {
+ UNIQUE_LOCK(mtx_, lk);
+ point_.id = id;
+ point_.type = t;
+ point_.x = x;
+ point_.y = y;
+ point_.d = d;
+ point_.strength = strength; //std::max((unsigned char)strength, point_.strength);
+ }
+
+ // TODO: Check for touch capability first
+ /*if (auto ptr = std::atomic_load(&latest_)) {
+ auto response = ptr->frames[frame_idx].response();
+ auto &data = response.create<std::vector<ftl::codecs::Touch>>(Channel::Touch);
+ data.resize(0);
+ auto &pt = data.emplace_back();
+ pt.id = id;
+ pt.type = t;
+ pt.x = x;
+ pt.y = y;
+ pt.d = d;
+ pt.strength = strength;
+
+
+ }*/
+}
+
+float Camera::depthAt(int x, int y) {
+ //if (value("show_depth", true)) {
+ auto ptr = std::atomic_load(&latest_);
+
+ if (ptr) {
+ const auto &frame = ptr->frames[frame_idx].cast<ftl::rgbd::Frame>();
+
+ if (frame.hasChannel(Channel::Depth)) {
+ const auto &depth = frame.get<cv::Mat>(Channel::Depth);
+ if (x >= 0 && y >= 0 && x < depth.cols && y < depth.rows) {
+ return depth.at<float>(y, x);
+ }
+ }
+ }
+ //}
+ return 0.0f;
+}
+
+static float3 getWorldPoint(const cv::Mat &depth, int x, int y, const ftl::rgbd::Camera &intrins, const Eigen::Matrix4f &pose) {
+ if (x >= 0 && y >= 0 && x < depth.cols && y < depth.rows) {
+ float d = depth.at<float>(y, x);
+
+ if (d > intrins.minDepth && d < intrins.maxDepth) {
+ float3 cam = intrins.screenToCam(x, y, d);
+ float3 world = MatrixConversion::toCUDA(pose) * cam;
+ return world;
+ }
+ }
+ return make_float3(0.0f,0.0f,0.0f);
+}
+
+
+Eigen::Vector3f Camera::worldAt(int x, int y) {
+ auto ptr = std::atomic_load(&latest_);
+
+ Eigen::Vector3f res;
+ res.setZero();
+
+ if (ptr) {
+ const auto &frame = ptr->frames[frame_idx].cast<ftl::rgbd::Frame>();
+
+ if (frame.hasChannel(Channel::Depth)) {
+ const auto &depth = frame.get<cv::Mat>(Channel::Depth);
+ const auto &intrins = frame.getLeft();
+ Eigen::Matrix4f posef = frame.getPose().cast<float>();
+
+ float3 CC = getWorldPoint(depth, x, y, intrins, posef);
+ res[0] = CC.x;
+ res[1] = CC.y;
+ res[2] = CC.z;
+ }
+ }
+
+ return res;
+}
+
+Eigen::Vector3f fitPlane(const std::vector<float3>& pts) {
+ // PCA: calculate covariance matrix and its eigenvectors. Eigenvector
+ // corresponding to smallest eigenvalue is the plane normal.
+
+ Eigen::Map<Eigen::Matrix<float, Eigen::Dynamic, 3, Eigen::RowMajor>>
+ mat((float*)(pts.data()), pts.size(), 3);
+
+ Eigen::MatrixXf centered = mat.rowwise() - mat.colwise().mean();
+ Eigen::MatrixXf cov = (centered.adjoint() * centered) / double(mat.rows() - 1);
+ Eigen::EigenSolver<Eigen::MatrixXf> es(cov);
+
+ Eigen::VectorXf::Index argmin;
+ es.eigenvalues().real().minCoeff(&argmin);
+
+ Eigen::Vector3cf n(es.eigenvectors().col(argmin)); // already normalized
+ return n.real();
+}
+
+void Camera::setCursor(int x, int y) {
+ auto ptr = std::atomic_load(&latest_);
+
+ cursor_pos_.setZero();
+
+ if (ptr) {
+ const auto &frame = ptr->frames[frame_idx].cast<ftl::rgbd::Frame>();
+
+ if (frame.hasChannel(Channel::Depth)) {
+ const auto &depth = frame.get<cv::Mat>(Channel::Depth);
+ const auto &intrins = frame.getLeft();
+ Eigen::Matrix4f posef = frame.getPose().cast<float>();
+
+ float3 CC = getWorldPoint(depth, x, y, intrins, posef);
+ cursor_pos_[0] = CC.x;
+ cursor_pos_[1] = CC.y;
+ cursor_pos_[2] = CC.z;
+
+ // get points around the selected point. candidates are selected in
+ // from square [-range, range] around (x, y) and points which are
+ // closer than max_distance are used. TODO: check bounds (depth map
+ // size)
+ const int range = 24; // 49x49 pixels square
+ const float max_distance = 0.075; // 15cm radius
+ const int min_points = 16;
+ std::vector<float3> pts;
+ pts.reserve((range*2 + 1)*(range*2 + 1));
+ for (int xi = -range; xi <= range; xi++) {
+ for (int yi = -range; yi <= range; yi++) {
+ auto p = getWorldPoint(depth, x + xi, y + yi, intrins, posef);
+ if (p.x == 0 && p.y == 0 && p.z == 0.0) {
+ continue;
+ }
+ const float3 d = p - CC;
+ if (sqrtf(d.x*d.x + d.y*d.y + d.z*d.z) < max_distance) {
+ pts.push_back(p);
+ }
+ }}
+ if (pts.size() < min_points) { return; }
+
+ cursor_normal_ = fitPlane(pts);
+ // don't flip y
+ if (cursor_normal_.y() < 0.0) { cursor_normal_ = -cursor_normal_; }
+
+ // some valid value as initial value
+ const float3 CP = getWorldPoint(depth, x+4, y, intrins, posef);
+ setCursorTarget({CP.x, CP.y, CP.z});
+ }
+ }
+
+ cursor_ = _cursor();
+}
+
+void Camera::setCursorTarget(const Eigen::Vector3f &p) {
+ cursor_target_ =
+ p - cursor_normal_.dot(p - cursor_pos_) * cursor_normal_;
+ cursor_ = _cursor();
+}
+
+void Camera::setOriginToCursor() {
+ using ftl::calibration::transform::inverse;
+
+ // Check for valid cursor
+ /*if (cursor_normal_.norm() == 0.0f) return;
+ float cursor_length = (cursor_target_ - cursor_pos_).norm();
+ float cursor_dist = cursor_pos_.norm();
+ if (cursor_length < 0.01f || cursor_length > 5.0f) return;
+ if (cursor_dist > 10.0f) return;*/
+
+ if (movable_) {
+ auto *rend = io->feed()->getRenderer(frame_id_);
+ if (rend) {
+ auto *filter = rend->filter();
+ if (filter) {
+ cv::Mat cur;
+ cv::eigen2cv(cursor(), cur);
+ auto fss = filter->getLatestFrameSets();
+ for (auto &fs : fss) {
+ if (fs->frameset() == frame_id_.frameset()) continue;
+
+ for (auto &f : fs->frames) {
+ auto response = f.response();
+ auto &rgbdf = response.cast<ftl::rgbd::Frame>();
+ auto &calib = rgbdf.setCalibration();
+
+ calib = f.cast<ftl::rgbd::Frame>().getCalibration();
+ // apply correction to existing one
+ cv::Mat new_origin = cur*calib.origin;
+ if (ftl::calibration::validate::pose(new_origin)) {
+ calib.origin = new_origin;
+ }
+ else {
+ // TODO: add error message to gui as well
+ LOG(ERROR) << "Bad origin update (invalid pose)";
+ }
+ }
+ };
+ }
+ }
+ }
+
+ cursor_target_ = Eigen::Vector3f(0.0f,0.0f,0.0f);
+ cursor_pos_ = Eigen::Vector3f(0.0f,0.0f,0.0f);
+ cursor_normal_ = Eigen::Vector3f(0.0f,0.0f,0.0f);
+ cursor_ = _cursor();
+}
+
+void Camera::resetOrigin() {
+ cursor_target_ = Eigen::Vector3f(0.0f,0.0f,0.0f);
+ cursor_pos_ = Eigen::Vector3f(0.0f,0.0f,0.0f);
+ cursor_normal_ = Eigen::Vector3f(0.0f,0.0f,0.0f);
+ cursor_ = _cursor();
+
+ if (movable_) {
+ auto *rend = io->feed()->getRenderer(frame_id_);
+ if (rend) {
+ auto *filter = rend->filter();
+ if (filter) {
+ cv::Mat cur;
+ cv::eigen2cv(cursor(), cur);
+ auto fss = filter->getLatestFrameSets();
+ for (auto &fs : fss) {
+ if (fs->frameset() == frame_id_.frameset()) continue;
+
+ for (auto &f : fs->frames) {
+ auto response = f.response();
+ auto &rgbdf = response.cast<ftl::rgbd::Frame>();
+ auto &calib = rgbdf.setCalibration();
+ calib = f.cast<ftl::rgbd::Frame>().getCalibration();
+ calib.origin = cur;
+ }
+ };
+ }
+ }
+ }
+}
+
+void Camera::saveCursorToPoser() {
+ ftl::codecs::Shape3D shape;
+ shape.type = ftl::codecs::Shape3DType::CURSOR;
+ shape.id = cursor_save_id_++;
+ shape.label = std::string("Cursor") + std::to_string(shape.id);
+ shape.pose = cursor().inverse().cast<float>();
+ shape.size = Eigen::Vector3f(0.1f,0.1f,0.1f);
+
+ ftl::operators::Poser::add(shape, frame_id_);
+}
+
+Eigen::Matrix4d Camera::getActivePose() {
+ return cursor(); //.inverse();
+}
+
+nanogui::Vector2i Camera::getActivePoseScreenCoord() {
+ Eigen::Matrix4d pose = getActivePose().inverse();
+
+ auto ptr = std::atomic_load(&latest_);
+ if (ptr) {
+ const auto &frame = ptr->frames[frame_idx].cast<ftl::rgbd::Frame>();
+ auto campose = frame.getPose().inverse() * pose;
+ float3 campos;
+ campos.x = campose(0,3);
+ campos.y = campose(1,3);
+ campos.z = campose(2,3);
+
+ int2 spos = frame.getLeft().camToScreen<int2>(campos);
+ return nanogui::Vector2i(spos.x, spos.y);
+ }
+
+ return nanogui::Vector2i(-1,-1);
+}
+
+void Camera::transformActivePose(const Eigen::Matrix4d &pose) {
+ cursor_ = pose * cursor_;
+}
+
+void Camera::setActivePose(const Eigen::Matrix4d &pose) {
+ cursor_ = pose; //.inverse();
+}
diff --git a/applications/gui2/src/modules/camera.hpp b/applications/gui2/src/modules/camera.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..e098bdcec465b9092c836f24259e6d9c4a0aa71f
--- /dev/null
+++ b/applications/gui2/src/modules/camera.hpp
@@ -0,0 +1,135 @@
+#pragma once
+
+#include "../module.hpp"
+#include "../screen.hpp"
+#include "../views/camera.hpp"
+
+#include <ftl/render/colouriser.hpp>
+#include <ftl/render/overlay.hpp>
+#include <ftl/codecs/touch.hpp>
+#include <ftl/audio/mixer.hpp>
+
+namespace ftl {
+namespace gui2 {
+
+class Camera : public Module {
+public:
+ using Module::Module;
+
+ virtual void init() override;
+ virtual void update(double delta) override;
+
+ virtual void activate(ftl::data::FrameID id);
+ void setChannel(ftl::codecs::Channel c);
+ void setPaused(bool set);
+ bool isPaused() const { return paused_; }
+
+ void toggleOverlay();
+
+ float volume();
+ void setVolume(float v);
+
+ /** Gets current active frame to display. Always 4 channel uchar4. Reference
+ * will stay valid until getFrame() is called again. Always returns a
+ * reference to internal buffer. */
+ ftl::cuda::TextureObject<uchar4>& getFrame();
+ ftl::cuda::TextureObject<uchar4>& getFrame(ftl::codecs::Channel channel);
+ bool getFrame(ftl::cuda::TextureObject<uchar4>&);
+ bool getFrame(ftl::cuda::TextureObject<uchar4>&, ftl::codecs::Channel channel);
+
+ std::unordered_set<ftl::codecs::Channel> availableChannels();
+
+ /** This includes data channels etc */
+ std::unordered_set<ftl::codecs::Channel> allAvailableChannels();
+
+ void touch(int id, ftl::codecs::TouchType t, int x, int y, float d, int strength);
+
+ /** Check if new frame is available */
+ bool hasFrame();
+ void sendPose(const Eigen::Matrix4d &pose);
+
+ inline bool isLive() const { return live_; }
+ inline bool isTouchable() const { return touch_; }
+ inline bool isMovable() const { return movable_; }
+ inline bool isVR() const { return vr_; }
+
+ ftl::render::Colouriser* colouriser() { return colouriser_.get(); };
+ ftl::overlay::Overlay* overlay() { return overlay_.get(); }
+ ftl::audio::StereoMixerF<100> *mixer();
+
+ void drawOverlay(NVGcontext *ctx, const nanogui::Vector2f &size, const nanogui::Vector2f &is, const Eigen::Vector2f &offset);
+
+ std::string getActiveSourceURI();
+
+ float depthAt(int x, int y);
+ Eigen::Vector3f worldAt(int x, int y);
+
+ bool isRecording();
+ void stopRecording();
+ void startRecording(const std::string &filename, const std::unordered_set<ftl::codecs::Channel> &channels);
+ void startStreaming(const std::unordered_set<ftl::codecs::Channel> &channels);
+
+ void snapshot(const std::string &filename);
+
+ const Eigen::Matrix4d &cursor() const;
+
+ void setCursorPosition(const Eigen::Vector3f &pos) { cursor_pos_ = pos; cursor_ = _cursor(); }
+ void setCursorNormal(const Eigen::Vector3f &norm) { cursor_normal_ = norm; cursor_ = _cursor(); }
+ void setCursorTarget(const Eigen::Vector3f &targ);
+ void setCursor(int x, int y);
+
+ const Eigen::Vector3f getCursorPosition() const { return cursor_pos_; }
+
+ void setOriginToCursor();
+ void resetOrigin();
+ void saveCursorToPoser();
+
+ Eigen::Matrix4d getActivePose();
+ nanogui::Vector2i getActivePoseScreenCoord();
+ void transformActivePose(const Eigen::Matrix4d &pose);
+ void setActivePose(const Eigen::Matrix4d &pose);
+
+private:
+ int frame_idx = -1;
+ ftl::data::FrameID frame_id_;
+ ftl::codecs::Channel channel_ = ftl::codecs::Channel::Colour;
+ ftl::stream::Feed::Filter *filter_ = nullptr;
+ std::atomic_bool paused_ = false; // TODO: implement in InputOutput
+ bool has_seen_frame_ = false;
+ ftl::codecs::Touch point_;
+ bool live_=false;
+ bool touch_=false;
+ bool movable_=false;
+ bool vr_=false;
+ float last_=0.0f;
+ std::atomic_int16_t nframes_=0;
+ std::atomic_int64_t latency_=0;
+ int update_fps_freq_=30; // fps counter update frequency (frames)
+ Eigen::Vector3f cursor_pos_;
+ Eigen::Vector3f cursor_target_;
+ Eigen::Vector3f cursor_normal_;
+ int cursor_save_id_=0;
+ Eigen::Matrix4d cursor_;
+
+ ftl::data::FrameSetPtr current_fs_;
+ ftl::data::FrameSetPtr latest_;
+ ftl::cuda::TextureObject<uchar4> current_frame_;
+ ftl::cuda::TextureObject<uchar4> current_frame_colour_;
+
+ std::unique_ptr<ftl::render::Colouriser> colouriser_;
+ std::unique_ptr<ftl::overlay::Overlay> overlay_;
+
+ std::map<ftl::data::Message,std::string> messages_;
+
+ CameraView* view = nullptr;
+ ftl::audio::StereoMixerF<100> *mixer_ = nullptr;
+
+ MUTEX mtx_;
+
+ void initiate_(ftl::data::Frame &frame);
+ void _updateCapabilities(ftl::data::Frame &frame);
+ Eigen::Matrix4d _cursor() const;
+};
+
+}
+}
diff --git a/applications/gui2/src/modules/camera_tools.hpp b/applications/gui2/src/modules/camera_tools.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..ebe8386f100fe6b7a624055f61262f03f9752967
--- /dev/null
+++ b/applications/gui2/src/modules/camera_tools.hpp
@@ -0,0 +1,43 @@
+#ifndef _FTL_GUI_CAMERA_TOOLS_HPP_
+#define _FTL_GUI_CAMERA_TOOLS_HPP_
+
+namespace ftl {
+namespace gui2 {
+
+enum class Tools {
+ NONE,
+ SELECT_POINT, // Touch 2D
+ MOVEMENT, // 3D first person camera controls
+ PAN, // 2D Panning
+ CENTRE_VIEW,
+ ZOOM_FIT,
+ ZOOM_IN,
+ ZOOM_OUT,
+ CLIPPING,
+ OVERLAY,
+ LAYOUT,
+ MOVE_CURSOR, // Move 3D Cursor
+ ROTATE_CURSOR,
+ ORIGIN_TO_CURSOR,
+ RESET_ORIGIN,
+ SAVE_CURSOR,
+ ROTATE_X,
+ ROTATE_Y,
+ ROTATE_Z,
+ TRANSLATE_X,
+ TRANSLATE_Y,
+ TRANSLATE_Z,
+ INSPECT_POINT
+};
+
+enum class ToolGroup {
+ MOUSE_MOTION,
+ VIEW_2D_ACTIONS,
+ VIEW_3D_LAYERS,
+ VIEW_3D_ACTIONS
+};
+
+}
+}
+
+#endif
\ No newline at end of file
diff --git a/applications/gui2/src/modules/config.cpp b/applications/gui2/src/modules/config.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..bfac6664e5a93f4b6579bf1d812e7cc856c91d4b
--- /dev/null
+++ b/applications/gui2/src/modules/config.cpp
@@ -0,0 +1,30 @@
+#include "config.hpp"
+
+using ftl::gui2::ConfigCtrl;
+
+void ConfigCtrl::init() {
+ button = screen->addButton(ENTYPO_ICON_COG);
+ button->setTooltip("Settings");
+ button->setCallback([this](){
+ button->setPushed(false);
+ show();
+ });
+ button->setVisible(true);
+}
+
+void ConfigCtrl::show() {
+ if (screen->childIndex(window) == -1) {
+ window = new ftl::gui2::ConfigWindow(screen, io->master());
+ }
+ window->requestFocus();
+ window->setVisible(true);
+ screen->performLayout();
+}
+
+void ConfigCtrl::show(const std::string &uri) {
+ ftl::gui2::ConfigWindow::buildForm(screen, uri);
+}
+
+ConfigCtrl::~ConfigCtrl() {
+
+}
diff --git a/applications/gui2/src/modules/config.hpp b/applications/gui2/src/modules/config.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..3a89a17f6ebe86a87427def20c8f057658ab079b
--- /dev/null
+++ b/applications/gui2/src/modules/config.hpp
@@ -0,0 +1,32 @@
+#pragma once
+
+#include "../module.hpp"
+#include "../screen.hpp"
+
+#include "../views/config.hpp"
+
+namespace ftl {
+namespace gui2 {
+
+/**
+ * Controller for thumbnail view.
+ */
+class ConfigCtrl : public Module {
+public:
+ using Module::Module;
+ virtual ~ConfigCtrl();
+
+ virtual void init() override;
+ virtual void show();
+
+ void show(const std::string &uri);
+
+private:
+ nanogui::ToolButton *button;
+ ftl::gui2::ConfigWindow *window = nullptr;
+
+ std::list<nanogui::FormHelper *> forms_;
+};
+
+}
+}
diff --git a/applications/gui2/src/modules/statistics.cpp b/applications/gui2/src/modules/statistics.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..7147888298b6e38c58761f4ba2354c31fa24384e
--- /dev/null
+++ b/applications/gui2/src/modules/statistics.cpp
@@ -0,0 +1,139 @@
+#include "statistics.hpp"
+
+#include "../screen.hpp"
+#include "../views/statistics.hpp"
+
+#include <ftl/streams/builder.hpp>
+#include <ftl/streams/netstream.hpp>
+
+#include <nanogui/entypo.h>
+
+#include <loguru.hpp>
+
+#include <nvml.h>
+
+#ifdef WIN32
+#pragma comment(lib, "nvml")
+#endif
+
+using ftl::gui2::Statistics;
+using ftl::gui2::StatisticsPanel;
+
+template <typename T>
+std::string to_string_with_precision(const T a_value, const int n = 6) {
+ std::ostringstream out;
+ out.precision(n);
+ out << std::fixed << a_value;
+ return out.str();
+}
+
+Statistics::~Statistics() {
+ nvmlShutdown();
+}
+
+void Statistics::update(double delta) {
+ time_count_ += delta;
+ if (time_count_ > 1.0) {
+ float bitrate = ftl::stream::Net::getRequiredBitrate();
+ if (bitrate > 0.0f) {
+ getJSON(StatisticsPanel::PERFORMANCE_INFO)["Bitrate"] = to_string_with_precision(bitrate, 1) + std::string("Mbit/s");
+ }
+ time_count_ = 0.0;
+
+ size_t gpu_free_mem;
+ size_t gpu_total_mem;
+ cudaSafeCall(cudaMemGetInfo(&gpu_free_mem, &gpu_total_mem));
+ float gpu_mem = 1.0f - (float(gpu_free_mem) / float(gpu_total_mem));
+ getJSON(StatisticsPanel::PERFORMANCE_INFO)["GPU Memory"] = to_string_with_precision(gpu_mem*100.0f, 1) + std::string("%");
+
+ nvmlDevice_t device;
+ auto result = nvmlDeviceGetHandleByIndex(0, &device);
+ nvmlUtilization_st device_utilization;
+ result = nvmlDeviceGetUtilizationRates(device, &device_utilization);
+ getJSON(StatisticsPanel::PERFORMANCE_INFO)["GPU Usage"] = std::to_string(device_utilization.gpu) + std::string("%");
+
+ unsigned int decode_util;
+ unsigned int decode_period;
+ result = nvmlDeviceGetDecoderUtilization(device, &decode_util, &decode_period);
+ getJSON(StatisticsPanel::PERFORMANCE_INFO)["GPU Decoder"] = std::to_string(decode_util) + std::string("%");
+
+ // Doesn't seem to work
+ unsigned int encoder_sessions=0;
+ unsigned int encoder_fps;
+ unsigned int encoder_latency;
+ result = nvmlDeviceGetEncoderStats(device, &encoder_sessions, &encoder_fps, &encoder_latency);
+
+ unsigned int encoder_util;
+ unsigned int encoder_period;
+ result = nvmlDeviceGetEncoderUtilization(device, &encoder_util, &encoder_period);
+ getJSON(StatisticsPanel::PERFORMANCE_INFO)["GPU Encoder"] = std::to_string(encoder_util) + std::string("% (") + std::to_string(encoder_sessions) + std::string(")");
+ }
+}
+
+void Statistics::init() {
+ auto result = nvmlInit();
+ if (result != NVML_SUCCESS) throw FTL_Error("No NVML");
+
+ /**
+ * TODO: store all values in hash table and allow other modules to
+ * add/remove items/groups.
+ */
+
+ widget = new ftl::gui2::StatisticsWidget(screen, this);
+ widget->setVisible(value("visible", false));
+ auto button = screen->addButton(ENTYPO_ICON_INFO);
+ button->setTooltip("Show Information");
+ button->setCallback([this, button](){
+ button->setPushed(false);
+ widget->setVisible(!widget->visible());
+ });
+
+ button->setVisible(true);
+}
+
+void Statistics::setCursor(nanogui::Cursor c) {
+ widget->setCursor(c);
+}
+
+/*void Statistics::set(const std::string &key, const std::string& value) {
+ text_[key] = value;
+}
+
+void Statistics::set(const std::string &key, float value, const std::string& unit) {
+ text_[key] = to_string_with_precision(value, 3) + unit;
+}
+
+std::vector<std::string> Statistics::get() {
+ std::vector<std::string> res;
+ res.reserve(text_.size());
+ for (auto& [k, v] : text_) {
+ res.push_back(k + ": " +v );
+ }
+ return res;
+}*/
+
+nlohmann::json &Statistics::getJSON(StatisticsPanel p) {
+ return groups_[p].json;
+}
+
+void Statistics::show(StatisticsPanel p, bool visible) {
+ groups_[p].visible = visible;
+}
+
+void Statistics::hide(StatisticsPanel p) {
+ groups_[p].visible = false;
+}
+
+bool Statistics::isVisible(StatisticsPanel p) {
+ return groups_[p].visible;
+}
+
+std::vector<std::pair<StatisticsPanel, const nlohmann::json &>> Statistics::get() const {
+ std::vector<std::pair<StatisticsPanel, const nlohmann::json &>> results;
+
+ for (const auto &i : groups_) {
+ results.emplace_back(i.first, i.second.json);
+ }
+
+ return results;
+}
diff --git a/applications/gui2/src/modules/statistics.hpp b/applications/gui2/src/modules/statistics.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..608ccacfab9e7232d699ba3d6dbeea181a95ce7b
--- /dev/null
+++ b/applications/gui2/src/modules/statistics.hpp
@@ -0,0 +1,60 @@
+#pragma once
+
+#include "../module.hpp"
+#include <nlohmann/json.hpp>
+
+namespace ftl
+{
+namespace gui2
+{
+
+enum class StatisticsPanel {
+ MEDIA_STATUS=0, // Live or not?
+ PERFORMANCE_INFO, // Bitrate, fps etc
+ STREAM_DATA, // Channel info
+ MEDIA_META, // Name, device, capabilities
+ CAMERA_DETAILS, // Calibration info
+ LOGGING // Stream error and log messages
+ // Chat, media name, ...
+};
+
+class Statistics : public Module {
+public:
+ using Module::Module;
+
+ //Statistics();
+ ~Statistics();
+
+ virtual void init() override;
+ virtual void update(double delta) override;
+
+ // not thread safe! (use only from gui thread or add lock)
+ /*void set(const std::string &key, const std::string& value);
+ void set(const std::string &key, int value);
+ void set(const std::string &key, float value, const std::string& unit = "");*/
+
+ nlohmann::json &getJSON(StatisticsPanel);
+
+ void show(StatisticsPanel, bool visible=true);
+ void hide(StatisticsPanel);
+ bool isVisible(StatisticsPanel);
+
+ void setCursor(nanogui::Cursor);
+
+ //void remove(const std::string &key) { text_.erase(key); }
+
+ std::vector<std::pair<StatisticsPanel, const nlohmann::json &>> get() const;
+
+private:
+ struct StatsGroup {
+ // TODO: Other properties...
+ nlohmann::json json; // = nlohmann::json::object_t();
+ bool visible=true;
+ };
+
+ nanogui::Widget* widget;
+ std::map<StatisticsPanel, StatsGroup> groups_;
+ double time_count_=0.0;
+};
+}
+}
diff --git a/applications/gui2/src/modules/themes.cpp b/applications/gui2/src/modules/themes.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..8b0d0ef060112914e6c82a883e7e6b7ce2885b3e
--- /dev/null
+++ b/applications/gui2/src/modules/themes.cpp
@@ -0,0 +1,121 @@
+#include "themes.hpp"
+#include "nanogui/theme.h"
+#include "../screen.hpp"
+
+using ftl::gui2::Themes;
+using nanogui::Theme;
+
+void Themes::init() {
+ auto* toolbuttheme = screen->getTheme("toolbutton");
+ toolbuttheme->mBorderDark = nanogui::Color(0,0);
+ toolbuttheme->mBorderLight = nanogui::Color(0,0);
+ toolbuttheme->mButtonGradientBotFocused = nanogui::Color(60,255);
+ toolbuttheme->mButtonGradientBotUnfocused = nanogui::Color(0,0);
+ toolbuttheme->mButtonGradientTopFocused = nanogui::Color(60,255);
+ toolbuttheme->mButtonGradientTopUnfocused = nanogui::Color(0,0);
+ toolbuttheme->mButtonGradientTopPushed = nanogui::Color(60,180);
+ toolbuttheme->mButtonGradientBotPushed = nanogui::Color(60,180);
+ toolbuttheme->mTextColor = nanogui::Color(0.9f,0.9f,0.9f,0.9f);
+ toolbuttheme->mWindowDropShadowSize = 0;
+ toolbuttheme->mDropShadow = nanogui::Color(0,0);
+
+ auto* windowtheme = screen->getTheme("window_light");
+ windowtheme->mWindowFillFocused = nanogui::Color(220, 200);
+ windowtheme->mWindowFillUnfocused = nanogui::Color(220, 200);
+ windowtheme->mWindowHeaderGradientBot = nanogui::Color(60,230);
+ windowtheme->mWindowHeaderGradientTop = nanogui::Color(60,230);
+ windowtheme->mWindowHeaderSepBot = nanogui::Color(60, 230);
+ windowtheme->mTextColor = nanogui::Color(20,255);
+ windowtheme->mDisabledTextColor = nanogui::Color(140, 255);
+ windowtheme->mWindowCornerRadius = 2;
+ windowtheme->mButtonGradientBotFocused = nanogui::Color(210,255);
+ windowtheme->mButtonGradientBotUnfocused = nanogui::Color(190,255);
+ windowtheme->mButtonGradientTopFocused = nanogui::Color(230,255);
+ windowtheme->mButtonGradientTopUnfocused = nanogui::Color(230,255);
+ windowtheme->mButtonGradientTopPushed = nanogui::Color(170,255);
+ windowtheme->mButtonGradientBotPushed = nanogui::Color(210,255);
+ windowtheme->mBorderDark = nanogui::Color(150,255);
+ windowtheme->mBorderMedium = nanogui::Color(165,255);
+ windowtheme->mBorderLight = nanogui::Color(230,255);
+ windowtheme->mButtonFontSize = 16;
+ windowtheme->mTextColorShadow = nanogui::Color(0,0);
+ windowtheme->mWindowTitleUnfocused = windowtheme->mWindowTitleFocused;
+ windowtheme->mWindowTitleFocused = nanogui::Color(240,255);
+ windowtheme->mIconScale = 0.85f;
+
+ auto* viewtheme = screen->getTheme("view");
+ viewtheme->mWindowFillFocused = nanogui::Color(0, 0);
+ viewtheme->mWindowFillUnfocused = nanogui::Color(0, 0);
+ viewtheme->mWindowCornerRadius = 0;
+ viewtheme->mBorderDark = nanogui::Color(0 ,0);
+ viewtheme->mBorderMedium = nanogui::Color(0 ,0);
+ viewtheme->mBorderLight = nanogui::Color(0 ,0);
+ viewtheme->mWindowHeaderGradientBot = nanogui::Color(0, 0);
+ viewtheme->mWindowHeaderGradientTop = nanogui::Color(0, 0);
+ viewtheme->mWindowHeaderSepBot = nanogui::Color(0, 0);
+ viewtheme->mTextColorShadow = nanogui::Color(0, 0);
+ viewtheme->mWindowDropShadowSize = 0;
+
+ auto* windowtheme_dark = screen->getTheme("window_dark");
+ windowtheme_dark->mWindowCornerRadius = 5;
+ /*windowtheme_dark->mButtonGradientBotFocused = nanogui::Color(90,255);
+ windowtheme_dark->mButtonGradientBotUnfocused = nanogui::Color(70,255);
+ windowtheme_dark->mButtonGradientTopFocused = nanogui::Color(110,255);
+ windowtheme_dark->mButtonGradientTopUnfocused = nanogui::Color(110,255);
+ windowtheme_dark->mButtonGradientTopPushed = nanogui::Color(50,255);
+ windowtheme_dark->mButtonGradientBotPushed = nanogui::Color(90,255);*/
+ windowtheme_dark->mButtonGradientBotFocused = nanogui::Color(60,255);
+ windowtheme_dark->mButtonGradientBotUnfocused = nanogui::Color(35,35,40,180);
+ windowtheme_dark->mButtonGradientTopFocused = nanogui::Color(60,255);
+ windowtheme_dark->mButtonGradientTopUnfocused = nanogui::Color(35,35,40,180);
+ windowtheme_dark->mButtonGradientTopPushed = nanogui::Color(90,180);
+ windowtheme_dark->mButtonGradientBotPushed = nanogui::Color(90,180);
+ windowtheme_dark->mButtonFontSize = 16;
+ windowtheme_dark->mIconScale = 0.85f;
+ windowtheme_dark->mBorderDark = nanogui::Color(20,0);
+ windowtheme_dark->mBorderMedium = nanogui::Color(20,0);
+ windowtheme_dark->mBorderLight = nanogui::Color(20,0);
+
+ auto* mediatheme = screen->getTheme("media");
+ mediatheme->mIconScale = 1.2f;
+ mediatheme->mWindowDropShadowSize = 0;
+ mediatheme->mWindowFillFocused = nanogui::Color(45, 150);
+ mediatheme->mWindowFillUnfocused = nanogui::Color(45, 80);
+ mediatheme->mButtonGradientTopUnfocused = nanogui::Color(0,0);
+ mediatheme->mButtonGradientBotUnfocused = nanogui::Color(0,0);
+ mediatheme->mButtonGradientTopFocused = nanogui::Color(80,230);
+ mediatheme->mButtonGradientBotFocused = nanogui::Color(80,230);
+ mediatheme->mIconColor = nanogui::Color(255,255);
+ mediatheme->mTextColor = nanogui::Color(1.0f,1.0f,1.0f,1.0f);
+ mediatheme->mBorderDark = nanogui::Color(0,0);
+ mediatheme->mBorderMedium = nanogui::Color(0,0);
+ mediatheme->mBorderLight = nanogui::Color(0,0);
+ mediatheme->mDropShadow = nanogui::Color(0,0);
+ mediatheme->mButtonFontSize = 30;
+ mediatheme->mStandardFontSize = 20;
+
+ auto* mediatheme2 = screen->getTheme("media_small");
+ mediatheme2->mIconScale = 1.2f;
+ mediatheme2->mWindowDropShadowSize = 0;
+ mediatheme2->mWindowFillFocused = nanogui::Color(45, 150);
+ mediatheme2->mWindowFillUnfocused = nanogui::Color(45, 80);
+ mediatheme2->mButtonGradientTopUnfocused = nanogui::Color(0,0);
+ mediatheme2->mButtonGradientBotUnfocused = nanogui::Color(0,0);
+ mediatheme2->mButtonGradientTopFocused = nanogui::Color(80,230);
+ mediatheme2->mButtonGradientBotFocused = nanogui::Color(80,230);
+ mediatheme2->mIconColor = nanogui::Color(255,255);
+ mediatheme2->mTextColor = nanogui::Color(1.0f,1.0f,1.0f,1.0f);
+ mediatheme2->mBorderDark = nanogui::Color(0,0);
+ mediatheme2->mBorderMedium = nanogui::Color(0,0);
+ mediatheme2->mBorderLight = nanogui::Color(0,0);
+ mediatheme2->mDropShadow = nanogui::Color(0,0);
+ mediatheme2->mButtonFontSize = 16;
+ mediatheme2->mStandardFontSize = 14;
+
+ // https://flatuicolors.com/palette/defo
+ screen->setColor("highlight1", nanogui::Color(231, 76, 60, 255)); // red
+ screen->setColor("highlight2", nanogui::Color(52, 152, 219, 255)); // blue
+
+ screen->setColor("highlight1_disabled", nanogui::Color(166, 166, 166, 255));
+ screen->setColor("highlight2_disabled", nanogui::Color(166, 166, 166, 255));
+}
diff --git a/applications/gui2/src/modules/themes.hpp b/applications/gui2/src/modules/themes.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..af5d7337ba4ecbbb20992f765f959de7da9ea049
--- /dev/null
+++ b/applications/gui2/src/modules/themes.hpp
@@ -0,0 +1,16 @@
+#pragma once
+
+#include "../module.hpp"
+
+namespace ftl
+{
+namespace gui2
+{
+
+class Themes : public Module {
+public:
+ using Module::Module;
+ virtual void init() override;
+};
+}
+}
diff --git a/applications/gui2/src/modules/thumbnails.cpp b/applications/gui2/src/modules/thumbnails.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f23dd97ee99abb01d5e0004befc5d21a40b28374
--- /dev/null
+++ b/applications/gui2/src/modules/thumbnails.cpp
@@ -0,0 +1,76 @@
+#include "thumbnails.hpp"
+#include "../views/thumbnails.hpp"
+
+#include "camera.hpp"
+
+#include <ftl/codecs/channels.hpp>
+
+#include <nanogui/entypo.h>
+
+using ftl::codecs::Channel;
+using ftl::gui2::ThumbnailsController;
+
+void ThumbnailsController::init() {
+ auto button = screen->addButton(ENTYPO_ICON_HOME);
+ button->setTooltip("Home");
+ button->setCallback([this, button](){
+ button->setPushed(false);
+ activate();
+ });
+ button->setVisible(true);
+}
+
+void ThumbnailsController::activate() {
+ show_thumbnails();
+}
+
+ThumbnailsController::~ThumbnailsController() {
+
+}
+
+void ThumbnailsController::removeFrameset(uint32_t id) {
+ {
+ std::unique_lock<std::mutex> lk(mtx_);
+ framesets_.erase(id);
+ }
+ io->feed()->remove(id);
+}
+
+void ThumbnailsController::show_thumbnails() {
+ auto thumb_view = new ftl::gui2::Thumbnails(screen, this);
+
+ auto* filter = io->feed()->filter({Channel::Colour});
+ filter->on(
+ [this, thumb_view](const ftl::data::FrameSetPtr& fs){
+ {
+ std::unique_lock<std::mutex> lk(mtx_);
+ framesets_[fs->frameset()] = fs;
+ }
+ screen->redraw();
+ return true;
+ });
+
+ thumb_view->onClose([filter](){
+ filter->remove();
+ });
+
+ screen->setView(thumb_view);
+}
+
+std::vector<ftl::data::FrameSetPtr> ThumbnailsController::getFrameSets() {
+ std::unique_lock<std::mutex> lk(mtx_);
+ std::vector<ftl::data::FrameSetPtr> framesets;
+ framesets.reserve(framesets_.size());
+
+ for (auto& [k, v] : framesets_) {
+ std::ignore = k;
+ framesets.push_back(v);
+ }
+
+ return framesets;
+}
+
+void ThumbnailsController::show_camera(ftl::data::FrameID id) {
+ auto* camera = screen->getModule<ftl::gui2::Camera>();
+ camera->activate(id);
+}
diff --git a/applications/gui2/src/modules/thumbnails.hpp b/applications/gui2/src/modules/thumbnails.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..c24f4641de814670a2523f05091c8e75a614fa34
--- /dev/null
+++ b/applications/gui2/src/modules/thumbnails.hpp
@@ -0,0 +1,33 @@
+#pragma once
+
+#include "../module.hpp"
+#include "../screen.hpp"
+
+namespace ftl {
+namespace gui2 {
+
+/**
+ * Controller for thumbnail view.
+ */
+class ThumbnailsController : public Module {
+public:
+ using Module::Module;
+ virtual ~ThumbnailsController();
+
+ virtual void init() override;
+ virtual void activate();
+
+ void show_thumbnails();
+ void show_camera(ftl::data::FrameID id);
+
+ std::vector<ftl::data::FrameSetPtr> getFrameSets();
+
+ void removeFrameset(uint32_t id);
+
+private:
+ std::mutex mtx_;
+ std::map<unsigned int, ftl::data::FrameSetPtr> framesets_;
+};
+
+}
+}
diff --git a/applications/gui2/src/screen.cpp b/applications/gui2/src/screen.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..6925df289e3259f6236416a0fc55f942ad167f3a
--- /dev/null
+++ b/applications/gui2/src/screen.cpp
@@ -0,0 +1,217 @@
+#include <nanogui/opengl.h>
+#include <nanogui/glutil.h>
+#include <nanogui/screen.h>
+#include <nanogui/window.h>
+#include <nanogui/layout.h>
+#include <nanogui/imageview.h>
+#include <nanogui/label.h>
+#include <nanogui/toolbutton.h>
+#include <nanogui/popupbutton.h>
+
+#include <Eigen/Eigen>
+
+#include "screen.hpp"
+#include "widgets/window.hpp"
+
+#include <nanogui/messagedialog.h>
+
+#include <loguru.hpp>
+
+using std::min;
+using std::max;
+
+using Eigen::Vector2i;
+
+using ftl::gui2::Screen;
+
+static const int toolbar_w = 50;
+static const Vector2i wsize(1280,720);
+
+Screen::Screen() :
+ nanogui::Screen(wsize, "FT-Lab Remote Presence"),
+ toolbar_(nullptr),
+ active_view_(nullptr), msgerror_(nullptr) {
+
+ using namespace nanogui;
+
+ setSize(wsize);
+
+ toolbar_ = new FixedWindow(this);
+ toolbar_->setPosition({0, 0});
+ toolbar_->setWidth(toolbar_w);
+ toolbar_->setHeight(height());
+ toolbar_->setTheme(getTheme("media"));
+
+ setResizeCallback([this](const Vector2i &s) {
+ toolbar_->setFixedSize({toolbar_->width(), s[1]});
+ toolbar_->setPosition({0, 0});
+ if (active_view_) {
+ active_view_->setSize(viewSize(s));
+ }
+ performLayout();
+ });
+
+ tools_ = new Widget(toolbar_);
+ tools_->setLayout(new BoxLayout( Orientation::Vertical,
+ Alignment::Middle, 0, 10));
+ tools_->setPosition(Vector2i(5,10));
+
+ setVisible(true);
+ performLayout();
+}
+
+Screen::~Screen() {
+ // removes view; onClose() callback can depend on module
+ if (active_view_) {
+ this->removeChild(active_view_);
+ active_view_ = nullptr;
+ }
+
+ for (auto [name, ptr] : modules_) {
+ std::ignore = name;
+ delete ptr;
+ }
+}
+
+
+nanogui::Theme* Screen::getTheme(const std::string &name) {
+ if (themes_.count(name) == 0) {
+ themes_[name] = new nanogui::Theme(*theme());
+ }
+ return themes_[name];
+}
+
+nanogui::Color Screen::getColor(const std::string &name) {
+ if (colors_.count(name) == 0) {
+ return nanogui::Color(0, 0, 0, 0);
+ }
+ return colors_[name];
+}
+
+void Screen::setColor(const std::string &name, const nanogui::Color &c) {
+ colors_[name] = c;
+}
+
+void Screen::redraw() {
+ // glfwPostEmptyEvent() is safe to call from any thread
+ // https://www.glfw.org/docs/3.3/intro_guide.html#thread_safety
+ glfwPostEmptyEvent();
+}
+
+nanogui::Vector2i Screen::viewSize(const nanogui::Vector2i &ws) {
+ return {ws.x(), ws.y()};
+}
+
+nanogui::Vector2i Screen::viewSize() {
+ return viewSize(size());
+}
+
+
+void Screen::showError(const std::string&title, const std::string& msg) {
+ // FIXME: This isn't thread safe?
+ if (msgerror_) { return; }
+ msgerror_ = new nanogui::MessageDialog
+ (screen(), nanogui::MessageDialog::Type::Warning, title, msg);
+ msgerror_->setModal(false);
+ msgerror_->setCallback([this](int){
+ msgerror_ = nullptr;
+ });
+}
+
+void Screen::setView(ftl::gui2::View *view) {
+
+ view->setPosition({0, 0});
+
+ view->setTheme(getTheme("view"));
+ view->setVisible(true);
+
+ if (childIndex(view) == -1) {
+ addChild(view);
+ }
+
+ if (active_view_) {
+ active_view_->setVisible(false);
+
+ // View requires same cleanup as Window (see screen.cpp) before removed.
+ if (std::find(mFocusPath.begin(), mFocusPath.end(), active_view_) != mFocusPath.end()) {
+ mFocusPath.clear();
+ }
+ if (mDragWidget == active_view_) {
+ mDragWidget = nullptr;
+ }
+
+ removeChild(active_view_);
+ }
+
+ // all windows should be in front of new view
+ mChildren.erase(std::remove(mChildren.begin(), mChildren.end(), view), mChildren.end());
+ mChildren.insert(mChildren.begin(), view);
+
+ active_view_ = view;
+ LOG(INFO) << "number of children (Screen): "<< mChildren.size();
+
+ // hide all popups (TODO: only works on toolbar at the moment)
+ for (nanogui::Widget* widget : tools_->children()) {
+ if (auto button = dynamic_cast<nanogui::PopupButton*>(widget)) {
+ button->setPushed(false);
+ }
+ }
+
+ performLayout();
+}
+
+void Screen::render() {
+ if (active_view_) {
+ active_view_->render();
+ }
+}
+
+ftl::gui2::Module* Screen::addModule_(const std::string &name, ftl::gui2::Module* ptr) {
+ ptr->init();
+ if (modules_.find(name) != modules_.end()) {
+ LOG(WARNING) << "Module " << name << " already loaded. Removing old module";
+ delete modules_[name];
+ }
+
+ modules_[name] = ptr;
+ return ptr;
+}
+
+
+bool Screen::keyboardEvent(int key, int scancode, int action, int modifiers) {
+
+ if (nanogui::Screen::keyboardEvent(key, scancode, action, modifiers)) {
+ return true;
+ }
+
+ if (active_view_) {
+ // event not processed in any focused widget
+ return active_view_->keyboardEvent(key, scancode, action, modifiers);
+ }
+
+ return false;
+}
+
+bool Screen::keyboardCharacterEvent(unsigned int codepoint) {
+
+ if (nanogui::Screen::keyboardCharacterEvent(codepoint)) {
+ return true;
+ }
+
+ if (active_view_) {
+ // event not processed in any focused widget
+ return active_view_->keyboardCharacterEvent(codepoint);
+ }
+
+ return false;
+}
+
+void Screen::drawAll() {
+ double now = glfwGetTime();
+ double delta = now - last_draw_time_;
+ for (const auto& [name, mod] : modules_) {
+ mod->update(delta);
+ }
+ last_draw_time_ = now;
+ nanogui::Screen::drawAll();
+}
diff --git a/applications/gui2/src/screen.hpp b/applications/gui2/src/screen.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..a5e47d6a3fab057a8e8633a012f53511f7dc6c25
--- /dev/null
+++ b/applications/gui2/src/screen.hpp
@@ -0,0 +1,165 @@
+#pragma once
+
+#include <nanogui/screen.h>
+#include <nanogui/glutil.h>
+
+#include <nanogui/toolbutton.h>
+
+#include <map>
+#include <memory>
+#include <typeinfo>
+
+#include "view.hpp"
+#include "module.hpp"
+
+namespace ftl {
+namespace gui2 {
+
+/**
+ * FTL GUI main screen. Methods may only be called from main (GUI) threads
+ * unless otherwise documented.
+ */
+class Screen : public nanogui::Screen {
+public:
+ explicit Screen();
+ virtual ~Screen();
+
+ virtual void drawAll() override;
+
+ virtual bool keyboardEvent(int key, int scancode, int action, int modifiers) override;
+ virtual bool keyboardCharacterEvent(unsigned int codepoint) override;
+
+ void render(); // necessary?
+ /** Redraw the screen (triggers an empty event). Thread safe. */
+ void redraw();
+
+ void activate(Module *ptr);
+
+ /** set active view (existing object */
+ void setView(ftl::gui2::View* view);
+ /** set active view (create new object)*/
+ template<typename T, typename ... Args>
+ void setView(Args ... args);
+
+ bool isActiveView(View* ptr) { return active_view_ == ptr; }
+
+ /** Add a module.*/
+ template<typename T, typename ... Args>
+ T* addModule(const std::string &name, ftl::Configurable *config, Args ... args);
+
+ /** Get a pointer to module. Module identified by name, exception thrown if not found */
+ template<typename T>
+ T* getModule(const std::string &name);
+
+ /** Get a pointer to module. Module indentified by dynamic type from template parameter.
+ * Throws an exception if not found. If more than one possible match (same module
+ * loaded multiple times), return value can be any.
+ */
+ template<typename T>
+ T* getModule();
+
+ // prever above template (explicit who manages delete)
+ // template<typename T>
+ // T* addModule(T* ptr) { return addModule_(ptr); }
+
+ // TODO removeModule() as well?
+
+ /** add a button to toolbar */
+ template<typename T=nanogui::ToolButton, typename ... Args>
+ T* addButton(Args ... args);
+
+ /** themes/colors */
+ nanogui::Theme* getTheme(const std::string &name);
+ nanogui::Color getColor(const std::string &name);
+ void setColor(const std::string &name, const nanogui::Color &c);
+
+ // Implement in View or Screen? Add ID (address of creating instance)
+ // to each error to prevent spam?
+ /** Show error message popup */
+ void showError(const std::string& title, const std::string &msg);
+
+ nanogui::Vector2i viewSize(const nanogui::Vector2i &ws);
+ nanogui::Vector2i viewSize();
+
+private:
+ Module* addModule_(const std::string &name, Module* ptr);
+
+ //std::mutex mtx_; // not used: do not modify gui outside gui (main) thread
+ std::map<std::string, ftl::gui2::Module*> modules_;
+ std::map<std::string, nanogui::ref<nanogui::Theme>> themes_;
+ std::map<std::string, nanogui::Color> colors_;
+
+ nanogui::Widget *toolbar_;
+ nanogui::Widget *tools_;
+
+ ftl::gui2::View *active_view_;
+
+ nanogui::MessageDialog* msgerror_;
+ double last_draw_time_=0.0f;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+template<typename T, typename ... Args>
+void Screen::setView(Args ... args) {
+ setView(new T(this, args ...));
+}
+
+template<typename T, typename ... Args>
+T* Screen::addModule(const std::string &name, ftl::Configurable *config, Args ... args) {
+ static_assert(std::is_base_of<Module, T>::value);
+
+ return dynamic_cast<T*>(
+ addModule_(
+ name,
+ ftl::config::create<T>(config, name, args ...)
+ )
+ );
+}
+
+template<typename T>
+T* Screen::getModule(const std::string &name) {
+ static_assert(std::is_base_of<Module, T>::value);
+
+ if (modules_.find(name) == modules_.end()) {
+ throw ftl::exception("module: " + name + " not found");
+ }
+
+ auto* ptr = dynamic_cast<T*>(modules_[name]);
+
+ if (ptr == nullptr) {
+ throw ftl::exception("bad cast, module requested with wrong type");
+ }
+
+ return ptr;
+}
+
+template<typename T>
+T* Screen::getModule() {
+ static_assert(std::is_base_of<Module, T>::value);
+
+ for (auto& [name, ptr] : modules_) {
+ std::ignore = name;
+ if (typeid(*ptr) == typeid(T)) {
+ return dynamic_cast<T*>(ptr);
+ }
+ }
+
+ throw ftl::exception("module not found");
+}
+
+template<typename T, typename ... Args>
+T* Screen::addButton(Args ... args) {
+ static_assert(std::is_base_of<nanogui::Button, T>::value);
+
+ T* button = new T(tools_, args ...);
+ button->setIconExtraScale(1.5f);
+ button->setTheme(themes_["toolbutton"]);
+ button->setFixedSize(nanogui::Vector2i(40, 40));
+ performLayout();
+ return button;
+}
+
+}
+}
diff --git a/applications/gui2/src/view.cpp b/applications/gui2/src/view.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..67297b6b439a7d59bb6617a65ce8914b40a47d1a
--- /dev/null
+++ b/applications/gui2/src/view.cpp
@@ -0,0 +1,10 @@
+#include <nanogui/widget.h>
+
+#include "view.hpp"
+#include "screen.hpp"
+
+using ftl::gui2::View;
+
+View::View(Screen* screen) : nanogui::Widget(screen), screen_(screen) {
+ setSize(screen_->viewSize());
+}
diff --git a/applications/gui2/src/view.hpp b/applications/gui2/src/view.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..90687d8516944aa4749ad5424774300067f04db3
--- /dev/null
+++ b/applications/gui2/src/view.hpp
@@ -0,0 +1,37 @@
+#pragma once
+
+#include <nanogui/widget.h>
+#include "inputoutput.hpp"
+
+namespace ftl {
+namespace gui2 {
+
+class Screen;
+
+class View : public nanogui::Widget {
+public:
+ View(Screen* parent);
+
+ virtual ~View() {
+ if(cb_close_) {
+ cb_close_();
+ }
+ }
+
+ /** onClose callback; view closed (destroyed) */
+ void onClose(const std::function<void()> &cb) { cb_close_ = cb; }
+
+ virtual void render() {}// TODO remove if VR works?
+
+ inline Screen *gui() const { return screen_; }
+
+private:
+ std::function<void()> cb_close_;
+ Screen *screen_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+};
+};
diff --git a/applications/gui2/src/views/addsource.cpp b/applications/gui2/src/views/addsource.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2d0a0209e8db9c82804d62670d9397904dc50f63
--- /dev/null
+++ b/applications/gui2/src/views/addsource.cpp
@@ -0,0 +1,274 @@
+#include "addsource.hpp"
+#include "../modules/addsource.hpp"
+
+#include "../widgets/combobox.hpp"
+
+#include <nanogui/layout.h>
+#include <nanogui/label.h>
+#include <nanogui/button.h>
+#include <nanogui/vscrollpanel.h>
+#include <nanogui/tabwidget.h>
+#include <nanogui/formhelper.h>
+
+#include <loguru.hpp>
+
+
+using ftl::gui2::AddSourceWindow;
+
+AddSourceWindow::AddSourceWindow(nanogui::Widget* parent, AddCtrl *ctrl) :
+ nanogui::Window(parent, ""), ctrl_(ctrl) {
+
+ using namespace nanogui;
+
+ auto t = dynamic_cast<ftl::gui2::Screen*>(screen())->getTheme("window_dark");
+ setTheme(t);
+
+ //setFixedWidth(500);
+ setFixedSize(Vector2i(500,300));
+ setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 20, 10));
+
+ setPosition(Vector2i(parent->width()/2.0f - fixedWidth()/2.0f, parent->height()/2.0f - fixedHeight()/2.0f));
+
+ auto close = new nanogui::Button(buttonPanel(), "", ENTYPO_ICON_CROSS);
+ close->setTheme(dynamic_cast<ftl::gui2::Screen*>(screen())->getTheme("window_dark"));
+ close->setBackgroundColor(theme()->mWindowHeaderGradientBot);
+ close->setCallback([this](){ this->close();});
+
+ auto *title = new Label(this, "Add Source", "sans-bold");
+ title->setFontSize(28);
+
+ tabs_ = new TabWidget(this);
+
+ auto *recent_tab = tabs_->createTab("Recent");
+ recent_tab->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 0, 0));
+ VScrollPanel *vscroll = new VScrollPanel(recent_tab);
+ vscroll->setFixedHeight(200);
+ Widget *recentscroll = new Widget(vscroll);
+ recentscroll->setLayout(new BoxLayout(Orientation::Vertical, Alignment::Fill, 10, 4));
+
+ auto *group_tab = tabs_->createTab("Groups");
+ group_tab->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 0, 0));
+ vscroll = new VScrollPanel(group_tab);
+ vscroll->setFixedHeight(200);
+ Widget *groupscroll = new Widget(vscroll);
+ groupscroll->setLayout(new BoxLayout(Orientation::Vertical, Alignment::Fill, 10, 4));
+
+ auto *dev_tab = tabs_->createTab("Devices");
+ dev_tab->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 0, 0));
+ vscroll = new VScrollPanel(dev_tab);
+ vscroll->setFixedHeight(200);
+ Widget *devscroll = new Widget(vscroll);
+ devscroll->setLayout(new BoxLayout(Orientation::Vertical, Alignment::Fill, 10, 4));
+
+ auto *host_tab = tabs_->createTab("Hosts");
+ host_tab->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 0, 0));
+ vscroll = new VScrollPanel(host_tab);
+ vscroll->setFixedHeight(200);
+ Widget *hostscroll = new Widget(vscroll);
+ hostscroll->setLayout(new BoxLayout(Orientation::Vertical, Alignment::Fill, 10, 4));
+
+ auto *stream_tab = tabs_->createTab("Streams");
+ stream_tab->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 0, 0));
+ vscroll = new VScrollPanel(stream_tab);
+ vscroll->setFixedHeight(200);
+ Widget *streamscroll = new Widget(vscroll);
+ streamscroll->setLayout(new BoxLayout(Orientation::Vertical, Alignment::Fill, 10, 4));
+
+ auto *file_tab = tabs_->createTab("Files");
+ file_tab->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 0, 0));
+ vscroll = new VScrollPanel(file_tab);
+ vscroll->setFixedHeight(200);
+ Widget *filescroll = new Widget(vscroll);
+ filescroll->setLayout(new BoxLayout(Orientation::Vertical, Alignment::Fill, 10, 4));
+
+ tab_items_.resize(6);
+ tab_items_[0] = recentscroll;
+ tab_items_[1] = groupscroll;
+ tab_items_[2] = devscroll;
+ tab_items_[3] = hostscroll;
+ tab_items_[4] = streamscroll;
+ tab_items_[5] = filescroll;
+
+ uptodate_.test_and_set();
+ rebuild();
+ tabs_->setActiveTab(0);
+
+ new_source_handle_ = ctrl_->feed()->onNewSources([this](const std::vector<std::string> &srcs) {
+ UNIQUE_LOCK(mutex_, lk);
+ uptodate_.clear();
+ return true;
+ });
+}
+
+AddSourceWindow::~AddSourceWindow() {
+
+}
+
+nanogui::Button *AddSourceWindow::_addButton(const std::string &s, nanogui::Widget *parent, bool hide) {
+ using namespace nanogui;
+
+ ftl::URI uri(s);
+ int icon = 0;
+ switch (uri.getScheme()) {
+ case ftl::URI::SCHEME_DEVICE : icon = ENTYPO_ICON_CAMERA; break;
+ case ftl::URI::SCHEME_FILE : icon = ENTYPO_ICON_FOLDER_VIDEO; break;
+ case ftl::URI::SCHEME_FTL : icon = ENTYPO_ICON_CLOUD; break;
+ case ftl::URI::SCHEME_WS :
+ case ftl::URI::SCHEME_TCP : icon = ENTYPO_ICON_CLASSIC_COMPUTER; break;
+ case ftl::URI::SCHEME_GROUP : icon = ENTYPO_ICON_MERGE; break;
+ default: break;
+ }
+
+ auto *button = new Button(parent, ctrl_->getSourceName(s), icon);
+ if (ctrl_->isSourceActive(s)) {
+ button->setBackgroundColor(Color(0, 255, 0, 25));
+ }
+
+ button->setIconPosition(Button::IconPosition::Left);
+ button->setIconExtraScale(1.2);
+ button->setFontSize(18);
+ button->setTooltip(s);
+
+ button->setCallback([this, uri = s, hide]() {
+ //if (hide) close();
+ ctrl_->add(uri);
+ });
+
+ return button;
+}
+
+void AddSourceWindow::rebuild() {
+ using namespace nanogui;
+
+ for (auto *w : tab_items_) {
+ while (w->childCount() > 0) w->removeChild(w->childCount()-1);
+ }
+
+ Button *button;
+
+ auto srcs = ctrl_->getRecent();
+ for (auto &s : srcs) {
+ _addButton(s.uri, tab_items_[0]);
+ }
+
+ auto groups = ctrl_->getGroups();
+ for (auto &s : groups) {
+ _addButton(s, tab_items_[1]);
+ }
+
+ auto devsrcs = ctrl_->getDeviceSources();
+ for (auto &s : devsrcs) {
+ _addButton(s, tab_items_[2]);
+ }
+
+ auto *host_menu = new Widget(tab_items_[3]);
+ host_menu->setLayout(new BoxLayout(nanogui::Orientation::Horizontal, nanogui::Alignment::Maximum, 5,4));
+
+ button = new Button(host_menu, "Add", ENTYPO_ICON_PLUS);
+ button->setFontSize(18);
+ button->setTooltip("Connect to a new machine");
+ button->setCallback([this]() {
+ FormHelper *fh = new FormHelper(screen());
+ auto *win = fh->addWindow(Vector2i(10,10), "Add Host");
+ win->center();
+ win->setTheme(dynamic_cast<ftl::gui2::Screen*>(win->screen())->getTheme("window_dark"));
+ //win->setWidth(200);
+ fh->addVariable<std::string>("URI", [this,win](const std::string &v) {
+ try {
+ ctrl_->add(v);
+ } catch (const ftl::exception &e) {
+ LOG(ERROR) << "Add failed: " << e.what();
+ }
+ win->dispose();
+ }, [this]() {
+ return "";
+ })->setFixedWidth(150);
+ win->screen()->performLayout();
+ delete fh;
+ });
+
+ button = new Button(host_menu, "Clear", ENTYPO_ICON_CYCLE);
+ button->setFontSize(18);
+ button->setTooltip("Clear host history");
+ button->setCallback([this]() {
+ ctrl_->feed()->clearHostHistory();
+ uptodate_.clear();
+ });
+
+ auto hostsrcs = ctrl_->getHosts();
+ for (auto &s : hostsrcs) {
+ _addButton(s, tab_items_[3], false);
+ }
+
+ auto streamsrcs = ctrl_->getNetSources();
+ for (auto &s : streamsrcs) {
+ _addButton(s, tab_items_[4]);
+ }
+
+ auto *file_menu = new Widget(tab_items_[5]);
+ file_menu->setLayout(new BoxLayout(nanogui::Orientation::Horizontal, nanogui::Alignment::Maximum, 5,4));
+
+ button = new Button(file_menu, "Open", ENTYPO_ICON_PLUS);
+ button->setFontSize(18);
+ button->setTooltip("Open FTL File");
+ button->setCallback([this]() {
+ try {
+ std::string filename = file_dialog({ {"ftl", "FTL Captures"} }, false);
+ if (filename.size() > 0 && filename[0] == '/') {
+ filename = std::string("file://") + filename;
+ } else {
+ filename = std::string("file:///") + filename;
+ }
+#ifdef WIN32
+ auto p = filename.find_first_of('\\');
+ while (p != std::string::npos) {
+ filename[p] = '/';
+ p = filename.find_first_of('\\');
+ }
+#endif
+ ctrl_->add(filename);
+ } catch (const std::exception &e) {
+ LOG(ERROR) << "File load exception: " << e.what();
+ }
+ close();
+ });
+
+ button = new Button(file_menu, "Clear", ENTYPO_ICON_CYCLE);
+ button->setFontSize(18);
+ button->setTooltip("Clear file history");
+ button->setCallback([this]() {
+ ctrl_->feed()->clearFileHistory();
+ uptodate_.clear();
+ });
+
+ auto filesrcs = ctrl_->getFileSources();
+ for (auto &s : filesrcs) {
+ _addButton(s, tab_items_[5]);
+ }
+}
+
+void AddSourceWindow::close() {
+ setVisible(false);
+ //dispose();
+ ctrl_->disposeWindow();
+}
+
+void AddSourceWindow::draw(NVGcontext *ctx) {
+ {
+ UNIQUE_LOCK(mutex_, lk);
+ if (!uptodate_.test_and_set()) {
+ tabs_->requestFocus(); // Must ensure focus item not deleted
+ rebuild();
+ screen()->performLayout();
+ }
+ }
+
+ nanogui::Window::draw(ctx);
+}
diff --git a/applications/gui2/src/views/addsource.hpp b/applications/gui2/src/views/addsource.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..34e8353fe496454e8146787f00149e390b002cc2
--- /dev/null
+++ b/applications/gui2/src/views/addsource.hpp
@@ -0,0 +1,41 @@
+#pragma once
+
+#include <nanogui/window.h>
+#include <ftl/handle.hpp>
+#include <ftl/threads.hpp>
+
+
+namespace ftl {
+namespace gui2 {
+
+class AddCtrl;
+
+/**
+ * Add source dialog
+ */
+class AddSourceWindow : public nanogui::Window {
+ public:
+ AddSourceWindow(nanogui::Widget *parent, AddCtrl *ctrl);
+ virtual ~AddSourceWindow();
+
+ virtual void draw(NVGcontext *ctx);
+
+private:
+ AddCtrl *ctrl_;
+ void close();
+ void rebuild();
+
+ nanogui::Button *_addButton(const std::string &s, nanogui::Widget *parent, bool hide=true);
+
+ ftl::Handle new_source_handle_;
+ MUTEX mutex_;
+ std::atomic_flag uptodate_;
+ std::vector<nanogui::Widget*> tab_items_;
+ nanogui::TabWidget *tabs_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+}
+}
diff --git a/applications/gui2/src/views/calibration/extrinsicview.cpp b/applications/gui2/src/views/calibration/extrinsicview.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2fe214712e4ba993dc071276130696a052a2ee8b
--- /dev/null
+++ b/applications/gui2/src/views/calibration/extrinsicview.cpp
@@ -0,0 +1,843 @@
+#include "extrinsicview.hpp"
+#include "visualization.hpp"
+#include "widgets.hpp"
+
+#include "../../screen.hpp"
+#include "../../widgets/window.hpp"
+
+#include <nanogui/common.h>
+#include <nanogui/window.h>
+#include <nanogui/layout.h>
+#include <nanogui/button.h>
+#include <nanogui/checkbox.h>
+#include <nanogui/label.h>
+#include <nanogui/formhelper.h>
+#include <nanogui/tabwidget.h>
+
+using ftl::gui2::ExtrinsicCalibrationStart;
+using ftl::gui2::ExtrinsicCalibrationView;
+
+using ftl::gui2::FixedWindow;
+
+using ftl::data::FrameID;
+using ftl::codecs::Channel;
+
+ExtrinsicCalibrationStart::ExtrinsicCalibrationStart(Screen* widget, ExtrinsicCalibration* ctrl) :
+ ftl::gui2::View(widget), ctrl_(ctrl), fsid_(-1), sources_(0), show_all_(false) {
+
+ show_all_ = false;
+ window_ = new nanogui::Window(screen(), std::string("Extrinsic Calibration"));
+ window_->setLayout(new nanogui::BoxLayout(nanogui::Orientation::Vertical,
+ nanogui::Alignment::Fill, 6, 12));
+
+ auto* button_refresh = new nanogui::Button(window_->buttonPanel(), "", ENTYPO_ICON_CCW);
+ button_refresh->setCallback([this](){
+ update();
+ updateSources();
+ screen()->performLayout();
+ });
+
+ lsframesets_ = new nanogui::Widget(window_);
+ lsframesets_->setLayout(new nanogui::BoxLayout(nanogui::Orientation::Vertical,
+ nanogui::Alignment::Fill, 0, 8));
+
+ lselect_ = new nanogui::Label(window_, "Select Cameras");
+ lselect_->setVisible(false);
+
+ lssources_ = new nanogui::Widget(window_);
+ lssources_->setLayout(new nanogui::BoxLayout(nanogui::Orientation::Vertical,
+ nanogui::Alignment::Fill, 0, 8));
+
+ cball_ = new nanogui::CheckBox(window_, "Show all sources",
+ [this](bool v){
+ show_all_ = v;
+ updateSources();
+ screen()->performLayout();
+ });
+ cball_->setChecked(show_all_);
+ cball_->setVisible(false);
+
+ bcontinue_ = new nanogui::Button(window_, "Continue");
+ bcontinue_->setEnabled(false);
+ bcontinue_->setVisible(false);
+ bcontinue_->setCallback([this](){
+ ctrl_->start(fsid_, getSources());
+ });
+
+ window_->setFixedWidth(400);
+ window_->setVisible(true);
+
+ update();
+}
+
+ExtrinsicCalibrationStart::~ExtrinsicCalibrationStart() {
+ window_->setVisible(false);
+ if (parent()->getRefCount() > 0) {
+ window_->dispose();
+ }
+}
+
+void ExtrinsicCalibrationStart::draw(NVGcontext* ctx) {
+ window_->center();
+ bcontinue_->setEnabled((lssources_->childCount() != 0));
+ ftl::gui2::View::draw(ctx);
+}
+
+void ExtrinsicCalibrationStart::resetSources() {
+ sources_ = ~uint64_t(0);
+}
+
+bool ExtrinsicCalibrationStart::sourceSelected(unsigned int idx) {
+ return (sources_ & (uint64_t(1) << idx));
+}
+
+
+void ExtrinsicCalibrationStart::addSource(unsigned int idx) {
+ sources_ |= (uint64_t(1) << idx);
+}
+
+void ExtrinsicCalibrationStart::removeSource(unsigned int idx) {
+ sources_ &= ~(uint64_t(1) << idx);
+}
+
+std::vector<FrameID> ExtrinsicCalibrationStart::getSources() {
+ std::vector<FrameID> sources;
+ unsigned int nmax = ctrl_->listSources(fsid_, show_all_).size();
+ CHECK(nmax < 64);
+
+ for (unsigned int i = 0; i < nmax; i++) {
+ if (sourceSelected(i)) {
+ sources.push_back(FrameID(fsid_, i));
+ }
+ }
+ return sources;
+}
+
+void ExtrinsicCalibrationStart::updateSources() {
+ while (lssources_->childCount() > 0) {
+ lssources_->removeChild(lssources_->childCount() - 1);
+ }
+ if (fsid_ == (unsigned int)(-1)) {
+ return;
+ }
+ for (const auto& [name, id] : ctrl_->listSources(fsid_, show_all_)) {
+ auto* button = new nanogui::Button(lssources_, name);
+ button->setFlags(nanogui::Button::Flags::ToggleButton);
+ button->setChangeCallback([this, button, id = id.source()](bool value){
+ if (value) { addSource(id); }
+ else { removeSource(id); }
+ });
+ if (sourceSelected(id.source())) {
+ button->setPushed(true);
+ }
+ }
+}
+
+void ExtrinsicCalibrationStart::update() {
+ while (lsframesets_->childCount() > 0) {
+ lsframesets_->removeChild(lsframesets_->childCount() - 1);
+ }
+
+ for (const auto& [uri, fsid] : ctrl_->listFrameSets()) {
+ auto* button = new nanogui::Button(lsframesets_, uri, ENTYPO_ICON_IMAGES);
+ button->setFlags(nanogui::Button::Flags::RadioButton);
+ if (fsid == fsid_) { button->setPushed(true); }
+ button->setCallback([button, fsid, this](){
+ fsid_ = fsid;
+ lselect_->setVisible(true);
+ cball_->setVisible(true);
+ bcontinue_->setVisible(true);
+ resetSources();
+ updateSources();
+ screen()->performLayout();
+ });
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
+class ExtrinsicCalibrationView::ControlWindow : public FixedWindow {
+public:
+ ControlWindow(nanogui::Widget* parent, ExtrinsicCalibrationView* view);
+ virtual void draw(NVGcontext* ctx) override;
+
+private:
+ ExtrinsicCalibrationView* view_;
+ ExtrinsicCalibration* ctrl_;
+
+
+ nanogui::Button* bsave_;
+ nanogui::Button* bupload_;
+ nanogui::Button* bapply_;
+ nanogui::Button* bfreeze_;
+ nanogui::Button* bcalibrate_;
+ nanogui::Button* bpause_;
+ nanogui::Button* bresults_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+ExtrinsicCalibrationView::ControlWindow::ControlWindow(nanogui::Widget* parent, ExtrinsicCalibrationView* view) :
+ FixedWindow(parent, ""), view_(view), ctrl_(view->ctrl_) {
+
+ setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 6, 6));
+
+ auto* buttons = new nanogui::Widget(this);
+ buttons->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Horizontal, nanogui::Alignment::Middle, 0, 0));
+
+ bsave_ = new nanogui::Button(buttons, "", ENTYPO_ICON_SAVE);
+ bsave_->setTooltip("Save input to file (Debug)");
+ bsave_->setCallback([this](){
+ std::string fname = nanogui::file_dialog({{"bin", "Binary file"}}, true);
+ ctrl_->saveInput(fname);
+ });
+
+ bsave_ = new nanogui::Button(buttons, "", ENTYPO_ICON_FOLDER);
+ bsave_->setTooltip("Load input from file (Debug)");
+ bsave_->setCallback([this](){
+ std::string fname = nanogui::file_dialog({{"bin", "Binary file"}}, true);
+ ctrl_->loadInput(fname);
+ });
+
+ bupload_ = new nanogui::Button(buttons, "", ENTYPO_ICON_UPLOAD);
+ bupload_->setTooltip("Save input to sources");
+ bupload_->setCallback([this](){
+ ctrl_->updateCalibration();
+ bupload_->setTextColor(nanogui::Color(32, 192, 32, 255));
+ });
+
+ bapply_ = new nanogui::Button(buttons, "");
+ bapply_->setFixedWidth(40);
+ bapply_->setTooltip("Rectify stereo images");
+ bapply_->setFlags(nanogui::Button::Flags::ToggleButton);
+ bapply_->setPushed(view_->rectify());
+ bapply_->setChangeCallback([button = bapply_, view = view_](bool v){
+ view->setMode(Mode::VIDEO); // stop capture
+ view->setRectify(v);
+ });
+
+ bfreeze_ = new nanogui::Button(buttons, "", ENTYPO_ICON_CONTROLLER_PLAY);
+ bfreeze_->setFixedWidth(40);
+ bfreeze_->setTooltip("Freeze view");
+ bfreeze_->setCallback([button=bapply_, view=view_, ctrl=ctrl_](){
+ ctrl->setCapture(view->paused());
+ view->pause(!view->paused());
+ });
+
+ bresults_ = new nanogui::Button(buttons, "Show Calibration");
+ //bresults_->setEnabled(ctrl_->calib().calibrated());
+ bresults_->setCallback([view = view_, button = bresults_]{
+ view->setMode(Mode::RESULTS);
+ });
+
+ bpause_ = new nanogui::Button(buttons, "");
+ bpause_->setFixedWidth(140);
+ bpause_->setCallback([&ctrl = ctrl_, button = bpause_](){
+ ctrl->setCapture(!ctrl->capturing());
+ });
+
+ bcalibrate_ = new nanogui::Button(buttons, "Calibrate");
+ bcalibrate_->setFixedWidth(140);
+ bcalibrate_->setCallback([view = view_, button = bcalibrate_](){
+ view->setMode(Mode::CALIBRATION);
+ });
+}
+
+void ExtrinsicCalibrationView::ControlWindow::draw(NVGcontext* ctx) {
+ if (ctrl_->capturing()) {
+ bpause_->setCaption("Pause");
+ view_->setRectify(false);
+ }
+ else {
+ bpause_->setCaption("Continue");
+ }
+ bapply_->setIcon(view_->rectify() ? ENTYPO_ICON_EYE : ENTYPO_ICON_EYE_WITH_LINE);
+ bapply_->setPushed(view_->rectify());
+ bfreeze_->setIcon(view_->paused() ? ENTYPO_ICON_CONTROLLER_PLAY : ENTYPO_ICON_CONTROLLER_PAUS);
+ //bcalibrate_->setEnabled(ctrl_->calib().nFrames() > 0);
+ //bresults_->setEnabled(ctrl_->calib().calibrated());
+ FixedWindow::draw(ctx);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
+class ExtrinsicCalibrationView::CalibrationWindow : public FixedWindow {
+public:
+ CalibrationWindow(nanogui::Widget* parent, ExtrinsicCalibrationView* view);
+ virtual void draw(NVGcontext* ctx) override;
+
+private:
+ void build();
+
+ ExtrinsicCalibrationView* view_;
+ ExtrinsicCalibration* ctrl_;
+ nanogui::Widget* cameras_;
+
+ nanogui::Label* status_;
+ nanogui::Button* brun_;
+ bool running_; // run button clicked
+ int flags_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+ExtrinsicCalibrationView::CalibrationWindow::CalibrationWindow(nanogui::Widget* parent, ExtrinsicCalibrationView* view) :
+ FixedWindow(parent, "Settings"), view_(view), ctrl_(view->ctrl_) {
+
+ running_ = false;
+
+ (new nanogui::Button(buttonPanel(), "", ENTYPO_ICON_CROSS))->setCallback(
+ [view = view_]() {
+ view->setMode(Mode::VIDEO);
+ });
+
+ setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 10 , 10));
+
+ build();
+}
+
+void ExtrinsicCalibrationView::CalibrationWindow::build() {
+
+ flags_ = ctrl_->flags();
+
+ auto* wfreeze = new nanogui::Widget(this);
+ wfreeze->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 0 , 5));
+
+ auto* floss = new nanogui::CheckBox(wfreeze, "Cauchy loss");
+ floss->setChecked(flags_ & ExtrinsicCalibration::Flags::LOSS_CAUCHY);
+ floss->setCallback([&flags = flags_](bool v) {
+ if (v) { flags |= ExtrinsicCalibration::Flags::LOSS_CAUCHY; }
+ else { flags &= ~ExtrinsicCalibration::Flags::LOSS_CAUCHY; }
+ });
+
+ auto* nstep = new nanogui::CheckBox(wfreeze, "Non-monotonic step");
+ nstep->setChecked(flags_ & ExtrinsicCalibration::Flags::NONMONOTONIC_STEP);
+ nstep->setCallback([&flags = flags_](bool v) {
+ if (v) { flags |= ExtrinsicCalibration::Flags::NONMONOTONIC_STEP; }
+ else { flags &= ~ExtrinsicCalibration::Flags::NONMONOTONIC_STEP; }
+ });
+
+ auto* fall = new nanogui::CheckBox(wfreeze, "Freeze all intrinsic paramters");
+ fall->setChecked(flags_ & ExtrinsicCalibration::Flags::FIX_INTRINSIC);
+ fall->setCallback([&flags = flags_, wfreeze](bool v) {
+ for (int i = 3; i < wfreeze->childCount(); i++) {
+ wfreeze->childAt(i)->setEnabled(!v);
+ }
+ if (v) { flags |= ExtrinsicCalibration::Flags::FIX_INTRINSIC; }
+ else { flags &= ~ExtrinsicCalibration::Flags::FIX_INTRINSIC; }
+ });
+
+ auto* ff = new nanogui::CheckBox(wfreeze, "Fix focal length");
+ ff->setChecked(flags_ & ExtrinsicCalibration::Flags::FIX_FOCAL);
+ ff->setCallback([&flags = flags_](bool v) {
+ if (v) { flags |= ExtrinsicCalibration::Flags::FIX_FOCAL; }
+ else { flags &= ~ExtrinsicCalibration::Flags::FIX_FOCAL; }
+ });
+
+ auto* fpp = new nanogui::CheckBox(wfreeze, "Fix principal point");
+ fpp->setChecked(flags_ & ExtrinsicCalibration::Flags::FIX_PRINCIPAL_POINT);
+ fpp->setCallback([&flags = flags_](bool v) {
+ if (v) { flags |= ExtrinsicCalibration::Flags::FIX_PRINCIPAL_POINT; }
+ else { flags &= ~ExtrinsicCalibration::Flags::FIX_PRINCIPAL_POINT; }
+ });
+
+ auto* fdist = new nanogui::CheckBox(wfreeze, "Fix distortion coefficients");
+ fdist->setChecked(flags_ & ExtrinsicCalibration::Flags::FIX_DISTORTION);
+ fdist->setCallback([&flags = flags_](bool v) {
+ if (v) { flags |= ExtrinsicCalibration::Flags::FIX_DISTORTION; }
+ else { flags &= ~ExtrinsicCalibration::Flags::FIX_DISTORTION; }
+ });
+
+ auto* zdist = new nanogui::CheckBox(wfreeze, "Assume zero distortion");
+ zdist->setChecked(flags_ & ExtrinsicCalibration::Flags::ZERO_DISTORTION);
+ zdist->setCallback([&flags = flags_](bool v) {
+ if (v) { flags |= ExtrinsicCalibration::Flags::ZERO_DISTORTION; }
+ else { flags &= ~ExtrinsicCalibration::Flags::ZERO_DISTORTION; }
+ });
+
+ auto* rdist = new nanogui::CheckBox(wfreeze, "Rational distortion model");
+ rdist->setChecked(flags_ & ExtrinsicCalibration::Flags::RATIONAL_MODEL);
+ rdist->setCallback([&flags = flags_](bool v) {
+ if (v) { flags |= ExtrinsicCalibration::Flags::RATIONAL_MODEL; }
+ else { flags &= ~ExtrinsicCalibration::Flags::RATIONAL_MODEL; }
+ });
+
+ ////////////////////////////////////////////////////////////////////////////
+
+ new nanogui::Label(wfreeze, "Use available (calibrated) extrinsics for cameras: ");
+ auto* use_extrinsics = new nanogui::Widget(wfreeze);
+ use_extrinsics->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Horizontal, nanogui::Alignment::Minimum));
+ for (int n = 0; n < ctrl_->cameraCount(); n++) {
+ auto* b = new nanogui::Button(use_extrinsics, std::to_string(n));
+ b->setFlags(nanogui::Button::Flags::ToggleButton);
+ b->setPushed(ctrl_->calib().useExtrinsic(n));
+ b->setEnabled(ctrl_->calib().calibration(n).extrinsic.valid());
+ b->setChangeCallback([this, n](bool v) {
+ ctrl_->calib().setUseExtrinsic(n, v);
+ });
+ }
+ {
+ auto* b = new nanogui::Button(use_extrinsics, "All");
+ b->setCallback([this, use_extrinsics](){
+ for (int i = 0; i < use_extrinsics->childCount() - 2; i ++) {
+ auto* b = dynamic_cast<nanogui::Button*>(use_extrinsics->childAt(i));
+ b->setPushed(true);
+ b->changeCallback()(true);
+ }
+ });
+ }
+ {
+ auto* b = new nanogui::Button(use_extrinsics, "None");
+ b->setCallback([this, use_extrinsics](){
+ for (int i = 0; i < use_extrinsics->childCount() - 2; i ++) {
+ auto* b = dynamic_cast<nanogui::Button*>(use_extrinsics->childAt(i));
+ b->setPushed(false);
+ b->changeCallback()(false);
+ }
+ });
+ }
+
+ ////////////////////////////////////////////////////////////////////////////
+ // TODO: selecting camera should also enable use existing above for same c
+
+ new nanogui::Label(wfreeze, "Fix extrinsics for cameras: ");
+ auto* fix_extrinsics = new nanogui::Widget(wfreeze);
+ fix_extrinsics->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Horizontal, nanogui::Alignment::Minimum));
+ for (int n = 0; n < ctrl_->cameraCount(); n++) {
+ auto* b = new nanogui::Button(fix_extrinsics, std::to_string(n));
+ b->setFlags(nanogui::Button::Flags::ToggleButton);
+ b->setEnabled(ctrl_->calib().useExtrinsic(n));
+ b->setPushed(ctrl_->calib().options().fix_camera_extrinsic.count(n));
+ b->setChangeCallback([this, n](bool v){
+ if (v) {
+ ctrl_->calib().options().fix_camera_extrinsic.insert(n);
+ }
+ else {
+ ctrl_->calib().options().fix_camera_extrinsic.erase(n);
+ }
+ });
+ }
+ {
+ auto* b = new nanogui::Button(fix_extrinsics, "All");
+ b->setCallback([this, fix_extrinsics](){
+ for (int i = 0; i < fix_extrinsics->childCount() - 2; i ++) {
+ auto* b = dynamic_cast<nanogui::Button*>(fix_extrinsics->childAt(i));
+ b->setPushed(true);
+ b->changeCallback()(true);
+ }
+ });
+ }
+ {
+ auto* b = new nanogui::Button(fix_extrinsics, "None");
+ b->setCallback([this, fix_extrinsics](){
+ for (int i = 0; i < fix_extrinsics->childCount() - 2; i ++) {
+ auto* b = dynamic_cast<nanogui::Button*>(fix_extrinsics->childAt(i));
+ b->setPushed(false);
+ b->changeCallback()(false);
+ }
+ });
+ }
+
+ /* Needs thinking: visualize visibility graph? Use earlier alignment (if
+ * some of the cameras already calibrated), do elsewhere?
+ */
+
+ status_ = new nanogui::Label(this, "Ready");
+ brun_ = new nanogui::Button(this, "Run");
+ brun_->setCallback([this](){
+ ctrl_->setFlags(flags_);
+ ctrl_->run();
+ running_ = true;
+ });
+}
+
+void ExtrinsicCalibrationView::CalibrationWindow::draw(NVGcontext* ctx) {
+ brun_->setEnabled(!ctrl_->isBusy());
+ if (ctrl_->isBusy()) {
+ if (running_) {
+ auto dots = std::string(int(round(glfwGetTime())) % 4, '.');
+ status_->setCaption(ctrl_->status() + dots);
+ }
+ else {
+ status_->setCaption("Busy");
+ }
+ }
+ else {
+ status_->setCaption("Ready");
+ }
+ if (running_ && !ctrl_->isBusy()) {
+ running_ = false;
+ view_->setMode(Mode::RESULTS);
+ }
+ FixedWindow::draw(ctx);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
+class ExtrinsicCalibrationView::ResultsWindow : public FixedWindow {
+public:
+ ResultsWindow(nanogui::Widget* parent, ExtrinsicCalibrationView* view);
+ virtual void draw(NVGcontext* ctx) override;
+ virtual void performLayout(NVGcontext* ctx);
+ //virtual nanogui::Vector2i preferredSize(NVGcontext* ctx) const override;
+
+ void update();
+
+private:
+ ExtrinsicCalibrationView* view_;
+ ExtrinsicCalibration* ctrl_;
+
+ std::vector<ftl::calibration::CalibrationData::Calibration> calib_;
+ std::vector<std::string> names_;
+
+ nanogui::TabWidget* tabs_ = nullptr;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+ExtrinsicCalibrationView::ResultsWindow::ResultsWindow(nanogui::Widget* parent, ExtrinsicCalibrationView* view) :
+ FixedWindow(parent, "Results"), view_(view), ctrl_(view->ctrl_) {
+
+ setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Maximum));
+
+ (new nanogui::Button(buttonPanel(), "", ENTYPO_ICON_CROSS))->setCallback(
+ [view = view_]() {
+ view->setMode(Mode::VIDEO);
+ });
+
+ tabs_ = new nanogui::TabWidget(this);
+ tabs_->createTab("Extrinsic");
+}
+
+/*nanogui::Vector2i ExtrinsicCalibrationView::ResultsWindow::preferredSize(NVGcontext* ctx) const {
+ return {600, 400};
+}*/
+
+void ExtrinsicCalibrationView::ResultsWindow::ResultsWindow::performLayout(NVGcontext* ctx) {
+ setFixedSize({600, 400});
+ tabs_->setFixedWidth(width());
+ FixedWindow::performLayout(ctx);
+}
+
+void ExtrinsicCalibrationView::ResultsWindow::ResultsWindow::update() {
+ calib_.resize(ctrl_->cameraCount());
+ while (tabs_->tabCount() > 1) {
+ // bug in nanogui: incorrect assert in removeTab(int).
+ // workaround: use tabLabelAt()
+ tabs_->removeTab(tabs_->tabLabelAt(tabs_->tabCount() - 1));
+ }
+
+ for (int i = 0; i < ctrl_->cameraCount(); i++) {
+ calib_[i] = ctrl_->calibration(i);
+ // nanogui issue: too many tabs/long names header goes outside of widget
+ // use just idx for now
+ auto* tab = tabs_->createTab(std::to_string(i));
+ new nanogui::Label(tab, ctrl_->cameraName(i), "sans-bold", 18);
+ tab->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Middle, 0, 8));
+
+ auto* display = new IntrinsicDetails(tab);
+ display->update(calib_[i].intrinsic);
+ }
+}
+
+void ExtrinsicCalibrationView::ResultsWindow::draw(NVGcontext* ctx) {
+ FixedWindow::draw(ctx);
+ if (tabs_->activeTab() == 0) { // create a widget and move there
+ drawFloorPlan(ctx, tabs_->tab(0), calib_);
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
+static void drawText(NVGcontext* ctx, const nanogui::Vector2f &pos, const std::string& text,
+ float size=12.0f, int align=NVG_ALIGN_MIDDLE|NVG_ALIGN_CENTER) {
+ nvgFontSize(ctx, size);
+ nvgFontFace(ctx, "sans-bold");
+ nvgTextAlign(ctx, align);
+ nvgFillColor(ctx, nanogui::Color(8, 8, 8, 255)); // shadow
+ nvgText(ctx, pos.x(), pos.y(), text.c_str(), nullptr);
+ nvgFillColor(ctx, nanogui::Color(244, 244, 244, 255));
+ nvgText(ctx, pos.x() + 1, pos.y() + 1, text.c_str(), nullptr);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
+class StereoCalibrationImageView : public ftl::gui2::StereoImageView {
+public:
+ using ftl::gui2::StereoImageView::StereoImageView;
+
+ virtual bool keyboardCharacterEvent(unsigned int codepoint) override;
+ virtual bool mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers) override;
+ virtual void draw(NVGcontext* ctx) override;
+
+ void reset();
+
+private:
+ std::set<int> rows_;
+ std::map<int, nanogui::Color> colors_;
+
+ int n_colors_ = 8;
+ float alpha_threshold_ = 2.0f;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
+};
+
+void StereoCalibrationImageView::reset() {
+ rows_.clear();
+}
+
+bool StereoCalibrationImageView::keyboardCharacterEvent(unsigned int codepoint) {
+ if (codepoint == 'r') {
+ reset();
+ return true;
+ }
+ return StereoImageView::keyboardCharacterEvent(codepoint);
+}
+
+bool StereoCalibrationImageView::mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers) {
+ nanogui::Widget::mouseButtonEvent(p, button, down, modifiers);
+ if (button == GLFW_MOUSE_BUTTON_1 && !down) {
+ // half a pixel offset to match "square pixel" visualization
+ nanogui::Vector2f offset{left()->scale()/2.0f, left()->scale()/2.0f};
+ float row = round(imageCoordinateAt(p.cast<float>() + offset).y());
+
+ if (rows_.count(row)) { rows_.erase(row); }
+ else { rows_.insert(row); }
+ }
+ return true;
+}
+
+void StereoCalibrationImageView::draw(NVGcontext* ctx) {
+ StereoImageView::draw(ctx);
+ // assumes vertical alignment (horizontal not implemented)
+ CHECK(orientation() == nanogui::Orientation::Vertical);
+
+ int x = position().x();
+ int y = position().y();
+ int w = width();
+ int h = left()->height();
+ float swidth = std::max(1.0f, left()->scale());
+ int c = 0; // color
+
+ for (int row : rows_) {
+ int y_im = y;
+ nanogui::Vector2f l = left()->positionForCoordinate({0.0f, row}) + left()->position().cast<float>();
+ nanogui::Vector2f r = right()->positionForCoordinate({0.0f, row}) + right()->position().cast<float>();
+ auto color = nvgHSLA(float(c%n_colors_)/float(n_colors_), 0.9, 0.5, (swidth < alpha_threshold_) ? 255 : 96);
+
+ for (auto& p : {l, r}) {
+ nvgScissor(ctx, x, y_im, w, h);
+ nvgBeginPath(ctx);
+ nvgMoveTo(ctx, x, p.y() - swidth*0.5f);
+ nvgLineTo(ctx, x + w, p.y() - swidth*0.5f);
+ nvgStrokeColor(ctx, color);
+ nvgStrokeWidth(ctx, swidth);
+ nvgStroke(ctx);
+
+ /*if (swidth*0.5f > alpha_threshold_) {
+ nvgBeginPath(ctx);
+ nvgMoveTo(ctx, x, p.y() - swidth*0.5f);
+ nvgLineTo(ctx, x + w, p.y() - swidth*0.5f);
+ nvgStrokeColor(ctx, nvgRGBA(0, 0, 0, 196));
+ nvgStrokeWidth(ctx, 1.0f);
+ nvgStroke(ctx);
+ }*/
+ nvgResetScissor(ctx);
+ y_im += h;
+ }
+ c++;
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
+ExtrinsicCalibrationView::ExtrinsicCalibrationView(Screen* widget, ExtrinsicCalibration* ctrl) :
+ ftl::gui2::View(widget), ctrl_(ctrl), rows_(0) {
+
+ frames_ = new nanogui::Widget(this);
+ draw_number_ = false;
+ rectify_ = false;
+
+ frames_->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Horizontal, nanogui::Alignment::Maximum, 0, 0));
+
+ // assumes all cameras stereo cameras, indexed in order
+ for (int i = 0; i < ctrl_->cameraCount(); i += 2) {
+ new StereoCalibrationImageView(frames_, nanogui::Orientation::Vertical);
+ }
+ paused_ = false;
+ wcontrol_ = new ControlWindow(screen(), this);
+ wcalibration_ = new CalibrationWindow(screen(), this);
+ wresults_ = new ResultsWindow(screen(), this);
+ setMode(Mode::CAPTURE_IMAGES);
+}
+
+void ExtrinsicCalibrationView::performLayout(NVGcontext* ctx) {
+
+ auto sz = wcontrol_->size();
+ wcontrol_->setPosition(
+ nanogui::Vector2i(width() / 2 - sz[0]/2, height() - 30 - sz[1]));
+
+ wcalibration_->center();
+ wresults_->center();
+
+ frames_->setSize(size());
+
+ nanogui::Vector2i fsize = { width()/(frames_->childCount()), height() };
+ for (int i = 0; i < frames_->childCount(); i++) {
+ auto* stereo = dynamic_cast<StereoCalibrationImageView*>(frames_->childAt(i));
+ stereo->setFixedSize(fsize);
+ stereo->fit();
+ }
+
+ View::performLayout(ctx);
+}
+
+void ExtrinsicCalibrationView::draw(NVGcontext* ctx) {
+
+ if (ctrl_->next() && !paused_) {
+ for (int i = 0; i < ctrl_->cameraCount(); i += 2) {
+ auto* imview = dynamic_cast<StereoImageView*>(frames_->childAt(i/2));
+
+ int l = i;
+ int r = i + 1;
+ if (ctrl_->hasFrame(l)) {
+ if (!rectify_) { imview->left()->copyFrom(ctrl_->getFrame(l)); }
+ else { imview->left()->copyFrom(ctrl_->getFrameRectified(l)); }
+ imview->left()->setVisible(true);
+ }
+ else { imview->left()->setVisible(false); }
+
+ if (ctrl_->hasFrame(r)) {
+ if (!rectify_) { imview->right()->copyFrom(ctrl_->getFrame(r)); }
+ else { imview->right()->copyFrom(ctrl_->getFrameRectified(r)); }
+ imview->right()->setVisible(true);
+ }
+ else { imview->right()->setVisible(false); }
+ }
+ }
+
+ Widget::draw(ctx);
+
+ // draw corner labels
+ for (int i = 0; i < ctrl_->cameraCount(); i++) {
+ FTLImageView* imview;
+ if (i%2 == 0) {
+ imview = dynamic_cast<StereoImageView*>(frames_->childAt(i/2))->left();
+ }
+ else {
+ imview = dynamic_cast<StereoImageView*>(frames_->childAt(i/2))->right();
+ }
+ auto points = ctrl_->previousPoints(i);
+
+ std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f>>
+ paths;
+
+
+ nanogui::Vector2f wpos = imview->absolutePosition().cast<float>();
+ nanogui::Vector2f wsize = imview->sizeF();
+
+ for (unsigned int p = 0; p < points.size(); p++) {
+ auto pos = imview->positionForCoordinate({points[p].x, points[p].y});
+ nanogui::Vector2f apos = pos + wpos;
+ paths.push_back(apos);
+ }
+
+ nvgScissor(ctx, wpos.x(), wpos.y(), wsize.x(), wsize.y());
+ // draw border
+ for (unsigned int p = 0; p < paths.size(); p += 4) {
+ nvgBeginPath(ctx);
+ nvgMoveTo(ctx, paths[p + 0].x(), paths[p + 0].y());
+ nvgLineTo(ctx, paths[p + 1].x(), paths[p + 1].y());
+ nvgLineTo(ctx, paths[p + 2].x(), paths[p + 2].y());
+ nvgLineTo(ctx, paths[p + 3].x(), paths[p + 3].y());
+ nvgLineTo(ctx, paths[p + 0].x(), paths[p + 0].y());
+ if (p == 0) nvgStrokeColor(ctx, nvgRGBA(255, 32, 32, 255));
+ if (p == 4) nvgStrokeColor(ctx, nvgRGBA(32, 255, 32, 255));
+ nvgStrokeWidth(ctx, 1.5f);
+ nvgStroke(ctx);
+ }
+ // draw number
+ /*if (draw_number_ ) {
+ for (unsigned int p = 0; p < paths.size(); p += 1) {
+ auto str = std::to_string(p);
+ drawText(ctx, paths[p], std::to_string(p), 14.0f);
+ }
+ }*/
+
+ // TODO: move to stereocalibrateimageview
+ nanogui::Vector2f tpos = wpos + nanogui::Vector2f{10.0f, 10.0f};
+ drawText(ctx, tpos, std::to_string(ctrl_->getFrameCount(i)), 20.0f, NVG_ALIGN_TOP|NVG_ALIGN_LEFT);
+
+ tpos = wpos + nanogui::Vector2f{10.0f, wsize.y() - 30.0f};
+ drawText(ctx, tpos, ctrl_->cameraName(i), 20.0f, NVG_ALIGN_TOP|NVG_ALIGN_LEFT);
+
+ nvgResetScissor(ctx);
+ }
+
+ {
+ float h = 14.0f;
+ for (const auto& text : {"Left click: draw line",
+ "Right click: pan",
+ "Scroll: zoom",
+ "C center",
+ "F fit",
+ "R clear lines"
+ }) {
+ drawText(ctx, {float(width()) - 60.0, h}, text, 14, NVGalign::NVG_ALIGN_BOTTOM | NVG_ALIGN_MIDDLE);
+ h += 20.0;
+ }
+ }
+}
+
+ExtrinsicCalibrationView::~ExtrinsicCalibrationView() {
+ wcontrol_->dispose();
+ wcalibration_->dispose();
+ wresults_->dispose();
+}
+
+void ExtrinsicCalibrationView::setMode(Mode mode) {
+ switch(mode) {
+ case Mode::CAPTURE_IMAGES:
+ ctrl_->setCapture(true);
+ wcontrol_->setVisible(true);
+ wcalibration_->setVisible(false);
+ wresults_->setVisible(false);
+ break;
+
+ case Mode::VIDEO:
+ ctrl_->setCapture(false);
+ wcontrol_->setVisible(true);
+ wcalibration_->setVisible(false);
+ wresults_->setVisible(false);
+ break;
+
+ case Mode::CALIBRATION:
+ ctrl_->setCapture(false);
+ wcontrol_->setVisible(false);
+ wcalibration_->setVisible(true);
+ wresults_->setVisible(false);
+ break;
+
+ case Mode::RESULTS:
+ ctrl_->setCapture(false);
+ wcontrol_->setVisible(false);
+ wcalibration_->setVisible(false);
+ wresults_->setVisible(true);
+ wresults_->update();
+ break;
+ }
+ screen()->performLayout();
+}
diff --git a/applications/gui2/src/views/calibration/extrinsicview.hpp b/applications/gui2/src/views/calibration/extrinsicview.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..7e2b7b490c946a4945b199fb6532b0b4dfd650ab
--- /dev/null
+++ b/applications/gui2/src/views/calibration/extrinsicview.hpp
@@ -0,0 +1,96 @@
+#pragma once
+
+#include <unordered_set>
+
+#include "../../modules/calibration/calibration.hpp"
+#include "../../view.hpp"
+#include <ftl/utility/gltexture.hpp>
+#include "../../widgets/imageview.hpp"
+
+namespace ftl
+{
+namespace gui2
+{
+
+class ExtrinsicCalibrationStart : public View {
+public:
+ ExtrinsicCalibrationStart(Screen* widget, ExtrinsicCalibration* ctrl);
+ virtual ~ExtrinsicCalibrationStart();
+
+ virtual void draw(NVGcontext *ctx) override;
+
+ /** query about current state */
+ void addSource(unsigned int);
+ void removeSource(unsigned int);
+ void resetSources();
+ bool sourceSelected(unsigned int source);
+ std::vector<ftl::data::FrameID> getSources();
+
+ /** update widgets */
+ void update();
+ void updateSources();
+
+private:
+ ExtrinsicCalibration* ctrl_;
+ nanogui::Window* window_;
+ nanogui::Label* lselect_;
+ nanogui::CheckBox* cball_;
+ nanogui::Widget* lsframesets_;
+ nanogui::Widget* lssources_;
+ nanogui::Button* bcontinue_;
+ unsigned int fsid_;
+ uint64_t sources_;
+ bool show_all_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+class ExtrinsicCalibrationView : public View {
+public:
+ class ControlWindow;
+ class CalibrationWindow;
+ class ResultsWindow;
+
+ enum Mode {
+ CAPTURE_IMAGES, // capture images
+ CALIBRATION, // calibration options
+ RESULTS, // calibration results
+ VIDEO // same as capture images but paused
+ };
+
+ ExtrinsicCalibrationView(Screen* widget, ExtrinsicCalibration* ctrl);
+ virtual ~ExtrinsicCalibrationView();
+
+ virtual void draw(NVGcontext *ctx) override;
+ virtual void performLayout(NVGcontext *ctx) override;
+
+ bool rectify() { return rectify_; };
+ void setRectify(bool v) { rectify_ = v; };
+ void setMode(Mode m);
+
+ bool paused() { return paused_; }
+ void pause(bool v) { paused_ = v; }
+
+protected:
+ int rows(); // calculate optimum number of rows;
+ void setRows(int rows);
+
+private:
+ ExtrinsicCalibration* ctrl_;
+ nanogui::Widget* frames_;
+
+ ControlWindow* wcontrol_;
+ CalibrationWindow* wcalibration_;
+ ResultsWindow* wresults_;
+
+ int rows_;
+ bool draw_number_;
+ bool rectify_;
+ bool paused_;
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+}
+}
diff --git a/applications/gui2/src/views/calibration/intrinsicview.cpp b/applications/gui2/src/views/calibration/intrinsicview.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..cfa9941adf3d88c07d0be8d4076a9259d925cc91
--- /dev/null
+++ b/applications/gui2/src/views/calibration/intrinsicview.cpp
@@ -0,0 +1,629 @@
+#include <sstream>
+
+#include "visualization.hpp"
+#include "widgets.hpp"
+#include "intrinsicview.hpp"
+
+#include "../../screen.hpp"
+#include "../../widgets/window.hpp"
+
+#include <opencv2/calib3d.hpp>
+
+#include <nanogui/messagedialog.h>
+#include <nanogui/window.h>
+#include <nanogui/layout.h>
+#include <nanogui/button.h>
+#include <nanogui/checkbox.h>
+#include <nanogui/textbox.h>
+#include <nanogui/label.h>
+
+using ftl::codecs::Channel;
+
+using ftl::gui2::Screen;
+using ftl::gui2::View;
+using ftl::gui2::FixedWindow;
+
+using ftl::gui2::IntrinsicCalibrationStart;
+using ftl::gui2::IntrinsicCalibration;
+using ftl::gui2::IntrinsicCalibrationView;
+using Mode = ftl::gui2::IntrinsicCalibrationView::Mode;
+
+////////////////////////////////////////////////////////////////////////////////
+
+template<typename T>
+std::string to_string(T v, int precision = 2) {
+ std::stringstream stream;
+ stream << std::fixed << std::setprecision(precision) << v;
+ return stream.str();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
+class IntrinsicCalibrationView::CaptureWindow : public FixedWindow {
+public:
+ CaptureWindow(nanogui::Widget* parent, IntrinsicCalibrationView* view);
+ virtual void draw(NVGcontext* ctx) override;
+
+private:
+ void update();
+ IntrinsicCalibrationView* view_;
+ IntrinsicCalibration* ctrl_;
+
+ nanogui::Widget* channels_;
+
+ int width_;
+ int height_;
+ double square_size_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+class IntrinsicCalibrationView::ControlWindow : public FixedWindow {
+public:
+ ControlWindow(nanogui::Widget* parent, IntrinsicCalibrationView* view);
+ virtual void draw(NVGcontext* ctx) override;
+
+private:
+ void updateCount();
+
+ IntrinsicCalibrationView* view_;
+ IntrinsicCalibration* ctrl_;
+
+ nanogui::Label* txtnframes_;
+ nanogui::Button* bcalibrate_;
+ nanogui::Button* bsave_;
+ nanogui::Button* bapply_;
+ nanogui::Button* bresults_;
+ nanogui::Button* bpause_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+class IntrinsicCalibrationView::CalibrationWindow : public FixedWindow {
+public:
+ CalibrationWindow(nanogui::Widget* parent, IntrinsicCalibrationView* view);
+ void update();
+ virtual void draw(NVGcontext* ctx) override;
+
+private:
+ IntrinsicCalibrationView* view_;
+ IntrinsicCalibration* ctrl_;
+
+ nanogui::Label* status_;
+ nanogui::Button* bcalibrate_;
+ nanogui::FloatBox<double>* sensor_width_;
+ nanogui::FloatBox<double>* sensor_height_;
+ nanogui::FloatBox<double>* focal_length_;
+ nanogui::CheckBox* reset_dist_;
+ nanogui::CheckBox* reset_pp_;
+ bool calibrating_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+class IntrinsicCalibrationView::ResultWindow : public FixedWindow {
+public:
+ ResultWindow(nanogui::Widget* parent, IntrinsicCalibrationView* view);
+ virtual void draw(NVGcontext* ctx) override;
+ void update();
+
+private:
+ IntrinsicCalibrationView* view_;
+ IntrinsicCalibration* ctrl_;
+
+ nanogui::Button* bsave_;
+ nanogui::Label* rms_;
+ ftl::gui2::IntrinsicDetails* info_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+
+////////////////////////////////////////////////////////////////////////////////
+//
+
+IntrinsicCalibrationStart::IntrinsicCalibrationStart(ftl::gui2::Screen *parent, IntrinsicCalibration *ctrl) :
+ ftl::gui2::View(parent), ctrl_(ctrl) {
+
+ show_all_ = false;
+ window_ = new FixedWindow(parent, std::string("Intrinsic Calibration"));
+ window_->setLayout(new nanogui::BoxLayout(nanogui::Orientation::Vertical,
+ nanogui::Alignment::Fill, 6, 12));
+
+ auto* button_refresh = new nanogui::Button(window_->buttonPanel(), "", ENTYPO_ICON_CCW);
+ button_refresh->setCallback([this](){ update(); });
+
+ buttons_ = new nanogui::Widget(window_);
+ buttons_->setLayout(new nanogui::BoxLayout(nanogui::Orientation::Vertical,
+ nanogui::Alignment::Fill, 0, 8));
+
+ auto bshow_all = new nanogui::CheckBox(window_, "Show all sources",
+ [this](bool v){
+ show_all_ = v;
+ update();
+ });
+ bshow_all->setChecked(show_all_);
+
+ window_->setFixedWidth(400);
+ window_->setVisible(true);
+
+ update();
+}
+
+IntrinsicCalibrationStart::~IntrinsicCalibrationStart() {
+ window_->setVisible(false);
+ if (parent()->getRefCount() > 0) {
+ window_->dispose();
+ }
+}
+
+void IntrinsicCalibrationStart::update() {
+ while (buttons_->childCount() > 0) {
+ buttons_->removeChild(buttons_->childCount() - 1);
+ }
+
+ for (const auto& [name, id] : ctrl_->listSources(show_all_)) {
+ auto* button = new nanogui::Button(buttons_, name, ENTYPO_ICON_CAMERA);
+ button->setCallback([ctrl = this->ctrl_, id](){
+ ctrl->start(id);
+ });
+ }
+
+ screen()->performLayout();
+}
+
+void IntrinsicCalibrationStart::draw(NVGcontext* ctx) {
+ window_->center();
+ View::draw(ctx);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Capture Window
+
+
+void IntrinsicCalibrationView::CaptureWindow::update() {
+ ctrl_->setChessboard({width_, height_}, square_size_);
+}
+
+IntrinsicCalibrationView::CaptureWindow::CaptureWindow(nanogui::Widget* parent, IntrinsicCalibrationView* view) :
+ FixedWindow(parent, "Capture Options"), view_(view), ctrl_(view->ctrl_) {
+
+ width_ = ctrl_->chessboardSize().width;
+ height_ = ctrl_->chessboardSize().height;
+ square_size_ = ctrl_->squareSize();
+
+ setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 6, 6));
+
+ (new nanogui::Button(buttonPanel(), "", ENTYPO_ICON_CROSS))->setCallback(
+ [view = view_]() {
+ view->setMode(Mode::VIDEO);
+ });
+
+ // Capture parameters
+ new nanogui::Label(this, "Select Camera");
+ channels_ = new nanogui::Widget(this);
+ channels_->setLayout(new nanogui::GridLayout
+ (nanogui::Orientation::Horizontal, 2, nanogui::Alignment::Fill, 0, 0));
+ auto* button_left = new nanogui::Button(channels_, "Left");
+ button_left->setPushed(ctrl_->channel() == Channel::Left);
+ button_left->setFlags(nanogui::Button::RadioButton);
+ button_left->setCallback([ctrl = ctrl_, view=view_](){
+ if (ctrl->channel() != Channel::Left) {
+ ctrl->setChannel(Channel::Left);
+ view->setUndistort(false);
+ }
+ });
+
+ auto* button_right = new nanogui::Button(channels_, "Right");
+ button_right->setFlags(nanogui::Button::RadioButton);
+ button_right->setPushed(ctrl_->channel() == Channel::Right);
+ button_right->setCallback([ctrl = ctrl_, view=view_](){
+ if (ctrl->channel() != Channel::Right) {
+ ctrl->setChannel(Channel::Right);
+ view->setUndistort(false);
+ }
+ });
+ button_right->setEnabled(ctrl_->hasChannel(Channel::Right));
+
+ new nanogui::Label(this, "Capture interval");
+ auto* interval = new nanogui::FloatBox<float>(this, ctrl_->frequency());
+ interval->setEditable(true);
+ interval->setFormat("[0-9]*\\.?[0-9]+");
+ interval->setUnits("s");
+ interval->setCallback([ctrl = this->ctrl_](float v){
+ ctrl->setFrequency(v);
+ });
+
+ // Chessboard parameters
+ auto* chessboard = new nanogui::Widget(this);
+ chessboard->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 0, 4));
+
+ // width
+ new nanogui::Label(chessboard, "Chessboard width");
+ auto* chessboard_size_x = new nanogui::IntBox<int>(chessboard, width_);
+ chessboard_size_x->setEditable(true);
+ chessboard_size_x->setFormat("[1-9][0-9]*");
+ chessboard_size_x->setCallback([this](int v){
+ width_ = max(0, v);
+ });
+
+ // height
+ new nanogui::Label(chessboard, "Chessboard height");
+ auto* chessboard_size_y = new nanogui::IntBox<int>(chessboard, height_);
+ chessboard_size_y->setEditable(true);
+ chessboard_size_y->setFormat("[1-9][0-9]*");
+ chessboard_size_y->setCallback([this](int v){
+ height_ = max(0, v);
+ });
+
+ // square size
+ new nanogui::Label(chessboard, "Chessboard square size");
+ auto* square_size = new nanogui::FloatBox<float>(chessboard, square_size_*1000.0);
+
+ square_size->setEditable(true);
+ square_size->setFormat("[0-9]*\\.?[0-9]+");
+ square_size->setUnits("mm");
+ square_size->setCallback([this](float v){
+ square_size_ = v/1000.0;
+ });
+
+ auto* button_start = new nanogui::Button(this, "Start");
+ button_start->setCallback([this]() {
+ update();
+ view_->setMode(Mode::CAPTURE_IMAGES);
+ });
+}
+
+void IntrinsicCalibrationView::CaptureWindow::draw(NVGcontext* ctx) {
+ channels_->childAt(1)->setEnabled(ctrl_->hasChannel(Channel::Right));
+ FixedWindow::draw(ctx);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Control Window
+
+IntrinsicCalibrationView::ControlWindow::ControlWindow(nanogui::Widget* parent, IntrinsicCalibrationView* view) :
+ FixedWindow(parent, ""), view_(view), ctrl_(view->ctrl_) {
+
+ setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 6, 6));
+
+ txtnframes_ = new nanogui::Label(this, "");
+ updateCount();
+
+ auto* buttons = new nanogui::Widget(this);
+ buttons->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Horizontal, nanogui::Alignment::Middle, 0, 0));
+
+ auto* bback_ = new nanogui::Button(buttons, "", ENTYPO_ICON_ARROW_LEFT);
+ bback_->setFixedWidth(40);
+ bback_->setTooltip("Back to capture options");
+ bback_->setCallback([this, button = bback_](){
+ view_->setMode(Mode::CAPTURE_INIT);
+ });
+
+ bsave_ = new nanogui::Button(buttons, "", ENTYPO_ICON_SAVE);
+ bsave_->setFixedWidth(40);
+ bsave_->setTooltip("Save calibration");
+ bsave_->setEnabled(ctrl_->calibrated());
+ bsave_->setCallback([ctrl = ctrl_, view = view_](){
+ ctrl->save();
+ new nanogui::MessageDialog
+ (view->screen(), nanogui::MessageDialog::Type::Information, "Calibration", "Calibration sent");
+ });
+
+ bapply_ = new nanogui::Button(buttons, "");
+ bapply_->setFixedWidth(40);
+ bapply_->setTooltip("Apply distortion correction");
+ bapply_->setEnabled(ctrl_->calibrated());
+ bapply_->setFlags(nanogui::Button::Flags::ToggleButton);
+ bapply_->setPushed(view_->undistort());
+ bapply_->setChangeCallback([button = bapply_, view = view_](bool v){
+ view->setUndistort(v);
+ });
+
+ bresults_ = new nanogui::Button(buttons, "Details");
+ bresults_->setFixedWidth(120);
+
+ bresults_->setEnabled(ctrl_->calibrated());
+ bresults_->setCallback([view = view_, button = bresults_]{
+ view->setMode(Mode::RESULTS);
+ });
+
+ bpause_ = new nanogui::Button(buttons, "");
+ bpause_->setFixedWidth(120);
+ bpause_->setCallback([&ctrl = ctrl_](){
+ // TODO: add buttons to browse captured images and allow deleting
+ // images
+ ctrl->setCapture(!ctrl->capturing());
+ });
+
+ bcalibrate_ = new nanogui::Button(buttons, "Calibrate");
+ bcalibrate_->setFixedWidth(120);
+ bcalibrate_->setCallback([view = view_, button = bcalibrate_](){
+ view->setMode(Mode::CALIBRATION);
+ });
+}
+
+void IntrinsicCalibrationView::ControlWindow::draw(NVGcontext* ctx) {
+ if (ctrl_->capturing()) { bpause_->setCaption("Pause"); }
+ else { bpause_->setCaption("Continue"); }
+ //bcalibrate_->setEnabled(ctrl_->count() > 0);
+ bresults_->setEnabled(ctrl_->calibrated());
+ bsave_->setEnabled(ctrl_->calibrated());
+ bapply_->setEnabled(ctrl_->calibrated());
+ bapply_->setIcon(view_->undistort() ? ENTYPO_ICON_EYE : ENTYPO_ICON_EYE_WITH_LINE);
+ bapply_->setPushed(view_->undistort());
+ updateCount();
+ FixedWindow::draw(ctx);
+}
+
+void IntrinsicCalibrationView::ControlWindow::updateCount() {
+ txtnframes_->setCaption("Detected patterns: " +
+ std::to_string(ctrl_->count()));
+}
+////////////////////////////////////////////////////////////////////////////////
+// Calibration Window
+
+IntrinsicCalibrationView::CalibrationWindow::CalibrationWindow(nanogui::Widget* parent, IntrinsicCalibrationView* view) :
+ FixedWindow(parent, "Calibration"), view_(view), ctrl_(view->ctrl_) {
+
+ calibrating_ = false;
+
+ setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 6, 6));
+
+ (new nanogui::Button(buttonPanel(), "", ENTYPO_ICON_CROSS))->setCallback(
+ [view = view_]() {
+ view->setMode(Mode::VIDEO);
+ });
+
+ // sensor size
+ new nanogui::Label(this, "Initial values");
+
+ nanogui::GridLayout *grid_layout = new nanogui::GridLayout
+ (nanogui::Orientation::Horizontal, 2, nanogui::Alignment::Fill, 0, 5);
+ grid_layout->setColAlignment
+ ({nanogui::Alignment::Maximum, nanogui::Alignment::Fill});
+
+ grid_layout->setSpacing(0, 10);
+ auto* initial_values = new nanogui::Widget(this);
+ initial_values->setLayout(grid_layout);
+
+ new nanogui::Label(initial_values, "Sensor width");
+ sensor_width_ = new nanogui::FloatBox<double>(initial_values, ctrl_->sensorSize().width);
+ sensor_width_->setEditable(true);
+ sensor_width_->setFormat("[0-9]*\\.?[0-9]+");
+ sensor_width_->setUnits("mm");
+
+ new nanogui::Label(initial_values, "Sensor height");
+ sensor_height_ = new nanogui::FloatBox<double>(initial_values, ctrl_->sensorSize().height);
+ sensor_height_->setEditable(true);
+ sensor_height_->setFormat("[0-9]*\\.?[0-9]+");
+ sensor_height_->setUnits("mm");
+
+ new nanogui::Label(initial_values, "Focal length");
+ focal_length_ = new nanogui::FloatBox<double>(initial_values, ctrl_->focalLength());
+ focal_length_->setEditable(true);
+ focal_length_->setFormat("[0-9]*\\.?[0-9]+");
+ focal_length_->setUnits("mm");
+
+ new nanogui::Label(initial_values, "Reset principal point");
+ reset_pp_ = new nanogui::CheckBox(initial_values, "");
+ reset_pp_->setChecked(false);
+
+ new nanogui::Label(initial_values, "Reset distortion coefficients");
+ reset_dist_ = new nanogui::CheckBox(initial_values, "");
+ reset_dist_->setChecked(false);
+
+ // flags
+ new nanogui::Label(this, "Flags");
+ new ftl::gui2::OpenCVFlagWidget(this, &(ctrl_->flags()), ctrl_->defaultFlags());
+ status_ = new nanogui::Label(this, " ");
+
+ bcalibrate_ = new nanogui::Button(this, "Run");
+ bcalibrate_->setEnabled(false);
+ bcalibrate_->setCallback([this](){
+ if (!ctrl_->isBusy()) {
+ ctrl_->setSensorSize({sensor_width_->value(), sensor_height_->value()});
+ ctrl_->setFocalLength(focal_length_->value(), ctrl_->sensorSize());
+ if (reset_pp_->checked()) { ctrl_->resetPrincipalPoint(); }
+ if (reset_dist_->checked()) { ctrl_->resetDistortion(); }
+ ctrl_->run();
+ calibrating_ = true;
+ }
+ });
+}
+
+void IntrinsicCalibrationView::CalibrationWindow::update() {
+ focal_length_->setValue(ctrl_->focalLength());
+}
+
+void IntrinsicCalibrationView::CalibrationWindow::draw(NVGcontext* ctx) {
+ bool use_guess = ctrl_->flags().has(cv::CALIB_USE_INTRINSIC_GUESS);
+ focal_length_->setEnabled(use_guess);
+ reset_pp_->setEnabled(use_guess);
+ reset_dist_->setEnabled(use_guess);
+
+ if (ctrl_->isBusy()) {
+ if (calibrating_) {
+ auto dots = std::string(int(round(glfwGetTime())) % 4, '.');
+ status_->setCaption("Calibrating " + dots);
+ }
+ else {
+ status_->setCaption("Busy");
+ }
+ }
+ else {
+ status_->setCaption(" ");
+ }
+ bcalibrate_->setEnabled(!ctrl_->isBusy() && (ctrl_->count() > 0));
+ if (calibrating_ && !ctrl_->isBusy()) {
+ calibrating_ = false;
+ view_->setUndistort(true);
+ view_->setMode(Mode::RESULTS);
+ }
+ FixedWindow::draw(ctx);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Result window
+
+IntrinsicCalibrationView::ResultWindow::ResultWindow(nanogui::Widget* parent, IntrinsicCalibrationView* view) :
+ FixedWindow(parent, "Results"), view_(view), ctrl_(view->ctrl_) {
+
+ setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 8 , 8));
+
+ (new nanogui::Button(buttonPanel(), "", ENTYPO_ICON_CROSS))->setCallback(
+ [view = view_]() {
+ view->setMode(Mode::VIDEO);
+ });
+
+ rms_ = new nanogui::Label(this, "");
+
+ info_ = new ftl::gui2::IntrinsicDetails(this);
+
+ bsave_ = new nanogui::Button(this, "Save");
+ bsave_->setCallback([button = bsave_, ctrl = ctrl_](){
+ ctrl->saveCalibration();
+ button->setCaption("Saved");
+ button->setEnabled(false);
+ });
+}
+
+void IntrinsicCalibrationView::ResultWindow::draw(NVGcontext* ctx) {
+ nanogui::Window::draw(ctx);
+}
+
+void IntrinsicCalibrationView::ResultWindow::update() {
+ if (!isnan(ctrl_->reprojectionError())) {
+ rms_->setCaption("Reprojection error (RMS): " + to_string(ctrl_->reprojectionError()));
+ rms_->setVisible(true);
+ }
+ else {
+ rms_->setVisible(false);
+ }
+ info_->update(ctrl_->calibration());
+ bsave_->setEnabled(true);
+ bsave_->setCaption("Save");
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
+IntrinsicCalibrationView::IntrinsicCalibrationView(Screen* parent,
+ IntrinsicCalibration* ctrl) : View(parent), ctrl_(ctrl) {
+
+ undistort_ = false;
+
+ imview_ = new ftl::gui2::FTLImageView(this);
+
+ int w = 300;
+ wcapture_ = new CaptureWindow(screen(), this);
+ wcapture_->setFixedWidth(w);
+ wcontrol_ = new ControlWindow(screen(), this);
+ wcalibration_ = new CalibrationWindow(screen(), this);
+ wcalibration_->setFixedWidth(w);
+ wresults_ = new ResultWindow(screen(), this);
+ wresults_->update();
+
+ screen()->performLayout();
+ setMode(Mode::CAPTURE_INIT);
+}
+
+IntrinsicCalibrationView::~IntrinsicCalibrationView() {
+ wcapture_->setVisible(false);
+ wcapture_->dispose();
+ wcontrol_->setVisible(false);
+ wcontrol_->dispose();
+ wcalibration_->setVisible(false);
+ wcalibration_->dispose();
+ wresults_->setVisible(false);
+ wresults_->dispose();
+}
+
+void IntrinsicCalibrationView::performLayout(NVGcontext *ctx) {
+ auto sz = wcontrol_->size();
+ wcontrol_->setPosition(
+ nanogui::Vector2i(width() / 2 - sz[0]/2, height() - 30 - sz[1]));
+
+ wcapture_->center();
+ wcalibration_->center();
+ wresults_->center();
+ imview_->setSize(size());
+ View::performLayout(ctx);
+}
+
+void IntrinsicCalibrationView::draw(NVGcontext *ctx) {
+ if (ctrl_->hasFrame()) {
+ bool was_valid = imview_->texture().isValid();
+ if (undistort_) {
+ auto frame = ctrl_->getFrameUndistort();
+ imview_->copyFrom(frame);
+ }
+ else {
+ auto frame = ctrl_->getFrame();
+ imview_->copyFrom(frame);
+ }
+ if (!was_valid) {
+ imview_->fit();
+ }
+ }
+ View::draw(ctx);
+ if (ctrl_->capturing()) {
+ drawChessboardCorners(ctx, imview_, ctrl_->previousPoints());
+ }
+}
+
+void IntrinsicCalibrationView::setMode(Mode m) {
+ switch(m) {
+ case Mode::CAPTURE_INIT:
+ ctrl_->setCapture(false);
+ wcapture_->setVisible(true);
+ wcontrol_->setVisible(false);
+ wcalibration_->setVisible(false);
+ wresults_->setVisible(false);
+ break;
+
+ case Mode::CAPTURE_IMAGES:
+ ctrl_->setCapture(true);
+ wcapture_->setVisible(false);
+ wcontrol_->setVisible(true);
+ wcalibration_->setVisible(false);
+ wresults_->setVisible(false);
+ break;
+
+ case Mode::VIDEO:
+ ctrl_->setCapture(false);
+ wcapture_->setVisible(false);
+ wcontrol_->setVisible(true);
+ wcalibration_->setVisible(false);
+ wresults_->setVisible(false);
+ break;
+
+ case Mode::CALIBRATION:
+ ctrl_->setCapture(false);
+ wcapture_->setVisible(false);
+ wcontrol_->setVisible(false);
+ wcalibration_->update();
+ wcalibration_->setVisible(true);
+ wresults_->setVisible(false);
+ break;
+
+ case Mode::RESULTS:
+ ctrl_->setCapture(false);
+ wcapture_->setVisible(false);
+ wcontrol_->setVisible(false);
+ wcalibration_->setVisible(false);
+ wresults_->setVisible(true);
+ wresults_->update();
+ break;
+ }
+ screen()->performLayout();
+}
diff --git a/applications/gui2/src/views/calibration/intrinsicview.hpp b/applications/gui2/src/views/calibration/intrinsicview.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..289971b17abcc6809b7ee16e9390a7e375ab2f38
--- /dev/null
+++ b/applications/gui2/src/views/calibration/intrinsicview.hpp
@@ -0,0 +1,75 @@
+#pragma once
+
+#include "../../modules/calibration/calibration.hpp"
+#include "../../view.hpp"
+#include "../../widgets/imageview.hpp"
+
+#include <ftl/utility/gltexture.hpp>
+
+namespace ftl
+{
+namespace gui2
+{
+
+class IntrinsicCalibrationStart : public View {
+public:
+ IntrinsicCalibrationStart(Screen* widget, IntrinsicCalibration* ctrl);
+ virtual ~IntrinsicCalibrationStart();
+
+ virtual void draw(NVGcontext *ctx) override;
+
+ void update();
+
+private:
+ nanogui::Window* window_;
+ nanogui::Widget* buttons_;
+ IntrinsicCalibration* ctrl_;
+ bool show_all_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+class IntrinsicCalibrationView : public View {
+
+ class CaptureWindow;
+ class ControlWindow;
+ class CalibrationWindow;
+ class ResultWindow;
+
+public:
+ IntrinsicCalibrationView(Screen* screen, IntrinsicCalibration* ctrl);
+ virtual ~IntrinsicCalibrationView();
+
+ enum Mode {
+ CAPTURE_INIT, // set capture parameters
+ CAPTURE_IMAGES, // capture images
+ CALIBRATION, // calibration options
+ RESULTS, // calibration results
+ VIDEO // same as capture images but paused
+ };
+
+ void setMode(Mode m);
+
+ virtual void performLayout(NVGcontext* ctx) override;
+ virtual void draw(NVGcontext* ctx) override;
+
+ void setUndistort(bool v) { undistort_ = v; }
+ bool undistort() { return undistort_; }
+
+private:
+ IntrinsicCalibration* ctrl_;
+ FTLImageView* imview_;
+
+ CaptureWindow* wcapture_;
+ ControlWindow* wcontrol_;
+ CalibrationWindow* wcalibration_;
+ ResultWindow* wresults_;
+ bool undistort_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+} // namespace gui2
+} // namespace ftl
diff --git a/applications/gui2/src/views/calibration/stereoview.cpp b/applications/gui2/src/views/calibration/stereoview.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e67eb269c6d0a2bfae834fa5a18d68080c2c44ea
--- /dev/null
+++ b/applications/gui2/src/views/calibration/stereoview.cpp
@@ -0,0 +1,511 @@
+#include <sstream>
+
+#include "visualization.hpp"
+#include "widgets.hpp"
+#include "stereoview.hpp"
+
+
+#include "../../screen.hpp"
+#include "../../widgets/window.hpp"
+
+
+#include <nanogui/window.h>
+#include <nanogui/layout.h>
+#include <nanogui/button.h>
+#include <nanogui/checkbox.h>
+#include <nanogui/textbox.h>
+#include <nanogui/label.h>
+#include <nanogui/tabwidget.h>
+
+using ftl::codecs::Channel;
+
+using ftl::gui2::Screen;
+using ftl::gui2::View;
+using ftl::gui2::FixedWindow;
+
+using ftl::gui2::StereoCalibrationStart;
+using ftl::gui2::StereoCalibration;
+using ftl::gui2::StereoCalibrationView;
+using Mode = ftl::gui2::StereoCalibrationView::Mode;
+
+////////////////////////////////////////////////////////////////////////////////
+
+template<typename T>
+std::string to_string(T v, int precision = 2) {
+ std::stringstream stream;
+ stream << std::fixed << std::setprecision(precision) << v;
+ return stream.str();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
+class StereoCalibrationView::CaptureWindow : public FixedWindow {
+public:
+ CaptureWindow(nanogui::Widget* parent, StereoCalibrationView* view);
+ virtual void draw(NVGcontext* ctx) override;
+
+private:
+ void update();
+ StereoCalibrationView* view_;
+ StereoCalibration* ctrl_;
+ int width_;
+ int height_;
+ double square_size_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+class StereoCalibrationView::ControlWindow : public FixedWindow {
+public:
+ ControlWindow(nanogui::Widget* parent, StereoCalibrationView* view);
+ virtual void draw(NVGcontext* ctx) override;
+
+private:
+ void updateCount();
+
+ StereoCalibrationView* view_;
+ StereoCalibration* ctrl_;
+
+ nanogui::Label* txtnframes_;
+ nanogui::Button* bcalibrate_;
+ nanogui::Button* bresults_;
+ nanogui::Button* bpause_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+class StereoCalibrationView::CalibrationWindow : public FixedWindow {
+public:
+ CalibrationWindow(nanogui::Widget* parent, StereoCalibrationView* view);
+ virtual void draw(NVGcontext* ctx) override;
+ double sensorWidth() { return sensor_width_->value(); }
+ double sensorHeight() { return sensor_width_->value(); }
+
+private:
+ StereoCalibrationView* view_;
+ StereoCalibration* ctrl_;
+
+ nanogui::Button* bcalibrate_;
+ nanogui::FloatBox<double>* sensor_width_;
+ nanogui::FloatBox<double>* sensor_height_;
+ bool calibrating_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+class StereoCalibrationView::ResultWindow : public FixedWindow {
+public:
+ ResultWindow(nanogui::Widget* parent, StereoCalibrationView* view);
+ virtual void performLayout(NVGcontext* ctx) override;
+ virtual void draw(NVGcontext* ctx) override;
+ void update();
+
+private:
+ StereoCalibrationView* view_;
+ StereoCalibration* ctrl_;
+
+ nanogui::TabWidget* tabs_;
+ nanogui::Button* bsave_;
+ ftl::gui2::IntrinsicDetails* infol_;
+ ftl::gui2::IntrinsicDetails* infor_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+
+////////////////////////////////////////////////////////////////////////////////
+//
+
+StereoCalibrationStart::StereoCalibrationStart(ftl::gui2::Screen *parent, StereoCalibration *ctrl) :
+ ftl::gui2::View(parent), ctrl_(ctrl) {
+
+ show_all_ = false;
+ window_ = new FixedWindow(parent, std::string("Stereo Calibration"));
+ window_->setLayout(new nanogui::BoxLayout(nanogui::Orientation::Vertical,
+ nanogui::Alignment::Fill, 6, 12));
+
+ auto* button_refresh = new nanogui::Button(window_->buttonPanel(), "", ENTYPO_ICON_CCW);
+ button_refresh->setCallback([this](){ update(); });
+
+ buttons_ = new nanogui::Widget(window_);
+ buttons_->setLayout(new nanogui::BoxLayout(nanogui::Orientation::Vertical,
+ nanogui::Alignment::Fill, 0, 8));
+
+ auto bshow_all = new nanogui::CheckBox(window_, "Show all sources",
+ [this](bool v){
+ show_all_ = v;
+ update();
+ });
+ bshow_all->setChecked(show_all_);
+
+ window_->setFixedWidth(400);
+ window_->setVisible(true);
+
+ update();
+}
+
+StereoCalibrationStart::~StereoCalibrationStart() {
+ window_->setVisible(false);
+ if (parent()->getRefCount() > 0) {
+ window_->dispose();
+ }
+}
+
+void StereoCalibrationStart::update() {
+ while (buttons_->childCount() > 0) {
+ buttons_->removeChild(buttons_->childCount() - 1);
+ }
+
+ for (const auto& [name, id] : ctrl_->listSources(show_all_)) {
+ auto* button = new nanogui::Button(buttons_, name, ENTYPO_ICON_CAMERA);
+ button->setCallback([ctrl = this->ctrl_, id](){
+ ctrl->start(id);
+ });
+ }
+
+ screen()->performLayout();
+}
+
+void StereoCalibrationStart::draw(NVGcontext* ctx) {
+ window_->center();
+ View::draw(ctx);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Capture Window
+
+void StereoCalibrationView::CaptureWindow::update() {
+ ctrl_->setChessboard({width_, height_}, square_size_);
+}
+
+StereoCalibrationView::CaptureWindow::CaptureWindow(nanogui::Widget* parent, StereoCalibrationView* view) :
+ FixedWindow(parent, "Capture Options"), view_(view), ctrl_(view->ctrl_) {
+
+ width_ = ctrl_->chessboardSize().width;
+ height_ = ctrl_->chessboardSize().height;
+ square_size_ = ctrl_->squareSize();
+
+ setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 6, 6));
+
+ (new nanogui::Button(buttonPanel(), "", ENTYPO_ICON_CROSS))->setCallback(
+ [this]() {
+ update();
+ view_->setMode(Mode::VIDEO);
+ });
+
+ new nanogui::Label(this, "Capture interval");
+ auto* interval = new nanogui::FloatBox<float>(this, ctrl_->frequency());
+ interval->setEditable(true);
+ interval->setFormat("[0-9]*\\.?[0-9]+");
+ interval->setUnits("s");
+ interval->setCallback([ctrl = this->ctrl_](float v){
+ ctrl->setFrequency(v);
+ });
+
+ // Chessboard parameters
+ auto* chessboard = new nanogui::Widget(this);
+ chessboard->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 0, 4));
+
+ // width
+ new nanogui::Label(chessboard, "Chessboard width");
+ auto* chessboard_size_x = new nanogui::IntBox<int>(chessboard, width_);
+ chessboard_size_x->setEditable(true);
+ chessboard_size_x->setFormat("[1-9][0-9]*");
+ chessboard_size_x->setCallback([this](int v){
+ width_ = max(0, v);
+ });
+
+ // height
+ new nanogui::Label(chessboard, "Chessboard height");
+ auto* chessboard_size_y = new nanogui::IntBox<int>(chessboard, height_);
+ chessboard_size_y->setEditable(true);
+ chessboard_size_y->setFormat("[1-9][0-9]*");
+ chessboard_size_y->setCallback([this](int v){
+ height_ = max(0, v);
+ });
+
+ // square size
+ new nanogui::Label(chessboard, "Chessboard square size");
+ auto* square_size = new nanogui::FloatBox<float>(chessboard, square_size_*1000.0);
+
+ square_size->setEditable(true);
+ square_size->setFormat("[0-9]*\\.?[0-9]+");
+ square_size->setUnits("mm");
+ square_size->setCallback([this](float v){
+ square_size_ = v/1000.0;
+ });
+
+ auto* button_start = new nanogui::Button(this, "Start");
+ button_start->setCallback([this]() {
+ update();
+ view_->setMode(Mode::CAPTURE_IMAGES);
+ });
+}
+
+void StereoCalibrationView::CaptureWindow::draw(NVGcontext* ctx) {
+ FixedWindow::draw(ctx);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Control Window
+
+StereoCalibrationView::ControlWindow::ControlWindow(nanogui::Widget* parent, StereoCalibrationView* view) :
+ FixedWindow(parent, ""), view_(view), ctrl_(view->ctrl_) {
+
+ setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 6, 6));
+
+ txtnframes_ = new nanogui::Label(this, "");
+ updateCount();
+
+ auto* buttons = new nanogui::Widget(this);
+ buttons->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Horizontal, nanogui::Alignment::Middle, 0, 0));
+
+ auto* button_back = new nanogui::Button(buttons, "", ENTYPO_ICON_ARROW_LEFT);
+ button_back->setCallback([this, button = button_back](){
+ view_->setMode(Mode::CAPTURE_INIT);
+ });
+
+ bresults_ = new nanogui::Button(buttons, "Details");
+ bresults_->setFixedWidth(120);
+ //bresults_->setEnabled(ctrl_->calib().calibrated());
+ bresults_->setCallback([view = view_, button = bresults_]{
+ view->setMode(Mode::RESULTS);
+ });
+
+ bpause_ = new nanogui::Button(buttons, "");
+ bpause_->setFixedWidth(120);
+ bpause_->setCallback([&ctrl = ctrl_](){
+ ctrl->setCapture(!ctrl->capturing());
+ });
+
+ bcalibrate_ = new nanogui::Button(buttons, "Calibrate");
+ bcalibrate_->setFixedWidth(120);
+ bcalibrate_->setCallback([view = view_, button = bcalibrate_](){
+ view->setMode(Mode::CALIBRATION);
+ });
+}
+
+void StereoCalibrationView::ControlWindow::draw(NVGcontext* ctx) {
+ if (ctrl_->capturing()) { bpause_->setCaption("Pause"); }
+ else { bpause_->setCaption("Continue"); }
+ //bcalibrate_->setEnabled(ctrl_->calib().count() > 0);
+ //bresults_->setEnabled(ctrl_->calib().calibrated());
+ updateCount();
+ FixedWindow::draw(ctx);
+}
+
+void StereoCalibrationView::ControlWindow::updateCount() {
+ txtnframes_->setCaption("Detected patterns: " +
+ std::to_string(ctrl_->count()));
+}
+////////////////////////////////////////////////////////////////////////////////
+// Calibration Window
+
+StereoCalibrationView::CalibrationWindow::CalibrationWindow(nanogui::Widget* parent, StereoCalibrationView* view) :
+ FixedWindow(parent, "Calibration"), view_(view), ctrl_(view->ctrl_) {
+
+ calibrating_ = false;
+
+ setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 6, 6));
+
+ (new nanogui::Button(buttonPanel(), "", ENTYPO_ICON_CROSS))->setCallback(
+ [view = view_]() {
+ view->setMode(Mode::VIDEO);
+ });
+
+ nanogui::GridLayout *grid_layout = new nanogui::GridLayout
+ (nanogui::Orientation::Horizontal, 2, nanogui::Alignment::Fill, 0, 5);
+ grid_layout->setColAlignment
+ ({nanogui::Alignment::Maximum, nanogui::Alignment::Fill});
+
+ grid_layout->setSpacing(0, 10);
+ auto* sensor = new nanogui::Widget(this);
+ sensor->setLayout(grid_layout);
+
+ // flags
+ new nanogui::Label(this, "Flags");
+ new ftl::gui2::OpenCVFlagWidget(this, &(ctrl_->flags()));
+
+ bcalibrate_ = new nanogui::Button(this, "Run");
+ bcalibrate_->setEnabled(false);
+ bcalibrate_->setCallback([&ctrl = ctrl_, &running = calibrating_](){
+ if (!ctrl->isBusy()) {
+ ctrl->run();
+ running = true;
+ }
+ });
+}
+
+void StereoCalibrationView::CalibrationWindow::draw(NVGcontext* ctx) {
+ bcalibrate_->setEnabled(!ctrl_->isBusy() && (ctrl_->count() > 0));
+ if (calibrating_ && !ctrl_->isBusy()) {
+ calibrating_ = false;
+ view_->setMode(Mode::RESULTS);
+ }
+ FixedWindow::draw(ctx);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Result window
+
+StereoCalibrationView::ResultWindow::ResultWindow(nanogui::Widget* parent, StereoCalibrationView* view) :
+ FixedWindow(parent, "Results"), view_(view), ctrl_(view->ctrl_) {
+
+ setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 8 , 0));
+
+ tabs_ = new nanogui::TabWidget(this);
+ auto* tabl = tabs_->createTab("Left (intrinsic)");
+ auto* tabr = tabs_->createTab("Right (intrinsic)");
+ infol_ = new ftl::gui2::IntrinsicDetails(tabl);
+ infor_ = new ftl::gui2::IntrinsicDetails(tabr);
+
+ (new nanogui::Button(buttonPanel(), "", ENTYPO_ICON_CROSS))->setCallback(
+ [view = view_]() {
+ view->setMode(Mode::VIDEO);
+ });
+
+ bsave_ = new nanogui::Button(this, "Save");
+ bsave_->setCallback([button = bsave_, ctrl = ctrl_](){
+ ctrl->saveCalibration();
+ button->setCaption("Saved");
+ button->setEnabled(false);
+ });
+}
+
+void StereoCalibrationView::ResultWindow::draw(NVGcontext* ctx) {
+ nanogui::Window::draw(ctx);
+}
+
+void StereoCalibrationView::ResultWindow::performLayout(NVGcontext* ctx) {
+ nanogui::Window::performLayout(ctx);
+ auto sz = infor_->preferredSize(ctx);
+ infol_->parent()->setSize(sz);
+ infor_->parent()->setSize(sz);
+ center();
+}
+
+void StereoCalibrationView::ResultWindow::update() {
+ infol_->update(ctrl_->calibrationLeft().intrinsic);
+ infor_->update(ctrl_->calibrationRight().intrinsic);
+
+ bsave_->setEnabled(true);
+ bsave_->setCaption("Save");
+ screen()->performLayout();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
+StereoCalibrationView::StereoCalibrationView(Screen* parent,
+ StereoCalibration* ctrl) : View(parent), ctrl_(ctrl) {
+
+ imview_ = new ftl::gui2::StereoImageView(this);
+
+ int w = 300;
+ wcapture_ = new CaptureWindow(screen(), this);
+ wcapture_->setFixedWidth(w);
+ wcontrol_ = new ControlWindow(screen(), this);
+ wcalibration_ = new CalibrationWindow(screen(), this);
+ wcalibration_->setFixedWidth(w);
+ wresults_ = new ResultWindow(screen(), this);
+
+ screen()->performLayout();
+ setMode(Mode::CAPTURE_INIT);
+}
+
+StereoCalibrationView::~StereoCalibrationView() {
+ wcapture_->setVisible(false);
+ wcapture_->dispose();
+ wcontrol_->setVisible(false);
+ wcontrol_->dispose();
+ wcalibration_->setVisible(false);
+ wcalibration_->dispose();
+ wresults_->setVisible(false);
+ wresults_->dispose();
+}
+
+void StereoCalibrationView::performLayout(NVGcontext *ctx) {
+ auto sz = wcontrol_->size();
+ wcontrol_->setPosition(
+ nanogui::Vector2i(width() / 2 - sz[0]/2, height() - 30 - sz[1]));
+
+ wcapture_->center();
+ wcalibration_->center();
+ wresults_->center();
+
+ imview_->setFixedSize(size());
+
+ View::performLayout(ctx);
+}
+
+void StereoCalibrationView::draw(NVGcontext *ctx) {
+ if (ctrl_->hasFrame()) {
+ auto l = ctrl_->getLeft();
+ auto r = ctrl_->getRight();
+
+ if (l.size() != cv::Size(0, 0) && r.size() != cv::Size(0, 0)) {
+ imview_->left()->copyFrom(l);
+ imview_->right()->copyFrom(r);
+ }
+ }
+ View::draw(ctx);
+ auto points = ctrl_->previousPoints();
+ if (points.size() == 2) {
+ drawChessboardCorners(ctx, imview_->left(), points[0]);
+ drawChessboardCorners(ctx, imview_->right(), points[1]);
+ }
+}
+
+void StereoCalibrationView::setMode(Mode m) {
+ switch(m) {
+ case Mode::CAPTURE_INIT:
+ ctrl_->setCapture(false);
+ wcapture_->setVisible(true);
+ wcontrol_->setVisible(false);
+ wcalibration_->setVisible(false);
+ wresults_->setVisible(false);
+ break;
+
+ case Mode::CAPTURE_IMAGES:
+ ctrl_->setCapture(true);
+ wcapture_->setVisible(false);
+ wcontrol_->setVisible(true);
+ wcalibration_->setVisible(false);
+ wresults_->setVisible(false);
+ break;
+
+ case Mode::VIDEO:
+ ctrl_->setCapture(false);
+ wcapture_->setVisible(false);
+ wcontrol_->setVisible(true);
+ wcalibration_->setVisible(false);
+ wresults_->setVisible(false);
+ break;
+
+ case Mode::CALIBRATION:
+ ctrl_->setCapture(false);
+ wcapture_->setVisible(false);
+ wcontrol_->setVisible(false);
+ wcalibration_->setVisible(true);
+ wresults_->setVisible(false);
+ break;
+
+ case Mode::RESULTS:
+ ctrl_->setCapture(false);
+ wcapture_->setVisible(false);
+ wcontrol_->setVisible(false);
+ wcalibration_->setVisible(false);
+ wresults_->setVisible(true);
+ wresults_->update();
+ break;
+ }
+}
diff --git a/applications/gui2/src/views/calibration/stereoview.hpp b/applications/gui2/src/views/calibration/stereoview.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..194602cb17d5ccd741e5f7237a142b60e8deb23a
--- /dev/null
+++ b/applications/gui2/src/views/calibration/stereoview.hpp
@@ -0,0 +1,71 @@
+#pragma once
+
+#include "../../modules/calibration/calibration.hpp"
+#include "../../view.hpp"
+#include "../../widgets/imageview.hpp"
+
+#include <ftl/utility/gltexture.hpp>
+
+namespace ftl
+{
+namespace gui2
+{
+
+class StereoCalibrationStart : public View {
+public:
+ StereoCalibrationStart(Screen* widget, StereoCalibration* ctrl);
+ virtual ~StereoCalibrationStart();
+
+ virtual void draw(NVGcontext *ctx) override;
+
+ void update();
+
+private:
+ nanogui::Window* window_;
+ nanogui::Widget* buttons_;
+ StereoCalibration* ctrl_;
+ bool show_all_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+class StereoCalibrationView : public View {
+
+ class CaptureWindow;
+ class ControlWindow;
+ class CalibrationWindow;
+ class ResultWindow;
+
+public:
+ StereoCalibrationView(Screen* screen, StereoCalibration* ctrl);
+ virtual ~StereoCalibrationView();
+
+ enum Mode {
+ CAPTURE_INIT, // set capture parameters
+ CAPTURE_IMAGES, // capture images
+ CALIBRATION, // calibration options
+ RESULTS, // calibration results
+ VIDEO // same as capture images but paused
+ };
+
+ void setMode(Mode m);
+
+ virtual void performLayout(NVGcontext* ctx) override;
+ virtual void draw(NVGcontext* ctx) override;
+
+private:
+ StereoCalibration* ctrl_;
+ StereoImageView* imview_;
+
+ CaptureWindow* wcapture_;
+ ControlWindow* wcontrol_;
+ CalibrationWindow* wcalibration_;
+ ResultWindow* wresults_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+} // namespace gui2
+} // namespace ftl
diff --git a/applications/gui2/src/views/calibration/visualization.hpp b/applications/gui2/src/views/calibration/visualization.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..026c40dc20bd12197503909d8f41990261f96834
--- /dev/null
+++ b/applications/gui2/src/views/calibration/visualization.hpp
@@ -0,0 +1,118 @@
+#pragma once
+
+#include "../../widgets/imageview.hpp"
+
+#include <ftl/calibration/structures.hpp>
+
+/** Draw Chessboard Corners with OpenGL to ImageView widget. */
+template<typename T>
+static void drawChessboardCorners(NVGcontext* ctx, ftl::gui2::ImageView* imview, const std::vector<T>& points) {
+ if (points.size() == 0) { return; }
+
+ nanogui::Vector2f wpos = imview->absolutePosition().cast<float>();
+ nanogui::Vector2f wsize = imview->sizeF();
+ nanogui::Vector2f apos = imview->positionForCoordinate({points[0].x, points[0].y}) + wpos;
+
+ nvgShapeAntiAlias(ctx, 1);
+ nvgScissor(ctx, wpos.x(), wpos.y(), wsize.x(), wsize.y());
+ nvgBeginPath(ctx);
+ nvgMoveTo(ctx, apos.x(), apos.y());
+ for (unsigned int i = 1; i < points.size(); i++) {
+ apos = imview->positionForCoordinate({points[i].x, points[i].y}) + wpos;
+ nvgLineTo(ctx, apos.x(), apos.y());
+ }
+ nvgStrokeColor(ctx, nvgRGBA(255, 32, 32, 192));
+ nvgStrokeWidth(ctx, 1.0f);
+ nvgStroke(ctx);
+
+ for (unsigned int i = 0; i < points.size(); i++) {
+ apos = imview->positionForCoordinate({points[i].x, points[i].y}) + wpos;
+ nvgBeginPath(ctx);
+ nvgCircle(ctx, apos.x(), apos.y(), 2.5);
+ nvgStrokeColor(ctx, nvgRGBA(0, 0, 0, 255));
+ nvgStrokeWidth(ctx, 1.5f);
+ nvgStroke(ctx);
+ nvgBeginPath(ctx);
+ nvgCircle(ctx, apos.x(), apos.y(), 2.5);
+ nvgStrokeColor(ctx, nvgRGBA(255, 255, 255, 255));
+ nvgStrokeWidth(ctx, 1.0f);
+ nvgStroke(ctx);
+
+ }
+ nvgResetScissor(ctx);
+}
+
+static void drawTriangle(NVGcontext* ctx, const ftl::calibration::CalibrationData::Extrinsic &calib,
+ const nanogui::Vector2f &pos, const nanogui::Vector2f offset, float scale, float sz=1.0f) {
+ const int idx_x = 0;
+ const int idx_y = 2;
+
+ cv::Mat T = calib.matrix();
+ cv::Vec4f p1(cv::Mat(T * cv::Vec4d{sz/2.0f, 0.0f, 0.0f, 1.0f}));
+ cv::Vec4f p2(cv::Mat(T * cv::Vec4d{-sz/2.0f, 0.0f, 0.0f, 1.0f}));
+ cv::Vec4f p3(cv::Mat(T * cv::Vec4d{0.0f, 0.0f, -sz*sqrtf(3.0f)/2.0f, 1.0f}));
+
+ p1[idx_x] -= offset.x();
+ p2[idx_x] -= offset.x();
+ p3[idx_x] -= offset.x();
+ p1[idx_y] -= offset.y();
+ p2[idx_y] -= offset.y();
+ p3[idx_y] -= offset.y();
+ p1 *= scale;
+ p2 *= scale;
+ p3 *= scale;
+
+ nvgBeginPath(ctx);
+
+ // NOTE: flip x
+ nvgMoveTo(ctx, pos.x() + p1[idx_x], pos.y() + p1[idx_y]);
+ nvgLineTo(ctx, pos.x() + p2[idx_x], pos.y() + p2[idx_y]);
+ nvgLineTo(ctx, pos.x() + p3[idx_x], pos.y() + p3[idx_y]);
+ nvgLineTo(ctx, pos.x() + p1[idx_x], pos.y() + p1[idx_y]);
+ if (calib.tvec == cv::Vec3d{0.0, 0.0, 0.0}) {
+ nvgStrokeColor(ctx, nvgRGBA(255, 64, 64, 255));
+ }
+ else {
+ nvgStrokeColor(ctx, nvgRGBA(255, 255, 255, 255));
+ }
+ nvgStrokeWidth(ctx, 1.0f);
+ nvgStroke(ctx);
+}
+
+static void drawFloorPlan(NVGcontext* ctx, nanogui::Widget* parent,
+ const std::vector<ftl::calibration::CalibrationData::Calibration>& calib,
+ const std::vector<std::string>& names = {},
+ int origin=0) {
+
+ float minx = INFINITY;
+ float miny = INFINITY;
+ float maxx = -INFINITY;
+ float maxy = -INFINITY;
+ cv::Vec3f center = {0.0f, 0.0f};
+ std::vector<cv::Point2f> points(calib.size());
+ for (unsigned int i = 0; i < points.size(); i++) {
+ const auto& extrinsic = calib[i].extrinsic;
+ // xz, assume floor on y-plane y = 0
+ float x = extrinsic.tvec[0];
+ float y = extrinsic.tvec[2];
+ points[i] = {x, y};
+ minx = std::min(minx, x);
+ miny = std::min(miny, y);
+ maxx = std::max(maxx, x);
+ maxy = std::max(maxy, y);
+ center += extrinsic.tvec;
+ }
+ center /= float(points.size());
+ float w = parent->width();
+ float dx = maxx - minx;
+ float h = parent->height();
+ float dy = maxy - miny;
+ float s = min(w/dx, h/dy) * 0.8; // scale
+
+ nanogui::Vector2f apos = parent->absolutePosition().cast<float>() + nanogui::Vector2f{w/2.0f, h/2.0f};
+ nanogui::Vector2f off{center[0], center[2]};
+
+ for (unsigned int i = 0; i < points.size(); i++) {
+ drawTriangle(ctx, calib[i].extrinsic, apos, off, s, 0.3);
+ }
+}
diff --git a/applications/gui2/src/views/calibration/widgets.cpp b/applications/gui2/src/views/calibration/widgets.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..80a4af5d5d4a43ff19b3bf206891af924de456aa
--- /dev/null
+++ b/applications/gui2/src/views/calibration/widgets.cpp
@@ -0,0 +1,171 @@
+#include "widgets.hpp"
+
+#include <nanogui/label.h>
+#include <nanogui/layout.h>
+#include <nanogui/checkbox.h>
+
+#include <opencv2/calib3d.hpp>
+
+using ftl::gui2::OpenCVFlagWidget;
+using ftl::gui2::OpenCVCalibrateFlags;
+
+template<typename T>
+std::string to_string(T v, int precision = 2) {
+ std::stringstream stream;
+ stream << std::fixed << std::setprecision(precision) << v;
+ return stream.str();
+}
+
+OpenCVFlagWidget::OpenCVFlagWidget(nanogui::Widget* parent, OpenCVCalibrateFlags* flags, int defaultv) :
+ nanogui::Widget(parent), flags_(flags), defaults_(defaultv) {
+
+ if (defaultv == -1) {
+ defaults_ = flags_->defaultFlags();
+ }
+
+ setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 0, 4));
+
+ reset();
+}
+
+void OpenCVFlagWidget::reset() {
+ while(childCount() > 0) {
+ removeChild(childCount() - 1);
+ }
+
+ for(int flag : flags_->list()) {
+ auto* checkbox = new nanogui::CheckBox(this, flags_->name(flag),
+ [flag, this](bool state){
+ if (state) { flags_->set(flag); }
+ else { flags_->unset(flag); }
+ });
+ checkbox->setChecked(flags_->has(flag));
+ checkbox->setTooltip(flags_->explain(flag));
+ }
+
+ // reset button
+ auto* reset = new nanogui::Button(this, "Reset flags");
+ reset->setCallback([this](){
+
+ // update widget
+ auto all_flags = flags_->list();
+ for(size_t i = 0; i < all_flags.size(); i++) {
+ auto* checkbox = dynamic_cast<nanogui::CheckBox*>(childAt(i));
+ checkbox->setChecked(all_flags[i] & defaults_);
+ }
+ });
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
+using ftl::gui2::IntrinsicDetails;
+
+IntrinsicDetails::IntrinsicDetails(nanogui::Widget* parent) :
+ nanogui::Widget(parent), padding_(8) {
+
+ setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 0 , padding_));
+
+ params_ = new nanogui::Widget(this);
+ dist_ = new nanogui::Widget(this);
+ dist_->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 0, padding_));
+}
+
+void IntrinsicDetails::update(const ftl::calibration::CalibrationData::Intrinsic &values) {
+ while (params_->childCount() > 0) {
+ params_->removeChild(params_->childCount() - 1);
+ }
+ while (dist_->childCount() > 0) {
+ dist_->removeChild(dist_->childCount() - 1);
+ }
+ bool use_physical = values.sensorSize != cv::Size2d{0.0, 0.0};
+ nanogui::GridLayout* grid_layout;
+ if (use_physical) {
+ grid_layout = new nanogui::GridLayout
+ (nanogui::Orientation::Horizontal, 3, nanogui::Alignment::Fill, 0, padding_);
+ }
+ else {
+ grid_layout = new nanogui::GridLayout
+ (nanogui::Orientation::Horizontal, 2, nanogui::Alignment::Fill, 0, padding_);
+ }
+ grid_layout->setColAlignment
+ ({nanogui::Alignment::Maximum, nanogui::Alignment::Fill});
+ params_->setLayout(grid_layout);
+
+ auto sw = values.sensorSize.width;
+ auto sh = values.sensorSize.height;
+ auto K = values.matrix();
+ auto imsize = values.resolution;
+
+ double fovx;
+ double fovy;
+ double f;
+ cv::Point2d pp;
+ double ar;
+ cv::calibrationMatrixValues(K, imsize, sw, sh, fovx, fovy, f, pp, ar);
+
+ new nanogui::Label(params_, "Size (sensor/image):");
+ if (use_physical) new nanogui::Label(params_, to_string(sw, 1) + std::string("x") + to_string(sh, 1));
+ new nanogui::Label(params_, std::to_string(imsize.width) + std::string("x") + std::to_string(imsize.height));
+
+ new nanogui::Label(params_, "Focal length:");
+ if (use_physical) new nanogui::Label(params_, to_string(f) + " mm");
+ new nanogui::Label(params_,
+ ((values.fx == values.fy) ? to_string(values.fx) + " px": (
+ "(" + to_string(values.fx) + ", "
+ + to_string(values.fy) + ")")));
+
+ new nanogui::Label(params_, "Principal point:");
+ if (use_physical) new nanogui::Label(params_,
+ "(" + to_string(pp.x) + ", " +
+ to_string(pp.y) + ")");
+
+ new nanogui::Label(params_,
+ "(" + to_string(values.cx) + ", " +
+ to_string(values.cy) + ")");
+
+ new nanogui::Widget(params_);
+ new nanogui::Label(params_,
+ "(" + to_string(100.0*(2.0*values.cx/double(imsize.width) - 1.0)) + "% , " +
+ to_string(100.0*(2.0*values.cy/double(imsize.height) - 1.0)) + "%)");
+ if (use_physical) new nanogui::Widget(params_);
+
+ new nanogui::Label(params_, "Field of View (x):");
+ new nanogui::Label(params_, to_string(fovx) + "°");
+ if (use_physical) new nanogui::Widget(params_);
+
+ new nanogui::Label(params_, "Field of View (y):");
+ new nanogui::Label(params_, to_string(fovy)+ "°");
+ if (use_physical) new nanogui::Widget(params_);
+
+ new nanogui::Label(params_, "Aspect ratio:");
+ new nanogui::Label(params_, to_string(ar));
+ if (use_physical) new nanogui::Widget(params_);
+
+ std::string pK;
+ std::string pP;
+ std::string pS;
+ auto& D = values.distCoeffs;
+
+ pK += "K1: " + to_string(D[0] ,3);
+ pK += ", K2: " + to_string(D[1] ,3);
+ pP += "P1: " + to_string(D[2], 3);
+ pP += ", P2: " + to_string(D[3], 3);
+
+ pK += ", K3: " + to_string(D[4], 3);
+
+ pK += ", K4: " + to_string(D[5] ,3);
+ pK += ", K5: " + to_string(D[6] ,3);
+ pK += ", K6: " + to_string(D[7] ,3);
+
+ pS += "S1: " + to_string(D[8] ,3);
+ pS += ", S2: " + to_string(D[9] ,3);
+ pS += ", S3: " + to_string(D[10] ,3);
+ pS += ", S4: " + to_string(D[11] ,3);
+
+ if (!pK.empty()) new nanogui::Label(dist_, pK);
+ if (!pP.empty()) new nanogui::Label(dist_, pP);
+ if (!pS.empty()) new nanogui::Label(dist_, pS);
+}
diff --git a/applications/gui2/src/views/calibration/widgets.hpp b/applications/gui2/src/views/calibration/widgets.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..76ebf2c7d9a69bd289d9db22092ba8dc697ff18e
--- /dev/null
+++ b/applications/gui2/src/views/calibration/widgets.hpp
@@ -0,0 +1,35 @@
+#pragma once
+
+#include <nanogui/widget.h>
+
+#include <ftl/calibration/structures.hpp>
+
+#include "../../modules/calibration/calibration.hpp"
+
+namespace ftl {
+namespace gui2 {
+
+class OpenCVFlagWidget : public nanogui::Widget {
+public:
+ OpenCVFlagWidget(nanogui::Widget* parent, OpenCVCalibrateFlags* flags, int defaultv=-1);
+ void reset();
+ void setDefaults(int v) { defaults_ = v; }
+
+private:
+ OpenCVCalibrateFlags* flags_;
+ int defaults_;
+};
+
+class IntrinsicDetails : public nanogui::Widget {
+public:
+ IntrinsicDetails(nanogui::Widget* parent);
+ void update(const ftl::calibration::CalibrationData::Intrinsic &values);
+
+private:
+ nanogui::Widget* params_;
+ nanogui::Widget* dist_;
+ int padding_;
+};
+
+}
+}
diff --git a/applications/gui2/src/views/camera.cpp b/applications/gui2/src/views/camera.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f63455ab930911d8634be7b649e7fffe3bd42ddc
--- /dev/null
+++ b/applications/gui2/src/views/camera.cpp
@@ -0,0 +1,836 @@
+#include <nanogui/screen.h>
+#include <nanogui/layout.h>
+#include <nanogui/button.h>
+#include <nanogui/vscrollpanel.h>
+#include <ftl/utility/string.hpp>
+
+#include <ftl/codecs/touch.hpp>
+
+#include "camera.hpp"
+
+#include "../modules/camera.hpp"
+#include "../modules/config.hpp"
+#include "../modules/statistics.hpp"
+
+#include "../widgets/popupbutton.hpp"
+
+#include <loguru.hpp>
+
+using ftl::gui2::Camera;
+using ftl::gui2::FixedWindow;
+using ftl::gui2::MediaPanel;
+using ftl::gui2::ToolPanel;
+using ftl::gui2::CameraView;
+using ftl::gui2::PopupButton;
+using ftl::gui2::VolumeButton;
+using ftl::gui2::Tools;
+using ftl::gui2::ToolGroup;
+
+using ftl::codecs::Channel;
+
+// ==== Record Options =========================================================
+
+class RecordOptions : public nanogui::Window {
+public:
+ RecordOptions(nanogui::Widget *parent, Camera* ctrl);
+ virtual ~RecordOptions();
+
+ void show(const std::function<void(bool)> &cb);
+
+private:
+ Camera* ctrl_;
+ std::list<std::tuple<nanogui::CheckBox*,ftl::codecs::Channel>> channels_;
+ std::function<void(bool)> callback_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+RecordOptions::RecordOptions(nanogui::Widget *parent, Camera* ctrl)
+ : nanogui::Window(parent, "Recording"), ctrl_(ctrl) {
+
+ using namespace nanogui;
+
+ //setFixedWidth(300);
+ setLayout(new GroupLayout(15, 6, 14, 10));
+ setPosition(Vector2i(parent->width()/2.0f - 100.0f, parent->height()/2.0f - 100.0f));
+ setVisible(false);
+
+ auto close = new nanogui::Button(buttonPanel(), "", ENTYPO_ICON_CROSS);
+ close->setTheme(dynamic_cast<ftl::gui2::Screen*>(screen())->getTheme("window_dark"));
+ close->setBackgroundColor(theme()->mWindowHeaderGradientBot);
+ close->setCallback([this](){
+ setVisible(false);
+ if (callback_) callback_(false);
+ });
+
+ auto filename_box = new TextBox(this, "test.ftl");
+ filename_box->setEditable(true);
+
+ VScrollPanel *vscroll = new VScrollPanel(this);
+ vscroll->setFixedHeight(150);
+ Widget *scroll = new Widget(vscroll);
+ scroll->setLayout(new GridLayout(Orientation::Horizontal, 3));
+ //auto *label = new Label(vscroll, "Select Channels:", "sans-bold");
+
+ // Add all available channels as checkboxes
+ // TODO: Refresh this list on show
+ auto channels = ctrl_->allAvailableChannels();
+ for (auto c : channels) {
+ // Skip channels that can't be encoded
+ if (int(c) < 32) {
+ switch (c) {
+ case Channel::Colour :
+ case Channel::Colour2 :
+ case Channel::Depth :
+ case Channel::Depth2 : break;
+ default: continue;
+ }
+ }
+
+ auto check = new CheckBox(scroll, ftl::codecs::name(c));
+ switch (c) {
+ case Channel::Colour :
+ case Channel::Pose :
+ case Channel::Capabilities :
+ case Channel::Calibration :
+ case Channel::MetaData : check->setChecked(true); break;
+ default: break;
+ }
+
+ if (c == Channel::Calibration) {
+ check->setEnabled(false);
+ }
+
+ channels_.emplace_back(check, c);
+ }
+
+ auto *button_panel = new Widget(this);
+ button_panel->setLayout(new BoxLayout(Orientation::Horizontal, Alignment::Middle, 0, 6));
+
+ auto start = new Button(button_panel, "Record");
+ start->setCallback([this, filename_box]() {
+ std::unordered_set<ftl::codecs::Channel> selection;
+ for (auto &s : channels_) {
+ if (std::get<0>(s)->checked()) {
+ selection.emplace(std::get<1>(s));
+ }
+ }
+
+ if (selection.size() > 0) {
+ ctrl_->startRecording(filename_box->value(), selection);
+ setVisible(false);
+ }
+
+ if (callback_) callback_(true);
+ });
+
+ auto stream = new Button(button_panel, "Stream");
+ stream->setCallback([this]() {
+ std::unordered_set<ftl::codecs::Channel> selection;
+ for (auto &s : channels_) {
+ if (std::get<0>(s)->checked()) {
+ selection.emplace(std::get<1>(s));
+ }
+ }
+
+ if (selection.size() > 0) {
+ ctrl_->startStreaming(selection);
+ setVisible(false);
+ }
+
+ if (callback_) callback_(true);
+ });
+
+ auto closebut = new Button(button_panel, "Cancel");
+ closebut->setCallback([this]() {
+ setVisible(false);
+ if (callback_) callback_(false);
+ });
+
+ auto advanced = new Button(button_panel, "Advanced");
+ advanced->setEnabled(false);
+
+ screen()->performLayout();
+}
+
+RecordOptions::~RecordOptions() {
+
+}
+
+void RecordOptions::show(const std::function<void(bool)> &cb) {
+ setVisible(true);
+ callback_ = cb;
+}
+
+// === MediaPanel ==============================================================
+
+class MediaPanel : public FixedWindow {
+public:
+ MediaPanel(nanogui::Widget *parent, Camera* ctrl, CameraView* view);
+ virtual ~MediaPanel();
+
+ void setAvailableChannels(const std::unordered_set<ftl::codecs::Channel> &channels);
+ void setActiveChannel(ftl::codecs::Channel c);
+
+ void draw(NVGcontext *ctx) override;
+
+ /** add button to position. */
+ nanogui::Button* addButton(int position = -1);
+
+ PopupButton* button_channels;
+ VolumeButton* button_volume;
+
+private:
+ std::vector<nanogui::Widget*> buttons(); // channel buttons
+ Camera* ctrl_;
+ CameraView* view_;
+ RecordOptions *record_opts_=nullptr;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+MediaPanel::MediaPanel(nanogui::Widget *parent, ftl::gui2::Camera* ctrl, CameraView* view) :
+ ftl::gui2::FixedWindow(parent, ""), ctrl_(ctrl), view_(view) {
+
+ LOG(INFO) << __func__ << " (" << this << ")";
+ using namespace nanogui;
+
+ record_opts_ = new RecordOptions(screen(), ctrl);
+
+ setLayout(new BoxLayout(Orientation::Horizontal,
+ Alignment::Middle, 5, 10));
+
+ auto theme = dynamic_cast<ftl::gui2::Screen*>(screen())->getTheme("media");
+ this->setTheme(theme);
+
+ // Volume control
+ button_volume = new ftl::gui2::VolumeButton(this, ctrl_->mixer());
+ button_volume->setValue(ctrl_->volume());
+ button_volume->setCallback([ctrl = ctrl_](float v){ ctrl->setVolume(v); });
+
+ // Pause/Unpause
+ auto button_pause = new Button(this, "", ENTYPO_ICON_CONTROLLER_PAUS);
+ if (ctrl->isPaused()) {
+ button_pause->setIcon(ENTYPO_ICON_CONTROLLER_PLAY);
+ }
+
+ button_pause->setCallback([ctrl = ctrl_ ,button_pause]() {
+ ctrl->setPaused(!ctrl->isPaused());
+
+ if (ctrl->isPaused()) {
+ button_pause->setIcon(ENTYPO_ICON_CONTROLLER_PLAY);
+ } else {
+ button_pause->setIcon(ENTYPO_ICON_CONTROLLER_PAUS);
+ }
+ });
+
+ // Record
+ /*auto button_record = new ftl::gui2::PopupButton(this, "", ENTYPO_ICON_CONTROLLER_RECORD);
+ button_record->setSide(Popup::Side::Right);
+ button_record->setChevronIcon(0);
+
+ auto rec_popup = button_record->popup();
+ rec_popup->setLayout(new GroupLayout());
+
+ {
+ auto button = new Button(rec_popup, "Record to File");
+ //button->setFlags(Button::RadioButton);
+ //button->setVisible(true);
+ button->setCallback([this, button_record]() {
+ if (!ctrl_->isRecording()) {
+ button_record->setTextColor(nanogui::Color(1.0f,0.1f,0.1f,1.0f));
+ button_record->setPushed(false);
+ ctrl_->startRecording("test.ftl");
+ }
+ });
+ }
+
+ button_record->setCallback([this, button_record]() {
+ if (ctrl_->isRecording()) {
+ button_record->setTextColor(nanogui::Color(1.0f,1.0f,1.0f,1.0f));
+ button_record->setPushed(false);
+ ctrl_->stopRecording();
+ }
+ });*/
+
+ // Record
+ auto button_record = new Button(this, "", ENTYPO_ICON_CONTROLLER_RECORD);
+ button_record->setCallback([this, button_record]() {
+ if (record_opts_->visible()) return;
+
+ if (ctrl_->isRecording()) {
+ ctrl_->stopRecording();
+ button_record->setTextColor(nanogui::Color(1.0f,1.0f,1.0f,1.0f));
+ } else {
+ record_opts_->show([button_record](bool rec) {
+ if (rec) button_record->setTextColor(nanogui::Color(1.0f,0.1f,0.1f,1.0f));
+ });
+ }
+ });
+
+ auto button_stereo = new nanogui::Button(this, "", ENTYPO_ICON_GRID);
+ button_stereo->setFlags(nanogui::Button::Flags::ToggleButton);
+ button_stereo->setChangeCallback([view = view_](bool v){
+ view->setStereo(v);
+ });
+
+ // Channel select. Creates buttons for 32 channels and sets available ones
+ // visible (a bit of a hack, only used here and setAvailableChannels())
+
+ button_channels = new ftl::gui2::PopupButton(this, "", ENTYPO_ICON_LAYERS);
+ button_channels->setSide(Popup::Side::Right);
+ button_channels->setChevronIcon(0);
+
+ auto popup = button_channels->popup();
+ popup->setLayout(new GroupLayout());
+
+ for (int i=0; i < 32; ++i) {
+ ftl::codecs::Channel c = static_cast<ftl::codecs::Channel>(i);
+ auto button = new Button(popup, ftl::codecs::name(c));
+ button->setFlags(Button::RadioButton);
+ button->setVisible(false);
+ button->setCallback([this,c]() {
+ ctrl_->setChannel(c);
+ setActiveChannel(c);
+ });
+ }
+
+ setAvailableChannels(ctrl_->availableChannels());
+
+ // Settings
+ auto button_config = new Button(this, "", ENTYPO_ICON_COG);
+
+ button_config->setCallback([ctrl = ctrl_]() {
+ auto uri = ctrl->getActiveSourceURI();
+ if (uri.size() > 0) ctrl->screen->getModule<ftl::gui2::ConfigCtrl>()->show(uri);
+ else ctrl->screen->showError("Error", "This source does not have any settings");
+ });
+}
+
+MediaPanel::~MediaPanel() {
+ if (parent()->getRefCount() > 0) record_opts_->dispose();
+}
+
+void MediaPanel::draw(NVGcontext *ctx) {
+ auto size = this->size();
+ setPosition(
+ nanogui::Vector2i( screen()->width() / 2 - size[0]/2,
+ screen()->height() - 30 - size[1]));
+
+ FixedWindow::draw(ctx);
+}
+
+std::vector<nanogui::Widget*> MediaPanel::buttons() {
+
+ auto popup = button_channels->popup();
+
+ if (popup->childCount() != 32) {
+ LOG(ERROR) << "Wrong number of buttons!";
+ }
+ return popup->children();
+}
+
+void MediaPanel::setAvailableChannels(const std::unordered_set<Channel> &channels) {
+
+ const auto &button = buttons();
+ bool update = false;
+
+ for (int i = 0; i < 32; ++i) {
+ ftl::codecs::Channel c = static_cast<ftl::codecs::Channel>(i);
+ bool visible = channels.count(c) > 0;
+ update |= (visible != button[i]->visible());
+ button[i]->setVisible(visible);
+ }
+
+ if (update) {
+ auto popup = button_channels->popup();
+ screen()->performLayout();
+ popup->setAnchorHeight(popup->height() - 20);
+ }
+}
+
+void MediaPanel::setActiveChannel(Channel c) {
+ auto button = dynamic_cast<nanogui::Button*>
+ (buttons()[static_cast<size_t>(c)]);
+
+ button->setVisible(true);
+ button->setPushed(true);
+}
+
+nanogui::Button* MediaPanel::addButton(int pos) {
+ auto* button = new nanogui::Button(this, "", 0);
+ if (pos >= 0) {
+ mChildren.pop_back();
+ mChildren.insert(mChildren.begin() + pos, button);
+ }
+ performLayout(screen()->nvgContext());
+ return button;
+}
+
+// === ToolPanel ===============================================================
+
+ToolPanel::ToolPanel(nanogui::Widget *parent, ftl::gui2::Camera* ctrl, CameraView* view) :
+ ftl::gui2::FixedWindow(parent, ""), ctrl_(ctrl), view_(view) {
+
+ LOG(INFO) << __func__ << " (" << this << ")";
+ using namespace nanogui;
+
+ setLayout(new BoxLayout(Orientation::Vertical,
+ Alignment::Middle, 5, 10));
+
+ container_ = new Widget(this);
+ container_->setLayout(new BoxLayout(Orientation::Vertical,
+ Alignment::Middle, 0, 10));
+
+ auto theme = dynamic_cast<ftl::gui2::Screen*>(screen())->getTheme("media_small");
+ this->setTheme(theme);
+
+ auto *mouse_group = _addGroup(ToolGroup::MOUSE_MOTION, Button::Flags::RadioButton, {
+ Tools::SELECT_POINT,
+ Tools::MOVEMENT,
+ Tools::MOVE_CURSOR,
+ Tools::ROTATE_CURSOR,
+ Tools::PAN,
+ Tools::INSPECT_POINT,
+ Tools::ZOOM_IN,
+ Tools::ZOOM_OUT,
+ Tools::ROTATE_X,
+ Tools::ROTATE_Y,
+ Tools::ROTATE_Z,
+ Tools::TRANSLATE_X,
+ Tools::TRANSLATE_Y,
+ Tools::TRANSLATE_Z
+ });
+ _addButton(mouse_group, Tools::SELECT_POINT, ENTYPO_ICON_MOUSE_POINTER, "Select Point");
+ _addButton(mouse_group, Tools::MOVEMENT, ENTYPO_ICON_MAN, "First Person Camera");
+ _addButton(mouse_group, Tools::MOVE_CURSOR, ENTYPO_ICON_DIRECTION, "Move 3D Cursor");
+ _addButton(mouse_group, Tools::PAN, ENTYPO_ICON_MOUSE, "Pan Image");
+ _addButton(mouse_group, Tools::INSPECT_POINT, ENTYPO_ICON_MAGNIFYING_GLASS, "Inspect Point");
+ _addButton(mouse_group, Tools::ZOOM_IN, ENTYPO_ICON_CIRCLE_WITH_PLUS, "Zoom In (+)");
+ _addButton(mouse_group, Tools::ZOOM_OUT, ENTYPO_ICON_CIRCLE_WITH_MINUS, "Zoom Out (-)");
+ auto *trans_but = _addButton(mouse_group, {
+ Tools::ROTATE_X,
+ Tools::ROTATE_Y,
+ Tools::ROTATE_Z
+ }, ENTYPO_ICON_CYCLE, "Transform Pose");
+ _addButton(trans_but, Tools::ROTATE_X, "Rotate X");
+ _addButton(trans_but, Tools::ROTATE_Y, "Rotate Y");
+ _addButton(trans_but, Tools::ROTATE_Z, "Rotate Z");
+ _addButton(trans_but, Tools::TRANSLATE_X, "Translate X");
+ _addButton(trans_but, Tools::TRANSLATE_Y, "Translate Y");
+ _addButton(trans_but, Tools::TRANSLATE_Z, "Translate Z");
+
+ auto *view2d_group = _addGroup(ToolGroup::VIEW_2D_ACTIONS, Button::Flags::NormalButton, {
+ Tools::CENTRE_VIEW,
+ Tools::ZOOM_FIT
+ });
+ _addButton(view2d_group, Tools::CENTRE_VIEW, ENTYPO_ICON_ALIGN_HORIZONTAL_MIDDLE, "Centre the View (c)");
+ _addButton(view2d_group, Tools::ZOOM_FIT, ENTYPO_ICON_RESIZE_FULL_SCREEN, "Zoom to Fit (f)");
+
+
+ //_addButton(CameraTools::ORIGIN_TO_CURSOR, ENTYPO_ICON_LOCATION, "Origin to 3D Cursor");
+ auto *action3d_group = _addGroup(ToolGroup::VIEW_3D_ACTIONS, Button::Flags::NormalButton, {
+ Tools::ORIGIN_TO_CURSOR,
+ Tools::RESET_ORIGIN,
+ Tools::SAVE_CURSOR
+ });
+ auto *cur_but = _addButton(action3d_group, {
+ Tools::ORIGIN_TO_CURSOR,
+ Tools::RESET_ORIGIN,
+ Tools::SAVE_CURSOR
+ }, ENTYPO_ICON_LOCATION, "Use Cursor");
+ _addButton(cur_but, Tools::ORIGIN_TO_CURSOR, "Origin to Cursor");
+ _addButton(cur_but, Tools::RESET_ORIGIN, "Reset Origin");
+ _addButton(cur_but, Tools::SAVE_CURSOR, "Save Cursor as Pose");
+
+ auto *view3d_group = _addGroup(ToolGroup::VIEW_3D_LAYERS, Button::Flags::ToggleButton, {
+ Tools::OVERLAY,
+ Tools::CLIPPING
+ });
+ _addButton(view3d_group, Tools::OVERLAY, ENTYPO_ICON_LINE_GRAPH, "Show/Hide Overlay");
+ _addButton(view3d_group, Tools::CLIPPING, ENTYPO_ICON_SCISSORS, "Enable/Disable Clipping");
+
+ auto *b = new Button(this, "", ENTYPO_ICON_CHEVRON_THIN_UP);
+ b->setTooltip("Show/Hide Tools");
+ b->setCallback([this, b]() {
+ if (container_->visible()) {
+ container_->setVisible(false);
+ b->setIcon(ENTYPO_ICON_CHEVRON_THIN_UP);
+ screen()->performLayout();
+ } else {
+ container_->setVisible(true);
+ b->setIcon(ENTYPO_ICON_CHEVRON_THIN_DOWN);
+ screen()->performLayout();
+ }
+ });
+ container_->setVisible(false);
+}
+
+ToolPanel::~ToolPanel() {
+
+}
+
+bool ToolPanel::isActive(ftl::gui2::Tools tool) {
+ if (group_map_.count(tool)) {
+ auto &grp = group_data_[group_map_[tool]];
+ return grp.active.count(tool) > 0;
+ }
+ return false;
+}
+
+void ToolPanel::setTool(ftl::gui2::Tools tool) {
+ if (group_map_.count(tool)) {
+ auto &grp = group_data_[group_map_[tool]];
+
+ if (grp.type == nanogui::Button::Flags::RadioButton) {
+ for (auto t : grp.active) {
+ if (t != tool) {
+ if (buttons_.count(t)) {
+ auto *b = buttons_[t];
+ b->setTextColor(nanogui::Color(255,255,255,255));
+ b->setPushed(false);
+ }
+ }
+ }
+
+ grp.active.clear();
+ grp.active.insert(tool);
+
+ if (buttons_.count(tool)) {
+ auto *b = buttons_[tool];
+ b->setTextColor(dynamic_cast<Screen*>(screen())->getColor("highlight1"));
+ b->setPushed(true);
+ }
+ } else if (grp.type == nanogui::Button::Flags::ToggleButton) {
+ grp.active.insert(tool);
+
+ if (buttons_.count(tool)) {
+ auto *b = buttons_[tool];
+ b->setTextColor(dynamic_cast<Screen*>(screen())->getColor("highlight1"));
+ b->setPushed(true);
+ }
+ } else {
+
+ }
+
+ for (auto &f : callbacks_) {
+ if (f(tool)) break;
+ }
+ }
+}
+
+nanogui::Widget *ToolPanel::_addGroup(ftl::gui2::ToolGroup group, nanogui::Button::Flags type, const std::unordered_set<ftl::gui2::Tools> &tools) {
+ auto &grp = group_data_[group];
+ grp.tools = tools;
+ grp.type = type;
+ for (auto t : tools) group_map_[t] = group;
+
+ auto *w = new nanogui::Widget(container_);
+ w->setLayout(new nanogui::BoxLayout(nanogui::Orientation::Vertical, nanogui::Alignment::Middle, 0, 10));
+ return w;
+}
+
+void ToolPanel::_addButton(nanogui::Widget *g, ftl::gui2::Tools tool, int icon, const std::string &tooltip) {
+ auto *b = new nanogui::Button(g, "", icon);
+ b->setTooltip(tooltip);
+ b->setCallback([this, tool]() {
+ setTool(tool);
+ });
+ buttons_[tool] = b;
+}
+
+void ToolPanel::_addButton(ftl::gui2::PopupButton *parent, ftl::gui2::Tools tool, const std::string &label) {
+ auto *b = new nanogui::Button(parent->popup(), label);
+ b->setCallback([this, parent, tool]() {
+ parent->setPushed(false);
+ setTool(tool);
+ });
+ //buttons_[tool] = b;
+}
+
+ftl::gui2::PopupButton *ToolPanel::_addButton(nanogui::Widget *g, std::unordered_set<ftl::gui2::Tools> tools, int icon, const std::string &tooltip) {
+ auto *b = new ftl::gui2::PopupButton(g, "", icon);
+ b->setTooltip(tooltip);
+ b->setSide(nanogui::Popup::Side::Left);
+ b->setChevronIcon(0);
+
+ for (auto t : tools) {
+ buttons_[t] = b;
+ }
+
+ auto *popup = b->popup();
+ popup->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 10, 6));
+
+ auto theme = dynamic_cast<ftl::gui2::Screen*>(screen())->getTheme("media_small");
+ popup->setTheme(theme);
+
+ return b;
+}
+
+void ToolPanel::setAvailable(const std::unordered_set<ftl::gui2::Tools> &s) {
+ for (auto &b : buttons_) {
+ if (s.count(b.first)) {
+ b.second->setVisible(true);
+ } else {
+ b.second->setVisible(false);
+ }
+ }
+}
+
+void ToolPanel::setEnabled(const std::unordered_set<ftl::gui2::Tools> &s) {
+ for (auto &b : buttons_) {
+ if (s.count(b.first)) {
+ b.second->setVisible(true);
+ b.second->setEnabled(true);
+ } else {
+ b.second->setEnabled(false);
+ }
+ }
+}
+
+void ToolPanel::enable(const std::unordered_set<ftl::gui2::Tools> &s) {
+ for (auto &b : buttons_) {
+ if (s.count(b.first)) {
+ b.second->setVisible(true);
+ b.second->setEnabled(true);
+ }
+ }
+}
+
+void ToolPanel::disable(const std::unordered_set<ftl::gui2::Tools> &s) {
+ for (auto &b : buttons_) {
+ if (s.count(b.first)) {
+ b.second->setEnabled(false);
+ }
+ }
+}
+
+void ToolPanel::draw(NVGcontext *ctx) {
+ auto size = this->size();
+ setPosition(
+ nanogui::Vector2i( screen()->width() - 30 - size[0],
+ screen()->height() - 30 - size[1]));
+
+ FixedWindow::draw(ctx);
+}
+
+// ==== CameraView =============================================================
+
+CameraView::CameraView(ftl::gui2::Screen* parent, ftl::gui2::Camera* ctrl) :
+ View(parent), enable_zoom_(false), enable_pan_(false), ctrl_(ctrl),
+ stereoim_(nullptr) {
+
+ imview_ = new ftl::gui2::FTLImageView(this);
+ panel_ = new ftl::gui2::MediaPanel(screen(), ctrl, this);
+ tools_ = new ftl::gui2::ToolPanel(screen(), ctrl, this);
+
+ imview_->setFlipped(ctrl->isVR());
+
+ auto *mod = ctrl_->screen->getModule<ftl::gui2::Statistics>();
+ if (ctrl_->isMovable()) {
+ imview_->setCursor(nanogui::Cursor::Hand);
+ mod->setCursor(nanogui::Cursor::Hand);
+ } else {
+ imview_->setCursor(nanogui::Cursor::Crosshair);
+ mod->setCursor(nanogui::Cursor::Crosshair);
+ }
+
+ auto theme = dynamic_cast<ftl::gui2::Screen*>(screen())->getTheme("toolbutton");
+ //this->setTheme(theme);
+
+ context_menu_ = new nanogui::Window(parent, "");
+ context_menu_->setVisible(false);
+ context_menu_->setLayout(new nanogui::BoxLayout(nanogui::Orientation::Vertical));
+ context_menu_->setTheme(theme);
+
+ auto *button = new nanogui::Button(context_menu_, "Capture Image");
+ button->setCallback([this]() {
+ char timestamp[18];
+ std::time_t t=std::time(NULL);
+ std::strftime(timestamp, sizeof(timestamp), "%F-%H%M%S", std::localtime(&t));
+ context_menu_->setVisible(false);
+ ctrl_->snapshot(std::string(timestamp)+std::string(".png"));
+ });
+
+ button = new nanogui::Button(context_menu_, "Settings");
+ button->setCallback([this, button]() {
+ context_menu_->setVisible(false);
+ ctrl_->screen->getModule<ftl::gui2::ConfigCtrl>()->show(ctrl_->getID());
+ });
+
+ tools_->setAvailable({
+ Tools::SELECT_POINT,
+ Tools::OVERLAY,
+ Tools::PAN,
+ Tools::ZOOM_FIT,
+ Tools::ZOOM_IN,
+ Tools::ZOOM_OUT,
+ Tools::CENTRE_VIEW,
+ Tools::INSPECT_POINT
+ });
+
+ tools_->addCallback([this](ftl::gui2::Tools tool) {
+ switch (tool) {
+ case Tools::OVERLAY : ctrl_->toggleOverlay(); return true;
+ case Tools::ZOOM_FIT : imview_->fit(); return true;
+ case Tools::CENTRE_VIEW : imview_->center(); return true;
+ //case CameraTools::ZOOM_OUT : imview_->zoom(-1, imview_->sizeF() / 2); return true;
+ //case CameraTools::ZOOM_IN : imview_->zoom(1, imview_->sizeF() / 2); return true;
+ default: return false;
+ }
+ });
+}
+
+CameraView::~CameraView() {
+ if (parent()->getRefCount() > 0) {
+ // segfault without this check; nanogui already deleted windows?
+ // should be fixed in nanogui
+ panel_->dispose();
+ tools_->dispose();
+ }
+
+ if (context_menu_->parent()->getRefCount() > 0) {
+ context_menu_->setVisible(false);
+ context_menu_->dispose();
+ }
+}
+
+void CameraView::setStereo(bool v) {
+ if (v) {
+ if (!stereoim_) {
+ removeChild(imview_);
+ stereoim_ = new StereoImageView(this);
+ imview_ = stereoim_->right();
+ performLayout(screen()->nvgContext());
+ }
+ }
+ else {
+ if (stereoim_) {
+ removeChild(stereoim_);
+ imview_ = new FTLImageView(this);
+ stereoim_ = nullptr;
+ performLayout(screen()->nvgContext());
+ }
+ }
+}
+
+void CameraView::refresh() {
+ bool was_valid = imview_->texture().isValid();
+
+ if (ctrl_->hasFrame()) {
+ imview_->copyFrom(ctrl_->getFrame());
+ }
+ if (!was_valid && imview_->texture().isValid()) {
+ screen()->performLayout();
+ }
+}
+
+void CameraView::setZoom(bool v) {
+ enable_zoom_ = v;
+ imview_->setFixedScale(!v);
+ if (!v) {
+ imview_->setScale(1.0f);
+ }
+}
+
+void CameraView::setPan(bool v) {
+ enable_pan_ = v;
+ imview_->setFixedOffset(!v);
+ if (!v) {
+ imview_->fit();
+ }
+}
+
+bool CameraView::mouseMotionEvent(const Eigen::Vector2i &p, const Eigen::Vector2i &rel, int button, int modifiers) {
+ //if (button == 1) {
+
+ if (tools_->isActive(Tools::SELECT_POINT)) {
+ auto pos = imview_->imageCoordinateAt((p - mPos + rel).cast<float>());
+ if (pos.x() >= 0.0f && pos.y() >= 0.0f) {
+ ctrl_->touch(0, ftl::codecs::TouchType::MOUSE_LEFT, pos.x(), pos.y(), 0.0f, (button > 0) ? 255 : 0);
+
+ //LOG(INFO) << "Depth at " << pos.x() << "," << pos.y() << " = " << ctrl_->depthAt(pos.x(), pos.y());
+ }
+ }
+ return true;
+ //}
+ return false;
+}
+
+bool CameraView::mouseButtonEvent(const Eigen::Vector2i &p, int button, bool down, int modifiers) {
+ //LOG(INFO) << "mouseButtonEvent: " << p << " - " << button;
+ if (button == 0) {
+ if (tools_->isActive(Tools::SELECT_POINT)) {
+ auto pos = imview_->imageCoordinateAt((p - mPos).cast<float>());
+ if (pos.x() >= 0.0f && pos.y() >= 0.0f) {
+ ctrl_->touch(0, ftl::codecs::TouchType::MOUSE_LEFT, pos.x(), pos.y(), 0.0f, (down) ? 255 : 0);
+ }
+ } else if (tools_->isActive(Tools::ZOOM_IN)) {
+ imview_->zoom(1, p.cast<float>());
+ } else if (tools_->isActive(Tools::ZOOM_OUT)) {
+ imview_->zoom(-1, p.cast<float>());
+ }
+
+ context_menu_->setVisible(false);
+ return true;
+ } else if (button == 1) {
+ if (!down) {
+ context_menu_->setPosition(p - mPos);
+ context_menu_->setVisible(true);
+ return true;
+ }
+ } else {
+ context_menu_->setVisible(false);
+ }
+ return false;
+}
+
+void CameraView::draw(NVGcontext*ctx) {
+ using namespace nanogui;
+
+ if (ctrl_->hasFrame()) {
+ try {
+ // TODO: Select shader to flip if VR capability found...
+ imview_->copyFrom(ctrl_->getFrame());
+ if (stereoim_) {
+ stereoim_->left()->copyFrom(ctrl_->getFrame(Channel::Left));
+ }
+ }
+ catch (std::exception& e) {
+ gui()->showError("Exception", e.what());
+ }
+ }
+ View::draw(ctx);
+
+ auto osize = imview_->scaledImageSizeF();
+ ctrl_->drawOverlay(ctx, screen()->size().cast<float>(), osize, imview_->offset());
+
+ if (tools_->isActive(Tools::INSPECT_POINT)) {
+ auto mouse = screen()->mousePos();
+ auto pos = imview_->imageCoordinateAt((mouse - mPos).cast<float>());
+ float d = ctrl_->depthAt(pos.x(), pos.y());
+
+ if (d > 0.0f) {
+ nvgText(ctx, mouse.x()+25.0f, mouse.y()+20.0f, (to_string_with_precision(d,2) + std::string("m")).c_str(), nullptr);
+ }
+ }
+}
+
+void CameraView::performLayout(NVGcontext* ctx) {
+ if (stereoim_) {
+ stereoim_->setFixedSize(size());
+ if (!(enable_zoom_ && enable_pan_)) {
+ stereoim_->fit();
+ }
+ }
+ else {
+ imview_->setSize(size());
+ if (!(enable_zoom_ && enable_pan_)) {
+ imview_->fit();
+ }
+ }
+ View::performLayout(ctx);
+}
diff --git a/applications/gui2/src/views/camera.hpp b/applications/gui2/src/views/camera.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..179f4eff2c2bdc49140051ef27ceafdbf385f6ed
--- /dev/null
+++ b/applications/gui2/src/views/camera.hpp
@@ -0,0 +1,97 @@
+#pragma once
+
+#include "../view.hpp"
+
+#include <ftl/utility/gltexture.hpp>
+
+#include "../widgets/window.hpp"
+#include "../widgets/soundctrl.hpp"
+#include "../widgets/imageview.hpp"
+#include "../widgets/popupbutton.hpp"
+#include "../modules/camera_tools.hpp"
+
+namespace ftl {
+namespace gui2 {
+
+class Camera;
+class MediaPanel;
+class CameraView;
+
+
+struct ToolGroupData {
+ nanogui::Button::Flags type;
+ std::unordered_set<ftl::gui2::Tools> active;
+ std::unordered_set<ftl::gui2::Tools> tools;
+};
+
+class ToolPanel : public FixedWindow {
+public:
+ ToolPanel(nanogui::Widget *parent, Camera* ctrl, CameraView* view);
+ virtual ~ToolPanel();
+
+ void setAvailable(const std::unordered_set<ftl::gui2::Tools> &);
+ void setEnabled(const std::unordered_set<ftl::gui2::Tools> &);
+ void enable(const std::unordered_set<ftl::gui2::Tools> &);
+ void disable(const std::unordered_set<ftl::gui2::Tools> &);
+
+ void draw(NVGcontext *ctx) override;
+
+ //inline ftl::gui2::Tools activeTool() const { return active_; }
+ bool isActive(ftl::gui2::Tools);
+ void setTool(ftl::gui2::Tools tool);
+
+ inline void addCallback(const std::function<bool(ftl::gui2::Tools)> &cb) { callbacks_.push_back(cb); }
+
+private:
+ Camera* ctrl_;
+ CameraView* view_;
+ nanogui::Widget *container_;
+ std::unordered_map<ftl::gui2::Tools, nanogui::Button*> buttons_;
+ std::unordered_map<ftl::gui2::ToolGroup, ftl::gui2::ToolGroupData> group_data_;
+ std::unordered_map<ftl::gui2::Tools, ftl::gui2::ToolGroup> group_map_;
+
+ std::list<std::function<bool(ftl::gui2::Tools)>> callbacks_;
+
+ nanogui::Widget *_addGroup(ftl::gui2::ToolGroup group, nanogui::Button::Flags type, const std::unordered_set<ftl::gui2::Tools> &tools);
+ void _addButton(nanogui::Widget *, ftl::gui2::Tools, int icon, const std::string &tooltip);
+ void _addButton(ftl::gui2::PopupButton *parent, ftl::gui2::Tools, const std::string &label);
+ ftl::gui2::PopupButton *_addButton(nanogui::Widget *, std::unordered_set<ftl::gui2::Tools> tools, int icon, const std::string &tooltip);
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+class CameraView : public View {
+public:
+ CameraView(Screen* parent, Camera* ctrl);
+ virtual ~CameraView();
+
+ virtual void draw(NVGcontext* ctx) override;
+ virtual void performLayout(NVGcontext* ctx) override;
+ virtual bool mouseButtonEvent(const Eigen::Vector2i &p, int button, bool down, int modifiers) override;
+ virtual bool mouseMotionEvent(const Eigen::Vector2i &p, const Eigen::Vector2i &rel, int button, int modifiers) override;
+
+ void refresh();
+ void setZoom(bool enable);
+ void setPan(bool enable);
+
+ void setStereo(bool v);
+
+protected:
+ bool enable_zoom_;
+ bool enable_pan_;
+ Camera* ctrl_;
+ MediaPanel* panel_;
+ ToolPanel* tools_;
+ FTLImageView* imview_;
+ nanogui::Window *context_menu_;
+
+private:
+ StereoImageView* stereoim_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+}
+}
diff --git a/applications/gui2/src/views/camera3d.cpp b/applications/gui2/src/views/camera3d.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..599fc88a9ae66c246efd319e0c9b3e5ad167651a
--- /dev/null
+++ b/applications/gui2/src/views/camera3d.cpp
@@ -0,0 +1,246 @@
+#include "camera3d.hpp"
+#include "../modules/camera.hpp"
+
+#include <loguru.hpp>
+
+using ftl::gui2::CameraView3D;
+
+// =============================================================================
+
+static Eigen::Affine3d create_rotation_matrix(float ax, float ay, float az) {
+ Eigen::Affine3d rx =
+ Eigen::Affine3d(Eigen::AngleAxisd(ax, Eigen::Vector3d(1, 0, 0)));
+ Eigen::Affine3d ry =
+ Eigen::Affine3d(Eigen::AngleAxisd(ay, Eigen::Vector3d(0, 1, 0)));
+ Eigen::Affine3d rz =
+ Eigen::Affine3d(Eigen::AngleAxisd(az, Eigen::Vector3d(0, 0, 1)));
+ return rz * rx * ry;
+}
+
+// ==== CameraView3D ===========================================================
+
+CameraView3D::CameraView3D(ftl::gui2::Screen *parent, ftl::gui2::Camera *ctrl) :
+ CameraView(parent, ctrl) {
+
+ eye_ = Eigen::Vector3d::Zero();
+ neye_ = Eigen::Vector4d::Zero();
+ rotmat_.setIdentity();
+
+ rx_ = 0.0;
+ ry_ = 0.0;
+
+ ftime_ = 0.0;
+ delta_ = 0.0;
+ lerp_speed_ = 0.999f;
+
+ pose_up_to_date_.test_and_set();
+
+ tools_->setAvailable({
+ Tools::SELECT_POINT,
+ Tools::MOVEMENT,
+ Tools::OVERLAY,
+ Tools::INSPECT_POINT,
+ Tools::CLIPPING,
+ Tools::MOVE_CURSOR,
+ Tools::ORIGIN_TO_CURSOR,
+ Tools::RESET_ORIGIN,
+ Tools::SAVE_CURSOR,
+ Tools::ROTATE_X,
+ Tools::ROTATE_Y,
+ Tools::ROTATE_Z,
+ Tools::TRANSLATE_X,
+ Tools::TRANSLATE_Y,
+ Tools::TRANSLATE_Z
+ });
+
+ setZoom(false);
+ setPan(false);
+
+ tools_->setTool(Tools::MOVEMENT);
+
+ tools_->addCallback([this](ftl::gui2::Tools tool) {
+ if (tool == Tools::ORIGIN_TO_CURSOR) {
+ ctrl_->setOriginToCursor();
+ tools_->setTool(Tools::MOVEMENT);
+ return true;
+ } else if (tool == Tools::RESET_ORIGIN) {
+ ctrl_->resetOrigin();
+ tools_->setTool(Tools::MOVEMENT);
+ return true;
+ } else if (tool == Tools::SAVE_CURSOR) {
+ ctrl_->saveCursorToPoser();
+ tools_->setTool(Tools::MOVEMENT);
+ return true;
+ } else if (tool == Tools::ROTATE_X || tool == Tools::ROTATE_Y || tool == Tools::ROTATE_Z ||
+ tool == Tools::TRANSLATE_X || tool == Tools::TRANSLATE_Y || tool == Tools::TRANSLATE_Z) {
+ LOG(INFO) << "Loading cache pose";
+ cache_pose_ = ctrl_->getActivePose();
+ cache_screen_ = ctrl_->getActivePoseScreenCoord();
+ }
+ return false;
+ });
+}
+
+bool CameraView3D::keyboardEvent(int key, int scancode, int action, int modifiers) {
+ if (key == 263 || key == 262) {
+ float mag = (modifiers & 0x1) ? 0.01f : 0.1f;
+ float scalar = (key == 263) ? -mag : mag;
+ neye_ += rotmat_*Eigen::Vector4d(scalar, 0.0, 0.0, 1.0);
+ pose_up_to_date_.clear();
+ }
+ else if (key == 264 || key == 265) {
+ float mag = (modifiers & 0x1) ? 0.01f : 0.1f;
+ float scalar = (key == 264) ? -mag : mag;
+ neye_ += rotmat_*Eigen::Vector4d(0.0, 0.0, scalar, 1.0);
+ pose_up_to_date_.clear();
+ }
+ else if (key == 266 || key == 267) {
+ float mag = (modifiers & 0x1) ? 0.01f : 0.1f;
+ float scalar = (key == 266) ? -mag : mag;
+ neye_ += rotmat_*Eigen::Vector4d(0.0, scalar, 0.0, 1.0);
+ pose_up_to_date_.clear();
+ }
+ else if (key >= '0' && key <= '5' && modifiers == 2) { // Ctrl+NUMBER
+ }
+
+ return true;
+}
+
+bool CameraView3D::mouseButtonEvent(const Eigen::Vector2i &p, int button, bool down, int modifiers) {
+ if (button == 0 && !down) {
+ if (tools_->isActive(Tools::MOVE_CURSOR)) {
+ auto mouse = screen()->mousePos();
+ auto pos = imview_->imageCoordinateAt((mouse - mPos).cast<float>());
+ //Eigen::Vector3f world = ctrl_->worldAt(pos.x(), pos.y());
+
+ ctrl_->setCursor(pos.x(), pos.y());
+ tools_->setTool(Tools::ROTATE_CURSOR);
+ return true;
+ } else if (tools_->isActive(Tools::ROTATE_CURSOR)) {
+ tools_->setTool(Tools::MOVEMENT);
+ } else if (tools_->isActive(Tools::ROTATE_X) || tools_->isActive(Tools::ROTATE_Y) || tools_->isActive(Tools::ROTATE_Z) ||
+ tools_->isActive(Tools::TRANSLATE_X) || tools_->isActive(Tools::TRANSLATE_Y) || tools_->isActive(Tools::TRANSLATE_Z)) {
+ tools_->setTool(Tools::MOVEMENT);
+ }
+ }
+
+ return CameraView::mouseButtonEvent(p, button, down, modifiers);
+}
+
+bool CameraView3D::mouseMotionEvent(const Eigen::Vector2i &p, const Eigen::Vector2i &rel, int button, int modifiers) {
+ //if (button != 1) {
+ // return true;
+ //}
+
+ if (button == 1 && tools_->isActive(Tools::MOVEMENT)) {
+ rx_ += rel[0];
+ ry_ += rel[1];
+ pose_up_to_date_.clear();
+ return true;
+ } else if (tools_->isActive(Tools::ROTATE_CURSOR)) {
+ auto mouse = screen()->mousePos();
+ auto pos = imview_->imageCoordinateAt((mouse - mPos).cast<float>());
+
+ Eigen::Vector3f world = ctrl_->worldAt(pos.x(), pos.y());
+ ctrl_->setCursorTarget(world);
+ return true;
+ } else if (tools_->isActive(Tools::ROTATE_X)) {
+ auto screen_origin = ctrl_->getActivePoseScreenCoord();
+ double angle = atan2(float(screen_origin[1] - p[1]), float(screen_origin[0] - p[0]));
+ Eigen::Affine3d rx = Eigen::Affine3d(Eigen::AngleAxisd(angle, Eigen::Vector3d(1, 0, 0)));
+ ctrl_->setActivePose(rx.matrix() * cache_pose_);
+ } else if (tools_->isActive(Tools::ROTATE_Y)) {
+ auto screen_origin = ctrl_->getActivePoseScreenCoord();
+ double angle = -atan2(float(screen_origin[1] - p[1]), float(screen_origin[0] - p[0]));
+ Eigen::Affine3d ry = Eigen::Affine3d(Eigen::AngleAxisd(angle, Eigen::Vector3d(0, 1, 0)));
+ ctrl_->setActivePose(ry.matrix() * cache_pose_);
+ } else if (tools_->isActive(Tools::ROTATE_Z)) {
+ auto screen_origin = ctrl_->getActivePoseScreenCoord();
+ double angle = atan2(float(screen_origin[1] - p[1]), float(screen_origin[0] - p[0]));
+ Eigen::Affine3d rz = Eigen::Affine3d(Eigen::AngleAxisd(angle, Eigen::Vector3d(0, 0, 1)));
+ ctrl_->setActivePose(rz.matrix() * cache_pose_);
+ } else if (tools_->isActive(Tools::TRANSLATE_X)) {
+ auto mouse = screen()->mousePos();
+ auto pos = imview_->imageCoordinateAt((mouse - mPos).cast<float>());
+ double dx = pos[0] - double(cache_screen_[0]);
+ //double dy = pos[1] - double(cache_screen_[1]);
+ double dist = dx; //(std::abs(dx) > std::abs(dy)) ? dx : dy;
+ Eigen::Affine3d rx = Eigen::Affine3d(Eigen::Translation3d(dist*0.001, 0.0, 0.0));
+ ctrl_->setActivePose(rx.matrix() * cache_pose_);
+ } else if (tools_->isActive(Tools::TRANSLATE_Y)) {
+ auto mouse = screen()->mousePos();
+ auto pos = imview_->imageCoordinateAt((mouse - mPos).cast<float>());
+ double dx = pos[0] - double(cache_screen_[0]);
+ //double dy = pos[1] - double(cache_screen_[1]);
+ double dist = dx; //(std::abs(dx) > std::abs(dy)) ? dx : dy;
+ Eigen::Affine3d rx = Eigen::Affine3d(Eigen::Translation3d(0.0, dist*0.001, 0.0));
+ ctrl_->setActivePose(rx.matrix() * cache_pose_);
+ } else if (tools_->isActive(Tools::TRANSLATE_Z)) {
+ auto mouse = screen()->mousePos();
+ auto pos = imview_->imageCoordinateAt((mouse - mPos).cast<float>());
+ double dx = pos[0] - double(cache_screen_[0]);
+ //double dy = pos[1] - double(cache_screen_[1]);
+ double dist = dx; //(std::abs(dx) > std::abs(dy)) ? dx : dy;
+ Eigen::Affine3d rx = Eigen::Affine3d(Eigen::Translation3d(0.0, 0.0, dist*0.001));
+ ctrl_->setActivePose(rx.matrix() * cache_pose_);
+ }
+
+ //LOG(INFO) << "New pose: \n" << getUpdatedPose();
+ //ctrl_->sendPose(getUpdatedPose());
+ return false;
+}
+
+bool CameraView3D::scrollEvent(const Eigen::Vector2i &p, const Eigen::Vector2f &rel) {
+ return true;
+}
+
+bool CameraView3D::keyboardCharacterEvent(unsigned int codepoint) {
+ LOG(INFO) << "keyboardCharacterEvent: " << codepoint;
+ return false;
+}
+
+Eigen::Matrix4d CameraView3D::getUpdatedPose() {
+ float rrx = ((float)ry_ * 0.2f * delta_);
+ float rry = (float)rx_ * 0.2f * delta_;
+ float rrz = 0.0;
+
+ Eigen::Affine3d r = create_rotation_matrix(rrx, -rry, rrz);
+ rotmat_ = rotmat_ * r.matrix();
+
+ rx_ = 0;
+ ry_ = 0;
+
+ eye_[0] += (neye_[0] - eye_[0]) * lerp_speed_ * delta_;
+ eye_[1] += (neye_[1] - eye_[1]) * lerp_speed_ * delta_;
+ eye_[2] += (neye_[2] - eye_[2]) * lerp_speed_ * delta_;
+
+ Eigen::Translation3d trans(eye_);
+ Eigen::Affine3d t(trans);
+ return t.matrix() * rotmat_;
+}
+
+void CameraView3D::processAnimation() {
+ Eigen::Vector3d diff;
+ diff[0] = neye_[0] - eye_[0];
+ diff[1] = neye_[1] - eye_[1];
+ diff[2] = neye_[2] - eye_[2];
+
+ // Only update pose if there is enough motion
+ if (diff.norm() > 0.01) {
+ pose_up_to_date_.clear();
+ }
+}
+
+void CameraView3D::draw(NVGcontext* ctx) {
+ double now = glfwGetTime();
+ delta_ = now - ftime_;
+ ftime_ = now;
+
+ processAnimation();
+
+ // poll from ctrl_ or send on event instead?
+ if (!pose_up_to_date_.test_and_set()) {
+ ctrl_->sendPose(getUpdatedPose());
+ }
+ CameraView::draw(ctx);
+}
diff --git a/applications/gui2/src/views/camera3d.hpp b/applications/gui2/src/views/camera3d.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..1d0771ca6e5b9bbb8dc0b26410dceca9f46814bd
--- /dev/null
+++ b/applications/gui2/src/views/camera3d.hpp
@@ -0,0 +1,53 @@
+#pragma once
+
+#include "../widgets/window.hpp"
+
+#include "../view.hpp"
+
+#include "camera.hpp"
+
+namespace ftl {
+namespace gui2 {
+
+class CameraView3D : public CameraView {
+public:
+ CameraView3D(Screen *parent, Camera* ctrl);
+
+ virtual bool keyboardEvent(int key, int scancode, int action, int modifiers) override;
+ virtual bool keyboardCharacterEvent(unsigned int codepoint) override;
+ virtual bool mouseMotionEvent(const Eigen::Vector2i &p, const Eigen::Vector2i &rel, int button, int modifiers) override;
+ virtual bool mouseButtonEvent(const Eigen::Vector2i &p, int button, bool down, int modifiers) override;
+ virtual bool scrollEvent(const Eigen::Vector2i &p, const Eigen::Vector2f &rel) override;
+ virtual void draw(NVGcontext* ctx) override;
+
+ Eigen::Matrix4d getUpdatedPose();
+
+protected:
+ // updates from keyboard
+ Eigen::Vector4d neye_;
+ // current
+ Eigen::Vector3d eye_;
+ Eigen::Matrix4d rotmat_;
+ Eigen::Matrix4d cache_pose_;
+ Eigen::Vector2i cache_screen_;
+
+ // updates from mouse
+ double rx_;
+ double ry_;
+
+ // times for pose update
+ double ftime_;
+ double delta_;
+
+ double lerp_speed_;
+
+ std::atomic_flag pose_up_to_date_;
+
+ void processAnimation();
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+}
+}
diff --git a/applications/gui/src/config_window.cpp b/applications/gui2/src/views/config.cpp
similarity index 53%
rename from applications/gui/src/config_window.cpp
rename to applications/gui2/src/views/config.cpp
index 6dd1b4d8a6a7311668a0dd7f35b23dfa6117b700..029b66d65a4fb0ddfa2fc08d2872aa7fb4bf1155 100644
--- a/applications/gui/src/config_window.cpp
+++ b/applications/gui2/src/views/config.cpp
@@ -1,4 +1,5 @@
-#include "config_window.hpp"
+
+#include <loguru.hpp>
#include <nanogui/layout.h>
#include <nanogui/label.h>
@@ -13,7 +14,11 @@
#include <vector>
#include <string>
-using ftl::gui::ConfigWindow;
+#include "config.hpp"
+#include "../screen.hpp"
+#include "../widgets/leftbutton.hpp"
+
+using ftl::gui2::ConfigWindow;
using std::string;
using std::vector;
using ftl::config::json_t;
@@ -36,6 +41,7 @@ private:
}
}
previous = str;
+ screen()->performLayout();
}
}
@@ -46,7 +52,7 @@ public:
setPlaceholder("Search");
}
- ~SearchBox() {
+ virtual ~SearchBox() {
}
bool keyboardEvent(int key, int scancode, int action, int modifier) {
@@ -58,6 +64,9 @@ public:
void setButtons(Widget *buttons) {
buttons_ = buttons;
}
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
static std::string titleForURI(const ftl::URI &uri) {
@@ -73,11 +82,21 @@ static std::string titleForURI(const ftl::URI &uri) {
ConfigWindow::ConfigWindow(nanogui::Widget *parent, ftl::ctrl::Master *ctrl)
: nanogui::Window(parent, "Settings"), ctrl_(ctrl) {
+
+ LOG(INFO) << __func__ << " (" << this << ")";
+
using namespace nanogui;
- setLayout(new GroupLayout());
+ setTheme(dynamic_cast<ftl::gui2::Screen*>(screen())->getTheme("window_dark"));
+
+ auto close = new nanogui::Button(buttonPanel(), "", ENTYPO_ICON_CROSS);
+ close->setTheme(dynamic_cast<ftl::gui2::Screen*>(screen())->getTheme("window_dark"));
+ close->setBackgroundColor(theme()->mWindowHeaderGradientBot);
+ close->setCallback([this](){ dispose();});
+
+ setLayout(new GroupLayout(15, 6, 14, 10));
+ setFixedWidth(400);
setPosition(Vector2i(parent->width()/2.0f - 100.0f, parent->height()/2.0f - 100.0f));
- //setModal(true);
auto configurables = ftl::config::list();
const auto size = configurables.size();
@@ -94,7 +113,37 @@ ConfigWindow::ConfigWindow(nanogui::Widget *parent, ftl::ctrl::Master *ctrl)
searchBox->setButtons(buttons);
std::vector<std::string> configurable_titles(size);
- for (size_t i = 0; i < size; ++i) {
+
+ std::set<std::string> sorted_cfgs;
+ sorted_cfgs.insert(configurables.begin(), configurables.end());
+
+ for (auto &c : sorted_cfgs) {
+ ftl::URI uri(c);
+
+ std::string spacing = "";
+ for (size_t i=0; i<uri.getPathLength(); ++i) {
+ spacing += " ";
+ }
+
+ //if (uri.getFragment().size() == 0) {
+ std::string title = spacing + titleForURI(uri);
+ //configurable_titles[i] = title;
+ auto itembutton = new ftl::gui2::LeftButton(buttons, title);
+
+ /*if (_isEmpty(c)) {
+ itembutton->setEnabled(false);
+ }*/
+ itembutton->setTooltip(c);
+ //itembutton->setBackgroundColor(nanogui::Color(0.9f,0.9f,0.9f,0.9f));
+ itembutton->setCallback([this,c]() {
+ _buildForm(c);
+ setVisible(false);
+ dispose();
+ });
+ //}
+ }
+
+ /*for (size_t i = 0; i < size; ++i) {
ftl::URI uri(configurables[i]);
std::string label = uri.getFragment();
@@ -123,24 +172,29 @@ ConfigWindow::ConfigWindow(nanogui::Widget *parent, ftl::ctrl::Master *ctrl)
auto itembutton = new nanogui::Button(buttons, configurable_titles[i]);
std::string c = configurables[i];
+ if (_isEmpty(c)) {
+ itembutton->setEnabled(false);
+ }
itembutton->setTooltip(c);
itembutton->setBackgroundColor(nanogui::Color(0.9f,0.9f,0.9f,0.9f));
itembutton->setCallback([this,c]() {
- //LOG(INFO) << "Change configurable: " << c;
_buildForm(c);
setVisible(false);
- //this->parent()->removeChild(this);
- //delete this;
- //screen()->removeChild(this);
+ dispose();
});
- }
+ }*/
}
ConfigWindow::~ConfigWindow() {
+ LOG(INFO) << __func__ << " (" << this << ")";
+}
+bool ConfigWindow::_isEmpty(const std::string &uri) {
+ // $id, $ref and tags always present
+ return ftl::config::find(uri)->getConfig().size() <= 3;
}
-void ConfigWindow::_addElements(nanogui::FormHelper *form, const std::string &suri) {
+void ConfigWindow::__addElements(nanogui::FormHelper *form, const std::string &suri) {
using namespace nanogui;
Configurable *configurable = ftl::config::find(suri);
@@ -154,52 +208,62 @@ void ConfigWindow::_addElements(nanogui::FormHelper *form, const std::string &su
if (i.key() == "$id") continue;
if (i.key() == "$ref" && i.value().is_string()) {
- //LOG(INFO) << "Follow $ref: " << i.value();
const std::string suri = std::string(i.value().get<string>());
- _addElements(form, suri);
+ __addElements(form, suri);
continue;
}
if (i.value().is_boolean()) {
string key = i.key();
- form->addVariable<bool>(i.key(), [this,data,key,suri](const bool &b){
+ form->addVariable<bool>(i.key(), [data,key,suri](const bool &b){
ftl::config::update(suri+"/"+key, b);
}, [data,key]() -> bool {
return data[key].get<bool>();
});
} else if (i.value().is_number_integer()) {
string key = i.key();
- form->addVariable<int>(i.key(), [this,data,key,suri](const int &f){
+ form->addVariable<int>(i.key(), [data,key,suri](const int &f){
ftl::config::update(suri+"/"+key, f);
}, [data,key]() -> int {
return data[key].get<int>();
});
} else if (i.value().is_number_float()) {
string key = i.key();
- form->addVariable<float>(i.key(), [this,data,key,suri](const float &f){
+ form->addVariable<float>(i.key(), [data,key,suri](const float &f){
ftl::config::update(suri+"/"+key, f);
}, [data,key]() -> float {
return data[key].get<float>();
});
} else if (i.value().is_string()) {
string key = i.key();
- form->addVariable<string>(i.key(), [this,data,key,suri](const string &f){
+ form->addVariable<string>(i.key(), [data,key,suri](const string &f){
ftl::config::update(suri+"/"+key, f);
}, [data,key]() -> string {
return data[key].get<string>();
});
} else if (i.value().is_object()) {
string key = i.key();
-
+ string nuri;
+
// Checking the URI with exists() prevents unloaded local configurations from being shown.
- if (suri.find('#') != string::npos && exists(suri+string("/")+key)) {
- form->addButton(key, [this,suri,key]() {
- _buildForm(suri+string("/")+key);
- })->setIcon(ENTYPO_ICON_FOLDER);
- } else if (exists(suri+string("#")+key)) {
- form->addButton(key, [this,suri,key]() {
- _buildForm(suri+string("#")+key);
- })->setIcon(ENTYPO_ICON_FOLDER);
+ //if (suri.find('#') != string::npos && exists(suri+string("/")+key)) {
+ // nuri = suri+string("/")+key;
+ //} else
+ if (exists(suri+string("/")+key)) {
+ nuri = suri+string("/")+key;
+ }
+
+ if (!nuri.empty()) {
+ nanogui::Window *window = form->window();
+ auto button = form->addButton(key, [window, nuri]() {
+ buildForm(window->screen(), nuri);
+ });
+
+ button->setIcon(ENTYPO_ICON_FOLDER);
+ button->setIconPosition(nanogui::Button::IconPosition::Left);
+ if (_isEmpty(nuri)) {
+ button->setEnabled(false);
+ }
}
}
}
@@ -208,23 +272,85 @@ void ConfigWindow::_addElements(nanogui::FormHelper *form, const std::string &su
void ConfigWindow::_buildForm(const std::string &suri) {
using namespace nanogui;
- ftl::URI uri(suri);
+ /*ftl::URI uri(suri);
FormHelper *form = new FormHelper(this->screen());
- //form->setWindow(this);
form->addWindow(Vector2i(100,50), uri.getFragment());
form->window()->setTheme(theme());
- _addElements(form, suri);
+ __addElements(form, suri);
+
+ // prevent parent window from being destroyed too early
+ incRef(); // TODO: Is this needed? It isn't a parent window?
+
+ auto close = new nanogui::Button(form->window()->buttonPanel(), "", ENTYPO_ICON_CROSS);
+ close->setTheme(dynamic_cast<ftl::gui2::Screen*>(screen())->getTheme("window_dark"));
+ close->setBackgroundColor(theme()->mWindowHeaderGradientBot);
+
+ auto *window = form->window();
+
+ close->setCallback([this, window](){
+ window->dispose();
+ decRef();
+ });
+ close->setBackgroundColor({80, 255});
+ form->window()->screen()->performLayout();
+ delete form;*/
+
+ buildForm(screen(), suri);
+}
+
+static MUTEX config_mtx;
+static std::unordered_map<std::string, nanogui::Window*> existing_configs;
+
+// Static version
+void ConfigWindow::buildForm(nanogui::Screen *screen, const std::string &suri) {
+ using namespace nanogui;
+
+ {
+ UNIQUE_LOCK(config_mtx, lk);
+ auto i = existing_configs.find(suri);
+ if (i != existing_configs.end()) {
+ screen->moveWindowToFront(i->second);
+ return;
+ }
+ }
+
+ ftl::URI uri(suri);
+
+ FormHelper *form = new FormHelper(screen);
+ form->addWindow(Vector2i(100,50), titleForURI(uri));
+ //form->window()->setTheme(theme());
+
+ {
+ UNIQUE_LOCK(config_mtx, lk);
+ existing_configs[suri] = form->window();
+ }
+
+ auto *window = form->window();
+ window->setTheme(dynamic_cast<ftl::gui2::Screen*>(window->screen())->getTheme("window_dark"));
+ window->setWidth(200);
+
+ __addElements(form, suri);
- auto closebutton = form->addButton("Close", [this,form]() {
- form->window()->setVisible(false);
- delete form;
+ // prevent parent window from being destroyed too early
+ //incRef(); // TODO: Is this needed? It isn't a parent window?
+
+ auto close = new nanogui::Button(form->window()->buttonPanel(), "", ENTYPO_ICON_CROSS);
+ close->setTheme(dynamic_cast<ftl::gui2::Screen*>(screen)->getTheme("window_dark"));
+ //close->setBackgroundColor(theme()->mWindowHeaderGradientBot);
+
+ close->setCallback([window, suri](){
+ window->dispose();
+ //decRef();
+ UNIQUE_LOCK(config_mtx, lk);
+ existing_configs.erase(suri);
});
- closebutton->setIcon(ENTYPO_ICON_CROSS);
+ close->setBackgroundColor({80, 255});
+ form->window()->screen()->performLayout();
+ delete form;
}
bool ConfigWindow::exists(const std::string &uri) {
return ftl::config::find(uri) != nullptr;
}
-
diff --git a/applications/gui/src/config_window.hpp b/applications/gui2/src/views/config.hpp
similarity index 53%
rename from applications/gui/src/config_window.hpp
rename to applications/gui2/src/views/config.hpp
index a7acd117116553f3e902bdc6640d4f67e71b1f30..45a23b11ded27adafd94629cc987f66592eb439f 100644
--- a/applications/gui/src/config_window.hpp
+++ b/applications/gui2/src/views/config.hpp
@@ -1,5 +1,4 @@
-#ifndef _FTL_GUI_CFGWINDOW_HPP_
-#define _FTL_GUI_CFGWINDOW_HPP_
+#pragma once
#include <nanogui/window.h>
#include <nanogui/formhelper.h>
@@ -9,7 +8,7 @@
#include <ftl/net_configurable.hpp>
namespace ftl {
-namespace gui {
+namespace gui2 {
/**
* Allow configurable editing.
@@ -17,17 +16,21 @@ namespace gui {
class ConfigWindow : public nanogui::Window {
public:
ConfigWindow(nanogui::Widget *parent, ftl::ctrl::Master *ctrl);
- ~ConfigWindow();
+ virtual ~ConfigWindow();
- private:
+ static void buildForm(nanogui::Screen *screen, const std::string &uri);
+
+private:
ftl::ctrl::Master *ctrl_;
-
+
+ static bool _isEmpty(const std::string &uri);
void _buildForm(const std::string &uri);
- void _addElements(nanogui::FormHelper *form, const std::string &suri);
- bool exists(const std::string &uri);
+ static void __addElements(nanogui::FormHelper *form, const std::string &suri);
+ static bool exists(const std::string &uri);
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
}
-
-#endif // _FTL_GUI_CFGWINDOW_HPP_
diff --git a/applications/gui2/src/views/statistics.cpp b/applications/gui2/src/views/statistics.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e72bc160aeff19cea61fb49b606e6a21aef89bb7
--- /dev/null
+++ b/applications/gui2/src/views/statistics.cpp
@@ -0,0 +1,106 @@
+#include "statistics.hpp"
+#include "../modules/statistics.hpp"
+
+#include <ftl/streams/builder.hpp>
+#include <ftl/streams/netstream.hpp>
+#include <ftl/render/colouriser.hpp>
+#include <ftl/utility/string.hpp>
+
+#include <nanogui/screen.h>
+#include <nanogui/opengl.h>
+
+#include <loguru.hpp>
+
+using ftl::gui2::StatisticsWidget;
+using std::string;
+
+StatisticsWidget::StatisticsWidget(nanogui::Widget* parent, ftl::gui2::Statistics* ctrl) :
+ nanogui::Window(parent,""), ctrl_(ctrl), last_stats_count_(0) {
+
+ setWidth(parent->width()/2);
+}
+
+void StatisticsWidget::draw(NVGcontext *ctx) {
+ int margin = 20;
+ const auto &screenSize = screen()->size();
+ float rowh = 10.0;
+ int count = 0;
+
+ setPosition({screenSize[0] - width() - margin, 0});
+ setHeight(screenSize[1]);
+
+ const auto pos = absolutePosition();
+ auto panels = ctrl_->get();
+ for (unsigned int i = 0; i < panels.size(); i++) {
+ if (panels[i].second.is_structured()) {
+ for (auto j : panels[i].second.items()) {
+ std::string msg = j.key();
+
+ auto colour = nanogui::Color(244, 244, 244, 255);
+ int fsize = 15;
+ int entypo = 0;
+
+ if (j.value().is_object()) {
+ const auto &val = j.value()["value"];
+
+ if (j.value().contains("nokey")) {
+ msg = "";
+ }
+ if (j.value().contains("colour")) {
+ uchar4 cucol = ftl::render::parseCUDAColour(j.value()["colour"].get<std::string>());
+ colour = nanogui::Color(cucol.x, cucol.y, cucol.z, 255);
+ }
+ if (j.value().contains("size")) {
+ fsize = j.value()["size"].get<int>();
+ }
+ if (j.value().contains("icon")) {
+ entypo = j.value()["icon"].get<int>();
+ }
+
+ if (val.is_string()) {
+ if (msg.size() > 0) msg += std::string(": ");
+ msg += val.get<std::string>();
+ } else if (val.is_number()) {
+ if (msg.size() > 0) msg += std::string(": ");
+ msg += std::string(": ") + to_string_with_precision(val.get<float>(),2);
+ }
+ } else if (j.value().is_string()) {
+ msg += std::string(": ") + j.value().get<std::string>();
+ } else if (j.value().is_number()) {
+ msg += std::string(": ") + to_string_with_precision(j.value().get<float>(),2);
+ } else if (j.value().is_boolean()) {
+
+ }
+
+ rowh += float(fsize)+5.0f;
+
+ nvgFontSize(ctx, fsize);
+ nvgTextAlign(ctx, NVG_ALIGN_RIGHT);
+
+ float tw = 0.0f;
+
+ if (msg.size() > 0) {
+ if (panels[i].first == ftl::gui2::StatisticsPanel::LOGGING) nvgFontFace(ctx, "sans");
+ else nvgFontFace(ctx, "sans-bold");
+ nvgFillColor(ctx, nanogui::Color(8, 8, 8, 255)); // shadow
+ tw = nvgTextBounds(ctx, pos[0] + width(), rowh, msg.c_str(), nullptr, nullptr);
+ nvgText(ctx, pos[0] + width(), rowh, msg.c_str(), nullptr);
+ nvgFillColor(ctx, colour);
+ nvgText(ctx, pos[0] + width() - 1, rowh - 1, msg.c_str(), nullptr);
+ tw += 10;
+ }
+ if (entypo > 0) {
+ auto icon = nanogui::utf8(entypo);
+ nvgFontFace(ctx, "icons");
+ nvgFontSize(ctx, float(fsize)*0.8f);
+ nvgFillColor(ctx, nanogui::Color(8, 8, 8, 255)); // shadow
+ nvgText(ctx, pos[0] + width() - tw, rowh, icon.data(), nullptr);
+ nvgFillColor(ctx, colour);
+ nvgText(ctx, pos[0] + width() - 1 - tw, rowh - 1, icon.data(), nullptr);
+ }
+
+ ++count;
+ }
+ }
+ }
+}
diff --git a/applications/gui2/src/views/statistics.hpp b/applications/gui2/src/views/statistics.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..f425bf3de57b84dc26d100398125d1b9a6f1ddc4
--- /dev/null
+++ b/applications/gui2/src/views/statistics.hpp
@@ -0,0 +1,29 @@
+#pragma once
+
+#include <nanogui/widget.h>
+#include <nanogui/window.h>
+
+namespace ftl
+{
+namespace gui2
+{
+
+class Statistics;
+
+class StatisticsWidget : public nanogui::Window {
+public:
+ StatisticsWidget(nanogui::Widget *parent, Statistics* ctrl);
+ virtual void draw(NVGcontext *ctx);
+
+ bool mouseButtonEvent(const Eigen::Vector2i &p, int button, bool down, int modifiers) override { return false; }
+
+private:
+ Statistics* ctrl_;
+ int last_stats_count_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+}
+}
diff --git a/applications/gui2/src/views/thumbnails.cpp b/applications/gui2/src/views/thumbnails.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..712264c355fb59aae868564b04b12a11ec4ab91d
--- /dev/null
+++ b/applications/gui2/src/views/thumbnails.cpp
@@ -0,0 +1,211 @@
+#include "thumbnails.hpp"
+#include "../modules/thumbnails.hpp"
+#include <ftl/utility/gltexture.hpp>
+
+#include <opencv2/imgproc.hpp>
+#include <opencv2/imgcodecs.hpp>
+#include <opencv2/cudaarithm.hpp>
+
+#include <ftl/operators/antialiasing.hpp>
+#include <ftl/cuda/normals.hpp>
+#include <ftl/render/colouriser.hpp>
+#include <ftl/cuda/transform.hpp>
+#include <ftl/operators/gt_analysis.hpp>
+#include <ftl/operators/poser.hpp>
+#include <ftl/cuda/colour_cuda.hpp>
+#include <ftl/streams/parsers.hpp>
+#include <ftl/rgbd/frame.hpp>
+
+#include <nanogui/label.h>
+#include <nanogui/tabwidget.h>
+#include <nanogui/vscrollpanel.h>
+#include <nanogui/layout.h>
+#include <nanogui/popup.h>
+
+#include <loguru.hpp>
+
+using ftl::gui2::ThumbView;
+using ftl::gui2::Thumbnails;
+using ftl::utility::GLTexture;
+using ftl::gui2::ThumbnailsController;
+
+using ftl::codecs::Channel;
+using ftl::data::FrameID;
+
+class ThumbView : public ftl::gui2::ImageView {
+public:
+ ThumbView(nanogui::Widget *parent, ThumbnailsController *control, ftl::data::FrameID id, const std::string &name);
+ virtual ~ThumbView() {}
+
+ virtual bool mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers) override;
+ virtual void draw(NVGcontext *ctx) override;
+
+ void setName(const std::string &str) { name_ = str; }
+ void update(ftl::rgbd::Frame& frame, Channel c);
+
+private:
+ ThumbnailsController *ctrl_;
+ GLTexture texture_;
+ const ftl::data::FrameID id_;
+ std::string name_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+ThumbView::ThumbView(nanogui::Widget *parent, ThumbnailsController *control, ftl::data::FrameID id, const std::string &name) :
+ ftl::gui2::ImageView(parent), ctrl_(control), id_(id), name_(name) {
+ setCursor(nanogui::Cursor::Hand);
+ setFixedOffset(true);
+ setFixedScale(true);
+}
+
+bool ThumbView::mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers) {
+ if (button == 0) {
+ if (!down) {
+ ctrl_->show_camera(id_);
+ }
+ }
+ return true;
+}
+
+void ThumbView::update(ftl::rgbd::Frame &frame, Channel c) {
+ if (!frame.hasChannel(c)) {
+ return;
+ }
+
+ const auto &vf = frame.get<ftl::rgbd::VideoFrame>(c);
+
+ if (vf.isGPU()) {
+ texture_.copyFrom(vf.getGPU());
+ } else {
+ texture_.copyFrom(vf.getCPU());
+ }
+ if (texture_.isValid()) {
+ bindImage(texture_.texture());
+ }
+}
+
+void ThumbView::draw(NVGcontext *ctx) {
+ fit();
+ // Image
+ ftl::gui2::ImageView::draw(ctx);
+ // Label
+ nvgScissor(ctx, mPos.x(), mPos.y(), mSize.x(), mSize.y());
+ nvgFontSize(ctx, 14);
+ nvgFontFace(ctx, "sans-bold");
+ nvgTextAlign(ctx, NVG_ALIGN_CENTER);
+ nvgText(ctx, mPos.x() + mSize.x()/2.0f, mPos.y()+mSize.y() - 18, name_.c_str(), NULL);
+ nvgResetScissor(ctx);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
+Thumbnails::Thumbnails(ftl::gui2::Screen *parent, ftl::gui2::ThumbnailsController *control) :
+ View(parent), ctrl_(control), tabwidget_(nullptr) {
+
+ tabwidget_ = new nanogui::TabWidget(this);
+ tabwidget_->setFixedSize(size());
+
+ context_menu_ = new nanogui::Window(parent, "");
+ context_menu_->setVisible(false);
+ context_menu_->setLayout(new nanogui::BoxLayout(nanogui::Orientation::Vertical));
+
+ auto *button = new nanogui::Button(context_menu_, "Remove");
+ button->setCallback([this]() {
+ int ix = tabwidget_->activeTab();
+ LOG(INFO) << "REMOVE FSID " << ix;
+
+ tabwidget_->removeTab(ix);
+ thumbnails_.erase(ix);
+ context_menu_->setVisible(false);
+ ctrl_->removeFrameset(ix);
+ //screen()->performLayout();
+ });
+}
+
+
+Thumbnails::~Thumbnails() {
+ if (context_menu_->parent()->getRefCount() > 0) {
+ context_menu_->setVisible(false);
+ context_menu_->dispose();
+ }
+}
+
+bool Thumbnails::mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers) {
+ bool r = View::mouseButtonEvent(p, button, down, modifiers);
+
+ if (!r) {
+ if (button == 1) {
+ if (!down) {
+ context_menu_->setPosition(p - mPos);
+ context_menu_->setVisible(true);
+ return true;
+ }
+ } else {
+ context_menu_->setVisible(false);
+ }
+ }
+
+ return true;
+}
+
+void Thumbnails::updateThumbnails() {
+ const Channel channel = Channel::Colour;
+ bool perform_layout = false;
+ auto framesets = ctrl_->getFrameSets();
+ for (auto& fs : framesets) {
+ unsigned int fsid = fs->frameset();
+
+ // create new tab if necessary
+ if (thumbnails_.count(fsid) == 0) {
+ if (fs->frames.size() == 0) {
+ // setting layout to widget without any children will crash
+ // nanogui, skip
+ continue;
+ }
+
+ auto* tab = tabwidget_->createTab(fs->name());
+ tab->setLayout(new nanogui::BoxLayout
+ (nanogui::Orientation::Vertical, nanogui::Alignment::Middle, 40));
+ auto* panel = new nanogui::Widget(tab);
+ panel->setLayout(
+ new nanogui::GridLayout(nanogui::Orientation::Horizontal, 3,
+ nanogui::Alignment::Middle, 0, 10));
+
+ thumbnails_[fsid] = {0, panel, {}};
+ perform_layout = true;
+ }
+
+ auto& thumbs = thumbnails_[fsid];
+ while (thumbs.thumbnails.size() < fs->frames.size()) {
+ int source = thumbs.thumbnails.size();
+ auto &frame = fs->frames[source];
+
+ perform_layout = true;
+
+ std::string name = frame.name();
+
+ auto* thumbnail = new ThumbView(thumbs.panel, ctrl_, FrameID(fsid, source), name);
+ thumbnail->setFixedSize(thumbsize_);
+ thumbs.thumbnails.push_back(thumbnail);
+ }
+
+ if (fs->timestamp() > thumbs.timestamp) {
+ for(size_t i = 0; i < fs->frames.size(); i++) {
+ thumbs.thumbnails[i]->update((*fs)[i].cast<ftl::rgbd::Frame>(), channel);
+ }
+ thumbs.timestamp = fs->timestamp();
+ }
+ }
+ if (perform_layout) {
+ screen()->performLayout();
+ }
+}
+
+void Thumbnails::draw(NVGcontext *ctx) {
+ tabwidget_->setFixedSize(size());
+ updateThumbnails();
+ View::draw(ctx);
+}
+
diff --git a/applications/gui2/src/views/thumbnails.hpp b/applications/gui2/src/views/thumbnails.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..c9440967de7cd297ee6fef9fa888e7904262f499
--- /dev/null
+++ b/applications/gui2/src/views/thumbnails.hpp
@@ -0,0 +1,50 @@
+#pragma once
+#include "../view.hpp"
+
+#include "../widgets/imageview.hpp"
+
+#include <nanogui/glcanvas.h>
+#include <nanogui/glutil.h>
+#include <nanogui/imageview.h>
+
+namespace ftl {
+namespace gui2 {
+
+class ThumbnailsController;
+class ThumbView;
+
+class Thumbnails : public View {
+public:
+ Thumbnails(Screen *parent, ThumbnailsController *controller);
+ virtual ~Thumbnails();
+
+ virtual void draw(NVGcontext *ctx) override;
+
+ bool mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers) override;
+
+private:
+ void updateThumbnails();
+ void addTab(unsigned int fsid);
+
+ struct FSThumbnails {
+ int64_t timestamp;
+ nanogui::Widget* panel;
+ std::vector<ThumbView*> thumbnails;
+ };
+
+ std::mutex mtx_;
+ ftl::gui2::ThumbnailsController *ctrl_;
+ nanogui::TabWidget* tabwidget_;
+
+ std::map<unsigned int, FSThumbnails> thumbnails_;
+
+ nanogui::Vector2i thumbsize_ = nanogui::Vector2i(320,180);
+
+ nanogui::Window *context_menu_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+}
+}
diff --git a/applications/gui2/src/widgets/combobox.cpp b/applications/gui2/src/widgets/combobox.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..fc76210aab4ea1f9194cc4a53ab7ee466e9387a5
--- /dev/null
+++ b/applications/gui2/src/widgets/combobox.cpp
@@ -0,0 +1,103 @@
+/*
+ src/combobox.cpp -- simple combo box widget based on a popup button
+
+ NanoGUI was developed by Wenzel Jakob <wenzel.jakob@epfl.ch>.
+ The widget drawing code is based on the NanoVG demo application
+ by Mikko Mononen.
+
+ All rights reserved. Use of this source code is governed by a
+ BSD-style license that can be found in the LICENSE.txt file.
+*/
+
+#include "combobox.hpp"
+
+#include <nanogui/layout.h>
+#include <nanogui/serializer/core.h>
+#include <cassert>
+
+using nanogui::Vector2i;
+using nanogui::Vector2f;
+using nanogui::GroupLayout;
+using nanogui::Serializer;
+
+using ftl::gui2::ComboBox;
+using ftl::gui2::PopupButton;
+
+ComboBox::ComboBox(Widget *parent) : PopupButton(parent), mSelectedIndex(0) {
+}
+
+ComboBox::ComboBox(Widget *parent, const std::vector<std::string> &items)
+ : PopupButton(parent), mSelectedIndex(0) {
+ setItems(items);
+}
+
+ComboBox::ComboBox(Widget *parent, const std::vector<std::string> &items, const std::vector<std::string> &itemsShort)
+ : PopupButton(parent), mSelectedIndex(0) {
+ setItems(items, itemsShort);
+}
+
+void ComboBox::setSelectedIndex(int idx) {
+ if (mItemsShort.empty())
+ return;
+ const std::vector<Widget *> &children = popup()->children();
+ ((Button *) children[mSelectedIndex])->setPushed(false);
+ ((Button *) children[idx])->setPushed(true);
+ mSelectedIndex = idx;
+ setCaption(mItemsShort[idx]);
+}
+
+void ComboBox::setItems(const std::vector<std::string> &items, const std::vector<std::string> &itemsShort) {
+ assert(items.size() == itemsShort.size());
+ mItems = items;
+ mItemsShort = itemsShort;
+ if (mSelectedIndex < 0 || mSelectedIndex >= (int) items.size())
+ mSelectedIndex = 0;
+ while (mPopup->childCount() != 0)
+ mPopup->removeChild(mPopup->childCount()-1);
+ mPopup->setLayout(new GroupLayout(10));
+ int index = 0;
+ for (const auto &str: items) {
+ Button *button = new Button(mPopup, str);
+ button->setFlags(Button::RadioButton);
+ button->setCallback([&, index] {
+ mSelectedIndex = index;
+ setCaption(mItemsShort[index]);
+ setPushed(false);
+ popup()->setVisible(false);
+ if (mCallback)
+ mCallback(index);
+ });
+ index++;
+ }
+ setSelectedIndex(mSelectedIndex);
+}
+
+bool ComboBox::scrollEvent(const Vector2i &p, const Vector2f &rel) {
+ if (rel.y() < 0) {
+ setSelectedIndex(std::min(mSelectedIndex+1, (int)(items().size()-1)));
+ if (mCallback)
+ mCallback(mSelectedIndex);
+ return true;
+ } else if (rel.y() > 0) {
+ setSelectedIndex(std::max(mSelectedIndex-1, 0));
+ if (mCallback)
+ mCallback(mSelectedIndex);
+ return true;
+ }
+ return Widget::scrollEvent(p, rel);
+}
+
+void ComboBox::save(Serializer &s) const {
+ Widget::save(s);
+ s.set("items", mItems);
+ s.set("itemsShort", mItemsShort);
+ s.set("selectedIndex", mSelectedIndex);
+}
+
+bool ComboBox::load(Serializer &s) {
+ if (!Widget::load(s)) return false;
+ if (!s.get("items", mItems)) return false;
+ if (!s.get("itemsShort", mItemsShort)) return false;
+ if (!s.get("selectedIndex", mSelectedIndex)) return false;
+ return true;
+}
diff --git a/applications/gui2/src/widgets/combobox.hpp b/applications/gui2/src/widgets/combobox.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..b137fd5053cfb4099692102952d7ac026836b0b2
--- /dev/null
+++ b/applications/gui2/src/widgets/combobox.hpp
@@ -0,0 +1,95 @@
+/*
+ Modification: Inherits from ftl::gui2::PopupButton
+
+ NanoGUI was developed by Wenzel Jakob <wenzel.jakob@epfl.ch>.
+ The nanogui::Widget drawing code is based on the NanoVG demo application
+ by Mikko Mononen.
+
+ All rights reserved. Use of this source code is governed by a
+ BSD-style license that can be found in the LICENSE.txt file.
+*/
+/**
+ * \file nanogui/combobox.h
+ *
+ * \brief Simple combo box nanogui::Widget based on a popup button.
+ */
+
+#pragma once
+
+#include "popupbutton.hpp"
+
+namespace ftl {
+namespace gui2 {
+
+/**
+ * \class ComboBox combobox.h nanogui/combobox.h
+ *
+ * \brief Simple combo box nanogui::Widget based on a popup button.
+ */
+class NANOGUI_EXPORT ComboBox : public PopupButton {
+public:
+ /// Create an empty combo box
+ ComboBox(nanogui::Widget *parent);
+
+ /// Create a new combo box with the given items
+ ComboBox(nanogui::Widget *parent, const std::vector<std::string> &items);
+
+ /**
+ * \brief Create a new combo box with the given items, providing both short and
+ * long descriptive labels for each item
+ */
+ ComboBox(nanogui::Widget *parent, const std::vector<std::string> &items,
+ const std::vector<std::string> &itemsShort);
+
+ /// The callback to execute for this ComboBox.
+ std::function<void(int)> callback() const { return mCallback; }
+
+ /// Sets the callback to execute for this ComboBox.
+ void setCallback(const std::function<void(int)> &callback) { mCallback = callback; }
+
+ /// The current index this ComboBox has selected.
+ int selectedIndex() const { return mSelectedIndex; }
+
+ /// Sets the current index this ComboBox has selected.
+ void setSelectedIndex(int idx);
+
+ /// Sets the items for this ComboBox, providing both short and long descriptive lables for each item.
+ void setItems(const std::vector<std::string> &items, const std::vector<std::string> &itemsShort);
+
+ /// Sets the items for this ComboBox.
+ void setItems(const std::vector<std::string> &items) { setItems(items, items); }
+
+ /// The items associated with this ComboBox.
+ const std::vector<std::string> &items() const { return mItems; }
+
+ /// The short descriptions associated with this ComboBox.
+ const std::vector<std::string> &itemsShort() const { return mItemsShort; }
+
+ /// Handles mouse scrolling events for this ComboBox.
+ virtual bool scrollEvent(const nanogui::Vector2i &p, const nanogui::Vector2f &rel) override;
+
+ /// Saves the state of this ComboBox to the specified nanogui::Serializer.
+ virtual void save(nanogui::Serializer &s) const override;
+
+ /// Sets the state of this ComboBox from the specified nanogui::Serializer.
+ virtual bool load(nanogui::Serializer &s) override;
+
+protected:
+ /// The items associated with this ComboBox.
+ std::vector<std::string> mItems;
+
+ /// The short descriptions of items associated with this ComboBox.
+ std::vector<std::string> mItemsShort;
+
+ /// The callback for this ComboBox.
+ std::function<void(int)> mCallback;
+
+ /// The current index this ComboBox has selected.
+ int mSelectedIndex;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+}
+}
diff --git a/applications/gui2/src/widgets/imageview.cpp b/applications/gui2/src/widgets/imageview.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2137b1ce9f8124c65234952dfaaa93605323bbb5
--- /dev/null
+++ b/applications/gui2/src/widgets/imageview.cpp
@@ -0,0 +1,651 @@
+/*
+ nanogui/imageview.cpp -- Widget used to display images.
+
+ The image view widget was contributed by Stefan Ivanov.
+
+ NanoGUI was developed by Wenzel Jakob <wenzel.jakob@epfl.ch>.
+ The widget drawing code is based on the NanoVG demo application
+ by Mikko Mononen.
+
+ All rights reserved. Use of this source code is governed by a
+ BSD-style license that can be found in the LICENSE.txt file.
+*/
+
+#include <nanogui/window.h>
+#include <nanogui/screen.h>
+#include <nanogui/theme.h>
+#include <cmath>
+
+#include <ftl/utility/gltexture.hpp>
+#include "imageview.hpp"
+
+using namespace nanogui;
+using ftl::gui2::ImageView;
+using ftl::gui2::FTLImageView;
+using ftl::utility::GLTexture;
+
+namespace {
+ std::vector<std::string> tokenize(const std::string &string,
+ const std::string &delim = "\n",
+ bool includeEmpty = false) {
+ std::string::size_type lastPos = 0, pos = string.find_first_of(delim, lastPos);
+ std::vector<std::string> tokens;
+
+ while (lastPos != std::string::npos) {
+ std::string substr = string.substr(lastPos, pos - lastPos);
+ if (!substr.empty() || includeEmpty)
+ tokens.push_back(std::move(substr));
+ lastPos = pos;
+ if (lastPos != std::string::npos) {
+ lastPos += 1;
+ pos = string.find_first_of(delim, lastPos);
+ }
+ }
+
+ return tokens;
+ }
+
+ constexpr char const *const defaultImageViewVertexShader =
+ R"(#version 330
+ uniform vec2 scaleFactor;
+ uniform vec2 position;
+ uniform float flip_y;
+ in vec2 vertex;
+ out vec2 uv;
+ void main() {
+ uv = vertex;
+ vec2 scaledVertex = (vertex * scaleFactor) + position;
+ gl_Position = vec4(2.0*scaledVertex.x - 1.0,
+ flip_y*(1.0 - 2.0*scaledVertex.y),
+ 0.0, 1.0);
+
+ })";
+
+ constexpr char const *const defaultImageViewFragmentShader =
+ R"(#version 330
+ uniform sampler2D image;
+ out vec4 color;
+ in vec2 uv;
+ void main() {
+ color = texture(image, uv);
+ color.w = 1;
+ })";
+
+}
+
+ftl::gui2::ImageView::ImageView(Widget* parent, GLuint imageID)
+ : Widget(parent), mImageID(imageID), mScale(1.0f), mOffset(Vector2f::Zero()),
+ mFixedScale(false), mFixedOffset(false), mPixelInfoCallback(nullptr) {
+
+ mImageSize = {0, 0};
+
+ if (imageID != unsigned(-1)) {
+ updateImageParameters();
+ }
+
+ mShader.init("ImageViewShader", defaultImageViewVertexShader,
+ defaultImageViewFragmentShader);
+
+ MatrixXu indices(3, 2);
+ indices.col(0) << 0, 1, 2;
+ indices.col(1) << 2, 3, 1;
+
+ MatrixXf vertices(2, 4);
+ vertices.col(0) << 0, 0;
+ vertices.col(1) << 1, 0;
+ vertices.col(2) << 0, 1;
+ vertices.col(3) << 1, 1;
+
+ mShader.bind();
+ mShader.uploadIndices(indices);
+ mShader.uploadAttrib("vertex", vertices);
+}
+
+ftl::gui2::ImageView::~ImageView() {
+ mShader.free();
+}
+
+void ftl::gui2::ImageView::bindImage(GLuint imageId) {
+ if (imageId == unsigned(-1)) {
+ return;
+ }
+
+ mImageID = imageId;
+ updateImageParameters();
+
+}
+
+Vector2f ftl::gui2::ImageView::imageCoordinateAt(const Vector2f& position) const {
+ auto imagePosition = position - mOffset;
+ return imagePosition / mScale;
+}
+
+Vector2f ftl::gui2::ImageView::clampedImageCoordinateAt(const Vector2f& position) const {
+ auto imageCoordinate = imageCoordinateAt(position);
+ return imageCoordinate.cwiseMax(Vector2f::Zero()).cwiseMin(imageSizeF());
+}
+
+Vector2f ftl::gui2::ImageView::positionForCoordinate(const Vector2f& imageCoordinate) const {
+ return mScale*imageCoordinate + mOffset;
+}
+
+void ftl::gui2::ImageView::setImageCoordinateAt(const Vector2f& position, const Vector2f& imageCoordinate) {
+ // Calculate where the new offset must be in order to satisfy the image position equation.
+ // Round the floating point values to balance out the floating point to integer conversions.
+ mOffset = position - (imageCoordinate * mScale);
+
+ // Clamp offset so that the image remains near the screen.
+ mOffset = mOffset.cwiseMin(sizeF()).cwiseMax(-scaledImageSizeF());
+}
+
+void ftl::gui2::ImageView::center() {
+ mOffset = (sizeF() - scaledImageSizeF()) / 2;
+}
+
+void ftl::gui2::ImageView::fit() {
+ // Calculate the appropriate scaling factor.
+ mScale = (sizeF().cwiseQuotient(imageSizeF())).minCoeff();
+ center();
+}
+
+void ftl::gui2::ImageView::setScaleCentered(float scale) {
+ auto centerPosition = sizeF() / 2;
+ auto p = imageCoordinateAt(centerPosition);
+ mScale = scale;
+ setImageCoordinateAt(centerPosition, p);
+}
+
+void ftl::gui2::ImageView::moveOffset(const Vector2f& delta) {
+ // Apply the delta to the offset.
+ mOffset += delta;
+
+ // Prevent the image from going out of bounds.
+ auto scaledSize = scaledImageSizeF();
+ if (mOffset.x() + scaledSize.x() < 0)
+ mOffset.x() = -scaledSize.x();
+ if (mOffset.x() > sizeF().x())
+ mOffset.x() = sizeF().x();
+ if (mOffset.y() + scaledSize.y() < 0)
+ mOffset.y() = -scaledSize.y();
+ if (mOffset.y() > sizeF().y())
+ mOffset.y() = sizeF().y();
+}
+
+void ftl::gui2::ImageView::zoom(int amount, const Vector2f& focusPosition) {
+ auto focusedCoordinate = imageCoordinateAt(focusPosition);
+ float scaleFactor = std::pow(mZoomSensitivity, amount);
+ mScale = std::max(0.01f, scaleFactor * mScale);
+ setImageCoordinateAt(focusPosition, focusedCoordinate);
+}
+
+bool ftl::gui2::ImageView::mouseDragEvent(const Vector2i& p, const Vector2i& rel, int button, int /*modifiers*/) {
+ if ((button & (1 << GLFW_MOUSE_BUTTON_RIGHT)) != 0 && !mFixedOffset) {
+ setImageCoordinateAt((p + rel).cast<float>(), imageCoordinateAt(p.cast<float>()));
+ return true;
+ }
+ return false;
+}
+
+bool ftl::gui2::ImageView::gridVisible() const {
+ return (mGridThreshold != -1) && (mScale > mGridThreshold);
+}
+
+bool ftl::gui2::ImageView::pixelInfoVisible() const {
+ return mPixelInfoCallback && (mPixelInfoThreshold != -1) && (mScale > mPixelInfoThreshold);
+}
+
+bool ftl::gui2::ImageView::helpersVisible() const {
+ return gridVisible() || pixelInfoVisible();
+}
+
+bool ftl::gui2::ImageView::scrollEvent(const Vector2i& p, const Vector2f& rel) {
+ if (mFixedScale)
+ return false;
+ float v = rel.y();
+ if (std::abs(v) < 1)
+ v = std::copysign(1.f, v);
+ zoom(v, (p - position()).cast<float>());
+ return true;
+}
+
+bool ftl::gui2::ImageView::keyboardEvent(int key, int /*scancode*/, int action, int modifiers) {
+ if (action) {
+ switch (key) {
+ case GLFW_KEY_LEFT:
+ if (!mFixedOffset) {
+ if (GLFW_MOD_CONTROL & modifiers)
+ moveOffset(Vector2f(30, 0));
+ else
+ moveOffset(Vector2f(10, 0));
+ return true;
+ }
+ break;
+ case GLFW_KEY_RIGHT:
+ if (!mFixedOffset) {
+ if (GLFW_MOD_CONTROL & modifiers)
+ moveOffset(Vector2f(-30, 0));
+ else
+ moveOffset(Vector2f(-10, 0));
+ return true;
+ }
+ break;
+ case GLFW_KEY_DOWN:
+ if (!mFixedOffset) {
+ if (GLFW_MOD_CONTROL & modifiers)
+ moveOffset(Vector2f(0, -30));
+ else
+ moveOffset(Vector2f(0, -10));
+ return true;
+ }
+ break;
+ case GLFW_KEY_UP:
+ if (!mFixedOffset) {
+ if (GLFW_MOD_CONTROL & modifiers)
+ moveOffset(Vector2f(0, 30));
+ else
+ moveOffset(Vector2f(0, 10));
+ return true;
+ }
+ break;
+ }
+ }
+ return false;
+}
+
+bool ftl::gui2::ImageView::keyboardCharacterEvent(unsigned int codepoint) {
+ switch (codepoint) {
+ case '-':
+ if (!mFixedScale) {
+ zoom(-1, sizeF() / 2);
+ return true;
+ }
+ break;
+ case '+':
+ if (!mFixedScale) {
+ zoom(1, sizeF() / 2);
+ return true;
+ }
+ break;
+ case 'c':
+ if (!mFixedOffset) {
+ center();
+ return true;
+ }
+ break;
+ case 'f':
+ if (!mFixedOffset && !mFixedScale) {
+ fit();
+ return true;
+ }
+ break;
+ case '1': case '2': case '3': case '4': case '5':
+ case '6': case '7': case '8': case '9':
+ if (!mFixedScale) {
+ setScaleCentered(1 << (codepoint - '1'));
+ return true;
+ }
+ break;
+ default:
+ return false;
+ }
+ return false;
+}
+
+Vector2i ftl::gui2::ImageView::preferredSize(NVGcontext* /*ctx*/) const {
+ return mImageSize;
+}
+
+void ftl::gui2::ImageView::performLayout(NVGcontext* ctx) {
+ Widget::performLayout(ctx);
+}
+
+void ftl::gui2::ImageView::draw(NVGcontext* ctx) {
+ Widget::draw(ctx);
+
+ if (mImageID != unsigned(-1)) {
+ nvgEndFrame(ctx); // Flush the NanoVG draw stack, not necessary to call nvgBeginFrame afterwards.
+ //drawImageBorder(ctx);
+
+ // Calculate several variables that need to be send to OpenGL in order for the image to be
+ // properly displayed inside the widget.
+ const Screen* screen = dynamic_cast<const Screen*>(this->screen());
+ Vector2f screenSize = screen->size().cast<float>();
+ Vector2f scaleFactor = mScale * imageSizeF().cwiseQuotient(screenSize);
+ Vector2f positionInScreen = absolutePosition().cast<float>();
+ Vector2f positionAfterOffset = positionInScreen + mOffset;
+ Vector2f imagePosition = positionAfterOffset.cwiseQuotient(screenSize);
+ glEnable(GL_SCISSOR_TEST);
+ float r = screen->pixelRatio();
+ glScissor(positionInScreen.x() * r,
+ (screenSize.y() - positionInScreen.y() - size().y()) * r,
+ size().x() * r, size().y() * r);
+ mShader.bind();
+ glActiveTexture(GL_TEXTURE0);
+ glBindTexture(GL_TEXTURE_2D, mImageID);
+ mShader.setUniform("image", 0);
+ mShader.setUniform("flip_y", (flipped_) ? -1.0f : 1.0f);
+ mShader.setUniform("scaleFactor", scaleFactor);
+ mShader.setUniform("position", imagePosition);
+ mShader.drawIndexed(GL_TRIANGLES, 0, 2);
+ glDisable(GL_SCISSOR_TEST);
+ }
+
+ if (helpersVisible())
+ drawHelpers(ctx);
+
+ //drawWidgetBorder(ctx);
+}
+
+void ftl::gui2::ImageView::updateImageParameters() {
+ // Query the width of the OpenGL texture.
+ glBindTexture(GL_TEXTURE_2D, mImageID);
+ GLint w, h;
+ glGetTexLevelParameteriv(GL_TEXTURE_2D, 0, GL_TEXTURE_WIDTH, &w);
+ glGetTexLevelParameteriv(GL_TEXTURE_2D, 0, GL_TEXTURE_HEIGHT, &h);
+ mImageSize = Vector2i(w, h);
+}
+
+void ftl::gui2::ImageView::drawWidgetBorder(NVGcontext* ctx) const {
+ nvgBeginPath(ctx);
+ nvgStrokeWidth(ctx, 1);
+ nvgRoundedRect(ctx, mPos.x() + 0.5f, mPos.y() + 0.5f, mSize.x() - 1,
+ mSize.y() - 1, 0);
+ nvgStrokeColor(ctx, mTheme->mWindowPopup);
+ nvgStroke(ctx);
+
+ nvgBeginPath(ctx);
+ nvgRoundedRect(ctx, mPos.x() + 0.5f, mPos.y() + 0.5f, mSize.x() - 1,
+ mSize.y() - 1, mTheme->mButtonCornerRadius);
+ nvgStrokeColor(ctx, mTheme->mBorderDark);
+ nvgStroke(ctx);
+}
+
+void ftl::gui2::ImageView::drawImageBorder(NVGcontext* ctx) const {
+ nvgSave(ctx);
+ nvgBeginPath(ctx);
+ nvgScissor(ctx, mPos.x(), mPos.y(), mSize.x(), mSize.y());
+ nvgStrokeWidth(ctx, 1.0f);
+ Vector2i borderPosition = mPos + mOffset.cast<int>();
+ Vector2i borderSize = scaledImageSizeF().cast<int>();
+ nvgRect(ctx, borderPosition.x() - 0.5f, borderPosition.y() - 0.5f,
+ borderSize.x() + 1, borderSize.y() + 1);
+ nvgStrokeColor(ctx, Color(1.0f, 1.0f, 1.0f, 1.0f));
+ nvgStroke(ctx);
+ nvgResetScissor(ctx);
+ nvgRestore(ctx);
+}
+
+void ftl::gui2::ImageView::drawHelpers(NVGcontext* ctx) const {
+ // We need to apply mPos after the transformation to account for the position of the widget
+ // relative to the parent.
+ Vector2f upperLeftCorner = positionForCoordinate(Vector2f::Zero()) + positionF();
+ Vector2f lowerRightCorner = positionForCoordinate(imageSizeF()) + positionF();
+ if (gridVisible())
+ drawPixelGrid(ctx, upperLeftCorner, lowerRightCorner, mScale);
+ if (pixelInfoVisible())
+ drawPixelInfo(ctx, mScale);
+}
+
+void ftl::gui2::ImageView::drawPixelGrid(NVGcontext* ctx, const Vector2f& upperLeftCorner,
+ const Vector2f& lowerRightCorner, float stride) {
+ nvgBeginPath(ctx);
+
+ // Draw the vertical grid lines
+ float currentX = upperLeftCorner.x();
+ while (currentX <= lowerRightCorner.x()) {
+ nvgMoveTo(ctx, std::round(currentX), std::round(upperLeftCorner.y()));
+ nvgLineTo(ctx, std::round(currentX), std::round(lowerRightCorner.y()));
+ currentX += stride;
+ }
+
+ // Draw the horizontal grid lines
+ float currentY = upperLeftCorner.y();
+ while (currentY <= lowerRightCorner.y()) {
+ nvgMoveTo(ctx, std::round(upperLeftCorner.x()), std::round(currentY));
+ nvgLineTo(ctx, std::round(lowerRightCorner.x()), std::round(currentY));
+ currentY += stride;
+ }
+
+ nvgStrokeWidth(ctx, 1.0f);
+ nvgStrokeColor(ctx, Color(1.0f, 1.0f, 1.0f, 0.2f));
+ nvgStroke(ctx);
+}
+
+void ftl::gui2::ImageView::drawPixelInfo(NVGcontext* ctx, float stride) const {
+ // Extract the image coordinates at the two corners of the widget.
+ Vector2i topLeft = clampedImageCoordinateAt(Vector2f::Zero())
+ .unaryExpr([](float x) { return std::floor(x); })
+ .cast<int>();
+
+ Vector2i bottomRight = clampedImageCoordinateAt(sizeF())
+ .unaryExpr([](float x) { return std::ceil(x); })
+ .cast<int>();
+
+ // Extract the positions for where to draw the text.
+ Vector2f currentCellPosition =
+ (positionF() + positionForCoordinate(topLeft.cast<float>()));
+
+ float xInitialPosition = currentCellPosition.x();
+ int xInitialIndex = topLeft.x();
+
+ // Properly scale the pixel information for the given stride.
+ auto fontSize = stride * mFontScaleFactor;
+ static constexpr float maxFontSize = 30.0f;
+ fontSize = fontSize > maxFontSize ? maxFontSize : fontSize;
+ nvgBeginPath(ctx);
+ nvgFontSize(ctx, fontSize);
+ nvgTextAlign(ctx, NVG_ALIGN_CENTER | NVG_ALIGN_TOP);
+ nvgFontFace(ctx, "sans");
+ while (topLeft.y() != bottomRight.y()) {
+ while (topLeft.x() != bottomRight.x()) {
+ writePixelInfo(ctx, currentCellPosition, topLeft, stride, fontSize);
+ currentCellPosition.x() += stride;
+ ++topLeft.x();
+ }
+ currentCellPosition.x() = xInitialPosition;
+ currentCellPosition.y() += stride;
+ ++topLeft.y();
+ topLeft.x() = xInitialIndex;
+ }
+}
+
+void ftl::gui2::ImageView::writePixelInfo(NVGcontext* ctx, const Vector2f& cellPosition,
+ const Vector2i& pixel, float stride, float fontSize) const {
+ auto pixelData = mPixelInfoCallback(pixel);
+ auto pixelDataRows = tokenize(pixelData.first);
+
+ // If no data is provided for this pixel then simply return.
+ if (pixelDataRows.empty())
+ return;
+
+ nvgFillColor(ctx, pixelData.second);
+ float yOffset = (stride - fontSize * pixelDataRows.size()) / 2;
+ for (size_t i = 0; i != pixelDataRows.size(); ++i) {
+ nvgText(ctx, cellPosition.x() + stride / 2, cellPosition.y() + yOffset,
+ pixelDataRows[i].data(), nullptr);
+ yOffset += fontSize;
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
+FTLImageView::~FTLImageView() {
+}
+
+void FTLImageView::draw(NVGcontext* ctx) {
+ if (texture_.isValid()) {
+ if (!was_valid_) { fit(); }
+ ImageView::draw(ctx);
+ }
+ was_valid_ = texture_.isValid();
+}
+
+GLTexture& FTLImageView::texture() {
+ return texture_;
+}
+
+void FTLImageView::copyFrom(const ftl::cuda::TextureObject<uchar4> &buf, cudaStream_t stream ) {
+ texture_.copyFrom(buf, stream);
+ bindImage(texture_.texture());
+}
+
+void FTLImageView::copyFrom(const cv::Mat &im, cudaStream_t stream) {
+ texture_.copyFrom(im, stream);
+ bindImage(texture_.texture());
+}
+
+void FTLImageView::copyFrom(const cv::cuda::GpuMat &im, cudaStream_t stream) {
+ texture_.copyFrom(im, stream);
+ bindImage(texture_.texture());
+}
+
+void FTLImageView::copyFrom(ftl::rgbd::Frame& frame, ftl::codecs::Channel channel) {
+ if (frame.hasOpenGL(channel)) {
+ bindImage(frame.getOpenGL(channel));
+ if (texture_.isValid()) {
+ texture_.free();
+ }
+ }
+ else if (frame.isGPU(channel)) {
+ copyFrom(frame.get<cv::cuda::GpuMat>(channel));
+ }
+ else {
+ copyFrom(frame.get<cv::Mat>(channel));
+ }
+}
+
+nanogui::Vector2i ftl::gui2::FTLImageView::preferredSize(NVGcontext* /*ctx*/) const {
+ /** this avoids issues if layout not set to fill/maximum */
+ return mSize;
+}
+
+// ==== StereoImageView ========================================================
+
+using ftl::gui2::StereoImageView;
+
+StereoImageView::StereoImageView(nanogui::Widget* parent, nanogui::Orientation orientation) :
+ nanogui::Widget(parent), orientation_(orientation) {
+
+ setLayout(new nanogui::BoxLayout(orientation_, nanogui::Alignment::Fill));
+
+ left_ = new FTLImageView(this);
+ right_ = new FTLImageView(this);
+
+ // disables mouse/keyboard events in widgets
+ left_->setFixedOffset(true);
+ left_->setFixedScale(true);
+ right_->setFixedOffset(true);
+ right_->setFixedScale(true);
+}
+
+
+nanogui::Vector2f StereoImageView::imageCoordinateAt(const nanogui::Vector2f& p) const {
+
+ nanogui::Vector2f pos = position().cast<float>();
+ nanogui::Vector2f posr = pos + right_->position().cast<float>();
+
+ bool is_right =
+ ((p.x() >= posr.x()) && (orientation_ == nanogui::Orientation::Horizontal)) ||
+ ((p.y() >= posr.y()) && (orientation_ == nanogui::Orientation::Vertical));
+
+ if (is_right) {
+ return right_->imageCoordinateAt(p - right_->position().cast<float>());
+ }
+ else {
+ return left_->imageCoordinateAt(p);
+ }
+}
+
+bool StereoImageView::mouseMotionEvent(const nanogui::Vector2i &p, const nanogui::Vector2i &rel, int button, int modifiers) {
+ if ((button & (1 << GLFW_MOUSE_BUTTON_RIGHT)) != 0) {
+ nanogui::Vector2f posl = left_->imageCoordinateAt(p.cast<float>());
+ nanogui::Vector2f posr = right_->imageCoordinateAt(p.cast<float>());
+ if (posl.minCoeff() > 0) {
+ left_->setImageCoordinateAt((p + rel).cast<float>(), posl);
+ right_->setImageCoordinateAt((p + rel).cast<float>(), posl);
+ }
+ if (posr.minCoeff() > 0) {
+ left_->setImageCoordinateAt((p + rel).cast<float>(), posr);
+ right_->setImageCoordinateAt((p + rel).cast<float>(), posr);
+ }
+ return true;
+ }
+ return false;
+}
+
+bool StereoImageView::scrollEvent(const nanogui::Vector2i& p, const nanogui::Vector2f& rel) {
+ // synchronized zoom
+
+ float v = rel.y();
+
+ nanogui::Vector2f pos = position().cast<float>();
+ nanogui::Vector2f posl = pos + left_->position().cast<float>();
+ nanogui::Vector2f posr = pos + right_->position().cast<float>();
+ nanogui::Vector2f pf = p.cast<float>();
+
+ // zooming on right image?
+ bool zoom_right =
+ ((p.x() >= posr.x()) && (orientation_ == nanogui::Orientation::Horizontal)) ||
+ ((p.y() >= posr.y()) && (orientation_ == nanogui::Orientation::Vertical));
+
+ if (orientation_ == nanogui::Orientation::Horizontal) {
+ if (zoom_right) {
+ left_->zoom(v, pf - nanogui::Vector2f{float(left_->width()), 0.0f} - posl);
+ right_->zoom(v, pf - posr);
+ }
+ else {
+ left_->zoom(v, pf - posl);
+ right_->zoom(v, nanogui::Vector2f{float(right_->width()), 0.0f} + pf - posr);
+ }
+ }
+ else { // same as above, flip x/y
+ if (zoom_right) {
+ left_->zoom(v, pf - nanogui::Vector2f{0.0f, float(left_->height())} - posl);
+ right_->zoom(v, pf - posr);
+ }
+ else {
+ left_->zoom(v, pf - posl);
+ right_->zoom(v, nanogui::Vector2f{0.0f, float(right_->height())} + pf - posr);
+ }
+ }
+ return true;
+}
+
+bool StereoImageView::keyboardEvent(int key, int /*scancode*/, int action, int modifiers) {
+ return true; // copy code from above (ImageView)?
+}
+
+
+void StereoImageView::fit() {
+ left()->fit();
+ right()->fit();
+}
+
+bool StereoImageView::keyboardCharacterEvent(unsigned int codepoint) {
+ switch (codepoint) {
+ case 'c':
+ left_->center();
+ right_->center();
+ return true;
+
+ case 'f':
+ left_->fit();
+ right_->fit();
+ return true;
+
+ default:
+ return true;
+ }
+}
+
+void StereoImageView::performLayout(NVGcontext *ctx) {
+ if (orientation_ == nanogui::Orientation::Horizontal) {
+ left_->setSize({width()/2, height()});
+ right_->setSize({width()/2, height()});
+ }
+ else { // Orientation::Vertical
+ left_->setSize({width(), height()/2});
+ right_->setSize({width(), height()/2});
+ }
+ Widget::performLayout(ctx);
+}
diff --git a/applications/gui2/src/widgets/imageview.hpp b/applications/gui2/src/widgets/imageview.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..c5d520b628f8fc80a539689ebfea1f0f4638f7ee
--- /dev/null
+++ b/applications/gui2/src/widgets/imageview.hpp
@@ -0,0 +1,258 @@
+/*
+ nanogui/imageview.h -- Widget used to display images.
+
+ The image view widget was contributed by Stefan Ivanov.
+
+ NanoGUI was developed by Wenzel Jakob <wenzel.jakob@epfl.ch>.
+ The widget drawing code is based on the NanoVG demo application
+ by Mikko Mononen.
+
+ All rights reserved. Use of this source code is governed by a
+ BSD-style license that can be found in the LICENSE.txt file.
+*/
+/** \file */
+
+#pragma once
+
+#include <nanogui/widget.h>
+#include <nanogui/glutil.h>
+#include <nanogui/layout.h>
+#include <functional>
+
+#include <ftl/rgbd/frame.hpp>
+#include <ftl/codecs/channels.hpp>
+#include <ftl/utility/gltexture.hpp>
+
+namespace ftl
+{
+namespace gui2 {
+
+
+/**
+ * \class ImageView imageview.h nanogui/imageview.h
+ *
+ * \brief Widget used to display images.
+ */
+class NANOGUI_EXPORT ImageView : public nanogui::Widget {
+public:
+ ImageView(nanogui::Widget* parent, GLuint imageID = -1);
+ virtual ~ImageView();
+
+ void bindImage(GLuint imageId);
+
+ nanogui::GLShader& imageShader() { return mShader; }
+
+ nanogui::Vector2f positionF() const { return mPos.cast<float>(); }
+ nanogui::Vector2f sizeF() const { return mSize.cast<float>(); }
+
+ const nanogui::Vector2i& imageSize() const { return mImageSize; }
+ nanogui::Vector2i scaledImageSize() const { return (mScale * mImageSize.cast<float>()).cast<int>(); }
+ nanogui::Vector2f imageSizeF() const { return mImageSize.cast<float>(); }
+ nanogui::Vector2f scaledImageSizeF() const { return (mScale * mImageSize.cast<float>()); }
+
+ const nanogui::Vector2f& offset() const { return mOffset; }
+ void setOffset(const nanogui::Vector2f& offset) { mOffset = offset; }
+ float scale() const { return mScale; }
+ void setScale(float scale) { mScale = scale > 0.01f ? scale : 0.01f; }
+
+ inline void setFlipped(bool flipped) { flipped_ = flipped; }
+
+ bool fixedOffset() const { return mFixedOffset; }
+ void setFixedOffset(bool fixedOffset) { mFixedOffset = fixedOffset; }
+ bool fixedScale() const { return mFixedScale; }
+ void setFixedScale(bool fixedScale) { mFixedScale = fixedScale; }
+
+ float zoomSensitivity() const { return mZoomSensitivity; }
+ void setZoomSensitivity(float zoomSensitivity) { mZoomSensitivity = zoomSensitivity; }
+
+ float gridThreshold() const { return mGridThreshold; }
+ void setGridThreshold(float gridThreshold) { mGridThreshold = gridThreshold; }
+
+ float pixelInfoThreshold() const { return mPixelInfoThreshold; }
+ void setPixelInfoThreshold(float pixelInfoThreshold) { mPixelInfoThreshold = pixelInfoThreshold; }
+
+#ifndef DOXYGEN_SHOULD_SKIP_THIS
+ void setPixelInfoCallback(const std::function<std::pair<std::string, nanogui::Color>(const nanogui::Vector2i&)>& callback) {
+ mPixelInfoCallback = callback;
+ }
+ const std::function<std::pair<std::string, nanogui::Color>(const nanogui::Vector2i&)>& pixelInfoCallback() const {
+ return mPixelInfoCallback;
+ }
+#endif // DOXYGEN_SHOULD_SKIP_THIS
+
+ void setFontScaleFactor(float fontScaleFactor) { mFontScaleFactor = fontScaleFactor; }
+ float fontScaleFactor() const { return mFontScaleFactor; }
+
+ // Image transformation functions.
+
+ /// Calculates the image coordinates of the given pixel position on the widget.
+ nanogui::Vector2f imageCoordinateAt(const nanogui::Vector2f& position) const;
+
+ /**
+ * Calculates the image coordinates of the given pixel position on the widget.
+ * If the position provided corresponds to a coordinate outside the range of
+ * the image, the coordinates are clamped to edges of the image.
+ */
+ nanogui::Vector2f clampedImageCoordinateAt(const nanogui::Vector2f& position) const;
+
+ /// Calculates the position inside the widget for the given image coordinate. Origin?
+ nanogui::Vector2f positionForCoordinate(const nanogui::Vector2f& imageCoordinate) const;
+
+ /**
+ * Modifies the internal state of the image viewer widget so that the pixel at the provided
+ * position on the widget has the specified image coordinate. Also clamps the values of offset
+ * to the sides of the widget.
+ */
+ void setImageCoordinateAt(const nanogui::Vector2f& position, const nanogui::Vector2f& imageCoordinate);
+
+ /// Centers the image without affecting the scaling factor.
+ void center();
+
+ /// Centers and scales the image so that it fits inside the widgets.
+ void fit();
+
+ /// Set the scale while keeping the image centered
+ void setScaleCentered(float scale);
+
+ /// Moves the offset by the specified amount. Does bound checking.
+ void moveOffset(const nanogui::Vector2f& delta);
+
+ /**
+ * Changes the scale factor by the provided amount modified by the zoom sensitivity member variable.
+ * The scaling occurs such that the image coordinate under the focused position remains in
+ * the same position before and after the scaling.
+ */
+ void zoom(int amount, const nanogui::Vector2f& focusPosition);
+
+ bool keyboardEvent(int key, int scancode, int action, int modifiers) override;
+ bool keyboardCharacterEvent(unsigned int codepoint) override;
+
+ //bool mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers) override;
+ bool mouseDragEvent(const nanogui::Vector2i &p, const nanogui::Vector2i &rel, int button, int modifiers) override;
+ bool scrollEvent(const nanogui::Vector2i &p, const nanogui::Vector2f &rel) override;
+
+ /// Function indicating whether the grid is currently visible.
+ bool gridVisible() const;
+
+ /// Function indicating whether the pixel information is currently visible.
+ bool pixelInfoVisible() const;
+
+ /// Function indicating whether any of the overlays are visible.
+ bool helpersVisible() const;
+
+ nanogui::Vector2i preferredSize(NVGcontext* ctx) const override;
+ void performLayout(NVGcontext* ctx) override;
+ void draw(NVGcontext* ctx) override;
+
+protected:
+ // Helper image methods.
+ void updateImageParameters();
+
+ // Helper drawing methods.
+ void drawWidgetBorder(NVGcontext* ctx) const;
+ void drawImageBorder(NVGcontext* ctx) const;
+ void drawHelpers(NVGcontext* ctx) const;
+ static void drawPixelGrid(NVGcontext* ctx, const nanogui::Vector2f& upperLeftCorner,
+ const nanogui::Vector2f& lowerRightCorner, float stride);
+ void drawPixelInfo(NVGcontext* ctx, float stride) const;
+ void writePixelInfo(NVGcontext* ctx, const nanogui::Vector2f& cellPosition,
+ const nanogui::Vector2i& pixel, float stride, float fontSize) const;
+
+ // Image parameters.
+ nanogui::GLShader mShader;
+ GLuint mImageID;
+ nanogui::Vector2i mImageSize;
+
+ // Image display parameters.
+ float mScale;
+ nanogui::Vector2f mOffset;
+ bool mFixedScale;
+ bool mFixedOffset;
+ bool flipped_ = false;
+
+ // Fine-tuning parameters.
+ float mZoomSensitivity = 1.1f;
+
+ // Image info parameters.
+ float mGridThreshold = -1;
+ float mPixelInfoThreshold = -1;
+
+ // Image pixel data display members.
+ std::function<std::pair<std::string, nanogui::Color>(const nanogui::Vector2i&)> mPixelInfoCallback;
+ float mFontScaleFactor = 0.2f;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+/**
+ * Simple wrapper for drawing FTLImageView.
+ */
+class FTLImageView : public ImageView {
+public:
+ using ImageView::ImageView;
+
+ FTLImageView(nanogui::Widget* parent, GLuint imageID = -1) : ImageView(parent, imageID), was_valid_(false) {}
+ virtual ~FTLImageView();
+
+ virtual void draw(NVGcontext* ctx) override;
+ virtual nanogui::Vector2i preferredSize(NVGcontext* ctx) const override;
+
+ /** Get GLTexture instance */
+ ftl::utility::GLTexture& texture();
+
+ /** Copy&Bind */
+ void copyFrom(const ftl::cuda::TextureObject<uchar4> &buf, cudaStream_t stream = cudaStreamDefault);
+ void copyFrom(const cv::Mat &im, cudaStream_t stream = cudaStreamDefault);
+ void copyFrom(const cv::cuda::GpuMat &im, cudaStream_t stream = cudaStreamDefault);
+
+ /** From frame, use OpenGL if available (no copy), otherwise copy from GPU/CPU */
+ void copyFrom(ftl::rgbd::Frame& frame, ftl::codecs::Channel channel);
+
+private:
+ ftl::utility::GLTexture texture_;
+ bool was_valid_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+/** Two ImageViews with synchronized zoom and pan. Widget split in two equal
+ * size sections (left and right). With vertical orientation right is the lower
+ * image.
+*/
+class StereoImageView : public nanogui::Widget {
+public:
+ StereoImageView(nanogui::Widget* parent, nanogui::Orientation orientation = nanogui::Orientation::Horizontal);
+
+ virtual void performLayout(NVGcontext* ctx) override;
+
+ bool keyboardEvent(int key, int scancode, int action, int modifiers) override;
+ bool keyboardCharacterEvent(unsigned int codepoint) override;
+ bool mouseMotionEvent(const nanogui::Vector2i &p, const nanogui::Vector2i &rel, int button, int modifiers) override;
+ bool scrollEvent(const nanogui::Vector2i &p, const nanogui::Vector2f &rel) override;
+
+ FTLImageView* left() { return left_; }
+ FTLImageView* right() { return right_; }
+
+ /** get image coordinate at given widget coordinate */
+ nanogui::Vector2f imageCoordinateAt(const nanogui::Vector2f& position) const;
+
+ nanogui::Orientation orientation() { return orientation_; }
+
+ void fit();
+
+ void bindLeft(GLuint id) { left_->texture().free(); left_->bindImage(id); }
+ void bindRight(GLuint id) { right_->texture().free(); right_->bindImage(id); }
+
+private:
+ nanogui::Orientation orientation_;
+ FTLImageView* left_;
+ FTLImageView* right_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+}
+}
diff --git a/applications/gui2/src/widgets/leftbutton.cpp b/applications/gui2/src/widgets/leftbutton.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c448ebaf2474674d8acfcaf2a7f783869154dc5f
--- /dev/null
+++ b/applications/gui2/src/widgets/leftbutton.cpp
@@ -0,0 +1,121 @@
+#include "leftbutton.hpp"
+#include <nanogui/button.h>
+#include <nanogui/theme.h>
+#include <nanogui/opengl.h>
+
+void ftl::gui2::LeftButton::draw(NVGcontext* ctx) {
+ using namespace nanogui;
+
+ Widget::draw(ctx);
+
+ NVGcolor gradTop = mTheme->mButtonGradientTopUnfocused;
+ NVGcolor gradBot = mTheme->mButtonGradientBotUnfocused;
+
+ if (mPushed) {
+ gradTop = mTheme->mButtonGradientTopPushed;
+ gradBot = mTheme->mButtonGradientBotPushed;
+ } else if (mMouseFocus && mEnabled) {
+ gradTop = mTheme->mButtonGradientTopFocused;
+ gradBot = mTheme->mButtonGradientBotFocused;
+ }
+
+ nvgBeginPath(ctx);
+
+ nvgRoundedRect(ctx, mPos.x() + 1, mPos.y() + 1.0f, mSize.x() - 2,
+ mSize.y() - 2, mTheme->mButtonCornerRadius - 1);
+
+ if (mBackgroundColor.w() != 0) {
+ nvgFillColor(ctx, Color(mBackgroundColor.head<3>(), 1.f));
+ nvgFill(ctx);
+ if (mPushed) {
+ gradTop.a = gradBot.a = 0.8f;
+ } else {
+ double v = 1 - mBackgroundColor.w();
+ gradTop.a = gradBot.a = mEnabled ? v : v * .5f + .5f;
+ }
+ }
+
+ NVGpaint bg = nvgLinearGradient(ctx, mPos.x(), mPos.y(), mPos.x(),
+ mPos.y() + mSize.y(), gradTop, gradBot);
+
+ nvgFillPaint(ctx, bg);
+ nvgFill(ctx);
+
+ nvgBeginPath(ctx);
+ nvgStrokeWidth(ctx, 1.0f);
+ nvgRoundedRect(ctx, mPos.x() + 0.5f, mPos.y() + (mPushed ? 0.5f : 1.5f), mSize.x() - 1,
+ mSize.y() - 1 - (mPushed ? 0.0f : 1.0f), mTheme->mButtonCornerRadius);
+ nvgStrokeColor(ctx, mTheme->mBorderLight);
+ nvgStroke(ctx);
+
+ nvgBeginPath(ctx);
+ nvgRoundedRect(ctx, mPos.x() + 0.5f, mPos.y() + 0.5f, mSize.x() - 1,
+ mSize.y() - 2, mTheme->mButtonCornerRadius);
+ nvgStrokeColor(ctx, mTheme->mBorderDark);
+ nvgStroke(ctx);
+
+ int fontSize = mFontSize == -1 ? mTheme->mButtonFontSize : mFontSize;
+ nvgFontSize(ctx, fontSize);
+ nvgFontFace(ctx, "sans-bold");
+ float tw = nvgTextBounds(ctx, 0,0, mCaption.c_str(), nullptr, nullptr);
+
+ Vector2f center = mPos.cast<float>() + mSize.cast<float>() * 0.5f;
+ Vector2f textPos(mPos.x() + 8, center.y() - 1);
+ NVGcolor textColor =
+ mTextColor.w() == 0 ? mTheme->mTextColor : mTextColor;
+ if (!mEnabled)
+ textColor = mTheme->mDisabledTextColor;
+
+ if (mIcon) {
+ auto icon = utf8(mIcon);
+
+ float iw, ih = fontSize;
+ if (nvgIsFontIcon(mIcon)) {
+ ih *= icon_scale();
+ nvgFontSize(ctx, ih);
+ nvgFontFace(ctx, "icons");
+ iw = nvgTextBounds(ctx, 0, 0, icon.data(), nullptr, nullptr);
+ } else {
+ int w, h;
+ ih *= 0.9f;
+ nvgImageSize(ctx, mIcon, &w, &h);
+ iw = w * ih / h;
+ }
+ if (mCaption != "")
+ iw += mSize.y() * 0.15f;
+ nvgFillColor(ctx, textColor);
+ nvgTextAlign(ctx, NVG_ALIGN_LEFT | NVG_ALIGN_MIDDLE);
+ Vector2f iconPos = center;
+ iconPos.y() -= 1;
+
+ if (mIconPosition == IconPosition::LeftCentered) {
+ iconPos.x() -= (tw + iw) * 0.5f;
+ textPos.x() += iw * 0.5f;
+ } else if (mIconPosition == IconPosition::RightCentered) {
+ textPos.x() -= iw * 0.5f;
+ iconPos.x() += tw * 0.5f;
+ } else if (mIconPosition == IconPosition::Left) {
+ iconPos.x() = mPos.x() + 8;
+ } else if (mIconPosition == IconPosition::Right) {
+ iconPos.x() = mPos.x() + mSize.x() - iw - 8;
+ }
+
+ if (nvgIsFontIcon(mIcon)) {
+ nvgText(ctx, iconPos.x(), iconPos.y()+1, icon.data(), nullptr);
+ } else {
+ NVGpaint imgPaint = nvgImagePattern(ctx,
+ iconPos.x(), iconPos.y() - ih/2, iw, ih, 0, mIcon, mEnabled ? 0.5f : 0.25f);
+
+ nvgFillPaint(ctx, imgPaint);
+ nvgFill(ctx);
+ }
+ }
+
+ nvgFontSize(ctx, fontSize);
+ nvgFontFace(ctx, "sans-bold");
+ nvgTextAlign(ctx, NVG_ALIGN_LEFT | NVG_ALIGN_MIDDLE);
+ nvgFillColor(ctx, mTheme->mTextColorShadow);
+ nvgText(ctx, textPos.x(), textPos.y(), mCaption.c_str(), nullptr);
+ nvgFillColor(ctx, textColor);
+ nvgText(ctx, textPos.x(), textPos.y() + 1, mCaption.c_str(), nullptr);
+}
\ No newline at end of file
diff --git a/applications/gui2/src/widgets/leftbutton.hpp b/applications/gui2/src/widgets/leftbutton.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..51efe156beb4e3b3ae4ce1b3f5c9d8cb58694cf4
--- /dev/null
+++ b/applications/gui2/src/widgets/leftbutton.hpp
@@ -0,0 +1,23 @@
+#pragma once
+#include <nanogui/button.h>
+
+namespace ftl {
+namespace gui2 {
+
+/**
+ * Allow left aligned button text.
+ */
+class LeftButton : public nanogui::Button {
+public:
+ LeftButton(nanogui::Widget *parent, const std::string &caption = "",
+ int buttonIcon = 0) : nanogui::Button(parent, caption, buttonIcon) {};
+ virtual ~LeftButton() {};
+
+ virtual void draw(NVGcontext* ctx) override;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+}
+}
diff --git a/applications/gui2/src/widgets/popupbutton.cpp b/applications/gui2/src/widgets/popupbutton.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4276aa2f08dbd16054fafbc685e3c174e199a65f
--- /dev/null
+++ b/applications/gui2/src/widgets/popupbutton.cpp
@@ -0,0 +1,118 @@
+/*
+ src/popupbutton.cpp -- Button which launches a popup widget
+
+ NanoGUI was developed by Wenzel Jakob <wenzel.jakob@epfl.ch>.
+ The widget drawing code is based on the NanoVG demo application
+ by Mikko Mononen.
+
+ All rights reserved. Use of this source code is governed by a
+ BSD-style license that can be found in the LICENSE.txt file.
+*/
+
+#include "popupbutton.hpp"
+
+#include <nanogui/theme.h>
+#include <nanogui/opengl.h>
+#include <nanogui/serializer/core.h>
+#include <nanogui/popup.h>
+
+using nanogui::Widget;
+using nanogui::Window;
+using nanogui::Button;
+using nanogui::Popup;
+using nanogui::Serializer;
+using nanogui::utf8;
+using nanogui::Vector2i;
+using nanogui::Vector2f;
+
+using ftl::gui2::PopupButton;
+
+PopupButton::PopupButton(Widget *parent, const std::string &caption, int buttonIcon)
+ : Button(parent, caption, buttonIcon) {
+
+ mChevronIcon = mTheme->mPopupChevronRightIcon;
+
+ setFlags(Flags::ToggleButton | Flags::PopupButton);
+
+ Window *parentWindow = window();
+ mPopup = new Popup(parentWindow->parent(), window());
+ mPopup->setSize(Vector2i(320, 250));
+ mPopup->setVisible(false);
+
+ mIconExtraScale = 0.8f;// widget override
+}
+
+PopupButton::~PopupButton() {
+ if (mPopup->parent()->getRefCount() > 0) {
+ mPopup->setVisible(false);
+ mPopup->dispose();
+ }
+}
+
+Vector2i PopupButton::preferredSize(NVGcontext *ctx) const {
+ return Button::preferredSize(ctx) + Vector2i(15, 0);
+}
+
+void PopupButton::draw(NVGcontext* ctx) {
+ if (!mEnabled && mPushed)
+ mPushed = false;
+
+ mPopup->setVisible(mPushed);
+ Button::draw(ctx);
+
+ if (mChevronIcon) {
+ auto icon = utf8(mChevronIcon);
+ NVGcolor textColor =
+ mTextColor.w() == 0 ? mTheme->mTextColor : mTextColor;
+
+ nvgFontSize(ctx, (mFontSize < 0 ? mTheme->mButtonFontSize : mFontSize) * icon_scale());
+ nvgFontFace(ctx, "icons");
+ nvgFillColor(ctx, mEnabled ? textColor : mTheme->mDisabledTextColor);
+ nvgTextAlign(ctx, NVG_ALIGN_LEFT | NVG_ALIGN_MIDDLE);
+
+ float iw = nvgTextBounds(ctx, 0, 0, icon.data(), nullptr, nullptr);
+ Vector2f iconPos(0, mPos.y() + mSize.y() * 0.5f - 1);
+
+ if (mPopup->side() == Popup::Right)
+ iconPos[0] = mPos.x() + mSize.x() - iw - 8;
+ else
+ iconPos[0] = mPos.x() + 8;
+
+ nvgText(ctx, iconPos.x(), iconPos.y(), icon.data(), nullptr);
+ }
+}
+
+void PopupButton::performLayout(NVGcontext *ctx) {
+ Widget::performLayout(ctx);
+
+ const Window *parentWindow = window();
+
+ int posY = absolutePosition().y() - parentWindow->position().y() + mSize.y() /2;
+ if (mPopup->side() == Popup::Right)
+ mPopup->setAnchorPos(Vector2i(parentWindow->width() + 15, posY));
+ else
+ mPopup->setAnchorPos(Vector2i(0 - 15, posY));
+}
+
+void PopupButton::setSide(Popup::Side side) {
+ if (mPopup->side() == Popup::Right &&
+ mChevronIcon == mTheme->mPopupChevronRightIcon)
+ setChevronIcon(mTheme->mPopupChevronLeftIcon);
+ else if (mPopup->side() == Popup::Left &&
+ mChevronIcon == mTheme->mPopupChevronLeftIcon)
+ setChevronIcon(mTheme->mPopupChevronRightIcon);
+ mPopup->setSide(side);
+}
+
+void PopupButton::save(Serializer &s) const {
+ Button::save(s);
+ s.set("chevronIcon", mChevronIcon);
+}
+
+bool PopupButton::load(Serializer &s) {
+ if (!Button::load(s))
+ return false;
+ if (!s.get("chevronIcon", mChevronIcon))
+ return false;
+ return true;
+}
diff --git a/applications/gui2/src/widgets/popupbutton.hpp b/applications/gui2/src/widgets/popupbutton.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..81519c134b6d45cdc71053215cad98e4d6266697
--- /dev/null
+++ b/applications/gui2/src/widgets/popupbutton.hpp
@@ -0,0 +1,52 @@
+#pragma once
+#include <nanogui/button.h>
+#include <nanogui/popup.h>
+
+namespace ftl {
+namespace gui2 {
+
+/**
+ * Patched version of nanogui::PopopButton with destructor which also removes
+ * popup window on destruction.
+ *
+ * \class PopupButton popupbutton.h nanogui/popupbutton.h
+ *
+ * \brief Button which launches a popup widget.
+ *
+ * \remark
+ * This class overrides \ref nanogui::Widget::mIconExtraScale to be ``0.8f``,
+ * which affects all subclasses of this Widget. Subclasses must explicitly
+ * set a different value if needed (e.g., in their constructor).
+ */
+class PopupButton : public nanogui::Button {
+public:
+ PopupButton(nanogui::Widget *parent, const std::string &caption = "",
+ int buttonIcon = 0);
+ virtual ~PopupButton();
+
+ void setChevronIcon(int icon) { mChevronIcon = icon; }
+ int chevronIcon() const { return mChevronIcon; }
+
+ void setSide(nanogui::Popup::Side popupSide);
+ nanogui::Popup::Side side() const { return mPopup->side(); }
+
+ nanogui::Popup *popup() { return mPopup; }
+ const nanogui::Popup *popup() const { return mPopup; }
+
+ virtual void draw(NVGcontext* ctx) override;
+ virtual nanogui::Vector2i preferredSize(NVGcontext *ctx) const override;
+ virtual void performLayout(NVGcontext *ctx) override;
+
+ virtual void save(nanogui::Serializer &s) const override;
+ virtual bool load(nanogui::Serializer &s) override;
+
+protected:
+ nanogui::Popup *mPopup;
+ int mChevronIcon;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+}
+}
diff --git a/applications/gui2/src/widgets/soundctrl.cpp b/applications/gui2/src/widgets/soundctrl.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4a8d6a08d76569206ad34a8b5d5a618f19b9547d
--- /dev/null
+++ b/applications/gui2/src/widgets/soundctrl.cpp
@@ -0,0 +1,141 @@
+#include <nanogui/layout.h>
+#include <nanogui/label.h>
+#include <nanogui/slider.h>
+
+#include "soundctrl.hpp"
+#include "../screen.hpp"
+
+using ftl::gui2::PopupButton;
+using ftl::gui2::VolumeButton;
+using ftl::gui2::Screen;
+
+VolumeButton::VolumeButton(nanogui::Widget *parent, ftl::audio::StereoMixerF<100> *mixer) :
+ ftl::gui2::PopupButton(parent, "", ENTYPO_ICON_SOUND), mixer_(mixer) {
+ setChevronIcon(-1);
+
+ muted_ = false;
+
+ mPopup->setLayout(new nanogui::GroupLayout(15, 6, 14, 0));
+ new nanogui::Label(mPopup, "Volume");
+ slider_ = new nanogui::Slider(mPopup);
+
+ slider_->setHighlightColor(dynamic_cast<Screen*>(screen())->getColor("highlight1"));
+ slider_->setHeight(20);
+ mPopup->setFixedWidth(200);
+
+ slider_->setCallback([this](float value) {
+ setValue(value);
+ if (cb_) { cb_(value); }
+ });
+
+ if (mixer) {
+ auto *mixbut = new nanogui::Button(mPopup, "Mixer", ENTYPO_ICON_SOUND_MIX);
+ mPopup->setAnchorHeight(70);
+
+ auto *mixer_widget = new nanogui::Widget(mPopup);
+ mixer_widget->setLayout(new nanogui::GroupLayout(0, 6, 14, 0));
+ mixer_widget->setVisible(false);
+
+ // Add mixer slider for each track in mixer.
+ for (int t=0; t<mixer->tracks(); ++t) {
+ auto *label = new nanogui::Label(mixer_widget, mixer->name(t));
+ label->setFontSize(12);
+ auto *mixslider = new nanogui::Slider(mixer_widget);
+ mixslider->setHighlightColor(dynamic_cast<Screen*>(screen())->getColor("highlight1"));
+ mixslider->setHeight(20);
+ mixslider->setValue(mixer->gain(t));
+ mixslider->setHighlightedRange({0.0f, mixer->gain(t)});
+
+ mixslider->setCallback([this,t,mixslider](float value) {
+ mixslider->setValue(value);
+ mixslider->setHighlightedRange({0.0f, value});
+ mixer_->setGain(t, value);
+ });
+ }
+
+ mixbut->setCallback([this,mixer_widget]() {
+ mixer_widget->setVisible(!mixer_widget->visible());
+ if (mixer_widget->visible()) {
+ mPopup->setAnchorHeight(70+mixer_widget->childCount()*20);
+ } else {
+ mPopup->setAnchorHeight(70);
+ }
+ screen()->performLayout();
+ });
+ }
+}
+
+VolumeButton::~VolumeButton() {
+}
+
+void VolumeButton::setCallback(std::function<void(float)> cb) {
+ cb_ = cb;
+}
+
+void VolumeButton::update() {
+ slider_->setValue(value_);
+ slider_->setHighlightedRange({0.0f, value_});
+
+ if (muted_ || value_ == 0.0f) {
+ setIcon(ICON_MUTED);
+ }
+ else if (value_ < 0.33){
+ setIcon(ICON_VOLUME_1);
+ }
+ else if (value_ >= 0.67) {
+ setIcon(ICON_VOLUME_3);
+ }
+ else {
+ setIcon(ICON_VOLUME_2);
+ }
+}
+
+void VolumeButton::setValue(float v) {
+ value_ = v;
+ setMuted(false);
+ update();
+}
+
+float VolumeButton::value() {
+ return muted_ ? 0.0f : value_;
+}
+
+void VolumeButton::setMuted(bool v) {
+ if (muted_ == v) {
+ return;
+ }
+
+ muted_ = v;
+ if (muted_) {
+ slider_->setHighlightColor(
+ dynamic_cast<Screen*>(screen())->getColor("highlight1_disabled"));
+ }
+ else {
+ slider_->setHighlightColor(
+ dynamic_cast<Screen*>(screen())->getColor("highlight1"));
+ }
+ update();
+}
+
+bool VolumeButton::muted() {
+ return muted_;
+}
+
+bool VolumeButton::mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers) {
+ parent()->setFocused(true);
+ if (down && button == GLFW_MOUSE_BUTTON_2) {
+ setMuted(!muted_);
+ if (cb_) { cb_(value()); }
+ return true;
+ }
+ else {
+ return PopupButton::mouseButtonEvent(p, button, down, modifiers);
+ }
+
+}
+
+bool VolumeButton::scrollEvent(const nanogui::Vector2i &p, const nanogui::Vector2f &rel) {
+ setValue(std::min(std::max(0.0f, value_ + rel[1]*scroll_step_), 1.0f));
+ if (cb_) { cb_(value()); }
+ return true;
+}
diff --git a/applications/gui2/src/widgets/soundctrl.hpp b/applications/gui2/src/widgets/soundctrl.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..5495edd5c985dd9923c85f4ba1b7264cbdebbb25
--- /dev/null
+++ b/applications/gui2/src/widgets/soundctrl.hpp
@@ -0,0 +1,53 @@
+#pragma once
+
+#include <nanogui/entypo.h>
+#include <ftl/audio/mixer.hpp>
+
+#include "popupbutton.hpp"
+
+namespace ftl {
+namespace gui2 {
+
+class VolumeButton : public ftl::gui2::PopupButton {
+public:
+ VolumeButton(nanogui::Widget *parent, ftl::audio::StereoMixerF<100> *mixer);
+ virtual ~VolumeButton();
+
+ // callback, new value passed in argument
+ void setCallback(std::function<void(float)> cb);
+
+ // set value (updates slider value and highlight and changes icon)
+ void setValue(float v);
+ float value();
+
+ // get/set mute status (changes volume highlight color and icon)
+ void setMuted(bool v);
+ bool muted();
+
+ virtual bool mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers) override;
+ virtual bool scrollEvent(const nanogui::Vector2i &p, const nanogui::Vector2f &rel) override;
+
+ // icons: 3 levels and muted
+ int ICON_VOLUME_3 = ENTYPO_ICON_SOUND; // [67, 100]
+ int ICON_VOLUME_2 = ENTYPO_ICON_SOUND; // [33,67)
+ int ICON_VOLUME_1 = ENTYPO_ICON_SOUND; // [0,33)
+ int ICON_MUTED = ENTYPO_ICON_SOUND_MUTE;
+
+private:
+ void update();
+
+ nanogui::Slider* slider_;
+ std::function<void(float)> cb_;
+
+ ftl::audio::StereoMixerF<100> *mixer_;
+
+ float scroll_step_ = 0.02f;
+ float value_;
+ bool muted_;
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+}
+}
diff --git a/applications/gui2/src/widgets/window.hpp b/applications/gui2/src/widgets/window.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..3e568026a454dd6f266e2670d50e65a966fb4a9c
--- /dev/null
+++ b/applications/gui2/src/widgets/window.hpp
@@ -0,0 +1,23 @@
+#pragma once
+
+#include <nanogui/window.h>
+
+namespace ftl {
+namespace gui2 {
+/**
+ * Non-movable Window widget
+ */
+class FixedWindow : public nanogui::Window {
+public:
+ FixedWindow(nanogui::Widget *parent, const std::string name="") :
+ nanogui::Window(parent, name) {};
+
+ virtual bool mouseDragEvent(const nanogui::Vector2i&, const nanogui::Vector2i&, int, int) override { return false; }
+ virtual ~FixedWindow() {}
+
+public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+}
+}
diff --git a/applications/reconstruct/include/ftl/virtual_source.hpp b/applications/reconstruct/include/ftl/virtual_source.hpp
index 931bdd5eb48c2e89a893b142f741bb0dbabc959c..b4162ef9750c867eff78822a9294f5b4f19b7f6e 100644
--- a/applications/reconstruct/include/ftl/virtual_source.hpp
+++ b/applications/reconstruct/include/ftl/virtual_source.hpp
@@ -19,7 +19,7 @@ namespace rgbd {
* calculating disparity, before converting to depth. Calibration of the images
* is also performed.
*/
-class VirtualSource : public ftl::rgbd::detail::Source {
+class VirtualSource : public ftl::rgbd::BaseSourceImpl {
public:
VirtualSource(ftl::rgbd::Source*);
~VirtualSource();
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index fea482a243c39b858c67b44fefd3e47901e486de..5f37c0961e9e03b9885aede975bee0319fad93f4 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/applications/reconstruct/src/reconstruction.cpp b/applications/reconstruct/src/reconstruction.cpp
index c55f1f5f1676a22cf1153078de48144e0d0a4b13..a0c69b754f5bdd5b7e3e6d463e42eaa94ed87d0d 100644
--- a/applications/reconstruct/src/reconstruction.cpp
+++ b/applications/reconstruct/src/reconstruction.cpp
@@ -28,8 +28,6 @@ Reconstruction::Reconstruction(nlohmann::json &config, const std::string name) :
pipeline_->append<ftl::operators::DisparityToDepth>("calculate_depth")->value("enabled", false);
pipeline_->append<ftl::operators::ColourChannels>("colour"); // Convert BGR to BGRA
pipeline_->append<ftl::operators::ClipScene>("clipping")->value("enabled", false);
- pipeline_->append<ftl::operators::DetectAndTrack>("facedetection")->value("enabled", false);
- pipeline_->append<ftl::operators::ArUco>("aruco")->value("enabled", false);
//pipeline_->append<ftl::operators::HFSmoother>("hfnoise"); // Remove high-frequency noise
pipeline_->append<ftl::operators::Normals>("normals"); // Estimate surface normals
//pipeline_->append<ftl::operators::SmoothChannel>("smoothing"); // Generate a smoothing channel
@@ -43,7 +41,8 @@ Reconstruction::Reconstruction(nlohmann::json &config, const std::string name) :
pipeline_->append<ftl::operators::VisCrossSupport>("viscross")->value("enabled", false);
pipeline_->append<ftl::operators::MultiViewMLS>("mvmls");
pipeline_->append<ftl::operators::Poser>("poser")->value("enabled", false);
-
+ pipeline_->append<ftl::operators::DetectAndTrack>("facedetection")->value("enabled", false);
+ pipeline_->append<ftl::operators::ArUco>("aruco")->value("enabled", false);
//pipeline_->set("enabled", false);
}
@@ -75,7 +74,7 @@ bool Reconstruction::post(ftl::rgbd::FrameSet &fs) {
/*for (size_t i=0; i<fs.frames.size(); ++i) {
fs.frames[i].create<cv::cuda::GpuMat>(Channel::Depth);
}*/
-
+
{
//UNIQUE_LOCK(exchange_mtx_, lk);
//if (new_frame_ == true) LOG(WARNING) << "Frame lost";
diff --git a/applications/reconstruct2/CMakeLists.txt b/applications/reconstruct2/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a001f25539da9d6c1af85320ae1d95b92857311d
--- /dev/null
+++ b/applications/reconstruct2/CMakeLists.txt
@@ -0,0 +1,21 @@
+# Need to include staged files and libs
+#include_directories(${PROJECT_SOURCE_DIR}/reconstruct/include)
+#include_directories(${PROJECT_BINARY_DIR})
+
+set(REPSRC
+ src/main.cpp
+)
+
+add_executable(ftl-reconstruct2 ${REPSRC})
+
+#target_include_directories(ftl-reconstruct PUBLIC
+# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+# $<INSTALL_INTERFACE:include>
+# PRIVATE src)
+
+if (CUDA_FOUND)
+set_property(TARGET ftl-reconstruct2 PROPERTY CUDA_SEPARABLE_COMPILATION ON)
+endif()
+
+#target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
+target_link_libraries(ftl-reconstruct2 ftlcommon ftlrgbd Threads::Threads ${OpenCV_LIBS} ftlctrl ftlnet ftlrender ftloperators ftlstreams ftlaudio)
diff --git a/applications/reconstruct2/src/main.cpp b/applications/reconstruct2/src/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5fded260a33cdfe849d5cf2f2392c216dbe8bd6e
--- /dev/null
+++ b/applications/reconstruct2/src/main.cpp
@@ -0,0 +1,168 @@
+#include <ftl/configuration.hpp>
+#include <ftl/net.hpp>
+#include <ftl/streams/feed.hpp>
+#include <ftl/master.hpp>
+#include <nlohmann/json.hpp>
+#include <loguru.hpp>
+
+#include "ftl/operators/smoothing.hpp"
+#include "ftl/operators/colours.hpp"
+#include "ftl/operators/normals.hpp"
+#include "ftl/operators/filling.hpp"
+#include "ftl/operators/segmentation.hpp"
+#include "ftl/operators/mask.hpp"
+#include "ftl/operators/antialiasing.hpp"
+#include "ftl/operators/mvmls.hpp"
+#include "ftl/operators/clipping.hpp"
+#include <ftl/operators/disparity.hpp>
+#include <ftl/operators/poser.hpp>
+#include <ftl/operators/detectandtrack.hpp>
+
+using ftl::net::Universe;
+using ftl::stream::Feed;
+using ftl::codecs::Channel;
+using std::vector;
+using std::string;
+
+static void threadSetCUDADevice() {
+ // Ensure all threads have correct cuda device
+ std::atomic<int> ijobs = 0;
+ for (int i=0; i<ftl::pool.size(); ++i) {
+ ftl::pool.push([&ijobs](int id) {
+ ftl::cuda::setDevice();
+ ++ijobs;
+ while (ijobs < ftl::pool.size()) std::this_thread::sleep_for(std::chrono::milliseconds(10));
+ });
+ }
+ while (ijobs < ftl::pool.size()) std::this_thread::sleep_for(std::chrono::milliseconds(10));
+}
+
+static void run(ftl::Configurable *root) {
+ // Use other GPU if available.
+ ftl::cuda::setDevice(ftl::cuda::deviceCount()-1);
+ threadSetCUDADevice();
+ ftl::timer::setClockSlave(false);
+ ftl::timer::setHighPrecision(true);
+
+ Universe *net = ftl::create<Universe>(root, "net");
+ ftl::ctrl::Master ctrl(root, net);
+
+ net->start();
+ net->waitConnections();
+
+ Feed *feed = ftl::create<Feed>(root, "feed", net);
+ std::string group_name = root->value("group", std::string("Reconstruction"));
+
+ feed->set("uri", root->value("uri", std::string("ftl://ftlab.utu.fi/reconstruction")));
+ feed->setPipelineCreator([](ftl::operators::Graph *pipeline) {
+ LOG(INFO) << "Using reconstruction pipeline creator";
+
+ pipeline->restore("reconstruction_pipeline", {
+ "clipping"
+ });
+
+ pipeline->append<ftl::operators::DepthChannel>("depth")->value("enabled", false); // Ensure there is a depth channel
+ pipeline->append<ftl::operators::DisparityBilateralFilter>("bilateral_filter")->value("enabled", false);
+ pipeline->append<ftl::operators::DisparityToDepth>("calculate_depth")->value("enabled", false);
+ pipeline->append<ftl::operators::ColourChannels>("colour"); // Convert BGR to BGRA
+ pipeline->append<ftl::operators::ClipScene>("clipping")->value("enabled", false);
+ //pipeline_->append<ftl::operators::HFSmoother>("hfnoise"); // Remove high-frequency noise
+ pipeline->append<ftl::operators::Normals>("normals"); // Estimate surface normals
+ //pipeline_->append<ftl::operators::SmoothChannel>("smoothing"); // Generate a smoothing channel
+ //pipeline_->append<ftl::operators::ScanFieldFill>("filling"); // Generate a smoothing channel
+ pipeline->append<ftl::operators::CrossSupport>("cross");
+ pipeline->append<ftl::operators::DiscontinuityMask>("discontinuity");
+ pipeline->append<ftl::operators::CrossSupport>("cross2")->value("discon_support", true);
+ pipeline->append<ftl::operators::BorderMask>("border_mask")->value("enabled", false);
+ pipeline->append<ftl::operators::CullDiscontinuity>("remove_discontinuity")->set("enabled", false);
+ //pipeline_->append<ftl::operators::AggreMLS>("mls"); // Perform MLS (using smoothing channel)
+ pipeline->append<ftl::operators::VisCrossSupport>("viscross")->value("enabled", false);
+ pipeline->append<ftl::operators::MultiViewMLS>("mvmls");
+ pipeline->append<ftl::operators::Poser>("poser")->value("enabled", false);
+ pipeline->append<ftl::operators::DetectAndTrack>("facedetection")->value("enabled", false);
+ pipeline->append<ftl::operators::ArUco>("aruco")->value("enabled", false);
+ });
+
+ bool has_file = false;
+
+ // Add sources here
+ if (root->getConfig().contains("sources")) {
+ for (const auto &s : root->getConfig()["sources"]) {
+ ftl::URI uri(s);
+ if (uri.getScheme() == ftl::URI::scheme_t::SCHEME_FILE) has_file = true;
+ uri.setAttribute("group", group_name);
+ feed->add(uri);
+ }
+ }
+
+ // Add sources from command line as well
+ auto paths = root->get<vector<string>>("paths");
+ string file = "";
+
+ for (auto &x : *paths) {
+ if (x != "") {
+ ftl::URI uri(x);
+ if (uri.getScheme() == ftl::URI::scheme_t::SCHEME_FILE) has_file = true;
+ uri.setAttribute("group", group_name);
+ feed->add(uri);
+ }
+ }
+
+ // Automatically add any new sources
+ /*auto nsrc_handle = feed->onNewSources([feed,group_name](const vector<string> &srcs) {
+ for (const auto &s : srcs) {
+ ftl::URI uri(s);
+ if (uri.hasAttribute("group")) {
+ if (uri.getAttribute<std::string>("group") == group_name) {
+ //uri.setAttribute("group", group_name);
+ feed->add(uri);
+ }
+ }
+ return true;
+ });*/
+
+ auto *filter = feed->filter({Channel::Colour, Channel::Depth, Channel::AudioStereo});
+
+ //feed->lowLatencyMode();
+ feed->startStreaming(filter);
+
+ // Just do whatever jobs are available
+ if (has_file) {
+ ftl::timer::start(true);
+ } else {
+ while (ftl::running) {
+ auto f = ftl::pool.pop();
+ if (f) {
+ f(-1);
+ } else {
+ std::this_thread::sleep_for(std::chrono::milliseconds(10));
+ }
+ }
+ }
+
+ //nsrc_handle.cancel();
+ feed->stopRecording();
+ feed->removeFilter(filter);
+
+ ftl::config::save();
+
+ net->shutdown();
+ LOG(INFO) << "Stopping...";
+ ftl::timer::stop(true);
+ LOG(INFO) << "Timer stopped...";
+ ftl::pool.stop(true);
+ LOG(INFO) << "All threads stopped.";
+
+ delete feed;
+ delete net;
+ delete root;
+}
+
+int main(int argc, char **argv) {
+ run(ftl::configure(argc, argv, "reconstruction_default"));
+
+ // Save config changes and delete final objects
+ ftl::config::cleanup();
+
+ return ftl::exit_code;
+}
diff --git a/applications/tools/CMakeLists.txt b/applications/tools/CMakeLists.txt
index 0506376d54652e307351142caf71628a4f8d0528..3ff204be172c27bd48b25bcdfba1c53379903bed 100644
--- a/applications/tools/CMakeLists.txt
+++ b/applications/tools/CMakeLists.txt
@@ -1,7 +1,9 @@
-add_subdirectory(codec_eval)
+#add_subdirectory(codec_eval)
#if (HAVE_ASSIMP)
# add_subdirectory(model_truth)
#endif()
add_subdirectory(middlebury_gen)
+add_subdirectory(simple_viewer)
+add_subdirectory(recorder)
diff --git a/applications/tools/codec_eval/src/main.cpp b/applications/tools/codec_eval/src/main.cpp
index 1f7713fbbddbb51c6d0800a67f6a74c26d954b6a..38acb4c45c3158b888f692a5476088cdb158793b 100644
--- a/applications/tools/codec_eval/src/main.cpp
+++ b/applications/tools/codec_eval/src/main.cpp
@@ -87,7 +87,6 @@ static void run(ftl::Configurable *root) {
ftl::codecs::Packet pkt;
pkt.codec = codec_t::HEVC;
pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
pkt.flags = ftl::codecs::kFlagFloat | ftl::codecs::kFlagMappedDepth;
pkt.frame_count = 1;
@@ -154,7 +153,6 @@ static void run(ftl::Configurable *root) {
ftl::codecs::Packet pkt;
pkt.codec = codec_t::HEVC;
pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
pkt.flags = ftl::codecs::kFlagFloat | ftl::codecs::kFlagMappedDepth;
pkt.frame_count = 1;
diff --git a/applications/tools/middlebury_gen/CMakeLists.txt b/applications/tools/middlebury_gen/CMakeLists.txt
index 2dffb172d22cfc554088f3971bb90ff2fd60e8e7..13cc2c9e82196e0ff78a8c873f8ce54c0ae30b66 100644
--- a/applications/tools/middlebury_gen/CMakeLists.txt
+++ b/applications/tools/middlebury_gen/CMakeLists.txt
@@ -15,3 +15,4 @@ endif()
#target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
target_link_libraries(middlebury-gen ftlcommon ftlrgbd Threads::Threads ${OpenCV_LIBS} ftlrender ftloperators ftlstreams)
+set_property(TARGET middlebury-gen PROPERTY CUDA_ARCHITECTURES OFF)
diff --git a/applications/tools/middlebury_gen/src/main.cpp b/applications/tools/middlebury_gen/src/main.cpp
index 043db7d474d304d24f4cf0f5ee3005e8c9281ca4..db7e380ba9aa89af9ad3561bb6420e4460cff4b1 100644
--- a/applications/tools/middlebury_gen/src/main.cpp
+++ b/applications/tools/middlebury_gen/src/main.cpp
@@ -4,6 +4,8 @@
#include <ftl/codecs/opencv_encoder.hpp>
#include <ftl/streams/injectors.hpp>
+#include <ftl/data/framepool.hpp>
+
#include <opencv2/imgcodecs.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp>
@@ -212,10 +214,12 @@ int main(int argc, char **argv) {
// For each middlebury test folder
auto paths = (*root->get<nlohmann::json>("paths"));
- ftl::rgbd::Frame frame;
- ftl::rgbd::FrameState state;
+ ftl::data::Pool pool(1,1);
+ ftl::data::Frame dframe = pool.allocate(ftl::data::FrameID(0,0), 10);
+ ftl::rgbd::Frame &frame = dframe.cast<ftl::rgbd::Frame>();
+ frame.store();
- ftl::operators::DisparityToDepth disp2depth(ftl::create<ftl::Configurable>(root, "disparity"));
+ ftl::operators::DisparityToDepth disp2depth(nullptr, ftl::create<ftl::Configurable>(root, "disparity"));
ftl::codecs::OpenCVEncoder encoder(ftl::codecs::definition_t::Any, ftl::codecs::definition_t::Any);
@@ -249,7 +253,7 @@ int main(int argc, char **argv) {
// Load the ground truth
//frame.create<cv::Mat>(Channel::Disparity) = cv::imread(path+"/disp0.pfm", cv::IMREAD_UNCHANGED);
readFilePFM(frame.create<cv::Mat>(Channel::Disparity), path+"/disp0.pfm");
- cv::Mat &disp = frame.get<cv::Mat>(Channel::Disparity);
+ cv::Mat &disp = frame.set<cv::Mat>(Channel::Disparity);
float aspect = float(disp.cols) / float(disp.rows);
float scaling = float(height) / float(disp.rows);
cv::resize(disp, disp, cv::Size(int(aspect*float(height)),height), 0.0, 0.0, cv::INTER_NEAREST);
@@ -277,14 +281,16 @@ int main(int argc, char **argv) {
intrin1.width = c1.cols;
intrin2.width = c2.cols;
- state.setLeft(intrin1);
- state.setRight(intrin2);
- frame.setOrigin(&state);
- ftl::stream::injectCalibration(out, frame, 0, 0, i, false);
- ftl::stream::injectCalibration(out, frame, 0, 0, i, true);
+ frame.setLeft() = intrin1;
+ frame.setRight() = intrin2;
+ //ftl::stream::injectCalibration(out, frame, 0, 0, i, false);
+ //ftl::stream::injectCalibration(out, frame, 0, 0, i, true);
// Convert disparity to depth
- frame.upload(Channel::Disparity + Channel::Colour + Channel::Colour2);
+ frame.upload(Channel::Disparity);
+ frame.upload(Channel::Colour);
+ frame.upload(Channel::Colour2);
+
disp2depth.apply(frame, frame, 0);
@@ -297,7 +303,6 @@ int main(int argc, char **argv) {
spkt.streamID = 0;
spkt.version = 4;
pkt.codec = codec_t::Any;
- pkt.definition = definition_t::Any;
pkt.bitrate = 0;
pkt.flags = 0;
pkt.frame_count = 1;
@@ -309,7 +314,6 @@ int main(int argc, char **argv) {
out->post(spkt, pkt);
pkt.codec = codec_t::Any;
- pkt.definition = definition_t::Any;
spkt.channel = Channel::Colour2;
if (!encoder.encode(frame.get<cv::cuda::GpuMat>(Channel::Colour2), pkt)) {
LOG(ERROR) << "Encode failed for colour2";
@@ -319,7 +323,6 @@ int main(int argc, char **argv) {
spkt.channel = Channel::GroundTruth;
pkt.flags = ftl::codecs::kFlagFloat;
pkt.codec = codec_t::Any;
- pkt.definition = definition_t::Any;
if (!encoder.encode(frame.get<cv::cuda::GpuMat>(Channel::Depth), pkt)) {
LOG(ERROR) << "Encode failed for depth";
}
diff --git a/applications/tools/recorder/CMakeLists.txt b/applications/tools/recorder/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..398d5c3307a68429091cbc579dfbfebbb4418ccb
--- /dev/null
+++ b/applications/tools/recorder/CMakeLists.txt
@@ -0,0 +1,21 @@
+# Need to include staged files and libs
+#include_directories(${PROJECT_SOURCE_DIR}/reconstruct/include)
+#include_directories(${PROJECT_BINARY_DIR})
+
+set(RECSRC
+ src/main.cpp
+)
+
+add_executable(ftl-recorder ${RECSRC})
+
+#target_include_directories(ftl-reconstruct PUBLIC
+# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+# $<INSTALL_INTERFACE:include>
+# PRIVATE src)
+
+if (CUDA_FOUND)
+set_property(TARGET ftl-recorder PROPERTY CUDA_SEPARABLE_COMPILATION ON)
+endif()
+
+#target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
+target_link_libraries(ftl-recorder ftlcommon ftlrgbd Threads::Threads ${OpenCV_LIBS} ftlctrl ftlnet ftlrender ftloperators ftlstreams ftlaudio)
diff --git a/applications/tools/recorder/src/main.cpp b/applications/tools/recorder/src/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..89b24b6e8086a4e0f15891fbb4d9ddd81ce85ddc
--- /dev/null
+++ b/applications/tools/recorder/src/main.cpp
@@ -0,0 +1,147 @@
+#include <ftl/configuration.hpp>
+#include <ftl/net.hpp>
+#include <ftl/master.hpp>
+#include <nlohmann/json.hpp>
+#include <loguru.hpp>
+
+#include <ftl/streams/filestream.hpp>
+#include <ftl/streams/netstream.hpp>
+
+#include <unordered_set>
+
+using ftl::net::Universe;
+using ftl::codecs::Channel;
+using std::vector;
+using std::string;
+
+
+static std::atomic_int src_count = 0;
+
+
+static void run(ftl::Configurable *root) {
+
+ Universe *net = ftl::create<Universe>(root, "net");
+ ftl::ctrl::Master ctrl(root, net);
+
+ ftl::stream::Muxer *mux_in = ftl::create<ftl::stream::Muxer>(root, "muxer");
+ ftl::stream::File *file_out = ftl::create<ftl::stream::File>(root, "output");
+
+ std::unordered_set<ftl::codecs::Channel> channels;
+ channels.insert(Channel::Colour);
+
+ if (root->value("depth", false)) channels.insert(Channel::Depth);
+ if (root->value("right", false)) channels.insert(Channel::Right);
+ if (root->value("audio", false)) channels.insert(Channel::Audio);
+
+ file_out->set("filename", root->value("filename", std::string("out.ftl")));
+ file_out->setMode(ftl::stream::File::Mode::Write);
+ file_out->begin();
+
+ auto h1 = mux_in->onPacket([file_out](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ file_out->post(spkt, pkt);
+ return true;
+ });
+
+ mux_in->begin();
+
+ net->onConnect([mux_in,net,root,&channels](ftl::net::Peer *p) {
+ ftl::pool.push([mux_in,root,net,p,&channels](int id) {
+ try {
+ auto peerstreams = p->call<std::vector<std::string>>("list_streams");
+
+ for (const auto &s : peerstreams) {
+ int fsid = src_count++;
+
+ auto *ns = ftl::create<ftl::stream::Net>(root, std::string("input") + std::to_string(fsid), net);
+ ns->set("uri", s);
+ mux_in->add(ns, fsid);
+ mux_in->begin();
+ mux_in->select(fsid, channels, true);
+
+ LOG(INFO) << "Recording: " << s;
+ }
+ } catch (...) {
+
+ }
+ });
+ });
+
+ if (net->isBound("add_stream")) net->unbind("add_stream");
+ net->bind("add_stream", [mux_in,root,net,&channels](ftl::net::Peer &p, std::string uri){
+ int fsid = src_count++;
+
+ auto *ns = ftl::create<ftl::stream::Net>(root, std::string("input") + std::to_string(fsid), net);
+ ns->set("uri", uri);
+ mux_in->add(ns, fsid);
+ mux_in->begin();
+ mux_in->select(fsid, channels, true);
+
+ LOG(INFO) << "Recording: " << uri;
+ });
+
+ net->start();
+ net->waitConnections();
+
+ // Add sources here
+ if (root->getConfig().contains("sources")) {
+ for (const auto &s : root->getConfig()["sources"]) {
+ ftl::URI uri(s);
+ auto scheme = uri.getScheme();
+ if (scheme == ftl::URI::scheme_t::SCHEME_TCP || scheme == ftl::URI::scheme_t::SCHEME_WS) {
+ net->connect(s);
+ } else {
+ LOG(ERROR) << "Unsupported URI: " << s;
+ }
+ }
+ }
+
+ // Add sources from command line as well
+ auto paths = root->get<vector<string>>("paths");
+
+ for (auto &x : *paths) {
+ if (x != "") {
+ ftl::URI uri(x);
+ auto scheme = uri.getScheme();
+ if (scheme == ftl::URI::scheme_t::SCHEME_TCP || scheme == ftl::URI::scheme_t::SCHEME_WS) {
+ net->connect(x);
+ } else {
+ LOG(ERROR) << "Unsupported URI: " << x;
+ }
+ }
+ }
+
+ // Just do whatever jobs are available
+ while (ftl::running) {
+ auto f = ftl::pool.pop();
+ if (f) {
+ f(-1);
+ } else {
+ std::this_thread::sleep_for(std::chrono::milliseconds(10));
+ }
+ }
+
+ mux_in->end();
+ file_out->end();
+ delete mux_in;
+ delete file_out;
+
+ ftl::config::save();
+
+ net->shutdown();
+ LOG(INFO) << "Stopping...";
+ //ftl::timer::stop(true);
+ //LOG(INFO) << "Timer stopped...";
+ ftl::pool.stop(true);
+ LOG(INFO) << "All threads stopped.";
+
+ delete net;
+}
+
+int main(int argc, char **argv) {
+ run(ftl::configure(argc, argv, "recorder_default"));
+
+ // Save config changes and delete final objects
+ ftl::config::cleanup();
+
+ return ftl::exit_code;
+}
diff --git a/applications/tools/simple_viewer/CMakeLists.txt b/applications/tools/simple_viewer/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c7d6e0c2ad6a5e91722612b77bb6ee55916afa73
--- /dev/null
+++ b/applications/tools/simple_viewer/CMakeLists.txt
@@ -0,0 +1,12 @@
+# Need to include staged files and libs
+#include_directories(${PROJECT_SOURCE_DIR}/reconstruct/include)
+#include_directories(${PROJECT_BINARY_DIR})
+
+set(SIMPVIEWSRC
+ main.cpp
+)
+
+add_executable(simple-viewer ${SIMPVIEWSRC})
+
+#target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
+target_link_libraries(simple-viewer ftlcommon ftlrgbd Threads::Threads ${OpenCV_LIBS} ftlctrl ftlnet ftlrender ftloperators ftlstreams ftlaudio)
diff --git a/applications/tools/simple_viewer/main.cpp b/applications/tools/simple_viewer/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..6a3883749e9aaadbd5df0ba1c011a0bb75a55cec
--- /dev/null
+++ b/applications/tools/simple_viewer/main.cpp
@@ -0,0 +1,208 @@
+/*
+ * Copyright 2019 Nicolas Pope. All rights reserved.
+ *
+ * See LICENSE.
+ */
+
+#define LOGURU_WITH_STREAMS 1
+#include <loguru.hpp>
+#include <ftl/config.h>
+#include <ftl/configuration.hpp>
+#include <ftl/master.hpp>
+#include <ftl/threads.hpp>
+#include <ftl/codecs/channels.hpp>
+#include <ftl/codecs/depth_convert_cuda.hpp>
+#include <ftl/data/framepool.hpp>
+#include <ftl/audio/speaker.hpp>
+
+#include <nlohmann/json.hpp>
+
+#include <fstream>
+#include <string>
+#include <vector>
+#include <thread>
+#include <chrono>
+
+#include <opencv2/opencv.hpp>
+#include <opencv2/quality/qualitypsnr.hpp>
+#include <ftl/net/universe.hpp>
+
+#include <ftl/streams/filestream.hpp>
+#include <ftl/streams/receiver.hpp>
+#include <ftl/streams/sender.hpp>
+#include <ftl/streams/netstream.hpp>
+
+#include <ftl/operators/colours.hpp>
+#include <ftl/operators/mask.hpp>
+#include <ftl/operators/segmentation.hpp>
+#include <ftl/operators/depth.hpp>
+
+#ifdef WIN32
+#pragma comment(lib, "Rpcrt4.lib")
+#endif
+
+using ftl::net::Universe;
+using std::string;
+using std::vector;
+using ftl::config::json_t;
+using ftl::codecs::Channel;
+using ftl::codecs::codec_t;
+using ftl::codecs::definition_t;
+
+using json = nlohmann::json;
+using std::this_thread::sleep_for;
+using std::chrono::milliseconds;
+
+static ftl::data::Generator *createFileGenerator(ftl::Configurable *root, ftl::data::Pool *pool, const std::string &filename) {
+ ftl::stream::File *stream = ftl::create<ftl::stream::File>(root, "player");
+ stream->set("filename", filename);
+
+ ftl::stream::Receiver *gen = ftl::create<ftl::stream::Receiver>(root, "receiver", pool);
+ gen->setStream(stream);
+
+ stream->begin();
+ stream->select(0, Channel::Colour + Channel::Depth); // TODO: Choose these elsewhere
+ return gen;
+}
+
+static void visualizeDepthMap( const cv::Mat &depth, cv::Mat &out,
+ const float max_depth)
+{
+ DCHECK(max_depth > 0.0);
+
+ depth.convertTo(out, CV_8U, 255.0f / max_depth);
+ out = 255 - out;
+ //cv::Mat mask = (depth >= max_depth); // TODO (mask for invalid pixels)
+
+ applyColorMap(out, out, cv::COLORMAP_JET);
+ //out.setTo(cv::Scalar(0), mask);
+ //cv::cvtColor(out,out, cv::COLOR_BGR2BGRA);
+}
+
+static void run(ftl::Configurable *root) {
+ Universe *net = ftl::create<Universe>(root, "net");
+ ftl::ctrl::Master ctrl(root, net);
+
+ net->start();
+ net->waitConnections();
+
+ std::list<ftl::Handle> handles;
+ ftl::data::Pool pool(2,10);
+
+ std::list<ftl::data::Generator*> generators;
+
+ // Check paths for FTL files to load.
+ auto paths = (*root->get<nlohmann::json>("paths"));
+ int i = 0; //groups.size();
+ for (auto &x : paths.items()) {
+ std::string path = x.value().get<std::string>();
+ auto eix = path.find_last_of('.');
+ auto ext = path.substr(eix+1);
+
+ // Command line path is ftl file
+ if (ext == "ftl") {
+ auto *gen = createFileGenerator(root, &pool, path);
+ generators.push_back(gen);
+ ++i;
+ } else {
+ ftl::URI uri(path);
+ if (uri.getScheme() == ftl::URI::SCHEME_TCP || uri.getScheme() == ftl::URI::SCHEME_WS) {
+ net->connect(path)->waitConnection();
+ }
+ }
+ }
+
+ auto stream_uris = net->findAll<std::string>("list_streams");
+
+ if (stream_uris.size() > 0) {
+ ftl::stream::Muxer *stream = ftl::create<ftl::stream::Muxer>(root, "muxstream");
+ ftl::stream::Receiver *gen = ftl::create<ftl::stream::Receiver>(root, "receiver", &pool);
+ ftl::stream::Sender *sender = ftl::create<ftl::stream::Sender>(root, "sender");
+ gen->setStream(stream);
+ sender->setStream(stream);
+
+ int count = 0;
+ for (auto &s : stream_uris) {
+ LOG(INFO) << " --- found stream: " << s;
+ auto *nstream = ftl::create<ftl::stream::Net>(stream, std::string("netstream")+std::to_string(count), net);
+ nstream->set("uri", s);
+ //nstream->select(0, {Channel::Colour}, true);
+ stream->add(nstream);
+ ++count;
+ }
+
+ generators.push_back(gen);
+ stream->begin();
+ stream->select(0, Channel::Colour + Channel::Depth + Channel::AudioStereo, true);
+
+ handles.push_back(std::move(pool.onFlush([sender](ftl::data::Frame &f, ftl::codecs::Channel c) {
+ // Send only reponse channels on a per frame basis
+ if (f.mode() == ftl::data::FrameMode::RESPONSE) {
+ sender->post(f, c);
+ }
+ return true;
+ })));
+ }
+
+ ftl::audio::Speaker *speaker = ftl::create<ftl::audio::Speaker>(root, "speaker");
+
+ for (auto *g : generators) {
+ handles.push_back(std::move(g->onFrameSet([&](std::shared_ptr<ftl::data::FrameSet> fs) {
+ LOG(INFO) << "Got frameset: " << fs->timestamp();
+ for (auto &f : fs->frames) {
+ if (f.has(Channel::Colour)) {
+ cv::Mat tmp;
+ f.get<cv::cuda::GpuMat>(Channel::Colour).download(tmp);
+ cv::imshow(std::string("Frame")+std::to_string(f.id().id), tmp);
+ }
+
+ if (f.has(Channel::Depth)) {
+ cv::Mat tmp;
+ f.get<cv::cuda::GpuMat>(Channel::Depth).download(tmp);
+ visualizeDepthMap(tmp,tmp,8.0f);
+ cv::imshow(std::string("Depth")+std::to_string(f.id().id), tmp);
+ }
+
+ if (f.has(Channel::AudioStereo)) {
+ const auto &audio = f.get<std::list<ftl::audio::Audio>>(Channel::AudioStereo).front();
+ LOG(INFO) << "Got stereo: " << audio.data().size();
+ if (f.source() == 0) {
+ speaker->queue(f.timestamp(), f);
+ }
+ }
+ }
+
+ int k = cv::waitKey(10);
+
+ // Send the key back to vision node (TESTING)
+ if (k >= 0) {
+ auto rf = fs->firstFrame().response();
+ rf.create<int>(Channel::Control) = k;
+ }
+
+ return true;
+ })));
+ }
+
+ LOG(INFO) << "Start timer";
+ ftl::timer::start(true);
+
+ LOG(INFO) << "Shutting down...";
+ ftl::timer::stop();
+ ftl::pool.stop(true);
+ ctrl.stop();
+ net->shutdown();
+
+ //cudaProfilerStop();
+
+ LOG(INFO) << "Deleting...";
+
+ delete net;
+
+ ftl::config::cleanup(); // Remove any last configurable objects.
+ LOG(INFO) << "Done.";
+}
+
+int main(int argc, char **argv) {
+ run(ftl::configure(argc, argv, "tools_default"));
+}
diff --git a/applications/vision/CMakeLists.txt b/applications/vision/CMakeLists.txt
index a40126b95f7cc9234078528a0f59263eecf0f802..9341fab23e4f388295fae14f5a4f946c9753eff6 100644
--- a/applications/vision/CMakeLists.txt
+++ b/applications/vision/CMakeLists.txt
@@ -10,6 +10,7 @@ set(CVNODESRC
)
add_executable(ftl-vision ${CVNODESRC})
+install(TARGETS ftl-vision DESTINATION bin COMPONENT vision)
target_include_directories(ftl-vision PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
@@ -21,6 +22,6 @@ set_property(TARGET ftl-vision PROPERTY CUDA_SEPARABLE_COMPILATION OFF)
endif()
#target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
-target_link_libraries(ftl-vision ftlrgbd ftlcommon ftlstreams ftlctrl ${OpenCV_LIBS} ${LIBSGM_LIBRARIES} ${CUDA_LIBRARIES} ftlnet ftlaudio)
-
+target_link_libraries(ftl-vision ftlrgbd ftlcommon ftlstreams ftlctrl ${OpenCV_LIBS} ${CUDA_LIBRARIES} ftlnet ftlaudio)
+target_precompile_headers(ftl-vision REUSE_FROM ftldata)
diff --git a/applications/vision/src/main.cpp b/applications/vision/src/main.cpp
index 615e8f05a4302f3571e04096a06151fadd5c692e..afbddb0502230e1059a09687541008983328e18d 100644
--- a/applications/vision/src/main.cpp
+++ b/applications/vision/src/main.cpp
@@ -14,18 +14,23 @@
#include <vector>
#include <fstream>
#include <thread>
+#include <set>
#include <opencv2/opencv.hpp>
#include <ftl/rgbd.hpp>
+#include <ftl/data/framepool.hpp>
+#include <ftl/streams/builder.hpp>
//#include <ftl/middlebury.hpp>
#include <ftl/net/universe.hpp>
#include <ftl/master.hpp>
#include <nlohmann/json.hpp>
#include <ftl/operators/disparity.hpp>
#include <ftl/operators/detectandtrack.hpp>
+#include <ftl/operators/clipping.hpp>
#include <ftl/streams/netstream.hpp>
#include <ftl/streams/sender.hpp>
+#include <ftl/streams/receiver.hpp>
#include <ftl/audio/source.hpp>
@@ -34,6 +39,10 @@
#include "opencv2/highgui.hpp"
#include "opencv2/core/utility.hpp"
+#ifdef HAVE_PYLON
+#include <pylon/PylonIncludes.h>
+#endif
+
#ifdef WIN32
#pragma comment(lib, "Rpcrt4.lib")
#endif
@@ -51,8 +60,11 @@ using std::chrono::milliseconds;
using cv::Mat;
using json = nlohmann::json;
+static bool quiet = false;
+
static void run(ftl::Configurable *root) {
Universe *net = ftl::create<Universe>(root, "net");
+ ftl::ctrl::Master ctrl(root, net);
ftl::timer::setHighPrecision(true);
@@ -79,10 +91,8 @@ static void run(ftl::Configurable *root) {
}
int sync_counter = 0;
- ftl::ctrl::Master ctrl(root, net);
-
// Sync clocks!
- ftl::timer::add(ftl::timer::kTimerMain, [&time_peer,&sync_counter,net](int64_t ts) {
+ auto timer = ftl::timer::add(ftl::timer::kTimerMain, [&time_peer,&sync_counter,net](int64_t ts) {
if (sync_counter-- <= 0 && time_peer != ftl::UUID(0) ) {
sync_counter = 20;
auto start = std::chrono::high_resolution_clock::now();
@@ -96,9 +106,9 @@ static void run(ftl::Configurable *root) {
//LOG(INFO) << "LATENCY: " << float(latency)/1000.0f << "ms";
if (clock_adjust != 0) {
- LOG(INFO) << "Clock adjustment: " << clock_adjust << ", latency=" << float(latency)/1000.0f << "ms";
+ LOG(INFO) << "Clock adjustment: " << clock_adjust << ", latency=" << float(latency)/2000.0f << "ms";
ftl::timer::setClockAdjustment(clock_adjust);
- }
+ }
});
} catch (const std::exception &e) {
LOG(ERROR) << "Ping failed, could not time sync: " << e.what();
@@ -110,86 +120,220 @@ static void run(ftl::Configurable *root) {
auto paths = root->get<vector<string>>("paths");
string file = "";
- if (paths && (*paths).size() > 0) file = (*paths)[(*paths).size()-1];
- Source *source = nullptr;
- source = ftl::create<Source>(root, "source", net);
+ for (auto &x : *paths) {
+ if (x != "") {
+ ftl::URI uri(x);
+ if (uri.isValid()) {
+ switch (uri.getScheme()) {
+ case ftl::URI::SCHEME_WS :
+ case ftl::URI::SCHEME_TCP : net->connect(x)->waitConnection(); break;
+ case ftl::URI::SCHEME_DEVICE :
+ case ftl::URI::SCHEME_FILE : file = x; break;
+ default: break;
+ }
+ }
+ }
+ }
+
if (file != "") {
- //source->set("uri", file);
ftl::URI uri(file);
- uri.to_json(source->getConfig());
- source->set("uri", uri.getBaseURI());
+ uri.to_json(root->getConfig()["source"]);
}
-
+ Source *source = nullptr;
+ source = ftl::create<Source>(root, "source");
+
ftl::stream::Sender *sender = ftl::create<ftl::stream::Sender>(root, "sender");
ftl::stream::Net *outstream = ftl::create<ftl::stream::Net>(root, "stream", net);
- outstream->set("uri", outstream->getID());
+ outstream->set("uri", root->value("uri", outstream->getID()));
outstream->begin();
sender->setStream(outstream);
- auto *grp = new ftl::rgbd::Group();
- source->setChannel(Channel::Depth);
- grp->addSource(source);
+ ftl::audio::Source *audioSrc = ftl::create<ftl::audio::Source>(root, "audio");
- int stats_count = 0;
+ ftl::data::Pool pool(root->value("mempool_min", 2),root->value("mempool_max", 5));
+ auto *creator = new ftl::streams::IntervalSourceBuilder(&pool, 0, {source, audioSrc});
+ std::shared_ptr<ftl::streams::BaseBuilder> creatorptr(creator);
+
+ ftl::stream::Receiver *receiver = ftl::create<ftl::stream::Receiver>(root, "receiver", &pool);
+ receiver->setStream(outstream);
+ receiver->registerBuilder(creatorptr);
+
+ // Which channels should be encoded
+ std::set<Channel> encodable;
+ std::set<Channel> previous_encodable;
- grp->onFrameSet([sender,&stats_count](ftl::rgbd::FrameSet &fs) {
- fs.id = 0;
- sender->post(fs);
+ // Send channels on flush
+ auto flushhandle = pool.onFlushSet([sender,&encodable](ftl::data::FrameSet &fs, ftl::codecs::Channel c) {
+ //if (c != Channel::EndFrame && !fs.test(ftl::data::FSFlag::AUTO_SEND)) return true;
- if (--stats_count <= 0) {
- auto [fps,latency] = ftl::rgbd::Builder::getStatistics();
- LOG(INFO) << "Frame rate: " << fps << ", Latency: " << latency;
- stats_count = 20;
+ // Always send data channels
+ if ((int)c >= 32) sender->post(fs, c);
+ else {
+ // Only encode some of the video channels
+ if (encodable.count(c)) {
+ sender->post(fs, c);
+ } else {
+ sender->post(fs, c, true);
+ }
}
return true;
});
- // TODO: TEMPORARY
- ftl::audio::Source *audioSrc = ftl::create<ftl::audio::Source>(root, "audio_test");
- audioSrc->onFrameSet([sender](ftl::audio::FrameSet &fs) {
- sender->post(fs);
- return true;
- });
-
- auto pipeline = ftl::config::create<ftl::operators::Graph>(root, "pipeline");
- pipeline->append<ftl::operators::DetectAndTrack>("facedetection")->value("enabled", false);
+ int stats_count = 0;
+ int frames = 0;
+ float latency = 0.0f;
+ int64_t stats_time = 0;
+
+ root->on("quiet", quiet, false);
+
+ auto *pipeline = ftl::config::create<ftl::operators::Graph>(root, "pipeline");
pipeline->append<ftl::operators::ArUco>("aruco")->value("enabled", false);
+ pipeline->append<ftl::operators::DetectAndTrack>("facedetection")->value("enabled", false);
pipeline->append<ftl::operators::DepthChannel>("depth"); // Ensure there is a depth channel
- grp->addPipeline(pipeline);
-
+ pipeline->append<ftl::operators::ClipScene>("clipping")->value("enabled", false);
+ pipeline->restore("vision_pipeline", { "clipping" });
+
+ auto h = creator->onFrameSet([sender,outstream,&stats_count,&latency,&frames,&stats_time,pipeline,&encodable,&previous_encodable](const ftl::data::FrameSetPtr &fs) {
+
+ // Decide what to encode here, based upon what remote users select
+ const auto sel = outstream->selectedNoExcept(fs->frameset());
+ encodable.clear();
+ encodable.insert(sel.begin(), sel.end());
+
+ // Only allow the two encoders to exist, remove the rest
+ int max_encodeable = sender->value("max_encodeable", 2);
+
+ if (encodable.size() > max_encodeable) {
+ auto enciter = encodable.begin();
+ std::advance(enciter, max_encodeable);
+ encodable.erase(enciter, encodable.end());
+ }
+
+ // This ensures we cleanup other encoders
+ if (encodable != previous_encodable) sender->resetEncoders(fs->frameset());
+ previous_encodable = encodable;
+
+ fs->set(ftl::data::FSFlag::AUTO_SEND);
+
+ bool did_pipe = pipeline->queue(fs, [fs,&frames,&latency]() {
+ if (fs->hasAnyChanged(Channel::Depth)) fs->flush(Channel::Depth);
+ ++frames;
+ latency += float(ftl::timer::get_time() - fs->timestamp());
+ const_cast<ftl::data::FrameSetPtr&>(fs).reset();
+ });
+
+ if (!did_pipe) {
+ LOG(WARNING) << "Depth pipeline drop: " << fs->timestamp();
+ fs->firstFrame().message(ftl::data::Message::Warning_PIPELINE_DROP, "Depth pipeline drop");
+ }
+
+
+ // Do some encoding (eg. colour) whilst pipeline runs
+ ftl::pool.push([fs,&stats_count,&latency,&frames,&stats_time](int id){
+ if (fs->hasAnyChanged(Channel::Audio)) {
+ fs->flush(ftl::codecs::Channel::Audio);
+ }
+
+ // Make sure upload has completed.
+ cudaSafeCall(cudaEventSynchronize(fs->frames[0].uploadEvent()));
+ // TODO: Try depth pipeline again here if failed first time.
+ fs->flush(ftl::codecs::Channel::Colour);
+
+ const_cast<ftl::data::FrameSetPtr&>(fs).reset();
+
+ if (!quiet && --stats_count <= 0) {
+ latency /= float(frames);
+ int64_t nowtime = ftl::timer::get_time();
+ stats_time = nowtime - stats_time;
+ float fps = float(frames) / (float(stats_time) / 1000.0f);
+ LOG(INFO) << "Frame rate: " << fps << ", Latency: " << latency;
+ stats_count = 20;
+ frames = 0;
+ latency = 0.0f;
+ stats_time = nowtime;
+ }
+ });
+
+ const_cast<ftl::data::FrameSetPtr&>(fs).reset();
+
+ return true;
+ });
+
+ // Start the timed generation of frames
+ creator->start();
+
+ // Only now start listening for connections
net->start();
LOG(INFO) << "Running...";
- ftl::timer::start(true);
+ ftl::timer::start(true); // Blocks
LOG(INFO) << "Stopping...";
ctrl.stop();
-
+
+ ftl::config::save();
+
net->shutdown();
ftl::pool.stop();
- delete grp;
+ delete source;
+ delete receiver;
delete sender;
+ delete pipeline;
+ delete audioSrc;
delete outstream;
- //delete source; // TODO(Nick) Add ftl::destroy
delete net;
}
int main(int argc, char **argv) {
+#ifdef HAVE_PYLON
+ Pylon::PylonAutoInitTerm autoInitTerm;
+#endif
+
#ifdef WIN32
SetPriorityClass(GetCurrentProcess(), HIGH_PRIORITY_CLASS);
#endif
std::cout << "FTL Vision Node " << FTL_VERSION_LONG << std::endl;
- auto root = ftl::configure(argc, argv, "vision_default");
-
- std::cout << "Loading..." << std::endl;
- run(root);
-
- delete root;
- LOG(INFO) << "Terminating with code " << ftl::exit_code;
- LOG(INFO) << "Branch: " << ftl::branch_name;
+
+ try {
+ auto root = ftl::configure(argc, argv, "vision_default", {
+ "uri",
+ "fps",
+ "time_master",
+ "time_peer",
+ "quiet"
+ });
+
+ root->value("restart", 0);
+
+ // Allow config controlled restart
+ root->on("restart", [root]() {
+ auto val = root->get<int>("restart");
+ if (val) {
+ ftl::exit_code = *val;
+ ftl::running = false;
+ }
+ });
+
+ // Use other GPU if available.
+ //ftl::cuda::setDevice(ftl::cuda::deviceCount()-1);
+
+ std::cout << "Loading..." << std::endl;
+ run(root);
+
+ delete root;
+
+ ftl::config::cleanup();
+
+ LOG(INFO) << "Terminating with code " << ftl::exit_code;
+ LOG(INFO) << "Branch: " << ftl::branch_name;
+ } catch (const std::exception &e) {
+ LOG(ERROR) << "Main Exception: " << e.what();
+ return -1;
+ }
+
return ftl::exit_code;
}
diff --git a/applications/vision/src/middlebury.cpp b/applications/vision/src/middlebury.cpp
deleted file mode 100644
index 531cd8a0e4fd08e8b7ad2f104545e209f0d72f52..0000000000000000000000000000000000000000
--- a/applications/vision/src/middlebury.cpp
+++ /dev/null
@@ -1,301 +0,0 @@
-#include <ftl/middlebury.hpp>
-#include <loguru.hpp>
-#include <ftl/rgbd.hpp>
-
-#include <string>
-#include <algorithm>
-
-#include <nlohmann/json.hpp>
-
-#include <opencv2/highgui.hpp>
-#include <opencv2/imgproc.hpp>
-
-using cv::Mat;
-using cv::Size;
-using std::string;
-using std::min;
-using std::max;
-using std::isnan;
-
-static void skip_comment(FILE *fp) {
- // skip comment lines in the headers of pnm files
-
- char c;
- while ((c=getc(fp)) == '#')
- while (getc(fp) != '\n') ;
- ungetc(c, fp);
-}
-
-static void skip_space(FILE *fp) {
- // skip white space in the headers or pnm files
-
- char c;
- do {
- c = getc(fp);
- } while (c == '\n' || c == ' ' || c == '\t' || c == '\r');
- ungetc(c, fp);
-}
-
-static void read_header(FILE *fp, const char *imtype, char c1, char c2,
- int *width, int *height, int *nbands, int thirdArg)
-{
- // read the header of a pnmfile and initialize width and height
-
- char c;
-
- if (getc(fp) != c1 || getc(fp) != c2)
- LOG(FATAL) << "ReadFilePGM: wrong magic code for " << imtype << " file";
- skip_space(fp);
- skip_comment(fp);
- skip_space(fp);
- fscanf(fp, "%d", width);
- skip_space(fp);
- fscanf(fp, "%d", height);
- if (thirdArg) {
- skip_space(fp);
- fscanf(fp, "%d", nbands);
- }
- // skip SINGLE newline character after reading image height (or third arg)
- c = getc(fp);
- if (c == '\r') // <cr> in some files before newline
- c = getc(fp);
- if (c != '\n') {
- if (c == ' ' || c == '\t' || c == '\r')
- LOG(FATAL) << "newline expected in file after image height";
- else
- LOG(FATAL) << "whitespace expected in file after image height";
- }
-}
-
-// check whether machine is little endian
-static int littleendian() {
- int intval = 1;
- uchar *uval = (uchar *)&intval;
- return uval[0] == 1;
-}
-
-// 1-band PFM image, see http://netpbm.sourceforge.net/doc/pfm.html
-// 3-band not yet supported
-void ftl::middlebury::readFilePFM(Mat &img, const string &filename)
-{
- // Open the file and read the header
- FILE *fp = fopen(filename.c_str(), "rb");
- if (fp == 0)
- LOG(FATAL) << "ReadFilePFM: could not open \"" << filename << "\"";
-
- int width, height, nBands;
- read_header(fp, "PFM", 'P', 'f', &width, &height, &nBands, 0);
-
- skip_space(fp);
-
- float scalef;
- fscanf(fp, "%f", &scalef); // scale factor (if negative, little endian)
-
- // skip SINGLE newline character after reading third arg
- char c = getc(fp);
- if (c == '\r') // <cr> in some files before newline
- c = getc(fp);
- if (c != '\n') {
- if (c == ' ' || c == '\t' || c == '\r')
- LOG(FATAL) << "newline expected in file after scale factor";
- else
- LOG(FATAL) << "whitespace expected in file after scale factor";
- }
-
- // Allocate the image if necessary
- img = Mat(height, width, CV_32FC1);
- // Set the image shape
- //Size sh = img.size();
-
- int littleEndianFile = (scalef < 0);
- int littleEndianMachine = littleendian();
- int needSwap = (littleEndianFile != littleEndianMachine);
- //printf("endian file = %d, endian machine = %d, need swap = %d\n",
- // littleEndianFile, littleEndianMachine, needSwap);
-
- for (int y = height-1; y >= 0; y--) { // PFM stores rows top-to-bottom!!!!
- int n = width;
- float* ptr = &img.at<float>(y, 0, 0);
- if ((int)fread(ptr, sizeof(float), n, fp) != n)
- LOG(FATAL) << "ReadFilePFM(" << filename << "): file is too short";
-
- if (needSwap) { // if endianness doesn't agree, swap bytes
- uchar* ptr = (uchar *)&img.at<uchar>(y, 0, 0);
- int x = 0;
- uchar tmp = 0;
- while (x < n) {
- tmp = ptr[0]; ptr[0] = ptr[3]; ptr[3] = tmp;
- tmp = ptr[1]; ptr[1] = ptr[2]; ptr[2] = tmp;
- ptr += 4;
- x++;
- }
- }
- }
- if (fclose(fp))
- LOG(FATAL) << "ReadFilePGM(" << filename << "): error closing file";
-}
-
-// 1-band PFM image, see http://netpbm.sourceforge.net/doc/pfm.html
-// 3-band not yet supported
-void ftl::middlebury::writeFilePFM(const Mat &img, const char* filename, float scalefactor)
-{
- // Write a PFM file
- Size sh = img.size();
- int nBands = img.channels();
- if (nBands != 1)
- LOG(FATAL) << "WriteFilePFM(" << filename << "): can only write 1-band image as pfm for now";
-
- // Open the file
- FILE *stream = fopen(filename, "wb");
- if (stream == 0)
- LOG(FATAL) << "WriteFilePFM: could not open " << filename;
-
- // sign of scalefact indicates endianness, see pfms specs
- if (littleendian())
- scalefactor = -scalefactor;
-
- // write the header: 3 lines: Pf, dimensions, scale factor (negative val == little endian)
- fprintf(stream, "Pf\n%d %d\n%f\n", sh.width, sh.height, scalefactor);
-
- int n = sh.width;
- // write rows -- pfm stores rows in inverse order!
- for (int y = sh.height-1; y >= 0; y--) {
- const float* ptr = &img.at<float>(0, y, 0);
- if ((int)fwrite(ptr, sizeof(float), n, stream) != n)
- LOG(FATAL) << "WriteFilePFM(" << filename << "): file is too short";
- }
-
- // close file
- if (fclose(stream))
- LOG(FATAL) << "WriteFilePFM(" << filename << "): error closing file";
-}
-
-void ftl::middlebury::evaldisp(const Mat &disp, const Mat >disp, const Mat &mask, float badthresh, int maxdisp, int rounddisp)
-{
- Size sh = gtdisp.size();
- Size sh2 = disp.size();
- Size msh = mask.size();
- int width = sh.width, height = sh.height;
- int width2 = sh2.width, height2 = sh2.height;
- int scale = width / width2;
-
- if ((!(scale == 1 || scale == 2 || scale == 4))
- || (scale * width2 != width)
- || (scale * height2 != height)) {
- printf(" disp size = %4d x %4d\n", width2, height2);
- printf("GT disp size = %4d x %4d\n", width, height);
- LOG(ERROR) << "GT disp size must be exactly 1, 2, or 4 * disp size";
- }
-
- int usemask = (msh.width > 0 && msh.height > 0);
- if (usemask && (msh != sh))
- LOG(ERROR) << "mask image must have same size as GT";
-
- int n = 0;
- int bad = 0;
- int invalid = 0;
- float serr = 0;
- for (int y = 0; y < height; y++) {
- for (int x = 0; x < width; x++) {
- float gt = gtdisp.at<float>(y, x, 0);
- if (gt == INFINITY) // unknown
- continue;
- float d = scale * disp.at<float>(y / scale, x / scale, 0);
- int valid = (!isnan(d) && d < 256.0f); // NOTE: Is meant to be infinity in middlebury
- if (valid) {
- float maxd = scale * maxdisp; // max disp range
- d = max(0.0f, min(maxd, d)); // clip disps to max disp range
- }
- if (valid && rounddisp)
- d = round(d);
- float err = fabs(d - gt);
- if (usemask && mask.at<float>(y, x, 0) != 255) { // don't evaluate pixel
- } else {
- n++;
- if (valid) {
- serr += err;
- if (err > badthresh) {
- bad++;
- }
- } else {// invalid (i.e. hole in sparse disp map)
- invalid++;
- }
- }
- }
- }
- float badpercent = 100.0*bad/n;
- float invalidpercent = 100.0*invalid/n;
- float totalbadpercent = 100.0*(bad+invalid)/n;
- float avgErr = serr / (n - invalid); // CHANGED 10/14/2014 -- was: serr / n
- printf("mask bad%.1f invalid totbad avgErr\n", badthresh);
- printf("%4.1f %6.2f %6.2f %6.2f %6.2f\n", 100.0*n/(width * height),
- badpercent, invalidpercent, totalbadpercent, avgErr);
-}
-
-void ftl::middlebury::test(nlohmann::json &config) {
- // Load dataset images
- Mat l = cv::imread((string)config["middlebury"]["dataset"] + "/im0.png");
- Mat r = cv::imread((string)config["middlebury"]["dataset"] + "/im1.png");
-
- // Load ground truth
- Mat gt;
- readFilePFM(gt, (string)config["middlebury"]["dataset"] + "/disp0.pfm");
-
- if ((float)config["middlebury"]["scale"] != 1.0f) {
- float scale = (float)config["middlebury"]["scale"];
- //cv::resize(gt, gt, cv::Size(gt.cols * scale,gt.rows * scale), 0, 0, cv::INTER_LINEAR);
- cv::resize(l, l, cv::Size(l.cols * scale,l.rows * scale), 0, 0, cv::INTER_LINEAR);
- cv::resize(r, r, cv::Size(r.cols * scale,r.rows * scale), 0, 0, cv::INTER_LINEAR);
- }
-
- // TODO(Nick) Update to use an RGBD Image source
- // Run algorithm
- //auto disparity = ftl::Disparity::create(config["disparity"]);
-
- Mat disp;
- // disparity->compute(l,r,disp);
- //disp.convertTo(disp, CV_32F);
-
- // Display results
- evaldisp(disp, gt, Mat(), (float)config["middlebury"]["threshold"], (int)config["disparity"]["maximum"], 0);
-
- /*if (gt.cols > 1600) {
- cv::resize(gt, gt, cv::Size(gt.cols * 0.25,gt.rows * 0.25), 0, 0, cv::INTER_LINEAR);
- }*/
- if (disp.cols > 1600) {
- cv::resize(disp, disp, cv::Size(disp.cols * 0.25,disp.rows * 0.25), 0, 0, cv::INTER_LINEAR);
- }
- cv::resize(gt, gt, cv::Size(disp.cols,disp.rows), 0, 0, cv::INTER_LINEAR);
-
- double mindisp, mindisp_gt;
- double maxdisp, maxdisp_gt;
- Mat mask;
- threshold(disp,mask,255.0, 255, cv::THRESH_BINARY_INV);
- normalize(mask, mask, 0, 255, cv::NORM_MINMAX, CV_8U);
- cv::minMaxLoc(disp, &mindisp, &maxdisp, 0, 0, mask);
- cv::minMaxLoc(gt, &mindisp_gt, &maxdisp_gt, 0, 0);
-
- //disp = (disp < 256.0f);
- //disp = disp + (mindisp_gt - mindisp);
- disp.convertTo(disp, CV_8U, 255.0f / (maxdisp_gt*(float)config["middlebury"]["scale"]));
- disp = disp & mask;
-
- gt = gt / maxdisp_gt; // TODO Read from calib.txt
- gt.convertTo(gt, CV_8U, 255.0f);
- //disp = disp / maxdisp;
- imshow("Ground Truth", gt);
- imshow("Disparity", disp);
- imshow("Diff", gt - disp);
-
- while (cv::waitKey(10) != 27);
-
- /*cv::putText(yourImageMat,
- "Here is some text",
- cv::Point(5,5), // Coordinates
- cv::FONT_HERSHEY_COMPLEX_SMALL, // Font
- 1.0, // Scale. 2.0 = 2x bigger
- cv::Scalar(255,255,255), // BGR Color
- 1, // Line Thickness (Optional)
- cv::CV_AA); // Anti-alias (Optional)*/
-}
-
diff --git a/applications/vision/src/streamer.cpp b/applications/vision/src/streamer.cpp
deleted file mode 100644
index 29b84568cbba3f94d54ef16a6599fbb398394085..0000000000000000000000000000000000000000
--- a/applications/vision/src/streamer.cpp
+++ /dev/null
@@ -1,64 +0,0 @@
-#include <loguru.hpp>
-#include <ftl/streamer.hpp>
-#include <vector>
-// #include <zlib.h>
-// #include <lz4.h>
-
-using ftl::Streamer;
-using ftl::net::Universe;
-using cv::Mat;
-using nlohmann::json;
-using std::string;
-using std::vector;
-
-Streamer::Streamer(Universe &net, json &config) : net_(net), config_(config) {
- uri_ = string("ftl://utu.fi/")+(string)config["name"]+string("/rgb-d");
- net.createResource(uri_);
-}
-
-Streamer::~Streamer() {
-
-}
-
-void Streamer::send(const Mat &rgb, const Mat &depth) {
- // Compress the rgb as jpeg.
- vector<unsigned char> rgb_buf;
- cv::imencode(".jpg", rgb, rgb_buf);
-
- Mat d2;
- depth.convertTo(d2, CV_16UC1, 16*100);
-
- vector<unsigned char> d_buf;
- /*d_buf.resize(d2.step*d2.rows);
- z_stream defstream;
- defstream.zalloc = Z_NULL;
- defstream.zfree = Z_NULL;
- defstream.opaque = Z_NULL;
- defstream.avail_in = d2.step*d2.rows;
- defstream.next_in = (Bytef *)d2.data; // input char array
- defstream.avail_out = (uInt)d2.step*d2.rows; // size of output
- defstream.next_out = (Bytef *)d_buf.data(); // output char array
-
- deflateInit(&defstream, Z_DEFAULT_COMPRESSION);
- deflate(&defstream, Z_FINISH);
- deflateEnd(&defstream);
-
- d2.copyTo(last);
-
- d_buf.resize(defstream.total_out);*/
-
- // LZ4 Version
- // d_buf.resize(LZ4_compressBound(depth.step*depth.rows));
- // int s = LZ4_compress_default((char*)depth.data, (char*)d_buf.data(), depth.step*depth.rows, d_buf.size());
- // d_buf.resize(s);
-
- cv::imencode(".png", d2, d_buf);
- //LOG(INFO) << "Depth Size = " << ((float)d_buf.size() / (1024.0f*1024.0f));
-
- try {
- net_.publish(uri_, rgb_buf, d_buf);
- } catch (...) {
- LOG(ERROR) << "Exception on net publish to " << uri_;
- }
-}
-
diff --git a/applications/vision/src/sync.cpp b/applications/vision/src/sync.cpp
deleted file mode 100644
index 8d1671a3fba63e10310bf5e0f6e9f69d06e8c97b..0000000000000000000000000000000000000000
--- a/applications/vision/src/sync.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * Copyright 2019 Nicolas Pope
- */
-
-#include <ftl/synched.hpp>
-
-using ftl::SyncSource;
-using cv::Mat;
-
-SyncSource::SyncSource() {
- channels_.push_back(Mat());
- channels_.push_back(Mat());
-}
-
-void SyncSource::addChannel(const std::string &c) {
-}
-
-void SyncSource::feed(int channel, cv::Mat &m, double ts) {
- if (channel > static_cast<int>(channels_.size())) return;
- channels_[channel] = m;
-}
-
-bool SyncSource::get(int channel, cv::Mat &m) {
- if (channel > static_cast<int>(channels_.size())) return false;
- m = channels_[channel];
- return true;
-}
-
-double SyncSource::latency() const {
- return 0.0;
-}
-
diff --git a/cmake/FindPylon.cmake b/cmake/FindPylon.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..ba194ab1dd4148d4b5c52432d9561ead80f49818
--- /dev/null
+++ b/cmake/FindPylon.cmake
@@ -0,0 +1,41 @@
+###############################################################################
+# Find Pylon
+#
+
+set(PYLON_FOUND FALSE CACHE BOOL "" FORCE)
+
+if(WIN32)
+find_path(PYLON_DIR NAMES include/pylon/PylonBase.h PATHS "C:/Program Files/Pylon" "C:/Program Files (x86)/Pylon")
+else()
+find_path(PYLON_DIR NAMES include/pylon/PylonBase.h PATHS "/opt/pylon" "/opt/pylon6")
+endif()
+
+if (PYLON_DIR)
+ set(PYLON_FOUND TRUE CACHE BOOL "" FORCE)
+ set(HAVE_PYLON TRUE)
+
+ include(FindPackageHandleStandardArgs)
+ find_package_handle_standard_args(Pylon DEFAULT_MSG PYLON_DIR)
+
+ mark_as_advanced(PYLON_FOUND)
+
+ if (WIN32)
+ list(APPEND PYLON_LIBRARIES PylonBase_v6_1 PylonUtility_v6_1 GenApi_MD_VC141_v3_1_Basler_pylon GCBase_MD_VC141_v3_1_Basler_pylon)
+ else()
+ list(APPEND PYLON_LIBRARIES pylonbase pylonutility GenApi_gcc_v3_1_Basler_pylon GCBase_gcc_v3_1_Basler_pylon)
+ endif()
+
+ add_library(Pylon INTERFACE)
+ set_property(TARGET Pylon PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${PYLON_DIR}/include)
+ #set_property(TARGET Pylon PROPERTY INTERFACE_LINK_DIRECTORIES ${PYLON_DIR}/lib)
+
+ if (WIN32)
+ link_directories(${PYLON_DIR}/lib/x64)
+ else()
+ link_directories(${PYLON_DIR}/lib)
+ endif()
+
+ set_property(TARGET Pylon PROPERTY INTERFACE_LINK_LIBRARIES ${PYLON_LIBRARIES})
+else()
+ add_library(Pylon INTERFACE)
+endif()
diff --git a/cmake/Findglog.cmake b/cmake/Findglog.cmake
index 6b07e3ba4b53997e844ba3a134de15be2236abdf..0648a7bdcbfa195ecb64b4d4e65cd3257e3a16ee 100644
--- a/cmake/Findglog.cmake
+++ b/cmake/Findglog.cmake
@@ -43,5 +43,5 @@ if(GLOG_FOUND)
add_library(glog::glog UNKNOWN IMPORTED)
set_property(TARGET glog::glog PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${GLOG_INCLUDE_DIRS})
set_property(TARGET glog::glog PROPERTY IMPORTED_LOCATION ${GLOG_LIBRARY})
- message(STATUS "Found glog: ${GLOG_LIBRARY}")
+ message(STATUS "Found glog: ${GLOG_LIBRARY} ${GLOG_INCLUDE_DIRS}")
endif()
diff --git a/cmake/ftl_CPack.cmake b/cmake/ftl_CPack.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..b496c30bee1bb4a6cfcbe0eecd8c04db3ba3708e
--- /dev/null
+++ b/cmake/ftl_CPack.cmake
@@ -0,0 +1,32 @@
+# use build date as patch version
+string(TIMESTAMP BUILD_TIME "%Y%m%d")
+set(CPACK_PACKAGE_VERSION_PATCH "${BUILD_TIME}")
+
+set(CPACK_DEBIAN_PACKAGE_MAINTAINER "UTU Future Tech Lab")
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
+set(CPACK_DEBIAN_PACKAGE_GENERATE_SHLIBS ON)
+set(CPACK_DEBIAN_PACKAGE_GENERATE_SHLIBS_POLICY ">=")
+set(CPACK_DEB_PACKAGE_COMPONENT ON)
+set(CPACK_DEBIAN_PACKAGE_SECTION "Miscellaneous")
+
+macro(deb_append_dependency DEPENDS)
+ if ("${CPACK_DEBIAN_PACKAGE_DEPENDS}" STREQUAL "")
+ set(CPACK_DEBIAN_PACKAGE_DEPENDS "${DEPENDS}")
+ else()
+ set(CPACK_DEBIAN_PACKAGE_DEPENDS "${CPACK_DEBIAN_PACKAGE_DEPENDS}, ${DEPENDS}")
+ endif()
+endmacro()
+
+if (HAVE_PYLON)
+ deb_append_dependency("pylon (>= 6.1.1)")
+ set(ENV{LD_LIBRARY_PATH} "=/opt/pylon/lib/")
+endif()
+
+if(WIN32)
+ message(INFO "Copying DLLs: OpenCV")
+ file(GLOB WINDOWS_LIBS "${OpenCV_INSTALL_PATH}/${OpenCV_ARCH}/${OpenCV_RUNTIME}/bin/*.dll")
+ install(FILES ${WINDOWS_LIBS} DESTINATION bin)
+ set(CPACK_GENERATOR "WiX")
+endif()
+
+include(CPack)
diff --git a/components/audio/CMakeLists.txt b/components/audio/CMakeLists.txt
index 767184b2b91ab77c8a5fcb6e4ea842e586ac24f8..7a2721087b04834506d0af31671a8e06030fb62f 100644
--- a/components/audio/CMakeLists.txt
+++ b/components/audio/CMakeLists.txt
@@ -1,8 +1,9 @@
set(AUDIOSRC
src/source.cpp
- src/frame.cpp
src/portaudio.cpp
src/speaker.cpp
+ src/software_encoder.cpp
+ src/software_decoder.cpp
)
add_library(ftlaudio ${AUDIOSRC})
@@ -12,7 +13,8 @@ target_include_directories(ftlaudio PUBLIC
$<INSTALL_INTERFACE:include>
PRIVATE src)
-target_link_libraries(ftlaudio ftlcommon Eigen3::Eigen ftlstreams ftldata portaudio)
-
-#add_subdirectory(test)
+target_link_libraries(ftlaudio ftlcommon Eigen3::Eigen ftlstreams ftldata portaudio Opus)
+if (BUILD_TESTS)
+add_subdirectory(test)
+endif()
diff --git a/components/audio/include/ftl/audio/audio.hpp b/components/audio/include/ftl/audio/audio.hpp
index 12939b6653f8655b08631392f97ad3889c2d2fe1..967d1f2c1242436fd1dc7d3929d2834d99e7826f 100644
--- a/components/audio/include/ftl/audio/audio.hpp
+++ b/components/audio/include/ftl/audio/audio.hpp
@@ -12,14 +12,24 @@ class Audio {
size_t size() const { return data_.size()*sizeof(short); }
- std::vector<short> &data() { return data_; }
- const std::vector<short> &data() const { return data_; }
+ std::vector<float> &data() { return data_; }
+ const std::vector<float> &data() const { return data_; }
private:
- std::vector<short> data_;
+ std::vector<float> data_;
};
}
}
+template <>
+inline bool ftl::data::make_type<std::list<ftl::audio::Audio>>() {
+ return false;
+}
+
+template <>
+inline bool ftl::data::decode_type<std::list<ftl::audio::Audio>>(std::any &a, const std::vector<uint8_t> &data) {
+ return false;
+}
+
#endif // _FTL_AUDIO_AUDIO_HPP_
diff --git a/components/audio/include/ftl/audio/buffer.hpp b/components/audio/include/ftl/audio/buffer.hpp
index 87a80285e59a14d5c7567bb9272daa521c84dca8..e3001d63d7580732462aff6e06882c8501e1dc8f 100644
--- a/components/audio/include/ftl/audio/buffer.hpp
+++ b/components/audio/include/ftl/audio/buffer.hpp
@@ -3,9 +3,10 @@
#include <vector>
#include <cmath>
+#include <Eigen/Eigen>
-#define LOGURU_REPLACE_GLOG 1
-#include <loguru.hpp>
+//#define LOGURU_REPLACE_GLOG 1
+//#include <loguru.hpp>
namespace ftl {
namespace audio {
@@ -36,6 +37,9 @@ class Buffer {
float delay() const { return cur_delay_ / static_cast<float>(rate_); }
+ inline void setGain(float g) { gain_ = g; }
+ inline float gain() const { return gain_; }
+
virtual void reset() {
cur_delay_ = req_delay_;
}
@@ -49,6 +53,7 @@ class Buffer {
float req_delay_;
int channels_;
int frame_size_;
+ float gain_ = 1.0f;
};
//static constexpr int kBufferCount = 100;
@@ -72,18 +77,33 @@ class FixedBuffer : public ftl::audio::Buffer<T> {
inline void writeFrame(const T *d) {
const T *in = d;
- T *out = &data_[(write_position_++) % SIZE][0];
+ T *out = data_[(write_position_++) % SIZE];
for (size_t i=0; i<CHAN*FRAME; ++i) *out++ = *in++;
if (write_position_ > 5 && read_position_ < 0) read_position_ = 0;
}
inline void readFrame(T *d) {
- T *out = d;
+ T* __restrict out = d;
+ //if ((size_t(out) & 0x1f) == 0) out_alignment_ = 32;
+ //else if ((size_t(out) & 0xf) == 0) out_alignment_ = 16;
+ //else if ((size_t(out) & 0x7) == 0) out_alignment_ = 8;
+
if (read_position_ < 0 || read_position_ >= write_position_-1) {
for (size_t i=0; i<CHAN*FRAME; ++i) *out++ = 0;
} else {
- T *in = &data_[(read_position_++) % SIZE][0];
- for (size_t i=0; i<CHAN*FRAME; ++i) *out++ = *in++;
+ const T* __restrict in = data_[(read_position_++) % SIZE];
+
+ // 16 byte aligned, use SIMD intrinsics
+ if ((size_t(out) & 0xf) == 0) {
+ for (size_t i=0; i<CHAN*FRAME; i += 4) {
+ Eigen::Map<Eigen::Matrix<float,4,1>,Eigen::Aligned16> vout(out+i);
+ const Eigen::Map<const Eigen::Matrix<float,4,1>,Eigen::Aligned16> vin(in+i);
+ vout = vin*this->gain_;
+ }
+ // Not aligned
+ } else {
+ for (size_t i=0; i<CHAN*FRAME; ++i) *out++ = this->gain_ * (*in++);
+ }
}
}
@@ -102,15 +122,20 @@ class FixedBuffer : public ftl::audio::Buffer<T> {
void reset() override {
Buffer<T>::reset();
write_position_ = 0; //int(this->cur_delay_);
- LOG(INFO) << "RESET AUDIO: " << write_position_;
read_position_ = 0;
}
+ inline T *data() { return (T*)data_; }
+ inline T *data(int f) { return data_[f]; }
+
+ inline int writePosition() const { return write_position_; }
+ inline void setWritePosition(int p) { write_position_ = p; }
+
private:
int write_position_;
int read_position_;
int offset_;
- T data_[SIZE][CHAN*FRAME];
+ alignas(32) T data_[SIZE][CHAN*FRAME];
};
// ==== Implementations ========================================================
@@ -120,7 +145,7 @@ static T fracIndex(const std::vector<T> &in, float ix, int c) {
const auto i1 = static_cast<unsigned int>(ix);
const auto i2 = static_cast<unsigned int>(ix+1.0f);
const float alpha = ix - static_cast<float>(i1);
- return (i2*CHAN+CHAN >= in.size()) ? in[i1*CHAN+c] : in[i1*CHAN+c]*(1.0f-alpha) + in[i2*CHAN+c]*alpha;
+ return static_cast<T>((i2*CHAN+CHAN >= in.size()) ? in[i1*CHAN+c] : in[i1*CHAN+c]*(1.0f-alpha) + in[i2*CHAN+c]*alpha);
}
inline float clamp(float v, float c) { return (v < -c) ? -c : (v > c) ? c : v; }
@@ -154,7 +179,7 @@ void FixedBuffer<T,CHAN,FRAME,SIZE>::write(const std::vector<T> &in) {
++write_position_;
}
}
- if (write_position_ > 20 && read_position_ < 0) read_position_ = 0;
+ if (write_position_ > 5 && read_position_ < 0) read_position_ = 0;
}
template <typename T, int CHAN, int FRAME, int SIZE>
@@ -170,10 +195,16 @@ void FixedBuffer<T,CHAN,FRAME,SIZE>::read(std::vector<T> &out, int count) {
// ==== Common forms ===========================================================
template <int SIZE>
-using StereoBuffer16 = ftl::audio::FixedBuffer<short,2,256,SIZE>;
+using StereoBuffer16 = ftl::audio::FixedBuffer<short,2,960,SIZE>;
+
+template <int SIZE>
+using MonoBuffer16 = ftl::audio::FixedBuffer<short,1,960,SIZE>;
+
+template <int SIZE>
+using StereoBufferF = ftl::audio::FixedBuffer<float,2,960,SIZE>;
template <int SIZE>
-using MonoBuffer16 = ftl::audio::FixedBuffer<short,1,256,SIZE>;
+using MonoBufferF = ftl::audio::FixedBuffer<float,1,960,SIZE>;
}
}
diff --git a/components/audio/include/ftl/audio/decoder.hpp b/components/audio/include/ftl/audio/decoder.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..30929daaf6aad886fe499dc1d1fbbba7aa42fe3b
--- /dev/null
+++ b/components/audio/include/ftl/audio/decoder.hpp
@@ -0,0 +1,24 @@
+#ifndef _FTL_AUDIO_DECODER_HPP_
+#define _FTL_AUDIO_DECODER_HPP_
+
+#include <vector>
+#include <ftl/codecs/packet.hpp>
+#include <ftl/codecs/codecs.hpp>
+
+namespace ftl {
+namespace audio {
+
+class Decoder {
+ public:
+ Decoder() { };
+ virtual ~Decoder() { };
+
+ virtual bool decode(const ftl::codecs::Packet &pkt, std::vector<float> &out)=0;
+
+ virtual bool accepts(const ftl::codecs::Packet &)=0;
+};
+
+}
+}
+
+#endif
\ No newline at end of file
diff --git a/components/audio/include/ftl/audio/encoder.hpp b/components/audio/include/ftl/audio/encoder.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..c68c799420e1dff28650b12a086ec8b10545a6dc
--- /dev/null
+++ b/components/audio/include/ftl/audio/encoder.hpp
@@ -0,0 +1,26 @@
+#ifndef _FTL_AUDIO_ENCODER_HPP_
+#define _FTL_AUDIO_ENCODER_HPP_
+
+#include <vector>
+#include <ftl/codecs/packet.hpp>
+#include <ftl/codecs/codecs.hpp>
+
+namespace ftl {
+namespace audio {
+
+class Encoder {
+ public:
+ Encoder() {};
+ virtual ~Encoder() {};
+
+ virtual bool encode(const std::vector<float> &in, ftl::codecs::Packet &pkt)=0;
+
+ virtual void reset() {}
+
+ virtual bool supports(ftl::codecs::codec_t codec)=0;
+};
+
+}
+}
+
+#endif
diff --git a/components/audio/include/ftl/audio/frame.hpp b/components/audio/include/ftl/audio/frame.hpp
index c30fb66e5660dac88e14cf67ee06bf69d9e5b58e..720a02d1f2d1cf47af9e36beb2c061464bb786cf 100644
--- a/components/audio/include/ftl/audio/frame.hpp
+++ b/components/audio/include/ftl/audio/frame.hpp
@@ -2,47 +2,25 @@
#ifndef _FTL_AUDIO_FRAME_HPP_
#define _FTL_AUDIO_FRAME_HPP_
-#include <ftl/data/framestate.hpp>
-#include <ftl/data/frame.hpp>
+#include <ftl/data/new_frame.hpp>
#include <ftl/audio/audio.hpp>
namespace ftl {
namespace audio {
+static constexpr int kFrameSize = 960;
+static constexpr int kSampleRate = 48000;
+
+typedef ftl::data::Frame Frame;
+typedef ftl::audio::Audio AudioFrame;
+
struct AudioSettings {
int sample_rate;
int frame_size;
int channels;
};
-struct AudioData {
- template <typename T>
- const T &as() const {
- throw FTL_Error("Type not valid for audio channel");
- }
-
- template <typename T>
- T &as() {
- throw FTL_Error("Type not valid for audio channel");
- }
-
- template <typename T>
- T &make() {
- throw FTL_Error("Type not valid for audio channel");
- }
-
- inline void reset() {}
-
- Audio data;
-};
-
-// Specialisations for getting Audio data.
-template <> Audio &AudioData::as<Audio>();
-template <> const Audio &AudioData::as<Audio>() const;
-template <> Audio &AudioData::make<Audio>();
-typedef ftl::data::FrameState<AudioSettings,2> FrameState;
-typedef ftl::data::Frame<32,2,FrameState,AudioData> Frame;
}
}
diff --git a/components/audio/include/ftl/audio/frameset.hpp b/components/audio/include/ftl/audio/frameset.hpp
index 02027e88e0328008a3e7a312de04e5dda34eb629..ba18d2fe611b82802aca85aedd0bac443ecbe0da 100644
--- a/components/audio/include/ftl/audio/frameset.hpp
+++ b/components/audio/include/ftl/audio/frameset.hpp
@@ -2,12 +2,12 @@
#define _FTL_AUDIO_FRAMESET_HPP_
#include <ftl/audio/frame.hpp>
-#include <ftl/data/frameset.hpp>
+#include <ftl/data/new_frameset.hpp>
namespace ftl {
namespace audio {
-typedef ftl::data::FrameSet<ftl::audio::Frame> FrameSet;
+typedef ftl::data::FrameSet FrameSet;
}
}
diff --git a/components/audio/include/ftl/audio/mixer.hpp b/components/audio/include/ftl/audio/mixer.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..231b399850481a697d13cbf4a7e8c2edc8ab5378
--- /dev/null
+++ b/components/audio/include/ftl/audio/mixer.hpp
@@ -0,0 +1,172 @@
+#ifndef _FTL_AUDIO_MIXER_HPP_
+#define _FTL_AUDIO_MIXER_HPP_
+
+#include <Eigen/Eigen>
+#include <vector>
+#include <cmath>
+#include "buffer.hpp"
+
+namespace ftl {
+namespace audio {
+
+//static constexpr int kBufferCount = 100;
+
+/**
+ * A fast circular buffer to capture, play and manipulate audio data.
+ * This class can be used directly with portaudio. The hardware uses
+ * `readFrame` and `writeFrame` to consume or append audio data. A more
+ * advanced `write` function allows for non-frame aligned data and for time
+ * dilation / shifting, and amplitude control.
+ */
+template <typename T, int CHAN, int FRAME, int SIZE>
+class FixedMixer : public ftl::audio::Buffer<T> {
+ public:
+ FixedMixer() : Buffer<T>(CHAN, FRAME, 44100) { }
+ explicit FixedMixer(int rate) : Buffer<T>(CHAN, FRAME, rate) { }
+
+
+ inline int maxFrames() const { return SIZE; }
+
+ inline void readFrame(T *d) {
+ T* __restrict out = d;
+ if (read_position_ >= write_position_) {
+ std::fill(out, out+CHAN*FRAME, T(0));
+ } else {
+ const T* __restrict in = data_[(read_position_++) % SIZE];
+ std::copy(in, in+CHAN*FRAME, out);
+ }
+ }
+
+ int size() const override { return (read_position_>=0) ? write_position_ - read_position_ : 0; }
+ int frames() const override { return (read_position_>=0) ? write_position_ - read_position_ : 0; }
+
+ /**
+ * Append sound samples to the end of the buffer. The samples may be over
+ * or under sampled so as to gradually introduce or remove a requested
+ * delay and hence change the latency of the audio.
+ */
+ void write(const std::vector<T> &in) override;
+
+ inline void write(int track, const std::vector<T> &in) {
+ tracks_.at(track).write(in);
+ }
+
+ void mix();
+
+ void read(std::vector<T> &out, int frames) override;
+
+ void reset() override {
+ Buffer<T>::reset();
+ write_position_ = 0;
+ read_position_ = 0;
+ for (auto &t : tracks_) t.reset();
+ }
+
+ inline int writePosition() const { return write_position_; }
+ inline int readPosition() const { return read_position_; }
+ inline int tracks() const { return track_num_; }
+
+ inline void setDelay(int track, float d) { tracks_.at(track).setDelay(d); }
+ inline float delay(int track) const { return tracks_.at(track).delay(); }
+
+ inline void setGain(int track, float g) { tracks_.at(track).setGain(g); }
+ inline float gain(int track) const { return tracks_.at(track).gain(); }
+
+ //void resize(int tracks);
+
+ int add(const std::string &name);
+
+ const std::string &name(int track) const { return names_.at(track); }
+
+ private:
+ int track_num_=0;
+ int write_position_=0;
+ int read_position_=0;
+ alignas(32) T data_[SIZE][CHAN*FRAME];
+ std::vector<ftl::audio::FixedBuffer<T,CHAN,FRAME,SIZE>> tracks_;
+ std::vector<std::string> names_;
+};
+
+// ==== Implementations ========================================================
+
+template <typename T, int CHAN, int FRAME, int SIZE>
+void FixedMixer<T,CHAN,FRAME,SIZE>::write(const std::vector<T> &in) {
+ // Not supported...
+}
+
+template <typename T, int CHAN, int FRAME, int SIZE>
+void FixedMixer<T,CHAN,FRAME,SIZE>::mix() {
+ if (track_num_ == 0) return;
+
+ // Add together up to most recent frame
+ int min_write = std::numeric_limits<int>::max();
+ for (auto &t : tracks_) {
+ min_write = std::min(t.writePosition(), min_write);
+ }
+
+ // For each frame
+ while (write_position_ < min_write) {
+ int wp = write_position_ % SIZE;
+ float *ptr1 = data_[wp];
+
+ // For each block of 8 float samples
+ for (size_t i=0; i<CHAN*FRAME; i+=8) {
+ Eigen::Map<Eigen::Matrix<float,8,1>,Eigen::Aligned32> v1(ptr1+i);
+ v1.setZero();
+
+ // For each track, accumulate the samples
+ for (auto &t : tracks_) {
+ const Eigen::Map<Eigen::Matrix<float,8,1>,Eigen::Aligned32> v2(&t.data(wp)[i]);
+ v1 += t.gain()*v2;
+ }
+
+ v1 *= this->gain_;
+ }
+
+ ++write_position_;
+ }
+}
+
+template <typename T, int CHAN, int FRAME, int SIZE>
+void FixedMixer<T,CHAN,FRAME,SIZE>::read(std::vector<T> &out, int count) {
+ out.resize(FRAME*count*CHAN);
+ T *ptr = out.data();
+ for (int i=0; i<count; ++i) {
+ // TODO: Do mix here directly
+ readFrame(ptr);
+ ptr += FRAME*CHAN;
+ }
+}
+
+/*template <typename T, int CHAN, int FRAME, int SIZE>
+void FixedMixer<T,CHAN,FRAME,SIZE>::resize(int t) {
+ if (track_num_ == t) return;
+
+ track_num_ = t;
+ tracks_.reserve(t);
+ while (static_cast<int>(tracks_.size()) < t) {
+ auto &tr = tracks_.emplace_back();
+ tr.setWritePosition(write_position_);
+ }
+}*/
+
+template <typename T, int CHAN, int FRAME, int SIZE>
+int FixedMixer<T,CHAN,FRAME,SIZE>::add(const std::string &name) {
+ names_.push_back(name);
+ auto &tr = tracks_.emplace_back();
+ tr.setWritePosition(write_position_);
+ return track_num_++;
+}
+
+// ==== Common forms ===========================================================
+
+template <int SIZE>
+using StereoMixerF = ftl::audio::FixedMixer<float,2,960,SIZE>;
+
+template <int SIZE>
+using MonoMixerF = ftl::audio::FixedMixer<float,1,960,SIZE>;
+
+}
+}
+
+#endif // _FTL_AUDIO_BUFFER_HPP_
diff --git a/components/audio/include/ftl/audio/software_decoder.hpp b/components/audio/include/ftl/audio/software_decoder.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..40d47fe45c2377f2d754dfc6d2071d717a5d612e
--- /dev/null
+++ b/components/audio/include/ftl/audio/software_decoder.hpp
@@ -0,0 +1,33 @@
+#ifndef _FTL_AUDIO_SOFTWARE_DECODER_HPP_
+#define _FTL_AUDIO_SOFTWARE_DECODER_HPP_
+
+#include <ftl/audio/decoder.hpp>
+
+struct OpusMSDecoder;
+
+namespace ftl {
+namespace audio {
+
+class SoftwareDecoder : public ftl::audio::Decoder {
+ public:
+ SoftwareDecoder();
+ ~SoftwareDecoder();
+
+ bool decode(const ftl::codecs::Packet &pkt, std::vector<float> &out) override;
+
+ bool accepts(const ftl::codecs::Packet &) override;
+
+ private:
+ OpusMSDecoder *opus_decoder_;
+ bool cur_stereo_;
+ ftl::codecs::definition_t cur_definition_;
+
+ bool _decodeOpus(const ftl::codecs::Packet &pkt, std::vector<float> &out);
+ bool _decodeRaw(const ftl::codecs::Packet &pkt, std::vector<float> &out);
+ bool _createOpus(const ftl::codecs::Packet &pkt);
+};
+
+}
+}
+
+#endif
diff --git a/components/audio/include/ftl/audio/software_encoder.hpp b/components/audio/include/ftl/audio/software_encoder.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..35b7fb10826b429d546bffe6e57e662f9a6e1da3
--- /dev/null
+++ b/components/audio/include/ftl/audio/software_encoder.hpp
@@ -0,0 +1,36 @@
+#ifndef _FTL_AUDIO_SOFTWARE_ENCODER_HPP_
+#define _FTL_AUDIO_SOFTWARE_ENCODER_HPP_
+
+#include <ftl/audio/encoder.hpp>
+
+struct OpusMSEncoder;
+
+namespace ftl {
+namespace audio {
+
+class SoftwareEncoder : public ftl::audio::Encoder {
+ public:
+ SoftwareEncoder();
+ ~SoftwareEncoder();
+
+ bool encode(const std::vector<float> &in, ftl::codecs::Packet &pkt) override;
+
+ void reset() override;
+
+ bool supports(ftl::codecs::codec_t codec) override;
+
+ private:
+ OpusMSEncoder *opus_encoder_;
+ bool cur_stereo_;
+ ftl::codecs::definition_t cur_definition_;
+ uint8_t cur_bitrate_;
+
+ bool _encodeRaw(const std::vector<float> &in, ftl::codecs::Packet &pkt);
+ bool _encodeOpus(const std::vector<float> &in, ftl::codecs::Packet &pkt);
+ bool _createOpus(ftl::codecs::Packet &pkt);
+};
+
+}
+}
+
+#endif
diff --git a/components/audio/include/ftl/audio/source.hpp b/components/audio/include/ftl/audio/source.hpp
index 797aee1e9ac2288a93f60bd674e6003f84e0495c..823846d2cb08d9bb4bf7b18946a2f1fe38cf66a6 100644
--- a/components/audio/include/ftl/audio/source.hpp
+++ b/components/audio/include/ftl/audio/source.hpp
@@ -3,6 +3,7 @@
#include <ftl/audio/buffer.hpp>
#include <ftl/audio/frameset.hpp>
+#include <ftl/data/creators.hpp>
#include <ftl/configurable.hpp>
#include <ftl/config.h>
@@ -13,40 +14,23 @@
namespace ftl {
namespace audio {
-static constexpr int kFrameSize = 256;
-
-typedef ftl::data::Generator<ftl::audio::FrameSet> Generator;
-
-class Source : public ftl::Configurable, public ftl::audio::Generator {
+class Source : public ftl::Configurable, public ftl::data::DiscreteSource {
public:
explicit Source(nlohmann::json &config);
~Source();
- /** Number of frames in last frameset. This can change over time. */
- size_t size() override;
+ bool capture(int64_t ts) override;
- /**
- * Get the persistent state object for a frame. An exception is thrown
- * for a bad index.
- */
- ftl::audio::FrameState &state(size_t ix) override;
-
- /** Register a callback to receive new frame sets. */
- void onFrameSet(const ftl::audio::FrameSet::Callback &) override;
+ bool retrieve(ftl::data::Frame &) override;
private:
- ftl::audio::FrameState state_;
bool active_;
- ftl::timer::TimerHandle timer_hp_;
- ftl::timer::TimerHandle timer_main_;
- ftl::audio::FrameSet::Callback cb_;
+ ftl::audio::AudioSettings settings_;
- ftl::audio::Buffer<short> *buffer_;
+ ftl::audio::Buffer<float> *buffer_;
int to_read_;
int64_t latency_;
- ftl::audio::FrameSet frameset_;
-
#ifdef HAVE_PORTAUDIO
PaStream *stream_;
#endif
diff --git a/components/audio/include/ftl/audio/speaker.hpp b/components/audio/include/ftl/audio/speaker.hpp
index f27795bf40c29577c7de8e46ab27414e8ba699a5..d03e552761f0512e2b3f982d68ef852460f9cd8b 100644
--- a/components/audio/include/ftl/audio/speaker.hpp
+++ b/components/audio/include/ftl/audio/speaker.hpp
@@ -19,13 +19,19 @@ class Speaker : public ftl::Configurable {
~Speaker();
void queue(int64_t ts, ftl::audio::Frame &fs);
+ void queue(int64_t ts, const ftl::audio::Audio &af);
void setDelay(int64_t ms);
+ void setVolume(float value);
+ float volume();
+
+ void reset() { if (buffer_) buffer_->reset(); }
private:
- ftl::audio::Buffer<short> *buffer_;
+ ftl::audio::Buffer<float> *buffer_;
bool active_;
float extra_delay_;
+ float volume_;
int64_t latency_;
#ifdef HAVE_PORTAUDIO
diff --git a/components/audio/src/portaudio.cpp b/components/audio/src/portaudio.cpp
index 7395877c21bdb11ef8a08e0f796e8837c6691988..74e209386900a61c0d29d17c5965660557a33df0 100644
--- a/components/audio/src/portaudio.cpp
+++ b/components/audio/src/portaudio.cpp
@@ -1,17 +1,19 @@
#include <ftl/audio/portaudio.hpp>
#include <ftl/config.h>
+#include <ftl/threads.hpp>
#include <loguru.hpp>
#include <atomic>
static std::atomic<int> counter = 0;
+static MUTEX pa_mutex;
#ifdef HAVE_PORTAUDIO
#include <portaudio.h>
void ftl::audio::pa_init() {
- // TODO: Mutex lock?
+ UNIQUE_LOCK(pa_mutex, lk);
if (counter == 0) {
auto err = Pa_Initialize();
if (err != paNoError) {
@@ -34,7 +36,7 @@ void ftl::audio::pa_init() {
}
void ftl::audio::pa_final() {
- // TODO: Mutex lock?
+ UNIQUE_LOCK(pa_mutex, lk);
--counter;
if (counter == 0) {
auto err = Pa_Terminate();
diff --git a/components/audio/src/software_decoder.cpp b/components/audio/src/software_decoder.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..3a1d0bd918b3a24bd4feba3b6391f2c4b417edaa
--- /dev/null
+++ b/components/audio/src/software_decoder.cpp
@@ -0,0 +1,114 @@
+#include <ftl/audio/software_decoder.hpp>
+#include <ftl/config.h>
+
+#ifdef HAVE_OPUS
+#include <opus/opus_multistream.h>
+#else
+struct OpusMSDecoder {};
+#endif
+
+#define LOGURU_REPLACE_GLOG 1
+#include <loguru.hpp>
+
+#define FRAME_SIZE 960
+
+using ftl::audio::SoftwareDecoder;
+using ftl::codecs::codec_t;
+
+SoftwareDecoder::SoftwareDecoder() : opus_decoder_(nullptr) {
+
+}
+
+SoftwareDecoder::~SoftwareDecoder() {
+
+}
+
+bool SoftwareDecoder::_createOpus(const ftl::codecs::Packet &pkt) {
+ #ifdef HAVE_OPUS
+ bool stereo = pkt.flags & ftl::codecs::kFlagStereo;
+ if (opus_decoder_ && stereo == cur_stereo_) return true;
+
+ cur_stereo_ = stereo;
+
+ if (opus_decoder_) {
+ opus_multistream_decoder_destroy(opus_decoder_);
+ opus_decoder_ = nullptr;
+ }
+
+ int sample_rate = 48000; // TODO: Allow it to be different
+
+ int errcode = 0;
+ int channels = (stereo) ? 2 : 1;
+ const unsigned char mapping[2] = {0,1};
+ opus_decoder_ = opus_multistream_decoder_create(sample_rate, channels, 1, channels-1, mapping, &errcode);
+
+ if (errcode < 0) return false;
+
+ LOG(INFO) << "Created OPUS decoder: " << sample_rate << ", " << channels;
+ #endif
+ return true;
+}
+
+bool SoftwareDecoder::decode(const ftl::codecs::Packet &pkt, std::vector<float> &out) {
+ switch (pkt.codec) {
+ case codec_t::OPUS : return _decodeOpus(pkt, out);
+ case codec_t::RAW : return _decodeRaw(pkt, out);
+ default: return false;
+ }
+}
+
+bool SoftwareDecoder::_decodeOpus(const ftl::codecs::Packet &pkt, std::vector<float> &out) {
+ #ifdef HAVE_OPUS
+ if (!_createOpus(pkt)) return false;
+
+ int channels = (cur_stereo_) ? 2 : 1;
+
+ out.resize(10*FRAME_SIZE*channels);
+
+ const unsigned char *inptr = pkt.data.data();
+ float *outptr = out.data();
+ int count = 0;
+ int frames = 0;
+
+ for (size_t i=0; i<pkt.data.size(); ) {
+ const short *len = (const short*)inptr;
+ if (*len == 0) break;
+ if (frames == 10) break;
+
+ inptr += 2;
+ i += (*len)+2;
+ int samples = opus_multistream_decode_float(opus_decoder_, inptr, *len, outptr, FRAME_SIZE, 0);
+
+ if (samples != FRAME_SIZE) {
+ LOG(ERROR) << "Failed to Opus decode: " << samples;
+ //return false;
+ break;
+ }
+
+ inptr += *len;
+ outptr += FRAME_SIZE*channels;
+ count += samples;
+ ++frames;
+ }
+
+ out.resize(count*channels);
+ //LOG(INFO) << "Received " << frames << " Opus frames";
+ return true;
+
+ #else
+ LOG(WARNING) << "No Opus decoder installed";
+ return false;
+ #endif
+}
+
+bool SoftwareDecoder::_decodeRaw(const ftl::codecs::Packet &pkt, std::vector<float> &out) {
+ size_t size = pkt.data.size()/sizeof(float);
+ out.resize(size);
+ auto *ptr = (float*)pkt.data.data();
+ for (size_t i=0; i<size; i++) out.data()[i] = ptr[i];
+ return true;
+}
+
+bool SoftwareDecoder::accepts(const ftl::codecs::Packet &) {
+ return false;
+}
diff --git a/components/audio/src/software_encoder.cpp b/components/audio/src/software_encoder.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2b17d85469acd26a2acc77a56c2edbc6309a3cc5
--- /dev/null
+++ b/components/audio/src/software_encoder.cpp
@@ -0,0 +1,134 @@
+#include <ftl/audio/software_encoder.hpp>
+#include <ftl/config.h>
+
+#ifdef HAVE_OPUS
+#include <opus/opus_multistream.h>
+#else
+struct OpusMSEncoder {};
+#endif
+
+#define LOGURU_REPLACE_GLOG 1
+#include <loguru.hpp>
+
+using ftl::audio::SoftwareEncoder;
+using ftl::codecs::codec_t;
+
+#define FRAME_SIZE 960
+#define MAX_PACKET_SIZE (3*2*FRAME_SIZE)
+
+SoftwareEncoder::SoftwareEncoder() : ftl::audio::Encoder(), opus_encoder_(nullptr), cur_stereo_(false), cur_bitrate_(0) {
+
+}
+
+SoftwareEncoder::~SoftwareEncoder() {
+
+}
+
+bool SoftwareEncoder::encode(const std::vector<float> &in, ftl::codecs::Packet &pkt) {
+ auto codec = (pkt.codec == codec_t::Any) ? codec_t::OPUS : pkt.codec;
+
+ // Force RAW if no opus
+ #ifndef HAVE_OPUS
+ codec = codec_t::RAW;
+ #endif
+
+ pkt.codec = codec;
+
+ switch (codec) {
+ case codec_t::OPUS : return _encodeOpus(in, pkt);
+ case codec_t::RAW : return _encodeRaw(in, pkt);
+ default: return false;
+ }
+}
+
+bool SoftwareEncoder::_createOpus(ftl::codecs::Packet &pkt) {
+ #ifdef HAVE_OPUS
+ bool stereo = pkt.flags & ftl::codecs::kFlagStereo;
+ if (opus_encoder_ && stereo == cur_stereo_) return true;
+
+ cur_stereo_ = stereo;
+
+ if (opus_encoder_) {
+ opus_multistream_encoder_destroy(opus_encoder_);
+ opus_encoder_ = nullptr;
+ }
+
+ int sample_rate = 48000; // TODO: Allow it to be different
+
+ int errcode = 0;
+ int channels = (stereo) ? 2 : 1;
+ const unsigned char mapping[2] = {0,1};
+ opus_encoder_ = opus_multistream_encoder_create(sample_rate, channels, 1, channels-1, mapping, OPUS_APPLICATION_VOIP, &errcode);
+
+ if (errcode < 0) return false;
+ LOG(INFO) << "Created OPUS encoder";
+ #endif
+
+ return true;
+}
+
+bool SoftwareEncoder::_encodeOpus(const std::vector<float> &in, ftl::codecs::Packet &pkt) {
+ #ifdef HAVE_OPUS
+ static const float MAX_BITRATE = 128000.0f;
+ static const float MIN_BITRATE = 24000.0f;
+
+ if (!_createOpus(pkt)) return false;
+
+ if (pkt.bitrate != cur_bitrate_) {
+ int bitrate = (MAX_BITRATE-MIN_BITRATE) * (float(pkt.bitrate)/255.0f) + MIN_BITRATE;
+ if (!cur_stereo_) bitrate /= 2;
+ int errcode = opus_multistream_encoder_ctl(opus_encoder_, OPUS_SET_BITRATE(bitrate));
+ if (errcode < 0) return false;
+ LOG(INFO) << "OPUS encoder: bitrate = " << bitrate;
+ cur_bitrate_ = pkt.bitrate;
+ }
+
+ int channels = (cur_stereo_) ? 2 : 1;
+
+ int frame_est = (in.size() / (channels*FRAME_SIZE))+1;
+ size_t insize = pkt.data.size();
+ pkt.data.resize(insize+MAX_PACKET_SIZE*frame_est);
+ int count = 0;
+ int frames = 0;
+
+ unsigned char *outptr = pkt.data.data()+insize;
+
+ //LOG(INFO) << "Encode " << (in.size() / (channels*FRAME_SIZE)) << " audio frames";
+
+ for (unsigned int i=0; i<in.size(); i+=channels*FRAME_SIZE) {
+ short *len = (short*)outptr;
+ outptr += 2;
+ int nbBytes = opus_multistream_encode_float(opus_encoder_, &in.data()[i], FRAME_SIZE, outptr, MAX_PACKET_SIZE);
+ if (nbBytes <= 0) return false;
+
+ //if (nbBytes > 32000) LOG(WARNING) << "Packet exceeds size limit";
+
+ *len = nbBytes;
+
+ count += nbBytes+2;
+ outptr += nbBytes;
+ ++frames;
+ }
+
+ pkt.data.resize(insize+count);
+ //LOG(INFO) << "Opus Encode = " << pkt.data.size() << ", " << frames;
+ return true;
+
+ #else
+ return false;
+ #endif
+}
+
+bool SoftwareEncoder::_encodeRaw(const std::vector<float> &in, ftl::codecs::Packet &pkt) {
+ const unsigned char *ptr = (unsigned char*)in.data();
+ pkt.data = std::move(std::vector<unsigned char>(ptr, ptr+in.size()*sizeof(float)));
+ return true;
+}
+
+void SoftwareEncoder::reset() {
+
+}
+
+bool SoftwareEncoder::supports(ftl::codecs::codec_t codec) {
+ return false;
+}
diff --git a/components/audio/src/source.cpp b/components/audio/src/source.cpp
index 2c976b20721b29dd35bd6a486e7ab55b06ba6569..e1dd8693b876d26823056bcbefc66da47d027d33 100644
--- a/components/audio/src/source.cpp
+++ b/components/audio/src/source.cpp
@@ -7,8 +7,6 @@
using ftl::audio::Source;
using ftl::audio::Frame;
-using ftl::audio::FrameSet;
-using ftl::audio::FrameState;
using ftl::audio::Audio;
using ftl::codecs::Channel;
@@ -23,7 +21,7 @@ static int pa_source_callback(const void *input, void *output,
PaStreamCallbackFlags statusFlags, void *userData) {
auto *buffer = (BUFFER*)userData;
- short *in = (short*)input;
+ float *in = (float*)input;
buffer->writeFrame(in);
return 0;
}
@@ -76,16 +74,16 @@ Source::Source(nlohmann::json &config) : ftl::Configurable(config), buffer_(null
//}
if (channels >= 2) {
- buffer_ = new ftl::audio::StereoBuffer16<100>(48000);
+ buffer_ = new ftl::audio::StereoBufferF<100>(48000);
} else {
- buffer_ = new ftl::audio::MonoBuffer16<100>(48000);
+ buffer_ = new ftl::audio::MonoBufferF<100>(48000);
}
PaStreamParameters inputParameters;
//bzero( &inputParameters, sizeof( inputParameters ) );
inputParameters.channelCount = channels;
inputParameters.device = device;
- inputParameters.sampleFormat = paInt16;
+ inputParameters.sampleFormat = paFloat32;
inputParameters.suggestedLatency = (device >= 0) ? Pa_GetDeviceInfo(device)->defaultLowInputLatency : 0;
inputParameters.hostApiSpecificStreamInfo = NULL;
@@ -101,7 +99,7 @@ Source::Source(nlohmann::json &config) : ftl::Configurable(config), buffer_(null
48000, // Sample rate
ftl::audio::kFrameSize, // Size of single frame
paNoFlag,
- (buffer_->channels() == 1) ? pa_source_callback<ftl::audio::MonoBuffer16<100>> : pa_source_callback<ftl::audio::StereoBuffer16<100>>,
+ (buffer_->channels() == 1) ? pa_source_callback<ftl::audio::MonoBufferF<100>> : pa_source_callback<ftl::audio::StereoBufferF<100>>,
this->buffer_
);
} else {
@@ -109,10 +107,10 @@ Source::Source(nlohmann::json &config) : ftl::Configurable(config), buffer_(null
&stream_,
channels,
0,
- paInt16,
+ paFloat32,
48000, // Sample rate
ftl::audio::kFrameSize, // Size of single frame
- (buffer_->channels() == 1) ? pa_source_callback<ftl::audio::MonoBuffer16<100>> : pa_source_callback<ftl::audio::StereoBuffer16<100>>,
+ (buffer_->channels() == 1) ? pa_source_callback<ftl::audio::MonoBufferF<100>> : pa_source_callback<ftl::audio::StereoBufferF<100>>,
this->buffer_
);
}
@@ -135,51 +133,10 @@ Source::Source(nlohmann::json &config) : ftl::Configurable(config), buffer_(null
to_read_ = 0;
- ftl::audio::AudioSettings settings;
- settings.channels = channels;
- settings.sample_rate = 48000;
- settings.frame_size = 256;
- state_.setLeft(settings);
-
- timer_hp_ = ftl::timer::add(ftl::timer::kTimerHighPrecision, [this](int64_t ts) {
- if (buffer_) to_read_ = buffer_->size();
- return true;
- });
-
- timer_main_ = ftl::timer::add(ftl::timer::kTimerMain, [this](int64_t ts) {
-
- // Remove one interval since the audio starts from the last frame
- frameset_.timestamp = ts - ftl::timer::getInterval() + latency_;
-
- frameset_.id = 0;
- frameset_.count = 1;
- //frameset_.stale = false;
- frameset_.clear(ftl::data::FSFlag::STALE);
-
- if (to_read_ < 1 || !buffer_) return true;
-
- if (frameset_.frames.size() < 1) frameset_.frames.emplace_back();
-
- auto &frame = frameset_.frames[0];
- frame.reset();
- frame.setOrigin(&state_);
- std::vector<short> &data = frame.create<Audio>((buffer_->channels() == 2) ? Channel::AudioStereo : Channel::AudioMono).data();
-
- /*data.resize(ftl::audio::kFrameSize*to_read_*channels_); // For stereo * 2
- short *ptr = data.data();
- for (int i=0; i<to_read_; ++i) {
- if (channels_ == 1) mono_buffer_.readFrame(ptr);
- else stereo_buffer_.readFrame(ptr);
- ptr += ftl::audio::kFrameSize*channels_; // For stereo * 2
- }*/
- buffer_->read(data, to_read_);
-
- // Then do something with the data!
- //LOG(INFO) << "Audio Frames Sent: " << to_read_ << " - " << ltime;
- if (cb_) cb_(frameset_);
-
- return true;
- });
+ settings_.channels = channels;
+ settings_.sample_rate = 48000;
+ settings_.frame_size = 960;
+ //state_.setLeft(settings);
LOG(INFO) << "Microphone ready.";
@@ -196,7 +153,7 @@ Source::~Source() {
active_ = false;
#ifdef HAVE_PORTAUDIO
- auto err = Pa_StopStream(stream_);
+ auto err = Pa_AbortStream(stream_);
if (err != paNoError) {
LOG(ERROR) << "Portaudio stop stream error: " << Pa_GetErrorText(err);
@@ -216,15 +173,20 @@ Source::~Source() {
#endif
}
-size_t Source::size() {
- return 1;
-}
-
-ftl::audio::FrameState &Source::state(size_t ix) {
- if (ix >= 1) throw FTL_Error("State index out-of-bounds");
- return state_;
+bool Source::capture(int64_t ts) {
+ if (buffer_) to_read_ = buffer_->size();
+ return true;
}
-void Source::onFrameSet(const ftl::audio::FrameSet::Callback &cb) {
- cb_ = cb;
+bool Source::retrieve(ftl::data::Frame &frame) {
+ // Remove one interval since the audio starts from the last frame
+ //frameset_.timestamp = ts - ftl::timer::getInterval() + latency_;
+
+ if (to_read_ < 1 || !buffer_) return true;
+ auto alist = frame.create<std::list<Audio>>((buffer_->channels() == 2) ? Channel::AudioStereo : Channel::AudioMono);
+ Audio aframe;
+ std::vector<float> &data = aframe.data();
+ buffer_->read(data, to_read_);
+ alist = std::move(aframe);
+ return true;
}
diff --git a/components/audio/src/speaker.cpp b/components/audio/src/speaker.cpp
index 82addb4ed5558a941964ca6315dad2a470d817ad..61935c31519b10ce7f6605513325dbfef83ab0ef 100644
--- a/components/audio/src/speaker.cpp
+++ b/components/audio/src/speaker.cpp
@@ -8,7 +8,6 @@
using ftl::audio::Speaker;
using ftl::audio::Frame;
using ftl::audio::FrameSet;
-using ftl::audio::FrameState;
using ftl::audio::Audio;
using ftl::codecs::Channel;
@@ -21,7 +20,7 @@ static int pa_speaker_callback(const void *input, void *output,
PaStreamCallbackFlags statusFlags, void *userData) {
auto *buffer = (BUFFER*)userData; // ftl::audio::MonoBuffer16<2000>
- short *out = (short*)output;
+ float *out = (float*)output;
buffer->readFrame(out);
@@ -30,20 +29,20 @@ static int pa_speaker_callback(const void *input, void *output,
#endif
-Speaker::Speaker(nlohmann::json &config) : ftl::Configurable(config), buffer_(nullptr) {
+Speaker::Speaker(nlohmann::json &config) : ftl::Configurable(config), buffer_(nullptr), stream_(nullptr) {
#ifdef HAVE_PORTAUDIO
ftl::audio::pa_init();
#else // No portaudio
-
- active_ = false;
LOG(ERROR) << "No audio support";
-
#endif
-
- extra_delay_ = value("delay",0.0f);
- on("delay", [this](const ftl::config::Event &e) {
- extra_delay_ = value("delay",0.0f);
+ volume_ = 1.0f;
+ active_ = false;
+ extra_delay_ = value("delay",0.1f);
+ on("delay", [this]() {
+ extra_delay_ = value("delay",0.1f);
+ setDelay(0);
});
+ setDelay(0);
}
Speaker::~Speaker() {
@@ -51,7 +50,7 @@ Speaker::~Speaker() {
active_ = false;
#ifdef HAVE_PORTAUDIO
- auto err = Pa_StopStream(stream_);
+ auto err = Pa_AbortStream(stream_);
if (err != paNoError) {
LOG(ERROR) << "Portaudio stop stream error: " << Pa_GetErrorText(err);
@@ -80,18 +79,18 @@ void Speaker::_open(int fsize, int sample, int channels) {
if (sample == 0 || channels == 0) return;
if (channels >= 2) {
- buffer_ = new ftl::audio::StereoBuffer16<2000>(sample);
+ buffer_ = new ftl::audio::StereoBufferF<2000>(sample);
} else {
- buffer_ = new ftl::audio::MonoBuffer16<2000>(sample);
+ buffer_ = new ftl::audio::MonoBufferF<2000>(sample);
}
PaStreamParameters outputParameters;
- //bzero( &inputParameters, sizeof( inputParameters ) );
- outputParameters.channelCount = channels;
- outputParameters.device = Pa_GetDefaultOutputDevice();
- outputParameters.sampleFormat = paInt16;
- outputParameters.suggestedLatency = Pa_GetDeviceInfo(outputParameters.device)->defaultLowOutputLatency;
- outputParameters.hostApiSpecificStreamInfo = NULL;
+ //bzero( &inputParameters, sizeof( inputParameters ) );
+ outputParameters.channelCount = channels;
+ outputParameters.device = Pa_GetDefaultOutputDevice();
+ outputParameters.sampleFormat = paFloat32;
+ outputParameters.suggestedLatency = Pa_GetDeviceInfo(outputParameters.device)->defaultLowOutputLatency;
+ outputParameters.hostApiSpecificStreamInfo = NULL;
//LOG(INFO) << "OUTPUT LATENCY: " << outputParameters.suggestedLatency;
latency_ = int64_t(outputParameters.suggestedLatency * 1000.0);
@@ -100,10 +99,10 @@ void Speaker::_open(int fsize, int sample, int channels) {
&stream_,
NULL,
&outputParameters,
- sample, // Sample rate
- 256, // Size of single frame
+ sample, // Sample rate
+ 960, // Size of single frame
paNoFlag,
- (channels == 1) ? pa_speaker_callback<ftl::audio::MonoBuffer16<2000>> : pa_speaker_callback<ftl::audio::StereoBuffer16<2000>>,
+ (channels == 1) ? pa_speaker_callback<ftl::audio::MonoBufferF<2000>> : pa_speaker_callback<ftl::audio::StereoBufferF<2000>>,
this->buffer_
);
@@ -130,15 +129,29 @@ void Speaker::_open(int fsize, int sample, int channels) {
}
void Speaker::queue(int64_t ts, ftl::audio::Frame &frame) {
- auto &audio = frame.get<ftl::audio::Audio>((frame.hasChannel(Channel::AudioStereo)) ? Channel::AudioStereo : Channel::AudioMono);
+ const auto &audio = frame.get<std::list<ftl::audio::Audio>>
+ ((frame.hasChannel(Channel::AudioStereo)) ? Channel::AudioStereo : Channel::AudioMono);
+
+ if (!buffer_) {
+ _open(960, 48000, (frame.hasChannel(Channel::AudioStereo)) ? 2 : 1);
+ }
+ if (!buffer_) return;
+ //LOG(INFO) << "Buffer Fullness (" << ts << "): " << buffer_->size() << " - " << audio.size();
+ for (const auto &d : audio) {
+ buffer_->write(d.data());
+ }
+ //LOG(INFO) << "Audio delay: " << buffer_.delay() << "s";
+}
+
+void Speaker::queue(int64_t ts, const ftl::audio::Audio &d) {
if (!buffer_) {
- _open(256, frame.getSettings().sample_rate, frame.getSettings().channels);
+ _open(960, 48000, 2);
}
if (!buffer_) return;
//LOG(INFO) << "Buffer Fullness (" << ts << "): " << buffer_->size() << " - " << audio.size();
- buffer_->write(audio.data());
+ buffer_->write(d.data());
//LOG(INFO) << "Audio delay: " << buffer_.delay() << "s";
}
@@ -148,6 +161,16 @@ void Speaker::setDelay(int64_t ms) {
if (d < 0.0f) d = 0.001f; // Clamp to 0 delay (not ideal to be exactly 0)
if (buffer_) {
buffer_->setDelay(d);
- //LOG(INFO) << "Audio delay: " << buffer_->delay();
+ LOG(INFO) << "Audio delay: " << buffer_->delay();
}
}
+
+void Speaker::setVolume(float value) {
+ // TODO: adjust volume using system mixer
+ volume_ = std::max(0.0f, std::min(1.0f, value));
+ if (buffer_) buffer_->setGain(volume_);
+}
+
+float Speaker::volume() {
+ return volume_;
+}
diff --git a/components/audio/test/CMakeLists.txt b/components/audio/test/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f1ab14fb0922e8c91e16220f4d8726d82d5e9da9
--- /dev/null
+++ b/components/audio/test/CMakeLists.txt
@@ -0,0 +1,11 @@
+### OpenCV Codec Unit ################################################################
+add_executable(mixer_unit
+$<TARGET_OBJECTS:CatchTest>
+ mixer_unit.cpp
+)
+target_include_directories(mixer_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
+target_link_libraries(mixer_unit
+ Threads::Threads ${OS_LIBS} ftlcommon)
+
+
+add_test(MixerUnitTest mixer_unit)
diff --git a/components/audio/test/mixer_unit.cpp b/components/audio/test/mixer_unit.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..dc98685be903634d20f570b2d48f43ea7bf90f49
--- /dev/null
+++ b/components/audio/test/mixer_unit.cpp
@@ -0,0 +1,141 @@
+#include "catch.hpp"
+#include <ftl/audio/mixer.hpp>
+
+using ftl::audio::StereoMixerF;
+
+TEST_CASE("Audio Mixer Stereo Float", "") {
+ SECTION("Add two in sync tracks") {
+ auto mixer = std::make_unique<StereoMixerF<100>>();
+
+ mixer->add("Track1");
+ mixer->add("Track2");
+
+ // Three 960 sample stereo frames
+ std::vector<float> in1(960*2*3);
+ std::vector<float> in2(960*2*3);
+
+ for (int i=0; i<960*2*3; ++i) in1[i] = float(i)+1.0f;
+ for (int i=0; i<960*2*3; ++i) in2[i] = float(i)+2.0f;
+
+ mixer->write(0, in1);
+ mixer->write(1, in2);
+ mixer->mix();
+
+ REQUIRE( mixer->writePosition() == 3 );
+ REQUIRE( mixer->readPosition() == 0 );
+
+ // Read one of the three valid frames
+ std::vector<float> out;
+ mixer->read(out, 1);
+ bool correct = true;
+
+ // Check all values are correct
+ for (int i=0; i<960*2*1; ++i) {
+ float e = float(i)+1.0f + float(i)+2.0f;
+ correct &= int(e) == int(out[i]);
+ }
+
+ REQUIRE( correct );
+ }
+
+ SECTION("Add two out of sync tracks") {
+ auto mixer = std::make_unique<StereoMixerF<100>>();
+
+ mixer->add("Track1");
+ mixer->add("Track2");
+
+ // Three 960 sample stereo frames
+ std::vector<float> in1(960*2*3);
+ std::vector<float> in2(960*2*2);
+
+ for (int i=0; i<960*2*3; ++i) in1[i] = float(i)+1.0f;
+ for (int i=0; i<960*2*2; ++i) in2[i] = float(i)+2.0f;
+
+ mixer->write(0, in1);
+ mixer->write(1, in2);
+ mixer->mix();
+
+ REQUIRE( mixer->writePosition() == 2 );
+ REQUIRE( mixer->readPosition() == 0 );
+
+ // Read one of the three valid frames
+ std::vector<float> out;
+ mixer->read(out, 2);
+ bool correct = true;
+
+ // Check all values are correct
+ for (int i=0; i<960*2*2; ++i) {
+ float e = float(i)+1.0f + float(i)+2.0f;
+ correct &= int(e) == int(out[i]);
+ }
+
+ REQUIRE( correct );
+
+ // Now add final frame
+ std::vector<float> in3(960*2*1);
+ for (int i=0; i<960*2*1; ++i) in3[i] = float(i)+1.0f;
+
+ mixer->write(1, in3);
+ mixer->mix();
+
+ REQUIRE( mixer->writePosition() == 3 );
+ REQUIRE( mixer->readPosition() == 2 );
+
+ mixer->read(out, 1);
+
+ // Check all values are correct
+ for (int i=0; i<960*2*1; ++i) {
+ float e = float(i)+1.0f + float(i+960*2*2)+1.0f;
+ correct &= int(e) == int(out[i]);
+ }
+
+ REQUIRE( correct );
+ }
+}
+
+TEST_CASE("Audio Mixer Stereo Float Dynamic Tracks", "") {
+ SECTION("Add one track after write") {
+ auto mixer = std::make_unique<StereoMixerF<100>>();
+
+ mixer->add("Track1");
+
+ // Three 960 sample stereo frames
+ std::vector<float> in1(960*2*3);
+ for (int i=0; i<960*2*3; ++i) in1[i] = float(i)+1.0f;
+
+ mixer->write(0, in1);
+ mixer->mix();
+
+ REQUIRE( mixer->writePosition() == 3 );
+ REQUIRE( mixer->readPosition() == 0 );
+
+ std::vector<float> in2(960*2*3);
+ for (int i=0; i<960*2*3; ++i) in2[i] = float(i)+2.0f;
+
+ mixer->add("Track2");
+ mixer->write(0, in1);
+ mixer->write(1, in2);
+ mixer->mix();
+
+ REQUIRE( mixer->writePosition() == 6 );
+ REQUIRE( mixer->readPosition() == 0 );
+ REQUIRE( mixer->frames() == 6 );
+
+ // Read one of the three valid frames
+ std::vector<float> out;
+ mixer->read(out, mixer->frames());
+ bool correct = true;
+
+ // Check all values are correct
+ for (int i=0; i<960*2*3; ++i) {
+ float e = float(i)+1.0f;
+ correct &= int(e) == int(out[i]);
+ }
+ for (int i=960*2*3; i<960*2*6; ++i) {
+ float e = float(i-960*2*3)+1.0f + float(i-960*2*3)+2.0f;
+ correct &= int(e) == int(out[i]);
+ }
+
+ REQUIRE( correct );
+ }
+}
diff --git a/components/calibration/CMakeLists.txt b/components/calibration/CMakeLists.txt
index 00faed0b6a4c0cd5292048d8580fc6cbc0657d63..1f619a6e0a40fc902c67b463bf1f27b766354b49 100644
--- a/components/calibration/CMakeLists.txt
+++ b/components/calibration/CMakeLists.txt
@@ -1,15 +1,21 @@
set(CALIBSRC
src/parameters.cpp
+ src/extrinsic.cpp
+ src/structures.cpp
+ src/visibility.cpp
+ src/object.cpp
+ src/stereorectify.cpp
)
if (WITH_CERES)
list(APPEND CALIBSRC src/optimize.cpp)
+ set_source_files_properties(src/optimize.cpp PROPERTIES COMPILE_FLAGS -O3)
endif()
add_library(ftlcalibration ${CALIBSRC})
target_include_directories(ftlcalibration
- PUBLIC
+ PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
PRIVATE
@@ -17,7 +23,8 @@ target_include_directories(ftlcalibration
${OpenCV_INCLUDE_DIRS}
)
-target_link_libraries(ftlcalibration ftlcommon Threads::Threads ${OpenCV_LIBS} Eigen3::Eigen ceres)
+# ftlcodecs required for ftl::data::Channel
+target_link_libraries(ftlcalibration ftlcommon ftlcodecs Threads::Threads ${OpenCV_LIBS} Eigen3::Eigen ceres)
if (BUILD_TESTS)
ADD_SUBDIRECTORY(test)
diff --git a/components/calibration/include/ftl/calibration.hpp b/components/calibration/include/ftl/calibration.hpp
index be7533631af984486a99ed30fe14a141b9f28195..0a6d98ca066925b40e4e78fa89f4dd663e6d9d55 100644
--- a/components/calibration/include/ftl/calibration.hpp
+++ b/components/calibration/include/ftl/calibration.hpp
@@ -1,2 +1,6 @@
+
#include "calibration/parameters.hpp"
#include "calibration/optimize.hpp"
+#include "calibration/extrinsic.hpp"
+#include "calibration/structures.hpp"
+#Include "calibration/object.hpp"
diff --git a/components/calibration/include/ftl/calibration/extrinsic.hpp b/components/calibration/include/ftl/calibration/extrinsic.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..645674ddba6208fcc5f35fa9e014e87452aee511
--- /dev/null
+++ b/components/calibration/include/ftl/calibration/extrinsic.hpp
@@ -0,0 +1,268 @@
+#pragma once
+
+#include <ftl/utility/msgpack.hpp>
+
+#include <ftl/calibration/visibility.hpp>
+#include <ftl/calibration/structures.hpp>
+#include <ftl/calibration/optimize.hpp>
+#include <opencv2/core.hpp>
+
+#include <ftl/utility/msgpack.hpp>
+
+#include <set>
+
+namespace ftl {
+namespace calibration {
+
+/**
+ * Helper for saving data from multiple cameras and sets image points. Each
+ * set of images dosn't have to be complete (all cameras included).
+ *
+ * Implementation limit: maximum number of cameras limited to 64; Valid camera
+ * indices between 0 and 63; other values are UB!
+ *
+ * Template parameter float or double.
+ */
+template<typename T>
+class CalibrationPoints {
+public:
+ struct Points {
+ // camera index
+ uint64_t cameras;
+ // object index
+ unsigned int object;
+ // points in image coordinates, camera index as key
+ std::map<unsigned int, std::vector<cv::Point_<T>>> points;
+ // triangulated points, camera pair as map key
+ std::map<std::pair<unsigned int, unsigned int>,
+ std::vector<cv::Point3_<T>>> triangulated;
+
+ bool has(unsigned int c) const { return (cameras & (uint64_t(1) << c)); }
+
+ MSGPACK_DEFINE(cameras, object, points, triangulated);
+ };
+
+ CalibrationPoints() : count_(0), visibility_(64), current_{0, ~(unsigned int)(0), {}, {}} {};
+
+ /** Set calibration target. Can be changed after calling and before adding
+ * any points next(). */
+
+ /* 2d (planar) target. Returns object ID */
+ unsigned int setObject(const std::vector<cv::Point_<T>> &target);
+ /* 3d target. Returns object ID */
+ unsigned int setObject(const std::vector<cv::Point3_<T>> &target);
+
+ /* Add points for current set. Points can only be set once for each set. */
+ void addPoints(unsigned int c, const std::vector<cv::Point_<T>>& points);
+
+ /** Continue next set of images. Target must be set. If no points were added
+ * next() is no-op. */
+ void next();
+
+ /** Set triangulated points. Note: flat input.
+ * @param c_base base camera (origin to point coordinates)
+ * @param c_match match camera
+ * @param points points
+ * @param idx index offset, if more image points are added, adjust idx
+ * accordingly (value of getPointsCount() before adding new
+ * points).
+ */
+ void setTriangulatedPoints(unsigned int c_base, unsigned int c_match, const std::vector<cv::Point3_<T>>& points, int idx=0);
+ void resetTriangulatedPoints();
+ /** TODO: same as above but non-flat input
+ void setTriangulatedPoints(unsigned int c_base, unsigned int c_match, const std::vector<std::vector<cv::Point3_<T>>>& points, int idx=0);
+ */
+
+ /** Clear current set of points (clears queue for next()) */
+ void clear();
+
+ /** Get count (how many sets) for camera(s). */
+ int getCount(unsigned int c);
+ int getCount(std::vector<unsigned int> cs);
+
+ /** total number of points */
+ int getPointsCount();
+
+ /** Get intersection of points for given cameras. Returns vector of Points
+ * contain object and vector of image points. Image points in same order as
+ * in input parameter. */
+ std::vector<std::vector<cv::Point_<T>>> getPoints(const std::vector<unsigned int> &cameras, unsigned int object);
+
+ std::vector<cv::Point3_<T>> getObject(unsigned int);
+
+ const Visibility& visibility();
+
+ /** Get all points. See Points struct. */
+ const std::vector<Points>& all() { return points_; }
+
+protected:
+ bool hasCamera(unsigned int c);
+ void setCamera(unsigned int c);
+
+private:
+ int count_;
+ Visibility visibility_;
+ Points current_;
+ std::vector<Points> points_;
+ std::vector<std::vector<cv::Point3_<T>>> objects_;
+
+public:
+ MSGPACK_DEFINE(count_, visibility_, current_, points_, objects_);
+};
+
+/**
+ * Same as OpenCV's recoverPose(), but does not assume same intrinsic paramters
+ * for both cameras.
+ *
+ * @todo Write unit tests to check that intrinsic parameters work as expected.
+ */
+int recoverPose(const cv::Mat &E, const std::vector<cv::Point2d> &_points1,
+ const std::vector<cv::Point2d> &_points2, const cv::Mat &_cameraMatrix1,
+ const cv::Mat &_cameraMatrix2, cv::Mat &_R, cv::Mat &_t,
+ double distanceThresh, cv::Mat &triangulatedPoints);
+
+
+/** @brief Calibrate camera pair.
+ *
+ * Alternative to cv::StereoCalibrate.
+ *
+ * Essential matrix is estimated using all point correspondencies, and pose is
+ * calculated with OpenCV's recoverPose() (modification to allow different
+ * intrinsic parameters for each camera).
+ *
+ * Non-linear optimization is used to
+ * determine scale from object points and bundle adjustment is applied to points
+ * and extrisnic parameters. Calibration target shape is also included.
+ *
+ * @param K1 intrinsic matrix for first camera
+ * @param D1 distortion coefficients for first camera
+ * @param K2 intrinsic matrix for second camera
+ * @param D2 distortion coefficients for second camera
+ * @param points1 image points obeserved in first camera
+ * @param points2 image points observed in second camera
+ * @param object calibration target points (once)
+ * @param R (out) rotation matrix (camera 1 to 2)
+ * @param t (out) translation vector (camera 1 to 2)
+ * @param points_out triangulated points
+ * @param optimize optimize points
+ *
+ * @returns RMS reprojection error
+ *
+ * Following conditions must hold for input parameters: (points1.size() ==
+ * points2.size()) and (points1.size() % object_points.size() == 0).
+ */
+double calibratePair(const cv::Mat &K1, const cv::Mat &D1,
+ const cv::Mat &K2, const cv::Mat &D2, const std::vector<cv::Point2d> &points1,
+ const std::vector<cv::Point2d> &points2, const std::vector<cv::Point3d> &object_points,
+ cv::Mat &R, cv::Mat &t, std::vector<cv::Point3d> &points_out, bool optimize=true);
+
+class ExtrinsicCalibration {
+public:
+ /** add a single camera (if valid calibration). Returns index of camera. */
+ unsigned int addCamera(const CalibrationData::Calibration &);
+
+ /** Add stereo camera */
+ unsigned int addStereoCamera(const CalibrationData::Calibration &, const CalibrationData::Calibration &);
+
+ const CalibrationData::Intrinsic& intrinsic(unsigned int c);
+ const CalibrationData::Extrinsic& extrinsic(unsigned int c);
+ const CalibrationData::Calibration& calibration(unsigned int c);
+ const CalibrationData::Calibration& calibrationOptimized(unsigned int c);
+
+ /** Add points/targets; Only one calibration target supported!
+ *
+ * TODO: Support multiple calibration targets: calibrate pair without
+ * optimization or support multiple calibration objects there. Input at the
+ * moment is flat vector, need to group by calibration target size (similar
+ * to cv::stereoCalibrate/cv::calibrateCamera).
+ */
+ CalibrationPoints<double>& points() { return points_; }
+
+ /* set bundle adjustment options */
+ void setOptions(ftl::calibration::BundleAdjustment::Options options) { options_ = options; }
+ ftl::calibration::BundleAdjustment::Options& options() { return options_; }
+
+ /** Number of cameras added */
+ unsigned int camerasCount() { return calib_.size(); }
+
+ /** use existing extrinsic calibration for camera */
+ void setUseExtrinsic(unsigned int c, bool v) { is_calibrated_.at(c) = v; }
+ /** is existing extrinsic parameters used for given camera */
+ bool useExtrinsic(unsigned int c) { return is_calibrated_.at(c); };
+
+ /** status message */
+ std::string status();
+
+ /** run calibration, returns reprojection error */
+ double run();
+
+ double reprojectionError(unsigned int c); // reprojection error rmse
+ double reprojectionError(); // total reprojection error rmse
+
+ /** debug methods */
+ bool fromFile(const std::string& fname);
+ bool toFile(const std::string& fname); // should return new instance...
+
+ MSGPACK_DEFINE(points_, mask_, pairs_, calib_, is_calibrated_);
+
+protected:
+ /** Calculate initial pose and triangulate points for two cameras **/
+ void calculatePairPose(unsigned int c1, unsigned int c2);
+
+ /** Only triangulate points using existing calibration */
+ void triangulate(unsigned int c1, unsigned int c2);
+
+ /** (1) Initial pairwise calibration and triangulation. */
+ void calculatePairPoses();
+
+ /** (2) Calculate initial poses from pairs for non calibrated cameras */
+ void calculateInitialPoses();
+
+ /** (3) Bundle adjustment on initial poses and triangulations. */
+ double optimize();
+
+ /** Select optimal camera for chains. Optimal camera has most visibility and
+ * is already calibrated (if any initial calibrations included).
+ */
+ int selectOptimalCamera();
+
+private:
+ void updateStatus_(std::string);
+
+ std::vector<CalibrationData::Calibration> calib_;
+ std::vector<CalibrationData::Calibration> calib_optimized_;
+ ftl::calibration::BundleAdjustment::Options options_;
+
+ CalibrationPoints<double> points_;
+ std::set<std::pair<unsigned int, unsigned int>> mask_;
+ std::map<std::pair<unsigned int, unsigned int>, std::tuple<cv::Mat, cv::Mat, double>> pairs_;
+
+ // true if camera already has valid calibration; initial pose estimation is
+ // skipped (and points are directly triangulated)
+ std::vector<bool> is_calibrated_;
+
+ // prune points which have higher reprojection error than given threshold
+ // and re-run bundle adjustment. (might be able to remove some problematic
+ // observations from extreme angles etc.)
+ std::vector<double> prune_observations_ = {2.5, 2.0, 2.0, 1.0};
+
+ int min_obs_ = 64; // minimum number of observations required for pair calibration
+ // TODO: add map {c1,c2}Â for existing calibration which is used if available.
+ //
+ std::shared_ptr<std::string> status_;
+
+ std::vector<double> rmse_;
+ double rmse_total_;
+
+ // Theshold for point to be skipped (m); absdiff between minimum and maximum
+ // values of each coordinate axis in all triangulated points is calculated
+ // and l2 norm is compared against threshold value. Optimization uses median
+ // coordinate values; threshold can be fairly big.
+ static constexpr float threshold_bad_ = 0.67;
+ // theshold for warning message (% of points discarded)
+ static constexpr float threhsold_warning_ = 0.1;
+};
+
+
+} // namespace calibration
+}
diff --git a/components/calibration/include/ftl/calibration/object.hpp b/components/calibration/include/ftl/calibration/object.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..40e42b9ff65f11128d128333f961ecb9fb19abf0
--- /dev/null
+++ b/components/calibration/include/ftl/calibration/object.hpp
@@ -0,0 +1,52 @@
+#pragma once
+
+#include <opencv2/core/mat.hpp>
+#include <opencv2/aruco.hpp>
+
+/** Calibration objects */
+
+namespace ftl
+{
+namespace calibration
+{
+
+class CalibrationObject {
+public:
+ virtual int detect(cv::InputArray, std::vector<cv::Point2d>&, const cv::Mat& K=cv::Mat(), const cv::Mat& D=cv::Mat()) = 0;
+ virtual std::vector<cv::Point3d> object() = 0;
+};
+
+class ChessboardObject : public CalibrationObject {
+public:
+ ChessboardObject(int rows=18, int cols=25, double square_size=0.015);
+ virtual int detect(cv::InputArray, std::vector<cv::Point2d>&, const cv::Mat& K=cv::Mat(), const cv::Mat& D=cv::Mat());
+ std::vector<cv::Point3d> object() override;
+
+ cv::Size chessboardSize();
+ double squareSize();
+
+private:
+ void init();
+ cv::Size chessboard_size_;
+ double square_size_;
+ int flags_;
+ std::vector<cv::Point3d> object_points_;
+};
+
+class ArUCoObject : public CalibrationObject {
+public:
+ ArUCoObject(cv::aruco::PREDEFINED_DICTIONARY_NAME dictionary = cv::aruco::DICT_6X6_100, float baseline = 0.25f, float tag_size = 0.15, int id1=0, int id2=1);
+ virtual int detect(cv::InputArray, std::vector<cv::Point2d>&, const cv::Mat& K=cv::Mat(), const cv::Mat& D=cv::Mat());
+ std::vector<cv::Point3d> object() override;
+
+private:
+ cv::Ptr<cv::aruco::Dictionary> dict_;
+ cv::Ptr<cv::aruco::DetectorParameters> params_;
+ float baseline_;
+ float tag_size_;
+ int id1_;
+ int id2_;
+};
+
+} // namespace calibration
+} // namespace ft
diff --git a/components/calibration/include/ftl/calibration/optimize.hpp b/components/calibration/include/ftl/calibration/optimize.hpp
index ac122f517e07bece99c84e5ec0a48912681ed861..e6bb0b01173bc00e8ae6a44eac0057868c329491 100644
--- a/components/calibration/include/ftl/calibration/optimize.hpp
+++ b/components/calibration/include/ftl/calibration/optimize.hpp
@@ -9,7 +9,6 @@
#include <ftl/config.h>
-#include <ceres/ceres.h>
#include <opencv2/core/core.hpp>
// BundleAdjustment uses Point3d instances via double*
@@ -18,11 +17,88 @@ static_assert(std::is_standard_layout<cv::Point2d>());
static_assert(sizeof(cv::Point3d) == 3*sizeof(double));
static_assert(std::is_standard_layout<cv::Point3d>());
+namespace ceres {
+ struct Problem;
+}
+
namespace ftl {
namespace calibration {
+/**
+ * Camera paramters (Ceres)
+ */
+struct Camera {
+ Camera() {}
+ Camera(const cv::Mat& K, const cv::Mat& D, const cv::Mat& R, const cv::Mat& tvec, cv::Size size);
+ Camera(const CalibrationData::Calibration& calib);
+
+ CalibrationData::Intrinsic intrinsic() const;
+ CalibrationData::Extrinsic extrinsic() const;
+
+ void setRotation(const cv::Mat& R);
+ void setTranslation(const cv::Mat& tvec);
+ void setExtrinsic(const cv::Mat& R, const cv::Mat& t) {
+ setRotation(R);
+ setTranslation(t);
+ }
+
+ void setIntrinsic(const cv::Mat& K, cv::Size sz);
+ void setDistortion(const cv::Mat &D);
+ void setIntrinsic(const cv::Mat& K, const cv::Mat& D, cv::Size sz) {
+ setIntrinsic(K, sz);
+ setDistortion(D);
+ }
+
+ cv::Mat intrinsicMatrix() const;
+ cv::Mat distortionCoefficients() const;
+
+ cv::Mat rvec() const;
+ cv::Mat tvec() const;
+ cv::Mat rmat() const;
+
+ cv::Mat extrinsicMatrix() const;
+ cv::Mat extrinsicMatrixInverse() const;
+
+ void toQuaternion();
+ void toAngleAxis();
+
+ cv::Size size;
+
+ const static int n_parameters = 18;
+ const static int n_distortion_parameters = 8;
+
+ double data[n_parameters] = {0.0};
+
+ enum Parameter {
+ ROTATION = 0,
+ Q1 = 0,
+ Q2 = 1,
+ Q3 = 2,
+ Q4 = 3,
+ TRANSLATION = 4,
+ TX = 4,
+ TY = 5,
+ TZ = 6,
+ F = 7,
+ CX = 8,
+ CY = 9,
+ DISTORTION = 10,
+ K1 = 10,
+ K2 = 11,
+ P1 = 12,
+ P2 = 13,
+ K3 = 14,
+ K4 = 15,
+ K5 = 16,
+ K6 = 17
+ };
+};
+
#ifdef HAVE_CERES
+/** Project point using camera model implemented for Ceres */
+cv::Point2d projectPoint(const Camera& camera, const cv::Point3d &p);
+
/**
* @brief Optimize scale.
* @param object Reference object points
@@ -41,9 +117,6 @@ double optimizeScale(const std::vector<cv::Point3d>& object, std::vector<cv::Poi
* - rotation and translation rx, ry, rz, tx, ty, tz,
* - focal legth and principal point: f, cx, cy
* - radial distortion (first three cofficients): k1, k2, k3
- *
- * @note: Distortion paramters are used in reprojection error, but they are
- * not not optimized.
*/
class BundleAdjustment {
public:
@@ -59,26 +132,34 @@ public:
Loss loss = Loss::SQUARED;
+ bool use_nonmonotonic_steps = false;
+
+ // use quaternion rotation
+ bool use_quaternion = true;
+
// fix_camera_extrinsic and fix_camera_intrinsic overlap with some of
// the generic options. The more generic setting is always used, the
// specific extrinsic/intrinsic options are applied on top of those.
// fix extrinsic paramters for cameras
- std::vector<int> fix_camera_extrinsic = {};
+ std::set<int> fix_camera_extrinsic = {};
// fix intrinsic paramters for cameras
- std::vector<int> fix_camera_intrinsic = {};
+ std::set<int> fix_camera_intrinsic = {};
bool fix_focal = false;
bool fix_principal_point = false;
/**
* @todo Radial distortion must be monotonic. This constraint is not
- * included in the model, thus distortion parameters are always
- * fixed.
+ * included in the model.
*/
- // distortion coefficient optimization is not supported
+ /// fix all distortion coefficients to constant (initial values)
bool fix_distortion = true;
+ /// use distortion coefficients k4, k5, and k6; if false, set to zero
+ bool rational_model = true;
+ /// distortion set to zero
+ bool zero_distortion = false;
bool optimize_intrinsic = true;
bool optimize_motion = true;
@@ -90,7 +171,7 @@ public:
};
/**
- * Add camera(s)
+ * Add camera(s). Stored as pointers. TODO: copy instead
*/
void addCamera(Camera &K);
void addCameras(std::vector<Camera> &K);
@@ -99,39 +180,53 @@ public:
* @brief Add points
*/
void addPoint(const std::vector<bool>& visibility, const std::vector<cv::Point2d>& observations, cv::Point3d& point);
+ /**
+ * @brief Vector for each camera TODO: verify this works
+ */
void addPoints(const std::vector<std::vector<bool>>& visibility, const std::vector<std::vector<cv::Point2d>>& observations,
std::vector<cv::Point3d>& points);
/**
- * @brief Add points, all assumed visible
+ * @brief Add points, all assumed visible. Values copied.
*/
void addPoint(const std::vector<cv::Point2d>& observations, cv::Point3d& point);
void addPoints(const std::vector<std::vector<cv::Point2d>>& observations, std::vector<cv::Point3d>& points);
+ /** TODO: estimate pose for each view which to optimize */
void addObject(const std::vector<cv::Point3d>& object_points);
/** @brief Perform bundle adjustment with custom options.
*/
void run(const BundleAdjustment::Options& options);
+ /** @brief Get optimized points
+ *
+ */
+ std::vector<cv::Point3d> getPoints();
+
/** @brief Perform bundle adjustment using default options
*/
void run();
- /** @brief Calculate MSE error (for one camera)
+ /** @brief Calculate RMSE error (for one camera)
*/
double reprojectionError(const int camera) const;
- /** @brief Calculate MSE error for all cameras
+ /** @brief Calculate RMSE error for all cameras
*/
double reprojectionError() const;
+ /**/
+ int removeObservations(double threshold);
+
+ std::vector<cv::Point3d> points();
+
protected:
- double* getCameraPtr(int i) { return cameras_[i]->data; }
+ double* getCameraPtr(int i) { return cameras_.at(i)->data; }
- /** @brief Calculate MSE error
+ /** @brief Calculate squared error
*/
- void _reprojectionErrorMSE(const int camera, double &error, double &npoints) const;
+ void _reprojectionErrorSE(const int camera, double &error, double &npoints) const;
/** @brief Set camera parametrization (fixed parameters/cameras)
*/
@@ -140,6 +235,8 @@ protected:
void _buildProblem(ceres::Problem& problem, const BundleAdjustment::Options& options);
void _buildBundleAdjustmentProblem(ceres::Problem& problem, const BundleAdjustment::Options& options);
+
+ // remove?
void _buildLengthProblem(ceres::Problem& problem, const BundleAdjustment::Options& options);
private:
@@ -150,8 +247,8 @@ private:
// pixel coordinates: x, y
std::vector<cv::Point2d> observations;
- // world coordinates: x, y, z
- double* point;
+ // point in world coordinates
+ cv::Point3d point;
};
// group of points with known structure; from idx_start to idx_end
diff --git a/components/calibration/include/ftl/calibration/parameters.hpp b/components/calibration/include/ftl/calibration/parameters.hpp
index f261506570921b8c243855e6ace9ea6b2fcfdd95..d0ed5ec4a4ab176482667f91e4a7357e8afa65df 100644
--- a/components/calibration/include/ftl/calibration/parameters.hpp
+++ b/components/calibration/include/ftl/calibration/parameters.hpp
@@ -2,66 +2,13 @@
#ifndef _FTL_CALIBRATION_PARAMETERS_HPP_
#define _FTL_CALIBRATION_PARAMETERS_HPP_
+#include <ftl/calibration/structures.hpp>
+
#include <opencv2/core/core.hpp>
namespace ftl {
namespace calibration {
-/**
- * Camera paramters
- */
-struct Camera {
- Camera() {}
- Camera(const cv::Mat& K, const cv::Mat& D, const cv::Mat& R, const cv::Mat& tvec);
-
- void setRotation(const cv::Mat& R);
- void setTranslation(const cv::Mat& tvec);
- void setExtrinsic(const cv::Mat& R, const cv::Mat& t) {
- setRotation(R);
- setTranslation(t);
- }
-
- void setIntrinsic(const cv::Mat& K);
- void setDistortion(const cv::Mat &D);
- void setIntrinsic(const cv::Mat& K, const cv::Mat& D) {
- setIntrinsic(K);
- setDistortion(D);
- }
-
- cv::Mat intrinsicMatrix() const;
- cv::Mat distortionCoefficients() const;
-
- cv::Mat rvec() const;
- cv::Mat tvec() const;
- cv::Mat rmat() const;
-
- cv::Mat extrinsicMatrix() const;
- cv::Mat extrinsicMatrixInverse() const;
-
- const static int n_parameters = 12;
- const static int n_distortion_parameters = 3;
-
- double data[n_parameters] = {0.0};
-
- enum Parameter {
- ROTATION = 0,
- RX = 0,
- RY = 1,
- RZ = 2,
- TRANSLATION = 3,
- TX = 3,
- TY = 4,
- TZ = 5,
- F = 6,
- CX = 7,
- CY = 8,
- DISTORTION = 9,
- K1 = 9,
- K2 = 10,
- K3 = 11
- };
-};
-
namespace validate {
/**
@@ -80,11 +27,11 @@ bool cameraMatrix(const cv::Mat &M);
* @param D distortion coefficients
* @param size resolution
* @note Tangential and prism distortion coefficients are not validated.
- *
+ *
* Radial distortion is always monotonic for real lenses and distortion
* function has to be bijective. This is verified by evaluating the distortion
* function for integer values from 0 to sqrt(width^2+height^2).
- *
+ *
* Camera model documented in
* https://docs.opencv.org/master/d9/d0c/group__calib3d.html#details
*/
@@ -92,11 +39,9 @@ bool distortionCoefficients(const cv::Mat &D, cv::Size size);
}
-
namespace transform {
-// TODO: Some of the methods can be directly replace with OpenCV
-// (opencv2/calib3d.hpp)
+// TODO: Some of the methods can be directly replace with OpenCV (opencv2/calib3d.hpp)
/**
* @brief Get rotation matrix and translation vector from transformation matrix.
@@ -126,19 +71,20 @@ inline void inverse(cv::Mat &R, cv::Mat &t) {
}
/**
- * @brief Inverse transform inplace
+ * @brief Inverse transform
* @param T transformation matrix (4x4)
*/
-inline void inverse(cv::Mat &T) {
+[[nodiscard]] inline cv::Mat inverse(const cv::Mat &T) {
cv::Mat rmat;
cv::Mat tvec;
getRotationAndTranslation(T, rmat, tvec);
- T = cv::Mat::eye(4, 4, CV_64FC1);
+ cv::Mat T_ = cv::Mat::eye(4, 4, CV_64FC1);
- T(cv::Rect(3, 0, 1, 1)) = -rmat.col(0).dot(tvec);
- T(cv::Rect(3, 1, 1, 1)) = -rmat.col(1).dot(tvec);
- T(cv::Rect(3, 2, 1, 1)) = -rmat.col(2).dot(tvec);
- T(cv::Rect(0, 0, 3, 3)) = rmat.t();
+ T_(cv::Rect(3, 0, 1, 1)) = -rmat.col(0).dot(tvec);
+ T_(cv::Rect(3, 1, 1, 1)) = -rmat.col(1).dot(tvec);
+ T_(cv::Rect(3, 2, 1, 1)) = -rmat.col(2).dot(tvec);
+ T_(cv::Rect(0, 0, 3, 3)) = rmat.t();
+ return T_;
}
inline cv::Point3d apply(const cv::Point3d& point, const cv::InputArray& R, const cv::InputArray& t) {
@@ -160,10 +106,10 @@ inline cv::Point3d apply(const cv::Point3d& point, const cv::InputArray& T) {
/**
* @brief Scale camera intrinsic matrix
- * @param size_new New resolution
* @param size_old Original (camera matrix) resolution
+ * @param size_new New resolution
*/
-cv::Mat scaleCameraMatrix(const cv::Mat &K, const cv::Size &size_new, const cv::Size &size_old);
+[[nodiscard]] cv::Mat scaleCameraMatrix(const cv::Mat &K, const cv::Size &size_old, const cv::Size &size_new);
/**
* @brief Calculate MSE reprojection error
diff --git a/components/calibration/include/ftl/calibration/stereorectify.hpp b/components/calibration/include/ftl/calibration/stereorectify.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..47586b0ed19eabfd4296291723cc854cadea022d
--- /dev/null
+++ b/components/calibration/include/ftl/calibration/stereorectify.hpp
@@ -0,0 +1,51 @@
+#pragma once
+
+#include <opencv2/core.hpp>
+#include <ftl/calibration/structures.hpp>
+
+namespace ftl {
+namespace calibration {
+
+/** Stereo rectification parameters. Wrapper for cv::stereoRectify() */
+struct StereoRectify {
+ /** Calculate rectification parameters. c1 and c2 contain valid calibration
+ * (extrinsic parameters for translation from world to camera) */
+ StereoRectify(const CalibrationData::Calibration &c1, const CalibrationData::Calibration& c2, const cv::Size size={0, 0}, double alpha=0.0, int flags=0);
+
+ /** stereo pair baseline (same unit as extrinsic paramters) */
+ double baseline() const;
+
+ /** calculate maps (cv::remap()) for camera 1 */
+ void map1(cv::Mat &m1, cv::Mat &m2, int format=CV_16SC2);
+ /** calculate maps (cv::remap()) for camera 2 */
+ void map2(cv::Mat &m1, cv::Mat &m2, int format=CV_16SC2);
+
+ cv::Size size;
+ /** unrectified params */
+ cv::Mat K1;
+ cv::Mat K2;
+ cv::Mat distCoeffs1;
+ cv::Mat distCoeffs2;
+
+ /** 3x4 projection matrix for first camera */
+ cv::Mat P1;
+ /** 3x4 projection matrix for second camera */
+ cv::Mat P2;
+ /** rotation matrix for first camera (unrectified to rectified) */
+ cv::Mat R1;
+ /** rotation matrix for second camera (unrectified to rectified) */
+ cv::Mat R2;
+ /** disparity to depth matrix */
+ cv::Mat Q;
+ /** rotation from first camera to second camera (unrectified) */
+ cv::Mat R;
+ /** translation from first camera to second camera (unrectified) */
+ cv::Mat t;
+ /** largest ROI containing only valid pixels in rectified image for first camera */
+ cv::Rect roi1;
+ /** largest ROI containing only valid pixels in rectified image for second camera */
+ cv::Rect roi2;
+};
+
+}
+}
\ No newline at end of file
diff --git a/components/calibration/include/ftl/calibration/structures.hpp b/components/calibration/include/ftl/calibration/structures.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..37a9f3d97b181f1450e23de5f0c186db26ff2305
--- /dev/null
+++ b/components/calibration/include/ftl/calibration/structures.hpp
@@ -0,0 +1,151 @@
+#ifndef _FTL_CALIBRATION_STRUCTURES_HPP_
+#define _FTL_CALIBRATION_STRUCTURES_HPP_
+
+#include <ftl/utility/msgpack.hpp>
+#include <ftl/codecs/channels.hpp>
+
+namespace ftl {
+namespace calibration {
+
+struct CalibrationData {
+
+ struct Intrinsic {
+ friend CalibrationData;
+
+ /** 12 distortion coefficients. OpenCV also provides tilted camera model
+ * coefficients, but not used here. */
+ struct DistortionCoefficients {
+ friend CalibrationData;
+
+ DistortionCoefficients();
+
+ /**
+ * Access distortion coefficients, stored in OpenCV order. Out of
+ * bounds access is undefined.
+ *
+ * 0,1 r1-r2 radial distortion
+ * 2,3 p1-p2 tangential distortion
+ * 4,5,6,7 r3-r6 radial distortion
+ * 8,9,10,11 s1-s4 thin prism distortion
+ *
+ */
+ double& operator[](unsigned i);
+ double operator[](unsigned i) const;
+
+ /** are radial distortion values are for rational model */
+ bool rationalModel() const;
+ /** is thin prism model is used (s1-s4 set) */
+ bool thinPrism() const;
+
+ /**
+ * Return distortion parameters in cv::Mat. Shares same memory.
+ */
+ const cv::Mat Mat(int nparams = 12) const;
+ cv::Mat Mat(int nparams = 12);
+
+ private:
+ std::vector<double> data_;
+
+ public:
+ MSGPACK_DEFINE(data_);
+ };
+ Intrinsic();
+ Intrinsic(const cv::Mat &K, cv::Size sz);
+ Intrinsic(const cv::Mat &K, const cv::Mat &D, cv::Size sz);
+
+ /** New instance with scaled values for new resolution */
+ Intrinsic(const Intrinsic& other, cv::Size sz);
+
+ /* valid values (resolution is non-zero) */
+ bool valid() const;
+
+ /** horizontal field of view in degrees */
+ double fovx() const;
+ /** vertical field of view in degrees */
+ double fovy() const;
+ /** focal length in sensor size units */
+ double focal() const;
+ /** aspect ratio: fx/fy */
+ double aspectRatio() const;
+
+ /** Replace current values with new ones */
+ void set(const cv::Mat &K, cv::Size sz);
+ void set(const cv::Mat &K, const cv::Mat &D, cv::Size sz);
+
+ /** Camera matrix */
+ cv::Mat matrix() const;
+ /** Camera matrix (scaled) */
+ cv::Mat matrix(cv::Size) const;
+
+ cv::Size resolution;
+ double fx;
+ double fy;
+ double cx;
+ double cy;
+ DistortionCoefficients distCoeffs;
+
+ /** (optional) sensor size; Move elsehwere? */
+ cv::Size2d sensorSize;
+
+ MSGPACK_DEFINE(resolution, fx, fy, cx, cy, distCoeffs, sensorSize);
+ };
+ struct Extrinsic {
+ Extrinsic();
+ Extrinsic(const cv::Mat &T);
+ Extrinsic(cv::InputArray R, cv::InputArray t);
+
+ void set(const cv::Mat &T);
+ void set(cv::InputArray R, cv::InputArray t);
+
+ Extrinsic inverse() const;
+
+ /** valid calibration (values not NAN) */
+ bool valid() const;
+
+ /** get as a 4x4 matrix */
+ cv::Mat matrix() const;
+ /** get 3x3 rotation matrix */
+ cv::Mat rmat() const;
+
+ cv::Vec3d rvec = {NAN, NAN, NAN};
+ cv::Vec3d tvec = {NAN, NAN, NAN};
+ MSGPACK_DEFINE(rvec, tvec);
+ };
+
+ struct Calibration {
+ Intrinsic intrinsic;
+ Extrinsic extrinsic;
+
+ /** 4x4 projection matrix */
+ cv::Mat matrix();
+
+ MSGPACK_DEFINE(intrinsic, extrinsic);
+ };
+
+ CalibrationData() : enabled(false) {}
+ bool enabled;
+
+ [[nodiscard]]
+ static CalibrationData readFile(const std::string &path);
+ void writeFile(const std::string &path) const;
+
+ /** Get reference for channel. Create if doesn't exist. */
+ Calibration& get(ftl::codecs::Channel channel);
+ bool hasCalibration(ftl::codecs::Channel channel) const;
+
+ // TODO: identify cameras with unique ID string instead of channel.
+ std::map<ftl::codecs::Channel, Calibration> data;
+
+ /** Correction to be applied (inverse) to extrinsic parameters
+ * (calibrated to new origin); Applied to rectified pose at the moment
+ */
+ cv::Mat origin = cv::Mat::eye(4, 4, CV_64FC1);
+
+public:
+ MSGPACK_DEFINE(enabled, data, origin);
+};
+
+}
+}
+
+#endif
diff --git a/applications/calibration-ceres/src/visibility.hpp b/components/calibration/include/ftl/calibration/visibility.hpp
similarity index 72%
rename from applications/calibration-ceres/src/visibility.hpp
rename to components/calibration/include/ftl/calibration/visibility.hpp
index 31c86dca399e194bc81c7342065c75556461175d..ae1c2991b41b725fddd3e0d992b04ca44ccc9375 100644
--- a/applications/calibration-ceres/src/visibility.hpp
+++ b/components/calibration/include/ftl/calibration/visibility.hpp
@@ -5,6 +5,8 @@
#include <vector>
#include <string>
+#include <ftl/utility/msgpack.hpp>
+
namespace ftl {
namespace calibration {
@@ -14,15 +16,15 @@ namespace calibration {
template<typename T>
class Paths {
public:
- Paths(const std::vector<int> &previous, const std::vector<T> &distances);
+ Paths(int id, const std::vector<int> &previous, const std::vector<T> &distances);
/**
- * @brief Shortest path from node i. Same as to(i) in reverse order
+ * @brief Shortest path from node i.
*/
std::vector<int> from(int i) const;
/**
- * @brief Shortest to node i. Same as from(i) in reverse order.
+ * @brief Shortest to node i.
*/
std::vector<int> to(int i) const;
@@ -39,6 +41,7 @@ public:
std::string to_string() const;
private:
+ int id_; // node id
std::vector<int> previous_;
std::vector<T> distances_;
};
@@ -64,9 +67,20 @@ class Visibility {
template<typename T>
void update(const std::vector<T> &add);
+ void update(uint64_t add);
+
void mask(int a, int b);
void unmask(int a, int b);
+ int count(int camera) const;
+ int count(int camera1, int camera2) const;
+
+ // minimum counts and cameras
+ int min() const;
+ int max() const;
+ int argmax() const;
+ int argmin() const;
+
/**
* @brief Find most visibility shortest path to camera i
*/
@@ -74,15 +88,19 @@ class Visibility {
protected:
std::vector<int> neighbors(int i) const;
- int distance(int a, int b) const;
+ float distance(int a, int b) const;
private:
- int n_cameras_;
+ int n_cameras_; // number of cameras
+ int n_max_; // highest index used
// adjacency matrix
std::vector<std::vector<int>> graph_;
// masked values (mask_[i][j]) are not used
std::vector<std::vector<bool>> mask_;
+
+public:
+ MSGPACK_DEFINE(n_cameras_, n_max_, graph_, mask_);
};
}
diff --git a/components/calibration/src/extrinsic.cpp b/components/calibration/src/extrinsic.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5d5148b67732185ccf11580a16d12a38e8657043
--- /dev/null
+++ b/components/calibration/src/extrinsic.cpp
@@ -0,0 +1,856 @@
+#include <loguru.hpp>
+
+#include <ftl/exception.hpp>
+#include <ftl/calibration/optimize.hpp>
+#include <ftl/calibration/extrinsic.hpp>
+
+#include <fstream>
+#include <sstream>
+
+#include <opencv2/calib3d.hpp>
+
+////////////////////////////////////////////////////////////////////////////////
+
+/** check bit i in a */
+inline bool hasOne(uint64_t a, unsigned int i) {
+ return a & (uint64_t(1) << i);
+}
+
+/** all bits set in b are also set in a */
+inline bool hasAll(uint64_t a, uint64_t b) {
+ return (b & a) == b;
+}
+
+/** set bit i in a */
+inline void setOne(uint64_t &a, unsigned int i) {
+ a |= (uint64_t(1) << i);
+}
+
+/** get highest bit*/
+inline int hbit(uint64_t a) {
+#ifdef __GNUC__
+ return 64 - __builtin_clzll(a);
+#endif
+ int v = 1;
+ while (a >>= 1) { v++; }
+ return v;
+}
+
+inline int popcount(uint64_t bits) {
+ #if defined(_MSC_VER)
+ return __popcnt64(bits);
+ #elif defined(__GNUC__)
+ return __builtin_popcountl(bits);
+ #else
+ int count = 0;
+ while (bits != 0) {
+ bits = bits >> 1;
+ count += uint64_t(1) & bits;
+ }
+ return count;
+ #endif
+}
+
+// ==== CalibrationPoints ================================================
+
+namespace ftl {
+namespace calibration {
+
+template<typename T>
+void CalibrationPoints<T>::addPoints(unsigned int c, const std::vector<cv::Point_<T>>& points) {
+ if (hasCamera(c)) {
+ throw ftl::exception("Points already set for camera. "
+ "Forgot to call next()?");
+ }
+ if (current_.object == ~(unsigned int)(0)) {
+ throw ftl::exception("Target has be set before adding points.");
+ }
+
+ if (objects_[current_.object].size() != points.size()) {
+ throw ftl::exception("Number of points must cv::Match object points");
+ }
+
+ std::vector<cv::Point_<T>> p(points.begin(), points.end());
+ current_.points[c] = p;
+ setCamera(c);
+};
+
+template<typename T>
+unsigned int CalibrationPoints<T>::setObject(const std::vector<cv::Point3_<T>> &object) {
+ if (!current_.points.empty()) {
+ throw ftl::exception("Points already set, object can not be changed. "
+ "Forgot to call next()?");
+ }
+
+ // check if object already exists
+ for (unsigned int i = 0; i < objects_.size(); i++) {
+ if (objects_[i].size() != object.size()) { continue; }
+
+ bool eq = true;
+ for (unsigned int j = 0; j < object.size(); j++) {
+ eq &= (objects_[i][j] == object[j]);
+ }
+ if (eq) {
+ current_.object = i;
+ return i;
+ }
+ }
+
+ // not found
+ current_.object = objects_.size();
+ objects_.push_back(object);
+ return current_.object;
+}
+
+template<typename T>
+unsigned int CalibrationPoints<T>::setObject(const std::vector<cv::Point_<T>> &object) {
+ if (!current_.points.empty()) {
+ throw ftl::exception("Points already set, object can not be changed. "
+ "Forgot to call next()?");
+ }
+ std::vector<cv::Point3_<T>> object3d;
+ object3d.reserve(object.size());
+
+ for (const auto& p : object) {
+ object3d.push_back({p.x, p.y, T(0.0)});
+ }
+ return setObject(object3d);
+}
+
+template<typename T>
+void CalibrationPoints<T>::next() {
+ if (objects_.empty()) {
+ throw ftl::exception("object must be set before calling next()");
+ }
+ if (current_.cameras == uint64_t(0)) {
+ return;
+ }
+
+ count_ += objects_[current_.object].size();
+ points_.push_back(current_);
+ visibility_.update(current_.cameras);
+ clear();
+}
+
+template<typename T>
+void CalibrationPoints<T>::clear() {
+ current_ = {uint64_t(0), (unsigned int)(objects_.size()) - 1u, {}, {}};
+}
+
+template<typename T>
+bool CalibrationPoints<T>::hasCamera(unsigned int c) {
+ return hasOne(current_.cameras, c);
+}
+
+template<typename T>
+void CalibrationPoints<T>::setCamera(unsigned int c) {
+ setOne(current_.cameras, c);
+}
+
+template<typename T>
+int CalibrationPoints<T>::getCount(unsigned int c) {
+ return visibility_.count(c);
+}
+
+template<typename T>
+int CalibrationPoints<T>::getPointsCount() {
+ return count_;
+}
+
+template<typename T>
+const Visibility& CalibrationPoints<T>::visibility() {
+ return visibility_;
+}
+
+template<typename T>
+void CalibrationPoints<T>::setTriangulatedPoints(unsigned int c_base, unsigned int c_match,
+ const std::vector<cv::Point3_<T>>& points, int idx) {
+
+ uint64_t required = 0;
+ setOne(required, c_base);
+ setOne(required, c_match);
+
+ auto itr = points.begin();
+ for (unsigned int i = idx; i < points_.size(); i++) {
+ if (hasAll(points_[i].cameras, required)) {
+ auto obj_sz = objects_[points_[i].object].size();
+ std::vector<cv::Point3_<T>> pts;
+ pts.reserve(obj_sz);
+ for (unsigned int i_obj = 0; i_obj < obj_sz; i_obj++) {
+ pts.push_back(*itr);
+ itr++;
+ }
+ points_[i].triangulated[{c_base, c_match}] = pts;
+ if (itr == points.end()) { break; }
+ }
+ }
+}
+
+template<typename T>
+void CalibrationPoints<T>::resetTriangulatedPoints() {
+ for (unsigned int i = 0; i < points_.size(); i++) {
+ points_[i].triangulated.clear();
+ }
+}
+
+template<typename T>
+std::vector<std::vector<cv::Point_<T>>> CalibrationPoints<T>::getPoints(const std::vector<unsigned int>& cameras, unsigned int object) {
+
+ std::vector<std::vector<cv::Point_<T>>> points;
+ points.resize(cameras.size());
+ std::vector<unsigned int> lookup;
+
+ uint64_t required = 0;
+ for (unsigned i = 0; i < cameras.size(); i++) {
+ setOne(required, cameras[i]);
+
+ if ((cameras[i] + 1) > lookup.size()) {
+ lookup.resize(cameras[i] + 1, ~(unsigned int)(0));
+ }
+ lookup[cameras[i]] = i;
+ }
+
+ for (const auto& set : points_) {
+ if (!hasAll(set.cameras, required)) { continue; }
+ if (set.object != object) { continue; }
+
+ for (auto &[i, data] : set.points) {
+ if (!hasOne(required, i)) { continue; }
+
+ points[lookup[i]].insert
+ (points[lookup[i]].end(), data.begin(), data.end());
+ }
+ }
+
+ return points;
+}
+
+
+template<typename T>
+std::vector<cv::Point3_<T>> CalibrationPoints<T>::getObject(unsigned int object) {
+ return objects_[object];
+}
+
+template class CalibrationPoints<float>;
+template class CalibrationPoints<double>;
+
+////////////////////////////////////////////////////////////////////////////////
+
+int recoverPose(const cv::Mat &E, const std::vector<cv::Point2d> &_points1,
+ const std::vector<cv::Point2d> &_points2, const cv::Mat &_cameraMatrix1,
+ const cv::Mat &_cameraMatrix2, cv::Mat &_R, cv::Mat &_t, double distanceThresh,
+ cv::Mat &triangulatedPoints) {
+
+ cv::Mat cameraMatrix1;
+ cv::Mat cameraMatrix2;
+ cv::Mat cameraMatrix;
+
+ cv::Mat points1(_points1.size(), 2, CV_64FC1);
+ cv::Mat points2(_points2.size(), 2, CV_64FC1);
+
+ CHECK_EQ(points1.size(), points2.size());
+
+ for (size_t i = 0; i < _points1.size(); i++) {
+ auto p1 = points1.ptr<double>(i);
+ p1[0] = _points1[i].x;
+ p1[1] = _points1[i].y;
+
+ auto p2 = points2.ptr<double>(i);
+ p2[0] = _points2[i].x;
+ p2[1] = _points2[i].y;
+ }
+
+ _cameraMatrix1.convertTo(cameraMatrix1, CV_64F);
+ _cameraMatrix2.convertTo(cameraMatrix2, CV_64F);
+ cameraMatrix = cv::Mat::eye(cv::Size(3, 3), CV_64FC1);
+
+ double fx1 = cameraMatrix1.at<double>(0,0);
+ double fy1 = cameraMatrix1.at<double>(1,1);
+ double cx1 = cameraMatrix1.at<double>(0,2);
+ double cy1 = cameraMatrix1.at<double>(1,2);
+
+ double fx2 = cameraMatrix2.at<double>(0,0);
+ double fy2 = cameraMatrix2.at<double>(1,1);
+ double cx2 = cameraMatrix2.at<double>(0,2);
+ double cy2 = cameraMatrix2.at<double>(1,2);
+
+ points1.col(0) = (points1.col(0) - cx1) / fx1;
+ points1.col(1) = (points1.col(1) - cy1) / fy1;
+
+ points2.col(0) = (points2.col(0) - cx2) / fx2;
+ points2.col(1) = (points2.col(1) - cy2) / fy2;
+
+ // TODO mask
+ // cameraMatrix = I (for details, see OpenCV's recoverPose() source code)
+ // modules/calib3d/src/five-point.cpp (461)
+ //
+ // https://github.com/opencv/opencv/blob/371bba8f54560b374fbcd47e7e02f015ac4969ad/modules/calib3d/src/five-point.cpp#L461
+
+ return cv::recoverPose( E, points1, points2, cameraMatrix, _R, _t,
+ distanceThresh, cv::noArray(), triangulatedPoints);
+}
+
+static double scalePoints(const std::vector<cv::Point3d> &object_points, const cv::Mat& points_in, std::vector<cv::Point3d> &points_out) {
+
+ points_out.clear();
+ points_out.reserve(points_in.cols);
+ // convert from homogenous coordinates
+ for (int col = 0; col < points_in.cols; col++) {
+ CHECK_NE(points_in.at<double>(3, col), 0);
+ cv::Point3d p = cv::Point3d(points_in.at<double>(0, col),
+ points_in.at<double>(1, col),
+ points_in.at<double>(2, col))
+ / points_in.at<double>(3, col);
+ points_out.push_back(p);
+ }
+
+ double s = ftl::calibration::optimizeScale(object_points, points_out);
+ return s;
+}
+
+double calibratePair(const cv::Mat &K1, const cv::Mat &D1,
+ const cv::Mat &K2, const cv::Mat &D2,
+ const std::vector<cv::Point2d> &points1,
+ const std::vector<cv::Point2d> &points2,
+ const std::vector<cv::Point3d> &object_points, cv::Mat &R,
+ cv::Mat &t, std::vector<cv::Point3d> &points_out, bool optimize) {
+
+ // FM_8POINT should be good enough if there are no outliers in points1 and
+ // points2 (all correspondences are correct)
+ cv::Mat F = cv::findFundamentalMat(points1, points2, cv::noArray(), cv::FM_8POINT);
+ cv::Mat E = K2.t() * F * K1;
+
+ cv::Mat points3dh;
+ // distanceThresh?
+ recoverPose(E, points1, points2, K1, K2, R, t, 1000.0, points3dh);
+
+ double s = scalePoints(object_points, points3dh, points_out);
+ t = t * s;
+
+ auto params1 = Camera(K1, D1, cv::Mat::eye(3, 3, CV_64FC1), cv::Mat::zeros(3, 1, CV_64FC1), {0, 0});
+ auto params2 = Camera(K2, D2, R, t, {0, 0});
+
+ auto ba = BundleAdjustment();
+ ba.addCamera(params1);
+ ba.addCamera(params2);
+
+ for (size_t i = 0; i < points_out.size(); i++) {
+ ba.addPoint({points1[i], points2[i]}, points_out[i]);
+ }
+
+ // needs to be implemented correctly: optimize each pose of the target
+ //ba.addObject(object_points);
+
+ double error = ba.reprojectionError();
+
+ if (optimize) {
+ BundleAdjustment::Options options;
+ options.optimize_intrinsic = false;
+ // any difference if both transformations multiplied with (T_1)^-1
+ // (inverse of first camera's transforma)after optimization instead?
+ options.fix_camera_extrinsic = {0};
+ ba.run(options);
+ error = ba.reprojectionError();
+ }
+ CHECK_EQ(cv::countNonZero(params1.rvec()), 0);
+ CHECK_EQ(cv::countNonZero(params1.tvec()), 0);
+
+ return sqrt(error);
+}
+
+// ==== Extrinsic Calibration ==================================================
+
+unsigned int ExtrinsicCalibration::addCamera(const CalibrationData::Calibration &c) {
+ unsigned int idx = calib_.size();
+ calib_.push_back(c);
+ calib_optimized_.push_back(calib_.back());
+ is_calibrated_.push_back(true);
+ return idx;
+}
+
+unsigned int ExtrinsicCalibration::addStereoCamera(const CalibrationData::Calibration &c1, const CalibrationData::Calibration &c2) {
+ unsigned int idx = calib_.size();
+ calib_.push_back({c1.intrinsic, c1.extrinsic});
+ calib_optimized_.push_back(calib_.back());
+ calib_.push_back({c2.intrinsic, c2.extrinsic});
+ calib_optimized_.push_back(calib_.back());
+ is_calibrated_.push_back(c1.extrinsic.valid());
+ is_calibrated_.push_back(c2.extrinsic.valid());
+ mask_.insert({idx, idx + 1});
+ return idx;
+}
+
+std::string ExtrinsicCalibration::status() {
+ auto str = std::atomic_load(&status_);
+ if (str) { return *str; }
+ else { return ""; }
+}
+
+void ExtrinsicCalibration::updateStatus_(std::string str) {
+ std::atomic_store(&status_, std::make_shared<std::string>(str));
+}
+
+void ExtrinsicCalibration::calculatePairPose(unsigned int c1, unsigned int c2) {
+
+ // calculate paramters and update triangulation
+
+ cv::Mat K1 = calib_[c1].intrinsic.matrix();
+ cv::Mat distCoeffs1 = calib_[c1].intrinsic.distCoeffs.Mat();
+ cv::Mat K2 = calib_[c2].intrinsic.matrix();
+ cv::Mat distCoeffs2 = calib_[c2].intrinsic.distCoeffs.Mat();
+ auto pts = points().getPoints({c1, c2}, 0);
+ auto object = points().getObject(0);
+ cv::Mat R, t;
+ std::vector<cv::Point3d> points3d;
+ auto rmse = calibratePair(K1, distCoeffs1, K2, distCoeffs2,
+ pts[0], pts[1], object, R, t, points3d, true);
+
+ // debug info
+ LOG(INFO) << "RMSE (cameras " << c1 << " & " << c2 << "): " << rmse;
+
+ points().setTriangulatedPoints(c1, c2, points3d);
+
+ pairs_[{c1, c2}] = {R, t, rmse};
+
+ cv::Mat R_i, t_i;
+ R.copyTo(R_i);
+ t.copyTo(t_i);
+ transform::inverse(R_i, t_i);
+ pairs_[{c2, c1}] = {R_i, t_i, rmse};
+}
+
+void ExtrinsicCalibration::triangulate(unsigned int c1, unsigned int c2) {
+
+ cv::Mat T, R, t, R_i, t_i;
+
+ T = calib_[c1].extrinsic.matrix() *
+ transform::inverse(calib_[c2].extrinsic.matrix());
+ transform::getRotationAndTranslation(T, R_i, t_i);
+
+ T = calib_[c2].extrinsic.matrix() *
+ transform::inverse(calib_[c1].extrinsic.matrix());
+ transform::getRotationAndTranslation(T, R, t);
+
+ pairs_[{c1, c1}] = {R, t, NAN};
+ pairs_[{c2, c1}] = {R_i, t_i, NAN};
+
+ auto pts = points().getPoints({c1, c2}, 0);
+ std::vector<cv::Point3d> pointsw;
+
+ const auto& calib1 = calib_[c1];
+ const auto& calib2 = calib_[c2];
+
+ CHECK_EQ(pts[0].size(), pts[1].size());
+
+ cv::Mat pts1(1, pts[0].size(), CV_64FC2, pts[0].data());
+ cv::Mat pts2(1, pts[1].size(), CV_64FC2, pts[1].data());
+ cv::Mat out(1, pts[0].size(), CV_64FC2);
+
+ // Undistort points first. Note: undistortPoints() returns points in
+ // normalized coordinates, therefore projection matrices for
+ // cv::triangulatePoints() only include extrinsic parameters.
+ std::vector<cv::Point2d> pts1u, pts2u;
+ cv::undistortPoints(pts1, pts1u, calib1.intrinsic.matrix(), calib1.intrinsic.distCoeffs.Mat());
+ cv::undistortPoints(pts2, pts2u, calib2.intrinsic.matrix(), calib2.intrinsic.distCoeffs.Mat());
+
+ cv::Mat P1 = cv::Mat::eye(3, 4, CV_64FC1);
+ cv::Mat P2 = T(cv::Rect(0, 0, 4, 3));
+
+ // documentation claims cv::triangulatePoints() requires floats; however
+ // seems to only work with doubles (documentation outdated?).
+ // According to https://stackoverflow.com/a/16299909 cv::triangulatePoints()
+ // implements least squares method described in H&Z p312
+ cv::triangulatePoints(P1, P2, pts1u, pts2u, out);
+ // scalePoints() converts to non-homogenous coordinates and estimates scale
+ LOG(INFO) << "new scale: " << scalePoints(points().getObject(0), out, pointsw);
+
+ /*for (int col = 0; col < out.cols; col++) {
+ CHECK_NE(out.at<double>(3, col), 0);
+ cv::Point3d p = cv::Point3d(out.at<double>(0, col),
+ out.at<double>(1, col),
+ out.at<double>(2, col))
+ / out.at<double>(3, col);
+ pointsw.push_back(p);
+ }*/
+ points().setTriangulatedPoints(c1, c2, pointsw);
+}
+
+void ExtrinsicCalibration::calculatePairPoses() {
+
+ // Calibrate all pairs. TODO: might be expensive if number of cameras is high
+ // if not performed for all pairs.
+
+ int i = 1;
+ int i_max = (camerasCount() * camerasCount()) / 2 + 1;
+
+ for (unsigned int c1 = 0; c1 < camerasCount(); c1++) {
+ for (unsigned int c2 = c1; c2 < camerasCount(); c2++) {
+
+ updateStatus_( "Calculating pose for pair " +
+ std::to_string(i++) + " of " + std::to_string(i_max) +
+ " and triangulating points");
+
+
+ if (c1 == c2) {
+ pairs_[{c1, c2}] = { cv::Mat::eye(cv::Size(3, 3), CV_64FC1),
+ cv::Mat(cv::Size(1, 3), CV_64FC1, cv::Scalar(0.0)),
+ 0.0};
+
+ continue;
+ }
+
+ if (pairs_.find({c1, c2}) != pairs_.end()) {
+ LOG(WARNING) << "pair already processed (this shold not happen)";
+ continue;
+ }
+
+ // require minimum number of visible points
+ if (points().visibility().count(c1, c2) < min_obs_) {
+ LOG(WARNING) << "skipped pair (" << c1 << ", " << c2 << "), not enough points";
+ continue;
+ }
+
+ if (is_calibrated_[c1] && is_calibrated_[c2]) {
+ LOG(INFO) << "using existing pose for cameras " << c1 << " and "
+ << c2 << "(only triangulating points)";
+ triangulate(c1, c2);
+ }
+ else {
+ if (mask_.count({c1, c2}) > 0 ) { continue; }
+ calculatePairPose(c1, c2);
+ }
+ }}
+}
+
+int ExtrinsicCalibration::selectOptimalCamera() {
+ // Pick optimal camera: most views of calibration pattern. If existing
+ // calibration is used, reference camera must already be calibrated.
+ int c = 0;
+ int calibrated_c_ref_max = 0;
+ for (unsigned int i = 0; i < is_calibrated_[i]; i++) {
+ if (is_calibrated_[i] && points().getCount(i) > calibrated_c_ref_max) {
+ calibrated_c_ref_max = points().getCount(i);
+ c = i;
+ }
+ }
+ if (!calibrated_c_ref_max == 0) {
+ c = points().visibility().argmax();
+ }
+ return c;
+}
+
+void ExtrinsicCalibration::calculateInitialPoses() {
+ updateStatus_("Initial poses from chained transformations");
+
+ // mask stereo cameras (do not pairwise calibrate a stereo pair; unreliable)
+ auto visibility = points_.visibility();
+ for (const auto& [c1, c2]: mask_) { visibility.mask(c1, c2); }
+
+ // mask cameras which did not have enough points TODO: triangulation later
+ // would still be useful (calculate initial poses, then triangulate)
+ for (unsigned int c1 = 0; c1 < camerasCount(); c1++) {
+ for (unsigned int c2 = c1; c2 < camerasCount(); c2++) {
+ if (pairs_.count({c1, c2}) == 0) {
+ visibility.mask(c1, c2);
+ }
+ }}
+
+ // select optimal camera to calculate chains to. TODO: if any of the
+ // cameras is already calibrated, use most visible calibrated camera as
+ // target camera.
+ auto c_ref = selectOptimalCamera();
+
+ auto paths = visibility.shortestPath(c_ref);
+
+ for (unsigned int c = 0; c < camerasCount(); c++) {
+ if (is_calibrated_[c]) {
+ // already calibrated. skip chain
+ continue;
+ }
+ if (c == unsigned(c_ref)) { continue; }
+
+ cv::Mat R_chain = cv::Mat::eye(cv::Size(3, 3), CV_64FC1);
+ cv::Mat t_chain = cv::Mat(cv::Size(1, 3), CV_64FC1, cv::Scalar(0.0));
+
+ auto path = paths.to(c);
+ do {
+ // iterate in reverse order
+ auto prev = path.back();
+ path.pop_back();
+ auto next = path.back();
+
+ cv::Mat R = std::get<0>(pairs_.at({prev, next}));
+ cv::Mat t = std::get<1>(pairs_.at({prev, next}));
+
+ CHECK_EQ(R.size(), cv::Size(3, 3));
+ CHECK_EQ(t.total(), 3);
+
+ R_chain = R * R_chain;
+ t_chain = t + R * t_chain;
+ }
+ while(path.size() > 1);
+
+ // note: direction of chain in the loop (ref to target transformation)
+ calib_[c].extrinsic =
+ CalibrationData::Extrinsic(R_chain, t_chain).inverse();
+ }
+}
+
+static std::vector<bool> visibility(unsigned int ncameras, uint64_t visible) {
+ std::vector<bool> res(ncameras, false);
+ for (unsigned int i = 0; i < ncameras; i++) {
+ res[i] = visible & (uint64_t(1) << i);
+ }
+ return res;
+}
+
+/* absolute difference between min and max for each set of coordinates */
+static cv::Point3d absdiff(const std::vector<double> &xs, const std::vector<double> &ys, const std::vector<double> &zs) {
+ if (xs.size() < 2) {
+ return {0.0, 0.0, 0.0};
+ }
+
+ double minx = INFINITY;
+ double maxx = -INFINITY;
+ for (auto x : xs) {
+ minx = std::min(minx, x);
+ maxx = std::max(maxx, x);
+ }
+ double miny = INFINITY;
+ double maxy = -INFINITY;
+ for (auto y : ys) {
+ miny = std::min(miny, y);
+ maxy = std::max(maxy, y);
+ }
+ double minz = INFINITY;
+ double maxz = -INFINITY;
+ for (auto z : zs) {
+ minz = std::min(minz, z);
+ maxz = std::max(maxz, z);
+ }
+ cv::Point3d diff = {abs(minx - maxx), abs(miny - maxy), abs(minz - maxz)};
+ return diff;
+}
+
+double ExtrinsicCalibration::optimize() {
+
+ // triangulate points for stereo pairs (all points triangulated after this)
+ updateStatus_("Triangulating remaining points");
+ for (const auto& [c1, c2]: mask_) {
+ if (points().visibility().count(c1, c2) >= min_obs_) {
+ triangulate(c1, c2);
+ }
+ else {
+ LOG(INFO) << "Skipping triangulation for pair " << c1 << ", " << c2;
+ }
+ }
+
+ // Build BA
+ BundleAdjustment ba;
+ std::vector<Camera> cameras;
+ std::vector<cv::Mat> T; // camera to world
+
+ cameras.reserve(calib_.size());
+ unsigned int ncameras = calib_.size();
+
+ for (const auto& c : calib_) {
+ auto camera = c;
+ T.push_back(c.extrinsic.inverse().matrix());
+ cameras.push_back(Camera(camera));
+ }
+ for (auto &c : cameras) {
+ // BundleAdjustment stores pointers; do not resize cameras vector
+ ba.addCamera(c);
+ }
+ // TODO (?) is this good idea?; make optional
+ ba.addObject(points_.getObject(0));
+
+ // Transform triangulated points into same coordinates. Poinst which are
+ // triangulated multiple times: use median values. Note T[] contains
+ // inverse transformations, as points are transformed from camera to world
+ // (instead the other way around by parameters in cameras[]).
+ updateStatus_("Calculating points in world coordinates");
+
+ // NOTE: above CalibrationPoints datastructure not optimal regarding how
+ // points are actually used here; BundleAdjustment interface also
+ // expects flat arrays; overall cv::Mats would probably be better
+ // suited as they can be easily interpreted as flat arrays or
+ // multi-dimensional.
+
+ int n_points_bad = 0;
+ int n_points_missing = 0;
+ int n_points = 0;
+
+ for (const auto& itm : points_.all()) {
+ auto sz = points_.getObject(itm.object).size();
+ auto vis = visibility(ncameras, itm.cameras);
+
+ for (unsigned int i = 0; i < sz; i++) {
+ n_points++;
+
+ // observation and triangulated coordinates; Use {NAN, NAN} for
+ // non-visible points (if those are used by mistake, Ceres will
+ // fail with error message).
+ std::vector<cv::Point2d> obs(ncameras, {NAN, NAN});
+ std::vector<double> px;
+ std::vector<double> py;
+ std::vector<double> pz;
+
+ for (const auto& [c, o] : itm.points) {
+ obs[c] = o[i];
+ }
+
+ for (const auto [c, pts] : itm.triangulated) {
+ auto p = transform::apply(pts[i], T[c.first]);
+ px.push_back(p.x);
+ py.push_back(p.y);
+ pz.push_back(p.z);
+ }
+
+ // median coordinate for each axis
+ std::sort(px.begin(), px.end());
+ std::sort(py.begin(), py.end());
+ std::sort(pz.begin(), pz.end());
+ cv::Point3d p;
+
+ unsigned int n = px.size();
+ unsigned int m = n / 2;
+ if (n == 0) {
+ n_points_missing++;
+ break;
+ }
+ if (n % 2 == 0 && n > 1) {
+ // mean of two points if number of points even
+ cv::Point3d p1 = {px[m - 1], py[m - 1], pz[m - 1]};
+ cv::Point3d p2 = {px[m], py[m], pz[m]};
+ p = (p1 + p2)/2.0;
+ }
+ else {
+ p = {px[m], py[m], pz[m]};
+ }
+
+ // TODO: desgin better check
+ if (cv::norm(absdiff(px, py, pz)) > threshold_bad_) {
+ n_points_bad++;
+ //continue;
+ }
+
+ ba.addPoint(vis, obs, p);
+ }
+ }
+
+ if (float(n_points_bad)/float(n_points - n_points_missing) > threhsold_warning_) {
+ // print wanrning message; calibration possibly fails if triangulation
+ // was very low quality (more than % bad points)
+ LOG(ERROR) << "Large variation in "<< n_points_bad << " "
+ "triangulated points. Are initial intrinsic parameters "
+ "good? If initial camera poses were used, try again "
+ "without using existing values.";
+ }
+
+ if (float(n_points_missing)/float(n_points - n_points_bad) > threhsold_warning_) {
+ // this should not happen any more (all points should be triangulated).
+ LOG(WARNING) << "Large number of points skipped. Are there enough "
+ "visible points between stereo camera pairs?";
+ }
+
+ updateStatus_("Bundle adjustment");
+ options_.verbose = true;
+ options_.max_iter = 250; // should converge much earlier
+
+ LOG(INFO) << "fix intrinsics: " << (options_.optimize_intrinsic ? "no" : "yes");
+ LOG(INFO) << "fix focal: " << (options_.fix_focal ? "yes" : "no");
+ LOG(INFO) << "fix principal point: " << (options_.fix_principal_point ? "yes" : "no");
+ LOG(INFO) << "fix distortion: " << (options_.fix_distortion ? "yes" : "no");
+
+ ba.run(options_);
+
+ int n_removed = 0;
+ for (const auto& t : prune_observations_) {
+ n_removed += ba.removeObservations(t);
+ if (float(n_removed)/float(n_points) > threhsold_warning_) {
+ LOG(WARNING) << "significant number (" << n_removed << " of "
+ << n_points << ") of observations removed";
+ break;
+ }
+ else {
+ LOG(INFO) << "removed observations: " << n_removed;
+ ba.run(options_);
+ }
+ }
+
+ calib_optimized_.resize(calib_.size());
+ rmse_.resize(calib_.size());
+
+ auto points_optimized = ba.points();
+ double scale = optimizeScale(points_.getObject(0), points_optimized);
+ LOG(INFO) << "scale: " << scale;
+
+ for (unsigned int i = 0; i < cameras.size(); i++) {
+ rmse_[i] = ba.reprojectionError(i);
+ auto intr = cameras[i].intrinsic();
+ calib_optimized_[i] = calib_[i];
+ calib_optimized_[i].intrinsic.set(intr.matrix(), intr.distCoeffs.Mat(), intr.resolution);
+ calib_optimized_[i].extrinsic.set(cameras[i].rvec(), cameras[i].tvec());
+ calib_optimized_[i].extrinsic.tvec *= scale;
+ }
+
+ rmse_total_ = ba.reprojectionError();
+
+ LOG(INFO) << "reprojection error (all cameras): " << rmse_total_;
+ return rmse_total_;
+}
+
+double ExtrinsicCalibration::run() {
+ updateStatus_("Starting");
+ points_.resetTriangulatedPoints();
+ pairs_.clear();
+ calculatePairPoses();
+ calculateInitialPoses();
+ return optimize();
+}
+
+const CalibrationData::Calibration& ExtrinsicCalibration::calibration(unsigned int c) {
+ return calib_.at(c);
+}
+
+const CalibrationData::Calibration& ExtrinsicCalibration::calibrationOptimized(unsigned int c) {
+ return calib_optimized_.at(c);
+}
+
+double ExtrinsicCalibration::reprojectionError(unsigned int c) {
+ return rmse_.at(c);
+}
+
+double ExtrinsicCalibration::reprojectionError() {
+ return rmse_total_;
+}
+
+bool ExtrinsicCalibration::toFile(const std::string& fname) {
+ points_.clear();
+ std::ofstream ofs(fname, std::ios_base::trunc);
+ msgpack::pack(ofs, *this);
+ ofs.close();
+ return true;
+}
+
+bool ExtrinsicCalibration::fromFile(const std::string& fname) {
+
+ points_ = CalibrationPoints<double>();
+ mask_ = {};
+ calib_ = {};
+
+ std::ifstream ifs(fname);
+ std::stringstream buf;
+ msgpack::object_handle oh;
+
+ buf << ifs.rdbuf();
+ msgpack::unpack(oh, buf.str().data(), buf.str().size());
+ oh.get().convert(*this);
+
+ return true;
+}
+
+
+}
+}
diff --git a/components/calibration/src/object.cpp b/components/calibration/src/object.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4236b864a1711fee2d180e3f37c703ba96d4def0
--- /dev/null
+++ b/components/calibration/src/object.cpp
@@ -0,0 +1,161 @@
+#include <loguru.hpp>
+
+#include <ftl/exception.hpp>
+#include <ftl/calibration/object.hpp>
+
+#include <opencv2/core/cuda.hpp>
+#include <opencv2/calib3d.hpp>
+#include <opencv2/imgproc.hpp>
+
+using ftl::calibration::ArUCoObject;
+using ftl::calibration::ChessboardObject;
+
+
+ArUCoObject::ArUCoObject(cv::aruco::PREDEFINED_DICTIONARY_NAME dictionary,
+ float baseline, float tag_size, int id1, int id2) :
+ baseline_(baseline), tag_size_(tag_size),id1_(id1), id2_(id2) {
+
+ dict_ = cv::aruco::getPredefinedDictionary(dictionary);
+ params_ = cv::aruco::DetectorParameters::create();
+ params_->cornerRefinementMinAccuracy = 0.01;
+ // cv::aruco::CORNER_REFINE_CONTOUR memory issues? intrinsic quality?
+ params_->cornerRefinementMethod = cv::aruco::CORNER_REFINE_CONTOUR;
+}
+
+std::vector<cv::Point3d> ArUCoObject::object() {
+ return {
+ cv::Point3d(0.0, 0.0, 0.0),
+ cv::Point3d(tag_size_, 0.0, 0.0),
+ cv::Point3d(tag_size_, tag_size_, 0.0),
+ cv::Point3d(0.0, tag_size_, 0.0),
+
+ cv::Point3d(baseline_, 0.0, 0.0),
+ cv::Point3d(baseline_ + tag_size_, 0.0, 0.0),
+ cv::Point3d(baseline_ + tag_size_, tag_size_, 0.0),
+ cv::Point3d(baseline_, tag_size_, 0.0)
+ };
+}
+
+int ArUCoObject::detect(cv::InputArray im, std::vector<cv::Point2d>& result, const cv::Mat& K, const cv::Mat& distCoeffs) {
+
+ // note: cv::aruco requires floats
+ std::vector<std::vector<cv::Point2f>> corners;
+ std::vector<int> ids;
+ cv::Mat im_gray;
+ // OpenCV bug: detectMarkers consumes all available memory when any
+ // distortion parameters are passes
+ const cv::Mat d;
+ if (im.size() == cv::Size(0, 0)) {
+ return -1;
+ }
+ if (im.isGpuMat()) {
+ cv::Mat dl;
+ im.getGpuMat().download(dl);
+ cv::cvtColor(dl, im_gray, cv::COLOR_BGRA2GRAY);
+ }
+ else if (im.isMat()) {
+ cv::cvtColor(im.getMat(), im_gray, cv::COLOR_BGRA2GRAY);
+ }
+ else {
+ throw ftl::exception("Bad input (not cv::Mat/cv::GpuMat)");
+ }
+
+ cv::aruco::detectMarkers(im_gray, dict_, corners, ids, params_,
+ cv::noArray(), K, d);
+
+
+ if (ids.size() < 2) { return 0; }
+
+ const size_t n_corners = 4;
+ const size_t n_tags = 2;
+
+ std::vector<cv::Point2d> marker1; marker1.reserve(n_corners);
+ std::vector<cv::Point2d> marker2; marker2.reserve(n_corners);
+
+ int n = 0;
+ // find the right markers
+ for (unsigned int i = 0; i < ids.size(); i++) {
+ if (ids[i] == id1_) {
+ n++;
+ for (auto& p : corners[i]) {
+ marker1.push_back({p.x, p.y});
+ }
+ CHECK(corners[i].size() == n_corners);
+ }
+ if (ids[i] == id2_) {
+ n++;
+ for (auto& p : corners[i]) {
+ marker2.push_back({p.x, p.y});
+ }
+ CHECK(corners[i].size() == n_corners);
+ }
+ }
+
+ if (marker1.empty() || marker2.empty()) {
+ return 0;
+ }
+
+ if (n != 2) {
+ LOG(WARNING) << "Found more than one marker with same ID";
+ return 0;
+ }
+
+ // add the points to output
+ result.reserve(n_tags*n_corners + result.size());
+ for (size_t i_corner = 0; i_corner < n_corners; i_corner++) {
+ result.push_back(marker1[i_corner]);
+ }
+ for (size_t i_corner = 0; i_corner < n_corners; i_corner++) {
+ result.push_back(marker2[i_corner]);
+ }
+
+ return n_tags*n_corners;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
+cv::Size ChessboardObject::chessboardSize() {
+ return {chessboard_size_.width + 1, chessboard_size_.height + 1};
+}
+
+double ChessboardObject::squareSize() {
+ return square_size_;
+}
+
+ChessboardObject::ChessboardObject(int rows, int cols, double square_size) :
+ chessboard_size_(cols - 1, rows - 1), square_size_(square_size),
+ flags_(cv::CALIB_CB_NORMALIZE_IMAGE|cv::CALIB_CB_ACCURACY) {
+
+ init();
+}
+
+void ChessboardObject::init() {
+ object_points_.reserve(chessboard_size_.width * chessboard_size_.height);
+ for (int row = 0; row < chessboard_size_.height; ++row) {
+ for (int col = 0; col < chessboard_size_.width; ++col) {
+ object_points_.push_back({col * square_size_, row * square_size_, 0});
+ }}
+}
+
+int ChessboardObject::detect(cv::InputArray im, std::vector<cv::Point2d>& points, const cv::Mat& K, const cv::Mat& D) {
+ cv::Mat tmp;
+
+ if (im.isMat()) {
+ tmp = im.getMat();
+ }
+ else if (im.isGpuMat()) {
+ im.getGpuMat().download(tmp);
+ }
+ else {
+ throw ftl::exception("Image not cv::Mat or cv::GpuMat");
+ }
+
+ if (cv::findChessboardCornersSB(tmp, chessboard_size_, points, flags_)) {
+ return 1;
+ }
+ return 0;
+}
+
+std::vector<cv::Point3d> ChessboardObject::object() {
+ return object_points_;
+}
diff --git a/components/calibration/src/optimize.cpp b/components/calibration/src/optimize.cpp
index 6c8f3106498b6b949253ba728f81869efc26bd47..751fd546f67f1ece6d63497adffa9466f54a4e71 100644
--- a/components/calibration/src/optimize.cpp
+++ b/components/calibration/src/optimize.cpp
@@ -1,7 +1,11 @@
#include "ftl/calibration/optimize.hpp"
#include "ftl/calibration/parameters.hpp"
-#include "loguru.hpp"
+#include <ceres/ceres.h>
+
+#include <loguru.hpp>
+
+#include <ftl/exception.hpp>
#include <algorithm>
#include <unordered_set>
@@ -15,7 +19,8 @@ using cv::Mat;
using cv::Point3d;
using cv::Point2d;
-
+using cv::Vec3d;
+using cv::Size;
using cv::Rect;
using ftl::calibration::BundleAdjustment;
@@ -23,19 +28,179 @@ using ftl::calibration::Camera;
////////////////////////////////////////////////////////////////////////////////
+void Camera::setRotation(const Mat& R) {
+ if (((R.size() != Size(3, 3)) &&
+ (R.size() != Size(3, 1)) &&
+ (R.size() != Size(1, 3))) ||
+ (R.type() != CV_64FC1)) {
+
+ throw ftl::exception("bad rotation matrix size/type");
+ }
+
+ Mat rvec;
+ if (R.size() == cv::Size(3, 3)) { cv::Rodrigues(R, rvec); }
+ else { rvec = R; }
+
+ ceres::AngleAxisToQuaternion<double>((double*)(rvec.data), data + Parameter::ROTATION);
+}
+
+void Camera::setTranslation(const Mat& t) {
+ if ((t.type() != CV_64FC1) ||
+ (t.size() != cv::Size(1, 3))) {
+
+ throw ftl::exception("bad translation vector");
+ }
+
+ data[Parameter::TX] = t.at<double>(0);
+ data[Parameter::TY] = t.at<double>(1);
+ data[Parameter::TZ] = t.at<double>(2);
+}
+
+
+void Camera::setIntrinsic(const Mat& K, cv::Size sz) {
+ size = sz;
+ if ((K.type() != CV_64FC1) || (K.size() != cv::Size(3, 3))) {
+ throw ftl::exception("bad intrinsic matrix");
+ }
+
+ data[Parameter::F] = K.at<double>(0, 0);
+ data[Parameter::CX] = K.at<double>(0, 2);
+ data[Parameter::CY] = K.at<double>(1, 2);
+}
+
+void Camera::setDistortion(const Mat& D) {
+ if ((D.type() != CV_64FC1)) {
+ throw ftl::exception("distortion coefficients must be CV_64FC1");
+ }
+ switch(D.total()) {
+ case 12:
+ /*
+ data[Parameter::S1] = D.at<double>(8);
+ data[Parameter::S2] = D.at<double>(9);
+ data[Parameter::S3] = D.at<double>(10);
+ data[Parameter::S4] = D.at<double>(11);
+ */
+ [[fallthrough]];
+
+ case 8:
+ data[Parameter::K4] = D.at<double>(5);
+ data[Parameter::K5] = D.at<double>(6);
+ data[Parameter::K6] = D.at<double>(7);
+ [[fallthrough]];
+
+ case 5:
+ data[Parameter::K3] = D.at<double>(4);
+ [[fallthrough]];
+
+ default:
+ data[Parameter::K1] = D.at<double>(0);
+ data[Parameter::K2] = D.at<double>(1);
+ data[Parameter::P1] = D.at<double>(2);
+ data[Parameter::P2] = D.at<double>(3);
+ }
+}
+
+Camera::Camera(const Mat &K, const Mat &D, const Mat &R, const Mat &tvec, cv::Size sz) {
+ setIntrinsic(K, D, sz);
+ if (!R.empty()) { setRotation(R); }
+ if (!tvec.empty()) { setTranslation(tvec); }
+}
+
+Camera::Camera(const ftl::calibration::CalibrationData::Calibration& calib) {
+ setIntrinsic(calib.intrinsic.matrix(), calib.intrinsic.distCoeffs.Mat(), calib.intrinsic.resolution);
+ setExtrinsic(calib.extrinsic.matrix()(cv::Rect(0, 0, 3, 3)), cv::Mat(calib.extrinsic.tvec));
+}
+
+ftl::calibration::CalibrationData::Intrinsic Camera::intrinsic() const {
+ return ftl::calibration::CalibrationData::Intrinsic(intrinsicMatrix(), distortionCoefficients(), size);
+}
+ftl::calibration::CalibrationData::Extrinsic Camera::extrinsic() const {
+ return ftl::calibration::CalibrationData::Extrinsic(rvec(), tvec());
+}
+
+Mat Camera::intrinsicMatrix() const {
+ Mat K = Mat::eye(3, 3, CV_64FC1);
+ K.at<double>(0, 0) = data[Parameter::F];
+ K.at<double>(1, 1) = data[Parameter::F];
+ K.at<double>(0, 2) = data[Parameter::CX];
+ K.at<double>(1, 2) = data[Parameter::CY];
+ return K;
+}
+
+Mat Camera::distortionCoefficients() const {
+ Mat D;
+ if (Camera::n_distortion_parameters <= 4) { D = Mat::zeros(1, 4, CV_64FC1); }
+ else if (Camera::n_distortion_parameters <= 5) { D = Mat::zeros(1, 5, CV_64FC1); }
+ else if (Camera::n_distortion_parameters <= 8) { D = Mat::zeros(1, 8, CV_64FC1); }
+ else if (Camera::n_distortion_parameters <= 12) { D = Mat::zeros(1, 12, CV_64FC1); }
+ else if (Camera::n_distortion_parameters <= 14) { D = Mat::zeros(1, 14, CV_64FC1); }
+
+ switch(Camera::n_distortion_parameters) {
+ case 14: // not used in OpenCV?
+ case 12:
+ case 8:
+ D.at<double>(5) = data[Parameter::K4];
+ D.at<double>(6) = data[Parameter::K5];
+ D.at<double>(7) = data[Parameter::K6];
+ case 5:
+ D.at<double>(4) = data[Parameter::K3];
+ case 4:
+ D.at<double>(0) = data[Parameter::K1];
+ D.at<double>(1) = data[Parameter::K2];
+ D.at<double>(2) = data[Parameter::P1];
+ D.at<double>(3) = data[Parameter::P2];
+ }
+
+ return D;
+}
+
+Mat Camera::rvec() const {
+ cv::Mat rvec(cv::Size(3, 1), CV_64FC1);
+ CHECK_EQ(rvec.step1(), 3);
+ ceres::QuaternionToAngleAxis(data + Parameter::ROTATION, (double*)(rvec.data));
+ return rvec;
+}
+
+Mat Camera::tvec() const {
+ return Mat(Vec3d(data[Parameter::TX], data[Parameter::TY], data[Parameter::TZ]));
+}
+
+Mat Camera::rmat() const {
+ cv::Mat R(cv::Size(3, 3), CV_64FC1);
+ CHECK_EQ(R.step1(), 3);
+ ceres::QuaternionToRotation<double>(data + Parameter::ROTATION,
+ ceres::RowMajorAdapter3x3<double>((double*)(R.data)));
+
+ return R;
+}
+
+Mat Camera::extrinsicMatrix() const {
+ Mat T = Mat::eye(4, 4, CV_64FC1);
+ rmat().copyTo(T(Rect(0, 0, 3, 3)));
+ tvec().copyTo(T(Rect(3, 0, 1, 3)));
+ return T;
+}
+
+Mat Camera::extrinsicMatrixInverse() const {
+ return transform::inverse(extrinsicMatrix());
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
struct ReprojectionError {
/**
* Reprojection error.
*
* Camera model has _CAMERA_PARAMETERS parameters:
*
- * - rotation and translation: rx, ry, rz, tx, ty, tx
+ * - rotation and translation: q1, q2, q3, q4, tx, ty, tx
* - focal length: f (fx == fy assumed)
* - pricipal point: cx, cy
- * - first three radial distortion coefficients: k1, k2, k3
+ * - distortion coefficients: k1, k2, k3, k4, k5, k6, p1, p2
*
* Camera model documented in
* https://docs.opencv.org/master/d9/d0c/group__calib3d.html
+ * https://github.com/opencv/opencv/blob/b698d0a6ee12342a87b8ad739d908fd8d7ff1fca/modules/calib3d/src/calibration.cpp#L774
*/
explicit ReprojectionError(double observed_x, double observed_y)
: observed_x(observed_x), observed_y(observed_y) {}
@@ -46,36 +211,48 @@ struct ReprojectionError {
T* residuals) const {
T p[3];
+ ceres::QuaternionRotatePoint(camera + Camera::Parameter::ROTATION, point, p);
- // Apply rotation and translation
- ceres::AngleAxisRotatePoint(camera + Camera::Parameter::ROTATION, point, p);
p[0] += camera[Camera::Parameter::TX];
p[1] += camera[Camera::Parameter::TY];
p[2] += camera[Camera::Parameter::TZ];
- T x = T(p[0]) / p[2];
- T y = T(p[1]) / p[2];
+ T x = p[0] / p[2];
+ T y = p[1] / p[2];
// Intrinsic parameters
- const T& focal = camera[Camera::Parameter::F];
+ const T& f = camera[Camera::Parameter::F];
const T& cx = camera[Camera::Parameter::CX];
const T& cy = camera[Camera::Parameter::CY];
- // Distortion parameters k1, k2, k3
+ // Distortion parameters
const T& k1 = camera[Camera::Parameter::K1];
const T& k2 = camera[Camera::Parameter::K2];
const T& k3 = camera[Camera::Parameter::K3];
+ const T& k4 = camera[Camera::Parameter::K4];
+ const T& k5 = camera[Camera::Parameter::K5];
+ const T& k6 = camera[Camera::Parameter::K6];
+ const T& p1 = camera[Camera::Parameter::P1];
+ const T& p2 = camera[Camera::Parameter::P2];
const T r2 = x*x + y*y;
const T r4 = r2*r2;
const T r6 = r4*r2;
- T distortion = T(1.0) + k1*r2 + k2*r4 + k3*r6;
-
+ // Radial distortion
+ const T cdist = T(1.0) + k1*r2 + k2*r4 + k3*r6;
+ // Radial distortion: rational model
+ const T icdist = T(1.0)/(T(1.0) + k4*r2 + k5*r4 + k6*r6);
+ // Tangential distortion
+ const T pdistx = (T(2.0)*x*y)*p1 + (r2 + T(2.0)*x*x)*p2;
+ const T pdisty = (r2 + T(2.0)*y*y)*p1 + (T(2.0)*x*y)*p2;
+ // Apply distortion
+ const T xd = x*cdist*icdist + pdistx;
+ const T yd = y*cdist*icdist + pdisty;
// Projected point position
- T predicted_x = focal*x*distortion + cx;
- T predicted_y = focal*y*distortion + cy;
+ T predicted_x = f*xd + cx;
+ T predicted_y = f*yd + cy;
// Error: the difference between the predicted and observed position
residuals[0] = predicted_x - T(observed_x);
@@ -99,6 +276,17 @@ struct ReprojectionError {
double observed_y;
};
+static ReprojectionError reproject_ = ReprojectionError(0.0, 0.0);
+
+cv::Point2d ftl::calibration::projectPoint(const Camera& camera, const cv::Point3d& point) {
+ cv::Point2d out;
+ reproject_(static_cast<const double* const>(camera.data), reinterpret_cast<const double* const>(&(point.x)), reinterpret_cast<double*>(&(out.x)));
+ return out;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// TODO: estimate pose and optimize it instead (?)
+
struct LengthError {
explicit LengthError(const double d) : d(d) {}
@@ -107,7 +295,7 @@ struct LengthError {
auto x = p1[0] - p2[0];
auto y = p1[1] - p2[1];
auto z = p1[2] - p2[2];
- residual[0] = T(d) - sqrt(x*x + y*y + z*z);
+ residual[0] = d - sqrt(x*x + y*y + z*z);
return true;
}
@@ -119,6 +307,8 @@ struct LengthError {
double d;
};
+//
+
struct ScaleError {
ScaleError(const double d, const Point3d& p) : d(d), p(p) {}
@@ -144,9 +334,9 @@ struct ScaleError {
double ftl::calibration::optimizeScale(const vector<Point3d> &object_points, vector<Point3d> &points) {
- // use exceptions instead
- CHECK(points.size() % object_points.size() == 0);
- CHECK(points.size() % 2 == 0);
+ // throw exception instead
+ CHECK_EQ(points.size() % object_points.size(), 0);
+ CHECK_EQ(points.size() % 2, 0);
// initial scale guess from first two object points
@@ -170,7 +360,7 @@ double ftl::calibration::optimizeScale(const vector<Point3d> &object_points, vec
vector<double> d;
ceres::Problem problem;
- auto loss_function = new ceres::HuberLoss(1.0);
+ ceres::LossFunction* loss_function = nullptr;
// use all pairwise distances
for (size_t i = 0; i < object_points.size(); i++) {
@@ -200,8 +390,7 @@ double ftl::calibration::optimizeScale(const vector<Point3d> &object_points, vec
////////////////////////////////////////////////////////////////////////////////
void BundleAdjustment::addCamera(Camera& camera) {
- // cameras can't be added after points
- if (points_.size() != 0) { throw std::exception(); }
+ if (points_.size() != 0) { throw ftl::exception("cameras can't be added after points"); }
cameras_.push_back(&camera);
}
@@ -212,17 +401,34 @@ void BundleAdjustment::addCameras(vector<Camera>& cameras) {
void BundleAdjustment::addPoint(const vector<bool>& visibility, const vector<Point2d>& observations, Point3d& point) {
if ((observations.size() != visibility.size()) ||
- (visibility.size() != cameras_.size())) { throw std::exception(); }
+ (visibility.size() != cameras_.size())) { throw ftl::exception("observation and visibility vector sizes do not match"); }
- points_.push_back(BundleAdjustment::Point{visibility, observations, reinterpret_cast<double*>(&point)});
+ points_.push_back(BundleAdjustment::Point{visibility, observations, point});
}
void BundleAdjustment::addPoints(const vector<vector<bool>>& visibility, const vector<vector<Point2d>>& observations, vector<Point3d>& points) {
- if ((observations.size() != points.size()) ||
- (observations.size() != visibility.size())) { throw std::exception(); }
+ if (observations.size() != visibility.size()) { throw ftl::exception("observation and visibility vector sizes do not match"); }
- for (size_t i = 0; i < points.size(); i++) {
- addPoint(visibility[i], observations[i], points[i]);
+ auto npoints = points.size();
+ auto ncameras = observations.size();
+
+ for (unsigned c = 0; c < ncameras; c++) {
+ if ((npoints != observations[c].size()) ||
+ (npoints != visibility[c].size())) {
+ throw ftl::exception("wrong number of points");
+ }
+ }
+
+ vector<bool> add_vis;
+ vector<Point2d> add_obs;
+ for (size_t i = 0; i < npoints; i++) {
+ add_obs.clear();
+ add_vis.clear();
+ for (size_t c = 0; c < ncameras; c++) {
+ add_vis.push_back(visibility[c][i]);
+ add_obs.push_back(observations[c][i]);
+ }
+ addPoint(add_vis, add_obs, points[i]);
}
}
@@ -230,48 +436,69 @@ void BundleAdjustment::addPoint(const vector<Point2d>& observations, Point3d& po
vector<bool> visibility(observations.size(), true);
addPoint(visibility, observations, point);
}
+
void BundleAdjustment::addPoints(const vector<vector<Point2d>>& observations, std::vector<Point3d>& points) {
- if (observations.size() != points.size()) { throw std::exception(); }
+ if (observations.size() != points.size()) { throw ftl::exception("observation and visibility vector sizes do not match"); }
for (size_t i = 0; i < points.size(); i++) {
addPoint(observations[i], points[i]);
}
}
-void BundleAdjustment::addObject(const vector<Point3d> &object_points) {
- if (points_.size() % object_points.size() != 0) { throw std::exception(); }
- objects_.push_back(BundleAdjustment::Object {0, (int) points_.size(), object_points});
-}
-
void BundleAdjustment::_setCameraParametrization(ceres::Problem &problem, const BundleAdjustment::Options &options) {
-
- vector<int> constant_camera_parameters;
- // extrinsic paramters
- if (!options.optimize_motion) {
- for (int i = 0; i < 3; i++) {
- constant_camera_parameters.push_back(Camera::Parameter::ROTATION + i);
- constant_camera_parameters.push_back(Camera::Parameter::TRANSLATION + i);
+ std::set<int> constant_camera_parameters;
+
+ // apply options
+ for (size_t i = 0; i < cameras_.size(); i++) {
+ if (!options.rational_model) {
+ cameras_[i]->data[Camera::Parameter::K4] = 0.0;
+ cameras_[i]->data[Camera::Parameter::K5] = 0.0;
+ cameras_[i]->data[Camera::Parameter::K6] = 0.0;
+ constant_camera_parameters.insert(Camera::Parameter::K4);
+ constant_camera_parameters.insert(Camera::Parameter::K5);
+ constant_camera_parameters.insert(Camera::Parameter::K6);
+ }
+ if (options.zero_distortion) {
+ cameras_[i]->data[Camera::Parameter::K1] = 0.0;
+ cameras_[i]->data[Camera::Parameter::K2] = 0.0;
+ cameras_[i]->data[Camera::Parameter::K3] = 0.0;
+ cameras_[i]->data[Camera::Parameter::K4] = 0.0;
+ cameras_[i]->data[Camera::Parameter::K5] = 0.0;
+ cameras_[i]->data[Camera::Parameter::K6] = 0.0;
+ cameras_[i]->data[Camera::Parameter::P1] = 0.0;
+ cameras_[i]->data[Camera::Parameter::P2] = 0.0;
}
}
- if (!options.fix_distortion) {
- LOG(WARNING) << "Optimization of distortion parameters is not supported"
- << "and results may contain invalid values.";
+ // set extrinsic paramters constant for all cameras
+ if (!options.optimize_motion) {
+ constant_camera_parameters.insert(Camera::Parameter::Q1);
+ constant_camera_parameters.insert(Camera::Parameter::Q2);
+ constant_camera_parameters.insert(Camera::Parameter::Q3);
+ constant_camera_parameters.insert(Camera::Parameter::Q4);
+ constant_camera_parameters.insert(Camera::Parameter::TX);
+ constant_camera_parameters.insert(Camera::Parameter::TY);
+ constant_camera_parameters.insert(Camera::Parameter::TZ);
}
- // intrinsic parameters
+ // set intrinsic parameters constant for all cameras
if (!options.optimize_intrinsic || options.fix_focal) {
- constant_camera_parameters.push_back(Camera::Parameter::F);
+ constant_camera_parameters.insert(Camera::Parameter::F);
}
if (!options.optimize_intrinsic || options.fix_principal_point) {
- constant_camera_parameters.push_back(Camera::Parameter::CX);
- constant_camera_parameters.push_back(Camera::Parameter::CY);
+ constant_camera_parameters.insert(Camera::Parameter::CX);
+ constant_camera_parameters.insert(Camera::Parameter::CY);
}
if (!options.optimize_intrinsic || options.fix_distortion) {
- constant_camera_parameters.push_back(Camera::Parameter::K1);
- constant_camera_parameters.push_back(Camera::Parameter::K2);
- constant_camera_parameters.push_back(Camera::Parameter::K3);
+ constant_camera_parameters.insert(Camera::Parameter::K1);
+ constant_camera_parameters.insert(Camera::Parameter::K2);
+ constant_camera_parameters.insert(Camera::Parameter::K3);
+ constant_camera_parameters.insert(Camera::Parameter::K4);
+ constant_camera_parameters.insert(Camera::Parameter::K5);
+ constant_camera_parameters.insert(Camera::Parameter::K6);
+ constant_camera_parameters.insert(Camera::Parameter::P1);
+ constant_camera_parameters.insert(Camera::Parameter::P2);
}
if (!options.optimize_motion && !options.optimize_intrinsic) {
@@ -281,43 +508,68 @@ void BundleAdjustment::_setCameraParametrization(ceres::Problem &problem, const
}
}
else {
- std::unordered_set<int> fix_extrinsic(
+ std::set<int> fix_extrinsic(
options.fix_camera_extrinsic.begin(), options.fix_camera_extrinsic.end());
- std::unordered_set<int> fix_intrinsic(
+ std::set<int> fix_intrinsic(
options.fix_camera_extrinsic.begin(), options.fix_camera_extrinsic.end());
for (size_t i = 0; i < cameras_.size(); i++) {
- std::unordered_set<int> fixed_parameters(
+ std::set<int> constant_parameters(
constant_camera_parameters.begin(),
constant_camera_parameters.end());
if (fix_extrinsic.find(i) != fix_extrinsic.end()) {
- fixed_parameters.insert({
- Camera::Parameter::RX, Camera::Parameter::RY,
- Camera::Parameter::RZ, Camera::Parameter::TX,
- Camera::Parameter::TY, Camera::Parameter::TZ
+ constant_parameters.insert({
+ Camera::Parameter::Q1, Camera::Parameter::Q2,
+ Camera::Parameter::Q3, Camera::Parameter::Q4,
+ Camera::Parameter::TX, Camera::Parameter::TY,
+ Camera::Parameter::TZ
});
}
if (fix_intrinsic.find(i) != fix_intrinsic.end()) {
- fixed_parameters.insert({
+ constant_parameters.insert({
Camera::Parameter::F, Camera::Parameter::CX,
Camera::Parameter::CY
});
}
- vector<int> params(fixed_parameters.begin(), fixed_parameters.end());
+ vector<int> params(constant_parameters.begin(), constant_parameters.end());
if (params.size() == Camera::n_parameters) {
- // Ceres crashes if all parameters are set constant using
+ // Ceres crashes if all parameters are set constant with
// SubsetParameterization()
// https://github.com/ceres-solver/ceres-solver/issues/347
+ // https://github.com/ceres-solver/ceres-solver/commit/27183d661ecae246dbce6d03cacf84f39fba1f1e
problem.SetParameterBlockConstant(getCameraPtr(i));
}
else if (params.size() > 0) {
- problem.SetParameterization(getCameraPtr(i),
- new ceres::SubsetParameterization(Camera::n_parameters, params));
+ ceres::LocalParameterization* camera_parameterization = nullptr;
+
+ if (constant_parameters.count(Camera::Parameter::ROTATION) == 0) {
+ // quaternion parametrization
+ for (auto& v : params) { v -= 4; }
+ camera_parameterization =
+ new ceres::ProductParameterization(
+ new ceres::QuaternionParameterization(),
+ new ceres::SubsetParameterization(Camera::n_parameters - 4, params));
+ }
+ else {
+ // extrinsic parameters constant
+ CHECK(constant_parameters.count(Camera::Parameter::Q1));
+ CHECK(constant_parameters.count(Camera::Parameter::Q2));
+ CHECK(constant_parameters.count(Camera::Parameter::Q3));
+ CHECK(constant_parameters.count(Camera::Parameter::Q4));
+ CHECK(constant_parameters.count(Camera::Parameter::TX));
+ CHECK(constant_parameters.count(Camera::Parameter::TY));
+ CHECK(constant_parameters.count(Camera::Parameter::TZ));
+
+ camera_parameterization =
+ new ceres::SubsetParameterization(Camera::n_parameters, params);
+ }
+
+ problem.SetParameterization(getCameraPtr(i), camera_parameterization);
}
}
}
@@ -325,7 +577,7 @@ void BundleAdjustment::_setCameraParametrization(ceres::Problem &problem, const
void BundleAdjustment::_buildBundleAdjustmentProblem(ceres::Problem &problem, const BundleAdjustment::Options &options) {
- ceres::LossFunction *loss_function = nullptr;
+ ceres::LossFunction *loss_function = nullptr; // squared
if (options.loss == Options::Loss::HUBER) {
loss_function = new ceres::HuberLoss(1.0);
@@ -334,7 +586,7 @@ void BundleAdjustment::_buildBundleAdjustmentProblem(ceres::Problem &problem, co
loss_function = new ceres::CauchyLoss(1.0);
}
- for (auto point : points_) {
+ for (auto& point : points_) {
for (size_t i = 0; i < point.observations.size(); i++) {
if (!point.visibility[i]) { continue; }
ceres::CostFunction* cost_function =
@@ -343,65 +595,23 @@ void BundleAdjustment::_buildBundleAdjustmentProblem(ceres::Problem &problem, co
problem.AddResidualBlock(cost_function,
loss_function,
getCameraPtr(i),
- point.point);
+ &(point.point.x)
+ );
}
}
- // apply options
-
_setCameraParametrization(problem, options);
if (!options.optmize_structure) {
// do not optimize points
- for (auto &point : points_) { problem.SetParameterBlockConstant(point.point); }
- }
-}
-
-void BundleAdjustment::_buildLengthProblem(ceres::Problem &problem, const BundleAdjustment::Options &options) {
-
- // same idea as in scale optimization
-
- ceres::LossFunction *loss_function = nullptr;
-
- // should use separate configuration option
- /*
- if (options.loss == Options::Loss::HUBER) {
- loss_function = new ceres::HuberLoss(1.0);
- }
- else if (options.loss == Options::Loss::CAUCHY) {
- loss_function = new ceres::CauchyLoss(1.0);
- }
- */
-
- for (auto &object : objects_) {
- int npoints = object.object_points.size();
- auto &object_points = object.object_points;
-
- vector<double> d;
- for (int i = 0; i < npoints; i++) {
- for (int j = i + 1; j < npoints; j++) {
- d.push_back(norm(object_points[i]-object_points[j]));
- }
- }
-
- for (int p = object.idx_start; p < object.idx_end; p += npoints) {
- size_t i_d = 0;
- for (size_t i = 0; i < object_points.size(); i++) {
- for (size_t j = i + 1; j < object_points.size(); j++) {
- double* p1 = points_[p+i].point;
- double* p2 = points_[p+j].point;
-
- auto cost_function = LengthError::Create(d[i_d++]);
-
- problem.AddResidualBlock(cost_function, loss_function, p1, p2);
- }
- }
+ for (auto &point : points_) {
+ problem.SetParameterBlockConstant(&(point.point.x));
}
}
}
void BundleAdjustment::_buildProblem(ceres::Problem &problem, const BundleAdjustment::Options &options) {
-
+ CHECK(options.use_quaternion) << "Only quaternion rotations are supported";
_buildBundleAdjustmentProblem(problem, options);
_buildLengthProblem(problem, options);
}
@@ -411,17 +621,19 @@ void BundleAdjustment::run(const BundleAdjustment::Options &bundle_adjustment_op
_buildProblem(problem, bundle_adjustment_options);
ceres::Solver::Options options;
- options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY;
+ options.linear_solver_type = ceres::DENSE_SCHUR;
options.minimizer_progress_to_stdout = bundle_adjustment_options.verbose;
-
+
if (bundle_adjustment_options.max_iter > 0) {
options.max_num_iterations = bundle_adjustment_options.max_iter;
}
-
+
if (bundle_adjustment_options.num_threads > 0) {
options.num_threads = bundle_adjustment_options.num_threads;
}
+ options.use_nonmonotonic_steps = bundle_adjustment_options.use_nonmonotonic_steps;
+
ceres::Solver::Summary summary;
ceres::Solve(options, &problem, &summary);
@@ -438,31 +650,65 @@ void BundleAdjustment::run() {
run(options);
}
-void BundleAdjustment::_reprojectionErrorMSE(const int camera, double &error, double &npoints) const {
- vector<Point2d> observations;
- vector<Point3d> points;
+int BundleAdjustment::removeObservations(double threshold) {
+ int removed = 0;
+ std::vector<double> error(cameras_.size(), 0.0);
+
+ for (auto& point : points_) {
+ double error_total = 0.0;
+ double n_points = 0.0;
+
+ for (unsigned int c = 0; c < cameras_.size(); c++) {
+ if (!point.visibility[c]) { continue; }
+ const auto& obs = point.observations[c];
+ const auto& proj = projectPoint(*(cameras_[c]), point.point);
+ double err = pow(proj.x - obs.x, 2) + pow(proj.y - obs.y, 2);
+ error[c] = err;
+ error_total += err;
+ n_points += 1;
+ }
+ error_total /= n_points;
- observations.reserve(points_.size());
- points.reserve(points_.size());
+ if (n_points <= 1) { continue; } // TODO: remove observation completely
- for (const auto& point : points_) {
- if (!point.visibility[camera]) { continue; }
- observations.push_back(point.observations[camera]);
- points.push_back(Point3d(point.point[0], point.point[1], point.point[2]));
+ for (unsigned int c = 0; c < cameras_.size(); c++) {
+ if (!point.visibility[c]) { continue; }
+ if ((error[c] - error_total) > threshold) {
+ point.visibility[c] = false;
+ n_points -= 1;
+ removed++;
+ break;
+ }
+ }
}
+ return removed;
+}
+
+std::vector<cv::Point3d> BundleAdjustment::points() {
+ std::vector<cv::Point3d> pts;
+ pts.reserve(points_.size());
+ for (const auto& p : points_) { pts.push_back(p.point); }
+ return pts;
+}
- auto K = cameras_[camera]->intrinsicMatrix();
- auto rvec = cameras_[camera]->rvec();
- auto tvec = cameras_[camera]->tvec();
+void BundleAdjustment::_reprojectionErrorSE(const int camera, double &error, double &npoints) const {
+ error = 0.0;
+ npoints = 0.0;
- error = ftl::calibration::reprojectionError(observations, points, K, Mat::zeros(1, 5, CV_64FC1), rvec, tvec);
- npoints = points.size();
+ for (const auto& point : points_) {
+ if (!point.visibility[camera]) { continue; }
+ const auto& obs = point.observations[camera];
+ const auto& proj = projectPoint(*(cameras_[camera]), point.point);
+ error += pow(proj.x - obs.x, 2);
+ error += pow(proj.y - obs.y, 2);
+ npoints += 1.0;
+ }
}
double BundleAdjustment::reprojectionError(const int camera) const {
- double error, ncameras;
- _reprojectionErrorMSE(camera, ncameras, error);
- return error / ncameras;
+ double error, npoints;
+ _reprojectionErrorSE(camera, error, npoints);
+ return sqrt(error / npoints);
}
double BundleAdjustment::reprojectionError() const {
@@ -470,9 +716,59 @@ double BundleAdjustment::reprojectionError() const {
double npoints = 0.0;
for (size_t i = 0; i < cameras_.size(); i++) {
double e, n;
- _reprojectionErrorMSE(i, e, n);
- error += e * n;
+ _reprojectionErrorSE(i, e, n);
+ error += e;
npoints += n;
}
- return error / npoints;
+ return sqrt(error / npoints);
+}
+
+////
+
+void BundleAdjustment::addObject(const std::vector<cv::Point3d> &object_points) {
+ if (points_.size() % object_points.size() != 0) { throw std::exception(); }
+ objects_.push_back(BundleAdjustment::Object {0, (int) points_.size(), object_points});
+}
+
+void BundleAdjustment::_buildLengthProblem(ceres::Problem &problem, const BundleAdjustment::Options &options) {
+
+ // same idea as in scale optimization
+
+ ceres::LossFunction *loss_function = nullptr;
+
+ // should use separate configuration option
+ /*
+ if (options.loss == Options::Loss::HUBER) {
+ loss_function = new ceres::HuberLoss(1.0);
+ }
+ else if (options.loss == Options::Loss::CAUCHY) {
+ loss_function = new ceres::CauchyLoss(1.0);
+ }
+ */
+
+ for (auto &object : objects_) {
+ int npoints = object.object_points.size();
+ auto &object_points = object.object_points;
+
+ vector<double> d;
+ for (int i = 0; i < npoints; i++) {
+ for (int j = i + 1; j < npoints; j++) {
+ d.push_back(norm(object_points[i]-object_points[j]));
+ }
+ }
+
+ for (int p = object.idx_start; p < object.idx_end; p += npoints) {
+ size_t i_d = 0;
+ for (size_t i = 0; i < object_points.size(); i++) {
+ for (size_t j = i + 1; j < object_points.size(); j++) {
+ double* p1 = static_cast<double*>(&(points_[p+i].point.x));
+ double* p2 = static_cast<double*>(&(points_[p+j].point.x));
+
+ auto cost_function = LengthError::Create(d[i_d++]);
+
+ problem.AddResidualBlock(cost_function, loss_function, p1, p2);
+ }
+ }
+ }
+ }
}
diff --git a/components/calibration/src/parameters.cpp b/components/calibration/src/parameters.cpp
index d0e20aa63428670b6b7783fa3e7b1129c69585e7..fae57d07d6760b884689dc89cb989b4e699f12ad 100644
--- a/components/calibration/src/parameters.cpp
+++ b/components/calibration/src/parameters.cpp
@@ -1,7 +1,13 @@
-#include "ftl/calibration/parameters.hpp"
+
+#include <loguru.hpp>
+
+#include <ftl/calibration/parameters.hpp>
+#include <ftl/exception.hpp>
#include <opencv2/calib3d/calib3d.hpp>
+#include <ceres/rotation.h>
+
using cv::Mat;
using cv::Size;
using cv::Point2d;
@@ -13,141 +19,6 @@ using std::vector;
using namespace ftl::calibration;
-using ftl::calibration::Camera;
-
-////////////////////////////////////////////////////////////////////////////////
-
-void Camera::setRotation(const Mat& R) {
- if (((R.size() != Size(3, 3)) &&
- (R.size() != Size(3, 1)) &&
- (R.size() != Size(1, 3))) ||
- (R.type() != CV_64FC1)) { throw std::exception(); }
-
- Mat rvec;
- if (R.size() == cv::Size(3, 3)) { cv::Rodrigues(R, rvec); }
- else { rvec = R; }
-
- data[Parameter::RX] = rvec.at<double>(0);
- data[Parameter::RY] = rvec.at<double>(1);
- data[Parameter::RZ] = rvec.at<double>(2);
-}
-
-void Camera::setTranslation(const Mat& t) {
- if ((t.type() != CV_64FC1) ||
- (t.size() != cv::Size(1, 3))) { throw std::exception(); }
-
- data[Parameter::TX] = t.at<double>(0);
- data[Parameter::TY] = t.at<double>(1);
- data[Parameter::TZ] = t.at<double>(2);
-}
-
-
-void Camera::setIntrinsic(const Mat& K) {
- if ((K.type() != CV_64FC1) || (K.size() != cv::Size(3, 3))) {
- throw std::exception();
- }
-
- data[Parameter::F] = K.at<double>(0, 0);
- data[Parameter::CX] = K.at<double>(0, 2);
- data[Parameter::CY] = K.at<double>(1, 2);
-}
-
-void Camera::setDistortion(const Mat& D) {
- if ((D.type() != CV_64FC1)) { throw std::exception(); }
- switch(D.total()) {
- case 12:
- /*
- data[Parameter::S1] = D.at<double>(8);
- data[Parameter::S2] = D.at<double>(9);
- data[Parameter::S3] = D.at<double>(10);
- data[Parameter::S4] = D.at<double>(11);
- */
- [[fallthrough]];
-
- case 8:
- /*
- data[Parameter::K4] = D.at<double>(5);
- data[Parameter::K5] = D.at<double>(6);
- data[Parameter::K6] = D.at<double>(7);
- */
- [[fallthrough]];
-
- case 5:
- data[Parameter::K3] = D.at<double>(4);
- [[fallthrough]];
-
- default:
- data[Parameter::K1] = D.at<double>(0);
- data[Parameter::K2] = D.at<double>(1);
- /*
- data[Parameter::P1] = D.at<double>(2);
- data[Parameter::P2] = D.at<double>(3);
- */
- }
-}
-
-Camera::Camera(const Mat &K, const Mat &D, const Mat &R, const Mat &tvec) {
- setIntrinsic(K, D);
- if (!R.empty()) { setRotation(R); }
- if (!tvec.empty()) { setTranslation(tvec); }
-}
-
-Mat Camera::intrinsicMatrix() const {
- Mat K = Mat::eye(3, 3, CV_64FC1);
- K.at<double>(0, 0) = data[Parameter::F];
- K.at<double>(1, 1) = data[Parameter::F];
- K.at<double>(0, 2) = data[Parameter::CX];
- K.at<double>(1, 2) = data[Parameter::CY];
- return K;
-}
-
-Mat Camera::distortionCoefficients() const {
- Mat D;
- if (Camera::n_distortion_parameters <= 4) { D = Mat::zeros(4, 1, CV_64FC1); }
- else if (Camera::n_distortion_parameters <= 5) { D = Mat::zeros(5, 1, CV_64FC1); }
- else if (Camera::n_distortion_parameters <= 8) { D = Mat::zeros(8, 1, CV_64FC1); }
- else if (Camera::n_distortion_parameters <= 12) { D = Mat::zeros(12, 1, CV_64FC1); }
- else if (Camera::n_distortion_parameters <= 14) { D = Mat::zeros(14, 1, CV_64FC1); }
-
- switch(Camera::n_distortion_parameters) {
- case 14:
- case 12:
- case 8:
- case 5:
- D.at<double>(4) = data[Parameter::K3];
- case 4:
- D.at<double>(0) = data[Parameter::K1];
- D.at<double>(1) = data[Parameter::K2];
- }
-
- return D;
-}
-
-Mat Camera::rvec() const {
- return Mat(Vec3d(data[Parameter::RX], data[Parameter::RY], data[Parameter::RZ]));
-}
-
-Mat Camera::tvec() const {
- return Mat(Vec3d(data[Parameter::TX], data[Parameter::TY], data[Parameter::TZ]));
-}
-
-Mat Camera::rmat() const {
- Mat R;
- cv::Rodrigues(rvec(), R);
- return R;
-}
-
-Mat Camera::extrinsicMatrix() const {
- Mat T = Mat::eye(4, 4, CV_64FC1);
- rmat().copyTo(T(Rect(0, 0, 3, 3)));
- tvec().copyTo(T(Rect(3, 0, 1, 3)));
- return T;
-}
-
-Mat Camera::extrinsicMatrixInverse() const {
- return extrinsicMatrix().inv();
-}
-
////////////////////////////////////////////////////////////////////////////////
bool validate::translationStereo(const Mat &t) {
@@ -170,7 +41,7 @@ bool validate::rotationMatrix(const Mat &M) {
// rotation matrix is orthogonal: M.T * M == M * M.T == I
//if (cv::countNonZero((M.t() * M) != Mat::eye(Size(3, 3), CV_64FC1)) != 0)
// { return false; }
-
+
return true;
}
@@ -178,9 +49,9 @@ bool validate::pose(const Mat &M) {
if (M.size() != Size(4, 4)) { return false; }
if (!validate::rotationMatrix(M(cv::Rect(0 , 0, 3, 3))))
{ return false; }
- if (!( (M.at<double>(3, 0) == 0.0) &&
- (M.at<double>(3, 1) == 0.0) &&
- (M.at<double>(3, 2) == 0.0) &&
+ if (!( (M.at<double>(3, 0) == 0.0) &&
+ (M.at<double>(3, 1) == 0.0) &&
+ (M.at<double>(3, 2) == 0.0) &&
(M.at<double>(3, 3) == 1.0))) { return false; }
return true;
@@ -190,11 +61,11 @@ bool validate::cameraMatrix(const Mat &M) {
if (M.type() != CV_64F) { return false; }
if (M.channels() != 1) { return false; }
if (M.size() != Size(3, 3)) { return false; }
-
- if (!( (M.at<double>(2, 0) == 0.0) &&
- (M.at<double>(2, 1) == 0.0) &&
+
+ if (!( (M.at<double>(2, 0) == 0.0) &&
+ (M.at<double>(2, 1) == 0.0) &&
(M.at<double>(2, 2) == 1.0))) { return false; }
-
+
return true;
}
@@ -223,7 +94,7 @@ bool ftl::calibration::validate::distortionCoefficients(const Mat &D, Size size)
s[3] = D.at<double>(11);
*/
[[fallthrough]];
-
+
case 8:
k[3] = D.at<double>(5);
k[4] = D.at<double>(6);
@@ -242,7 +113,7 @@ bool ftl::calibration::validate::distortionCoefficients(const Mat &D, Size size)
p[1] = D.at<double>(3);
*/
}
-
+
int diagonal = sqrt(size.width*size.width+size.height*size.height) + 1.0;
bool is_n = true;
@@ -274,11 +145,11 @@ bool ftl::calibration::validate::distortionCoefficients(const Mat &D, Size size)
if (!is_n && !is_p) { return false; }
}
-
+
return true;
}
-Mat ftl::calibration::scaleCameraMatrix(const Mat &K, const Size &size_new, const Size &size_old) {
+Mat ftl::calibration::scaleCameraMatrix(const Mat &K, const Size &size_old, const Size &size_new) {
Mat S(cv::Size(3, 3), CV_64F, 0.0);
double scale_x = ((double) size_new.width) / ((double) size_old.width);
double scale_y = ((double) size_new.height) / ((double) size_old.height);
diff --git a/components/calibration/src/stereorectify.cpp b/components/calibration/src/stereorectify.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..7612a3554087fe8bfa14314eb38d793feca9cefe
--- /dev/null
+++ b/components/calibration/src/stereorectify.cpp
@@ -0,0 +1,43 @@
+#include <ftl/calibration/stereorectify.hpp>
+#include <ftl/calibration/parameters.hpp>
+#include <opencv2/calib3d.hpp>
+
+namespace ftl {
+namespace calibration {
+
+// ==== StereoRectify ==========================================================
+
+StereoRectify::StereoRectify(const CalibrationData::Calibration& c1, const CalibrationData::Calibration& c2, cv::Size sz, double alpha, int flags) {
+ size = sz;
+
+ if (size == cv::Size{0, 0}) {
+ size = c1.intrinsic.resolution;
+ }
+ K1 = c1.intrinsic.matrix(size);
+ K2 = c2.intrinsic.matrix(size);
+ c1.intrinsic.distCoeffs.Mat().copyTo(distCoeffs1);
+ c2.intrinsic.distCoeffs.Mat().copyTo(distCoeffs2);
+
+ cv::Mat T1 = c1.extrinsic.matrix();
+ cv::Mat T2 = c2.extrinsic.matrix();
+ cv::Mat T = T2 * transform::inverse(T1);
+
+ transform::getRotationAndTranslation(T, R, t);
+ cv::stereoRectify( K1, distCoeffs1, K2, distCoeffs2, size, R, t,
+ R1, R2, P1, P2, Q, flags, alpha, size, &roi1, &roi2);
+}
+
+double StereoRectify::baseline() const {
+ return cv::norm(t);
+}
+
+void StereoRectify::map1(cv::Mat &m1, cv::Mat &m2, int format) {
+ cv::initUndistortRectifyMap(K1, distCoeffs1, R1, P1, size, format, m1, m2);
+}
+
+void StereoRectify::map2(cv::Mat &m1, cv::Mat &m2, int format) {
+ cv::initUndistortRectifyMap(K2, distCoeffs2, R2, P2, size, format, m1, m2);
+}
+
+}
+}
\ No newline at end of file
diff --git a/components/calibration/src/structures.cpp b/components/calibration/src/structures.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..de8b34bee70e91fb67fc2098c5e51ce66773c783
--- /dev/null
+++ b/components/calibration/src/structures.cpp
@@ -0,0 +1,262 @@
+#include <opencv2/core.hpp>
+#include <opencv2/calib3d.hpp>
+#include <opencv2/core/utility.hpp>
+
+#include <ftl/exception.hpp>
+#include <ftl/calibration/structures.hpp>
+#include <ftl/calibration/parameters.hpp>
+
+#include <cmath>
+
+using ftl::calibration::CalibrationData;
+
+CalibrationData::Intrinsic::DistortionCoefficients::DistortionCoefficients() :
+ data_(14, 0.0) {
+}
+
+const cv::Mat CalibrationData::Intrinsic::DistortionCoefficients::Mat(int nparams) const {
+ if (nparams <= 0) {
+ return cv::Mat();
+ }
+ if (nparams > 14) {
+ nparams = 14;
+ }
+ return cv::Mat(cv::Size(nparams, 1), CV_64FC1, const_cast<double*>(data_.data()));
+}
+
+cv::Mat CalibrationData::Intrinsic::DistortionCoefficients::Mat(int nparams) {
+ if (nparams <= 0) {
+ return cv::Mat();
+ }
+ if (nparams > 14) {
+ nparams = 14;
+ }
+ return cv::Mat(cv::Size(nparams, 1), CV_64FC1, data_.data());
+}
+
+double& CalibrationData::Intrinsic::DistortionCoefficients::operator[](unsigned i) { return data_[i]; }
+double CalibrationData::Intrinsic::DistortionCoefficients::operator[](unsigned i) const { return data_[i]; }
+
+CalibrationData::Intrinsic::Intrinsic() :
+ resolution(0, 0), fx(0.0), fy(0.0), cx(0.0), cy(0.0) {}
+
+void CalibrationData::Intrinsic::set(const cv::Mat& K, cv::Size sz) {
+ fx = K.at<double>(0, 0);
+ fy = K.at<double>(1, 1);
+ cx = K.at<double>(0, 2);
+ cy = K.at<double>(1, 2);
+ resolution = sz;
+}
+
+void CalibrationData::Intrinsic::set(const cv::Mat& K, const cv::Mat& D, cv::Size sz) {
+ D.copyTo(distCoeffs.Mat(D.cols));
+ set(K, sz);
+}
+
+CalibrationData::Intrinsic::Intrinsic(const cv::Mat &K, cv::Size size) {
+ set(K, size);
+}
+
+CalibrationData::Intrinsic::Intrinsic(const cv::Mat &K, const cv::Mat &D, cv::Size size) {
+ set(K, D, size);
+}
+
+CalibrationData::Intrinsic::Intrinsic(const CalibrationData::Intrinsic& other, cv::Size size) {
+ distCoeffs = DistortionCoefficients(other.distCoeffs);
+ sensorSize = other.sensorSize;
+ auto K = other.matrix(size);
+ fx = K.at<double>(0, 0);
+ fy = K.at<double>(1, 1);
+ cx = K.at<double>(0, 2);
+ cy = K.at<double>(1, 2);
+ resolution = size;
+}
+
+cv::Mat CalibrationData::Intrinsic::matrix() const {
+ cv::Mat K(cv::Size(3, 3), CV_64FC1, cv::Scalar(0));
+ K.at<double>(0, 0) = fx;
+ K.at<double>(1, 1) = fy;
+ K.at<double>(0, 2) = cx;
+ K.at<double>(1, 2) = cy;
+ K.at<double>(2, 2) = 1.0;
+ return K;
+}
+
+cv::Mat CalibrationData::Intrinsic::matrix(cv::Size size) const {
+ return ftl::calibration::scaleCameraMatrix(matrix(), resolution, size);
+}
+
+bool CalibrationData::Intrinsic::valid() const {
+ return (resolution != cv::Size{0, 0});
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
+void CalibrationData::Extrinsic::set(const cv::Mat& T) {
+ if (T.type() != CV_64FC1) {
+ throw ftl::exception("Input must be CV_64FC1");
+ }
+ if (!ftl::calibration::validate::pose(T)) {
+ throw ftl::exception("T is not a valid transform matrix");
+ }
+
+ cv::Rodrigues(T(cv::Rect(0, 0, 3, 3)), rvec);
+ tvec[0] = T.at<double>(0, 3);
+ tvec[1] = T.at<double>(1, 3);
+ tvec[2] = T.at<double>(2, 3);
+}
+
+void CalibrationData::Extrinsic::set(cv::InputArray R, cv::InputArray t) {
+ if ((t.type() != CV_64FC1) || (R.type() != CV_64FC1)) {
+ throw ftl::exception("Type of R and t must be CV_64FC1");
+ }
+
+ if ((t.size() != cv::Size(3, 1)) && (t.size() != cv::Size(1, 3))) {
+ throw ftl::exception("Size of t must be (3, 1) or (1, 3");
+ }
+
+ if (R.isMat()) {
+ const auto& rmat = R.getMat();
+
+ if (R.size() == cv::Size(3, 3)) {
+ if (!ftl::calibration::validate::rotationMatrix(rmat)) {
+ throw ftl::exception("R is not a rotation matrix");
+ }
+ cv::Rodrigues(rmat, rvec);
+ }
+ else if ((R.size() == cv::Size(3, 1)) || R.size() == cv::Size(1, 3)) {
+ rvec[0] = rmat.at<double>(0);
+ rvec[1] = rmat.at<double>(1);
+ rvec[2] = rmat.at<double>(2);
+ }
+ else {
+ throw ftl::exception("R must be a 3x3 rotation matrix or 3x1/1x3 rotation vector (Rodrigues)");
+ }
+ }
+
+ const auto& tmat = t.getMat();
+ tvec[0] = tmat.at<double>(0);
+ tvec[1] = tmat.at<double>(1);
+ tvec[2] = tmat.at<double>(2);
+}
+
+CalibrationData::Extrinsic::Extrinsic() : rvec(0.0, 0.0, 0.0), tvec(0.0, 0.0, 0.0) {}
+
+CalibrationData::Extrinsic::Extrinsic(const cv::Mat &T) {
+ set(T);
+}
+
+CalibrationData::Extrinsic::Extrinsic(cv::InputArray R, cv::InputArray t) {
+ set(R, t);
+}
+
+cv::Mat CalibrationData::Extrinsic::matrix() const {
+ cv::Mat T(cv::Size(4, 4), CV_64FC1, cv::Scalar(0.0));
+ cv::Rodrigues(rvec, T(cv::Rect(0, 0, 3, 3)));
+ T.at<double>(0, 3) = tvec[0];
+ T.at<double>(1, 3) = tvec[1];
+ T.at<double>(2, 3) = tvec[2];
+ T.at<double>(3, 3) = 1.0;
+ return T;
+}
+
+ CalibrationData::Extrinsic CalibrationData::Extrinsic::inverse() const {
+ return CalibrationData::Extrinsic(ftl::calibration::transform::inverse(matrix()));
+}
+
+cv::Mat CalibrationData::Extrinsic::rmat() const {
+ cv::Mat R(cv::Size(3, 3), CV_64FC1, cv::Scalar(0.0));
+ cv::Rodrigues(rvec, R);
+ return R;
+}
+
+bool CalibrationData::Extrinsic::valid() const {
+ return !(
+ std::isnan(tvec[0]) || std::isnan(tvec[1]) || std::isnan(tvec[2]) ||
+ std::isnan(rvec[0]) || std::isnan(rvec[1]) || std::isnan(rvec[2]));
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
+CalibrationData CalibrationData::readFile(const std::string &path) {
+
+ cv::FileStorage fs;
+ fs.open(path.c_str(), cv::FileStorage::READ);
+ if (!fs.isOpened()) {
+ throw std::exception();
+ }
+ CalibrationData calibration;
+ fs["enabled"] >> calibration.enabled;
+ if (!fs["origin"].isNone()) {
+ fs["origin"] >> calibration.origin;
+ }
+
+ for (auto it = fs["calibration"].begin(); it != fs["calibration"].end(); it++) {
+ Calibration calib;
+ ftl::codecs::Channel channel;
+
+ (*it)["channel"] >> channel;
+ (*it)["resolution"] >> calib.intrinsic.resolution;
+ (*it)["fx"] >> calib.intrinsic.fx;
+ (*it)["fy"] >> calib.intrinsic.fy;
+ (*it)["cx"] >> calib.intrinsic.cx;
+ (*it)["cy"] >> calib.intrinsic.cy;
+ (*it)["distCoeffs"] >> calib.intrinsic.distCoeffs.data_;
+ (*it)["sensorSize"] >> calib.intrinsic.sensorSize;
+ (*it)["rvec"] >> calib.extrinsic.rvec;
+ (*it)["tvec"] >> calib.extrinsic.tvec;
+
+ calibration.data[channel] = calib;
+ }
+
+ return calibration;
+}
+
+void CalibrationData::writeFile(const std::string &path) const {
+ cv::FileStorage fs(path, cv::FileStorage::WRITE);
+ if (!fs.isOpened()) {
+ throw std::exception();
+ }
+
+ fs << "enabled" << enabled;
+ fs << "origin" << origin;
+ fs << "calibration" << "[";
+ for (auto &[channel, data] : data) {
+ fs << "{"
+ << "channel" << int(channel)
+ << "resolution" << data.intrinsic.resolution
+ << "fx" << data.intrinsic.fx
+ << "fy" << data.intrinsic.fy
+ << "cx" << data.intrinsic.cx
+ << "cy" << data.intrinsic.cy
+ << "distCoeffs" << data.intrinsic.distCoeffs.data_
+ << "rvec" << data.extrinsic.rvec
+ << "tvec" << data.extrinsic.tvec
+ << "sensorSize" << data.intrinsic.sensorSize
+ << "}";
+ }
+ fs << "]";
+
+ fs.release();
+}
+
+CalibrationData::Calibration& CalibrationData::get(ftl::codecs::Channel channel) {
+ return data[channel];
+}
+
+bool CalibrationData::hasCalibration(ftl::codecs::Channel channel) const {
+ return data.count(channel) != 0;
+}
+
+// ==== CalibrationData::Calibration ===========================================
+#include <loguru.hpp>
+cv::Mat CalibrationData::Calibration::matrix() {
+ if (!intrinsic.valid() || !extrinsic.valid()) {
+ throw ftl::exception("Invalid calibration");
+ }
+
+ cv::Mat P = extrinsic.matrix();
+ cv::Mat R = P(cv::Rect(0, 0, 3, 3));
+ R = intrinsic.matrix() * R;
+ return P;
+}
diff --git a/applications/calibration-ceres/src/visibility.cpp b/components/calibration/src/visibility.cpp
similarity index 65%
rename from applications/calibration-ceres/src/visibility.cpp
rename to components/calibration/src/visibility.cpp
index c941cbb12c96dbdb5166f0af373cc486af938b2d..d3878bbdf8118dd7447bd6fb202cabf0db49f292 100644
--- a/applications/calibration-ceres/src/visibility.cpp
+++ b/components/calibration/src/visibility.cpp
@@ -1,10 +1,22 @@
-#include "visibility.hpp"
-#include "loguru.hpp"
+#include <loguru.hpp>
+#include <numeric>
#include <limits>
#include <algorithm>
#include <queue>
+#include <opencv2/core.hpp>
+
+#include <ftl/exception.hpp>
+#include <ftl/calibration/visibility.hpp>
+
+using cv::Mat;
+using cv::Scalar;
+using cv::Size;
+using std::vector;
+using std::pair;
+using std::make_pair;
+
using std::vector;
using std::pair;
using std::make_pair;
@@ -12,25 +24,36 @@ using std::make_pair;
using ftl::calibration::Paths;
using ftl::calibration::Visibility;
+/** get highest bit*/
+inline int hbit(uint64_t a) {
+#ifdef __GNUC__
+ return 64 - __builtin_clzll(a);
+#endif
+ int v = 1;
+ while (a >>= 1) { v++; }
+ return v;
+}
+
template<typename T>
-Paths<T>::Paths(const vector<int> &previous, const vector<T> &distances) :
- previous_(previous), distances_(distances) {}
+Paths<T>::Paths(int id, const vector<int> &previous, const vector<T> &distances) :
+ id_(id), previous_(previous), distances_(distances) {}
template<typename T>
vector<int> Paths<T>::from(int i) const {
vector<int> path;
+ path.push_back(i);
- if (previous_[i] == -1) { return {}; }
+ if (previous_[i] == -1) { return path; }
+ int current = previous_[i];
- int current = i;
- do {
+ while (previous_[current] != -1) {
if (distance(i) == std::numeric_limits<T>::max()) { return {}; } // no path
path.push_back(current);
current = previous_[current];
}
- while (previous_[current] != -1);
+ path.push_back(id_);
return path;
}
@@ -144,7 +167,7 @@ static pair<vector<int>, vector<T>> dijstra_impl(const int i, const vector<vecto
template<typename T>
Paths<T> ftl::calibration::dijstra(const int i, const vector<vector<T>> &graph) {
auto tmp = dijstra_impl(i, graph);
- return Paths<T>(tmp.first, tmp.second);
+ return Paths<T>(i, tmp.first, tmp.second);
}
template Paths<int> ftl::calibration::dijstra(const int i, const vector<vector<int>> &graph);
@@ -155,6 +178,7 @@ template Paths<double> ftl::calibration::dijstra(const int i, const vector<vecto
Visibility::Visibility(int n_cameras) :
n_cameras_(n_cameras),
+ n_max_(0),
graph_(n_cameras, vector(n_cameras, 0)),
mask_(n_cameras, vector(n_cameras, false))
{}
@@ -177,18 +201,37 @@ void Visibility::init(int n_cameras) {
template<typename T>
void Visibility::update(const vector<T> &add) {
- if ((int) add.size() != n_cameras_) { throw std::exception(); }
+ if ((int) add.size() != n_cameras_) {
+ throw ftl::exception("number of points must match number of cameras");
+ }
+ n_max_ = n_cameras_;
for (int i = 0; i < n_cameras_; i++) {
if (!add[i]) { continue; }
for (int j = 0; j < n_cameras_; j++) {
- if (i == j) { continue; }
if (add[j]) { graph_[i][j] += 1; }
}
}
}
+void Visibility::update(uint64_t add) {
+ if (n_cameras_ > 64) {
+ throw ftl::exception("Bitmask update only if number of cameras less than 64");
+ }
+ n_max_ = std::max(n_max_, hbit(add));
+
+ for (int i = 0; i < n_max_; i++) {
+ if (!(add & (uint64_t(1) << i))) { continue; }
+
+ for (int j = 0; j < n_max_; j++) {
+ if (add & (uint64_t(1) << j)) {
+ graph_[i][j] += 1;
+ }
+ }
+ }
+}
+
template void Visibility::update(const std::vector<int> &add);
template void Visibility::update(const std::vector<bool> &add);
@@ -202,18 +245,32 @@ void Visibility::unmask(int a, int b) {
mask_[b][a] = false;
}
-int Visibility::distance(int a, int b) const {
- return graph_[a][b];
+int Visibility::count(int camera) const {
+ return graph_[camera][camera];
+}
+
+int Visibility::count(int camera1, int camera2) const {
+ return graph_[camera1][camera2];
+}
+
+float Visibility::distance(int a, int b) const {
+ int v = graph_[a][b];
+ if (v == 0) { return 0.0f; }
+ return 1.0f/float(v);
}
Paths<float> Visibility::shortestPath(int i) const {
- if ((i < 0) || (i >= n_cameras_)) { return Paths<float>({}, {}); /* throw exception */}
+ if ((i < 0) || (i >= n_max_)) { throw ftl::exception("Invalid index"); }
+
+ vector<vector<float>> graph(n_max_, vector<float>(n_max_, 0.0f));
+ for (int r = 0; r < n_max_; r++) {
+ for (int c = 0; c < n_max_; c++) {
+ if (r == c) { continue; }
- vector<vector<float>> graph(n_cameras_, vector<float>(n_cameras_, 0.0f));
- for (int r = 0; r < n_cameras_; r++) {
- for (int c = 0; c < n_cameras_; c++) {
- float v = graph_[r][c];
- if ((v != 0) && !mask_[r][c]) { graph[r][c] = 1.0f / v; }
+ if (!mask_[r][c]) {
+ // use inverse of count as distance in graph
+ graph[r][c] = distance(r, c);
+ }
}
}
@@ -222,5 +279,29 @@ Paths<float> Visibility::shortestPath(int i) const {
distance = 1.0f / distance;
}
- return Paths<float>(res.first, res.second);
+ return Paths<float>(i, res.first, res.second);
+}
+
+int Visibility::argmax() const {
+ int a = -1;
+ int v = std::numeric_limits<int>::min();
+ for (int i = 0; i < n_max_; i++) {
+ if (count(i) > v) {
+ v = count(i);
+ a = i;
+ }
+ }
+ return a;
+}
+
+int Visibility::argmin() const {
+ int a = -1;
+ int v = std::numeric_limits<int>::max();
+ for (int i = 0; i < n_max_; i++) {
+ if (count(i) < v) {
+ v = count(i);
+ a = i;
+ }
+ }
+ return a;
}
diff --git a/components/calibration/test/CMakeLists.txt b/components/calibration/test/CMakeLists.txt
index 0bd1f1f198347c38c74973b14a5253b4bcd93d09..42f82defd2e7e3234cb47180376e727600a27926 100644
--- a/components/calibration/test/CMakeLists.txt
+++ b/components/calibration/test/CMakeLists.txt
@@ -6,5 +6,28 @@ add_executable(calibration_parameters_unit
)
target_include_directories(calibration_parameters_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
-target_link_libraries(calibration_parameters_unit ftlcommon Threads::Threads ${OS_LIBS} ${OpenCV_LIBS})
-add_test(CalibrationValidateTest calibration_parameters_unit)
\ No newline at end of file
+target_link_libraries(calibration_parameters_unit ftlcalibration ftlcommon ftlcodecs Threads::Threads ${OS_LIBS} ${OpenCV_LIBS})
+add_test(CalibrationValidateTest calibration_parameters_unit)
+
+### Calibration Helper #########################################################
+add_executable(calibration_helper_unit
+ ./tests.cpp
+ ./test_helper.cpp
+ ../src/extrinsic.cpp
+)
+
+target_include_directories(calibration_helper_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
+target_link_libraries(calibration_helper_unit ftlcalibration ftlcommon Threads::Threads ${OS_LIBS} ${OpenCV_LIBS})
+add_test(CalibrationHelperTest calibration_helper_unit)
+
+### Extrinsic calib ############################################################
+
+add_executable(calibration_extrinsic_unit
+ ./tests.cpp
+ ./test_extrinsic.cpp
+ ../src/extrinsic.cpp
+)
+
+target_include_directories(calibration_extrinsic_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
+target_link_libraries(calibration_extrinsic_unit ftlcalibration ftlcommon Threads::Threads ${OS_LIBS} ${OpenCV_LIBS})
+add_test(CalibrationExtrinsicTest calibration_extrinsic_unit)
diff --git a/applications/calibration-ceres/test/visibility_unit.cpp b/components/calibration/test/test_extrinsic.cpp
similarity index 70%
rename from applications/calibration-ceres/test/visibility_unit.cpp
rename to components/calibration/test/test_extrinsic.cpp
index ebdfc178b7fc465f1114620e46a3587865f91180..a2a303395570f8013a2da86967e484b04319e47b 100644
--- a/applications/calibration-ceres/test/visibility_unit.cpp
+++ b/components/calibration/test/test_extrinsic.cpp
@@ -1,5 +1,6 @@
#include "catch.hpp"
-#include "visibility.hpp"
+
+#include <ftl/calibration/visibility.hpp>
using std::vector;
using ftl::calibration::dijstra;
@@ -30,14 +31,14 @@ TEST_CASE("Dijstra's Algorithm", "") {
REQUIRE(path.distance(7) == 8);
REQUIRE(path.distance(8) == 14);
- REQUIRE((path.to(1) == vector {1}));
- REQUIRE((path.to(2) == vector {1, 2}));
- REQUIRE((path.to(3) == vector {1, 2, 3}));
- REQUIRE((path.to(4) == vector {7, 6, 5, 4}));
- REQUIRE((path.to(5) == vector {7, 6, 5}));
- REQUIRE((path.to(6) == vector {7, 6}));
- REQUIRE((path.to(7) == vector {7}));
- REQUIRE((path.to(8) == vector {1, 2, 8}));
+ REQUIRE((path.to(1) == vector {0, 1}));
+ REQUIRE((path.to(2) == vector {0, 1, 2}));
+ REQUIRE((path.to(3) == vector {0, 1, 2, 3}));
+ REQUIRE((path.to(4) == vector {0, 7, 6, 5, 4}));
+ REQUIRE((path.to(5) == vector {0, 7, 6, 5}));
+ REQUIRE((path.to(6) == vector {0, 7, 6}));
+ REQUIRE((path.to(7) == vector {0, 7}));
+ REQUIRE((path.to(8) == vector {0, 1, 2, 8}));
}
SECTION("Check connectivity") {
diff --git a/components/calibration/test/test_helper.cpp b/components/calibration/test/test_helper.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..1bad42e999def78468a3a1bade472d0bfce289ca
--- /dev/null
+++ b/components/calibration/test/test_helper.cpp
@@ -0,0 +1,139 @@
+#include "catch.hpp"
+#include <ftl/calibration/extrinsic.hpp>
+
+TEST_CASE("Exceptions") {
+ SECTION("Require target is set before adding poitns") {
+ auto helper = ftl::calibration::CalibrationPoints<double>();
+ REQUIRE_THROWS(helper.addPoints(0, {{0,0}}));
+ }
+
+ SECTION("Do not allow setting points twice before next()") {
+ auto helper = ftl::calibration::CalibrationPoints<double>();
+ helper.setObject({{0, 0, 0}});
+ helper.addPoints(0, {{0,0}});
+ REQUIRE_THROWS(helper.addPoints(0, {{0,0}}));
+ }
+
+ SECTION("Adding points must have same number of points as in target") {
+ auto helper = ftl::calibration::CalibrationPoints<double>();
+ helper.setObject({{0, 0, 0}});
+ REQUIRE_THROWS(helper.addPoints(0, {{0,0}, {0,0}}));
+ }
+}
+
+TEST_CASE("Add and retrieve points") {
+ SECTION("All same (double)") {
+ auto helper = ftl::calibration::CalibrationPoints<double>();
+ int npoints = 2;
+ std::vector<cv::Point2d> points0 = {{0, 0}, {0, 1}};
+ std::vector<cv::Point2d> points1 = {{0, 2}, {0, 3}};
+ std::vector<cv::Point2d> points2 = {{0, 4}, {0, 5}};
+
+ helper.setObject({{1,2,3}, {4,5,6}});
+ helper.addPoints(0, points0);
+ helper.addPoints(1, points1);
+ helper.addPoints(2, points2);
+ helper.next();
+
+ auto points = helper.getPoints({0, 1, 2}, 0);
+
+ REQUIRE(points.size() == 3);
+ for (int i = 0; i < npoints; i++) {
+ REQUIRE(points.at(0).at(i) == points0[i]);
+ REQUIRE(points.at(1).at(i) == points1[i]);
+ REQUIRE(points.at(2).at(i) == points2[i]);
+ }
+ }
+
+ SECTION("One missing in first set, all queried (double)") {
+ auto helper = ftl::calibration::CalibrationPoints<double>();
+ int npoints = 2;
+ std::vector<cv::Point2d> points0 = {{0, 0}, {0, 1}};
+ std::vector<cv::Point2d> points1 = {{0, 2}, {0, 3}};
+ std::vector<cv::Point2d> points2 = {{0, 4}, {0, 5}};
+
+ helper.setObject({{1,2,3}, {4,5,6}});
+ helper.addPoints(0, points0);
+ helper.addPoints(2, points2);
+ helper.next();
+
+ helper.setObject({{1,2,3}, {4,5,6}});
+ helper.addPoints(0, points0);
+ helper.addPoints(1, points1);
+ helper.addPoints(2, points2);
+ helper.next();
+
+ auto points = helper.getPoints({0, 1, 2}, 0);
+
+ REQUIRE(points.size() == 3); // three cameras
+ REQUIRE(helper.getPointsCount() == 4); // next called twice
+
+ for (int i = 0; i < npoints; i++) {
+ REQUIRE(points.at(0).at(i) == points0[i]);
+ REQUIRE(points.at(1).at(i) == points1[i]);
+ REQUIRE(points.at(2).at(i) == points2[i]);
+ }
+ }
+
+ SECTION("One missing in first set, subset queried (double)") {
+ // same as above, but one point is not added
+
+ auto helper = ftl::calibration::CalibrationPoints<double>();
+ int npoints = 2;
+ std::vector<cv::Point2d> points0 = {{0, 0}, {0, 1}};
+ std::vector<cv::Point2d> points1 = {{0, 2}, {0, 3}};
+ std::vector<cv::Point2d> points2 = {{0, 4}, {0, 5}};
+
+ helper.setObject({{1,2,3}, {4,5,6}});
+ helper.addPoints(0, points0);
+ helper.addPoints(2, points2);
+ helper.next();
+
+ helper.setObject({{1,2,3}, {4,5,6}});
+ helper.addPoints(0, points0);
+ helper.addPoints(1, points1);
+ helper.addPoints(2, points2);
+ helper.next();
+
+ auto points = helper.getPoints({0, 2}, 0);
+
+ REQUIRE(points.size() == 2);
+ REQUIRE(helper.getPointsCount() == 4);
+
+ for (int i = 0; i < npoints; i++) {
+ REQUIRE(points.at(0).at(i) == points0[i]);
+ REQUIRE(points.at(1).at(i) == points2[i]);
+ }
+ }
+
+ SECTION("One missing in first set, subset queried in reverse order (double)") {
+ // same as above, getPoints({2, 0}) instead of getPoints({0, 2})
+
+ auto helper = ftl::calibration::CalibrationPoints<double>();
+ int npoints = 2;
+ std::vector<cv::Point2d> points0 = {{0, 0}, {0, 1}};
+ std::vector<cv::Point2d> points1 = {{0, 2}, {0, 3}};
+ std::vector<cv::Point2d> points2 = {{0, 4}, {0, 5}};
+
+ helper.setObject({{1,2,3}, {4,5,6}});
+ helper.addPoints(0, points0);
+ helper.addPoints(2, points2);
+ helper.next();
+
+ helper.setObject({{7,8,9}, {10,11,12}});
+ helper.addPoints(0, points0);
+ helper.addPoints(1, points1);
+ helper.addPoints(2, points2);
+ helper.next();
+
+ auto points = helper.getPoints({2, 0}, 0);
+
+ REQUIRE(points.size() == 2);
+ REQUIRE(helper.getPointsCount() == 4);
+
+ for (int i = 0; i < npoints; i++) {
+ REQUIRE(points.at(0).at(i) == points2[i]);
+ REQUIRE(points.at(1).at(i) == points0[i]);
+ }
+ }
+}
diff --git a/components/calibration/test/test_parameters.cpp b/components/calibration/test/test_parameters.cpp
index 7d19b9d757587ff7e73cde565c3643f8b8d5937e..d0cdc2d4b4ab5b384b4c34af167fc0189a1d5f54 100644
--- a/components/calibration/test/test_parameters.cpp
+++ b/components/calibration/test/test_parameters.cpp
@@ -1,5 +1,7 @@
#include "catch.hpp"
-#include "ftl/calibration/parameters.hpp"
+#include <ftl/calibration/parameters.hpp>
+#include <ftl/calibration/structures.hpp>
+#include <ftl/file.hpp>
using cv::Size;
using cv::Mat;
@@ -17,7 +19,7 @@ TEST_CASE("Calibration values", "") {
D.at<double>(0) = 1.0;
D.at<double>(1) = 1.0;
REQUIRE(ftl::calibration::validate::distortionCoefficients(D, Size(1920, 1080)));
-
+
D.at<double>(0) = 0.01512461889185869;
D.at<double>(1) = -0.1207895096066378;
D.at<double>(4) = 0.1582571415357494;
@@ -38,3 +40,31 @@ TEST_CASE("Calibration values", "") {
REQUIRE(!ftl::calibration::validate::distortionCoefficients(D, Size(1920, 1080)));
}
}
+
+TEST_CASE("Test reading/writing file") {
+ using ftl::calibration::CalibrationData;
+ using ftl::codecs::Channel;
+
+ CalibrationData::Calibration calib;
+ CalibrationData calib_read;
+ CalibrationData data;
+
+ calib.intrinsic.resolution = {1, 1};
+ calib.intrinsic.fx = 1.0;
+ calib.intrinsic.fy = 1.0;
+ calib.intrinsic.cx = 0.5;
+ calib.intrinsic.cy = 0.5;
+ data.get(Channel::Left) = calib;
+
+ data.writeFile((std::filesystem::temp_directory_path() / "calib.yml").string());
+ calib_read = CalibrationData::readFile((std::filesystem::temp_directory_path() / "calib.yml").string());
+ REQUIRE(calib_read.hasCalibration(Channel::Left));
+
+ data.writeFile((std::filesystem::temp_directory_path() / "calib.json").string());
+ calib_read = CalibrationData::readFile((std::filesystem::temp_directory_path() / "calib.json").string());
+ REQUIRE(calib_read.hasCalibration(Channel::Left));
+
+ data.writeFile((std::filesystem::temp_directory_path() / "calib.xml").string());
+ calib_read = CalibrationData::readFile((std::filesystem::temp_directory_path() / "calib.xml").string());
+ REQUIRE(calib_read.hasCalibration(Channel::Left));
+}
diff --git a/components/codecs/CMakeLists.txt b/components/codecs/CMakeLists.txt
index 4334e6dbea04ef9d244b0bc91c21a930ee415ec5..821a11ed93a11f2075bdd1517468a84e0a9ef9a3 100644
--- a/components/codecs/CMakeLists.txt
+++ b/components/codecs/CMakeLists.txt
@@ -10,9 +10,11 @@ add_library(BaseCodec OBJECT
)
target_include_directories(BaseCodec PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}/include
+ ${CMAKE_CURRENT_SOURCE_DIR}/src/Video_Codec_SDK_9.1.23/include
+ ${CMAKE_CURRENT_SOURCE_DIR}/src/Video_Codec_SDK_9.1.23/Samples/NvCodec
$<TARGET_PROPERTY:ftlcommon,INTERFACE_INCLUDE_DIRECTORIES>
- $<TARGET_PROPERTY:nvpipe,INTERFACE_INCLUDE_DIRECTORIES>
)
+set_property(TARGET BaseCodec PROPERTY CUDA_ARCHITECTURES OFF)
add_library(OpenCVCodec OBJECT
src/opencv_encoder.cpp
@@ -23,33 +25,51 @@ target_include_directories(OpenCVCodec PUBLIC
$<TARGET_PROPERTY:ftlcommon,INTERFACE_INCLUDE_DIRECTORIES>
)
+set_property(TARGET OpenCVCodec PROPERTY CUDA_ARCHITECTURES OFF)
+
set(CODECSRC
$<TARGET_OBJECTS:BaseCodec>
$<TARGET_OBJECTS:OpenCVCodec>
)
-if (HAVE_NVPIPE)
- add_library(NvPipeCodec OBJECT
- src/nvpipe_encoder.cpp
- src/nvpipe_decoder.cpp
- )
- target_include_directories(NvPipeCodec PUBLIC
- ${CMAKE_CURRENT_SOURCE_DIR}/include
- $<TARGET_PROPERTY:ftlcommon,INTERFACE_INCLUDE_DIRECTORIES>
- $<TARGET_PROPERTY:nvpipe,INTERFACE_INCLUDE_DIRECTORIES>
- )
- list(APPEND CODECSRC $<TARGET_OBJECTS:NvPipeCodec>)
-endif()
+add_library(NvidiaCodec OBJECT
+ src/nvidia_encoder.cpp
+ src/nvidia_decoder.cpp
+ src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvDecoder/NvDecoder.cpp
+ src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoder.cpp
+ src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderCuda.cpp
+)
+target_include_directories(NvidiaCodec PUBLIC
+ ${CMAKE_CURRENT_SOURCE_DIR}/include
+ ${CMAKE_CURRENT_SOURCE_DIR}/src/Video_Codec_SDK_9.1.23/include
+ ${CMAKE_CURRENT_SOURCE_DIR}/src/Video_Codec_SDK_9.1.23/Samples/NvCodec
+ $<TARGET_PROPERTY:ftlcommon,INTERFACE_INCLUDE_DIRECTORIES>
+)
+list(APPEND CODECSRC $<TARGET_OBJECTS:NvidiaCodec>)
+
+set_property(TARGET NvidiaCodec PROPERTY CUDA_ARCHITECTURES OFF)
add_library(ftlcodecs ${CODECSRC})
+if (WIN32)
+ if (CMAKE_SIZEOF_VOID_P EQUAL 8)
+ target_link_directories(ftlcodecs PUBLIC src/Video_Codec_SDK_9.1.23/Lib/x64)
+ elseif (CMAKE_SIZEOF_VOID_P EQUAL 4)
+ target_link_directories(ftlcodecs PUBLIC src/Video_Codec_SDK_9.1.23/Lib/Win32)
+ endif()
+endif()
+
target_include_directories(ftlcodecs PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
PRIVATE src)
#target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
-target_link_libraries(ftlcodecs ftlcommon ${OpenCV_LIBS} ${CUDA_LIBRARIES} Eigen3::Eigen nvpipe)
+target_link_libraries(ftlcodecs ftlcommon ${OpenCV_LIBS} ${CUDA_LIBRARIES} Eigen3::Eigen nvcuvid cuda)
+
+target_precompile_headers(ftlcodecs REUSE_FROM ftlcommon)
+
+set_property(TARGET ftlcodecs PROPERTY CUDA_ARCHITECTURES OFF)
if (BUILD_TESTS)
add_subdirectory(test)
diff --git a/components/codecs/include/ftl/codecs/channels.hpp b/components/codecs/include/ftl/codecs/channels.hpp
index 43ef166a203e427add9835a732c41e7c39018b30..db0db3b679e96fd5993240b535ba1703e5ef6b04 100644
--- a/components/codecs/include/ftl/codecs/channels.hpp
+++ b/components/codecs/include/ftl/codecs/channels.hpp
@@ -2,7 +2,7 @@
#define _FTL_RGBD_CHANNELS_HPP_
#include <bitset>
-#include <ftl/utility/msgpack.hpp>
+#include <msgpack.hpp>
namespace ftl {
namespace codecs {
@@ -31,18 +31,16 @@ enum struct Channel : int {
Support2 = 14, // 8UC4 (currently)
Segmentation = 15, // 32S?
Normals2 = 16, // 16FC4
- ColourHighRes = 17, // 8UC3 or 8UC4
- LeftHighRes = 17, // 8UC3 or 8UC4
+ UNUSED1 = 17,
Disparity = 18,
Smoothing = 19, // 32F
- RightHighRes = 20, // 8UC3 or 8UC4
- Colour2HighRes = 20,
+ UNUSED2 = 20,
Overlay = 21, // 8UC4
GroundTruth = 22, // 32F
- Audio = 32,
- AudioMono = 32,
+ AudioMono = 32, // Deprecated, will always be stereo
AudioStereo = 33,
+ Audio = 33,
Configuration = 64, // JSON Data
Settings1 = 65,
@@ -53,12 +51,19 @@ enum struct Channel : int {
Index = 68,
Control = 69, // For stream and encoder control
Settings3 = 70,
+ MetaData = 71, // Map of string pairs (key, value)
+ Capabilities = 72, // Unordered set of int capabilities
+ CalibrationData = 73, // Just for stereo intrinsics/extrinsics etc
+ Thumbnail = 74, // Small JPG thumbnail, sometimes updated
- Data = 2048, // Custom data, any codec.
+ Data = 2048, // Do not use
+ EndFrame = 2048, // Signify the last packet
Faces = 2049, // Data about detected faces
Transforms = 2050, // Transformation matrices for framesets
Shapes3D = 2051, // Labeled 3D shapes
- Messages = 2052 // Vector of Strings
+ Messages = 2052, // Vector of Strings
+ Touch = 2053, // List of touch data type (each touch point)
+ Pipelines = 2054, // List of pipline URIs that have been applied
};
inline bool isVideo(Channel c) { return (int)c < 32; };
@@ -166,7 +171,7 @@ inline bool isFloatChannel(ftl::codecs::Channel chan) {
MSGPACK_ADD_ENUM(ftl::codecs::Channel);
-template <int BASE=0>
+/*template <int BASE=0>
inline ftl::codecs::Channels<BASE> operator|(ftl::codecs::Channel a, ftl::codecs::Channel b) {
return ftl::codecs::Channels<BASE>(a) | b;
}
@@ -174,6 +179,6 @@ inline ftl::codecs::Channels<BASE> operator|(ftl::codecs::Channel a, ftl::codecs
template <int BASE=0>
inline ftl::codecs::Channels<BASE> operator+(ftl::codecs::Channel a, ftl::codecs::Channel b) {
return ftl::codecs::Channels<BASE>(a) | b;
-}
+}*/
#endif // _FTL_RGBD_CHANNELS_HPP_
diff --git a/components/codecs/include/ftl/codecs/codecs.hpp b/components/codecs/include/ftl/codecs/codecs.hpp
index 8c3a006ed2afe62a7178f5c7a5eee23889edd29e..ddd418b27dab8ea8812b0e5dc62801bd95d65a8b 100644
--- a/components/codecs/include/ftl/codecs/codecs.hpp
+++ b/components/codecs/include/ftl/codecs/codecs.hpp
@@ -2,7 +2,7 @@
#define _FTL_CODECS_BITRATES_HPP_
#include <cstdint>
-#include <ftl/utility/msgpack.hpp>
+#include <msgpack.hpp>
namespace ftl {
namespace codecs {
@@ -22,6 +22,10 @@ static constexpr uint8_t kFlagPartial = 0x10; // This frameset is not complete
static constexpr uint8_t kFlagStereo = 0x20; // Left-Right stereo in single channel
static constexpr uint8_t kFlagMultiple = 0x80; // Multiple video frames in single packet
+static constexpr uint8_t kFlagRequest = 0x01; // Used for empty data packets to mark a request for data
+static constexpr uint8_t kFlagCompleted = 0x02; // Last packet for timestamp
+static constexpr uint8_t kFlagReset = 0x04;
+
/**
* Compression format used.
*/
@@ -33,8 +37,8 @@ enum struct codec_t : uint8_t {
H264_LOSSLESS,
HEVC_LOSSLESS,
- // TODO: Add audio codecs
- WAV,
+ WAV=32,
+ OPUS,
JSON = 100, // A JSON string
CALIBRATION, // Camera parameters object
diff --git a/components/codecs/include/ftl/codecs/decoder.hpp b/components/codecs/include/ftl/codecs/decoder.hpp
index 4af10e1186855da9b19be7bd8022405c8ac841bb..b649f63a8e67c76a6882bd489b4e2eba9d2970ec 100644
--- a/components/codecs/include/ftl/codecs/decoder.hpp
+++ b/components/codecs/include/ftl/codecs/decoder.hpp
@@ -33,17 +33,19 @@ void free(Decoder *&e);
*/
class Decoder {
public:
- Decoder() { cudaStreamCreate(&stream_); };
- virtual ~Decoder() { cudaStreamDestroy(stream_); };
+ Decoder() { cudaStreamCreate(&stream_); cudaEventCreate(&event_); };
+ virtual ~Decoder() { cudaStreamDestroy(stream_); cudaEventDestroy(event_); };
virtual bool decode(const ftl::codecs::Packet &pkt, cv::cuda::GpuMat &out)=0;
virtual bool accepts(const ftl::codecs::Packet &)=0;
cudaStream_t stream() { return stream_; }
+ cudaEvent_t event() { return event_; }
protected:
cudaStream_t stream_;
+ cudaEvent_t event_;
};
}
diff --git a/components/codecs/include/ftl/codecs/depth_convert_cuda.hpp b/components/codecs/include/ftl/codecs/depth_convert_cuda.hpp
index 7370f235790724355b2eb4dc242b5b8c4e73b38f..7fca125dbf5ec87bd9745dabbcf67801cc25ecb4 100644
--- a/components/codecs/include/ftl/codecs/depth_convert_cuda.hpp
+++ b/components/codecs/include/ftl/codecs/depth_convert_cuda.hpp
@@ -8,11 +8,22 @@ namespace cuda {
void depth_to_vuya(const cv::cuda::PtrStepSz<float> &depth, const cv::cuda::PtrStepSz<uchar4> &rgba, float maxdepth, cv::cuda::Stream &stream);
+void depth_to_nv12_10(const cv::cuda::PtrStepSz<float> &depth, ushort* luminance, ushort* chroma, int pitch, float maxdepth, cv::cuda::Stream &stream);
+
void vuya_to_depth(const cv::cuda::PtrStepSz<float> &depth, const cv::cuda::PtrStepSz<ushort4> &rgba, float maxdepth, cv::cuda::Stream &stream);
+void vuya_to_depth(const cv::cuda::PtrStepSz<float> &depth, const cv::cuda::PtrStepSz<ushort> &luminance, const cv::cuda::PtrStepSz<ushort> &chroma, float maxdepth, cv::cuda::Stream &stream);
+
void smooth_y(const cv::cuda::PtrStepSz<ushort4> &rgba, cv::cuda::Stream &stream);
+void nv12_to_float(const uint8_t* src, uint32_t srcPitch, float* dst, uint32_t dstPitch, uint32_t width, uint32_t height, cudaStream_t s);
+
+void float_to_nv12_16bit(const float* src, uint32_t srcPitch, uchar* dst, uint32_t dstPitch, uint32_t width, uint32_t height, cudaStream_t s);
+
}
}
+template <class COLOR32>
+void Nv12ToColor32(uint8_t *dpNv12, int nNv12Pitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix = 0, cudaStream_t s=0);
+
#endif // _FTL_CODECS_DEPTH_CONVERT_HPP_
diff --git a/components/codecs/include/ftl/codecs/encoder.hpp b/components/codecs/include/ftl/codecs/encoder.hpp
index 995a8216c6c3b3dea24bce5ca5394c5698fb144a..c2ed5ed9f5ba0ad7e60e6d58c06ef5924fbe4f7f 100644
--- a/components/codecs/include/ftl/codecs/encoder.hpp
+++ b/components/codecs/include/ftl/codecs/encoder.hpp
@@ -75,13 +75,15 @@ class Encoder {
virtual bool supports(ftl::codecs::codec_t codec)=0;
+ inline ftl::codecs::device_t device() const { return device_; };
+
cv::cuda::Stream &stream() { return stream_; }
protected:
bool available;
const ftl::codecs::definition_t max_definition;
const ftl::codecs::definition_t min_definition;
- const ftl::codecs::device_t device;
+ const ftl::codecs::device_t device_;
cv::cuda::Stream stream_;
};
diff --git a/components/codecs/include/ftl/codecs/nvpipe_decoder.hpp b/components/codecs/include/ftl/codecs/nvidia_decoder.hpp
similarity index 51%
rename from components/codecs/include/ftl/codecs/nvpipe_decoder.hpp
rename to components/codecs/include/ftl/codecs/nvidia_decoder.hpp
index 990865b6035bd9798642acf07017ddf417f274e8..d904ba1b64218653d4751e4da453fcd3242159a7 100644
--- a/components/codecs/include/ftl/codecs/nvpipe_decoder.hpp
+++ b/components/codecs/include/ftl/codecs/nvidia_decoder.hpp
@@ -1,36 +1,43 @@
-#ifndef _FTL_CODECS_NVPIPE_DECODER_HPP_
-#define _FTL_CODECS_NVPIPE_DECODER_HPP_
+#ifndef _FTL_CODECS_NVIDIA_DECODER_HPP_
+#define _FTL_CODECS_NVIDIA_DECODER_HPP_
#include <ftl/codecs/decoder.hpp>
#include <ftl/threads.hpp>
-#include <NvPipe.h>
+class NvDecoder;
namespace ftl {
namespace codecs {
-class NvPipeDecoder : public ftl::codecs::Decoder {
+class NvidiaDecoder : public ftl::codecs::Decoder {
public:
- NvPipeDecoder();
- ~NvPipeDecoder();
+ NvidiaDecoder();
+ ~NvidiaDecoder();
bool decode(const ftl::codecs::Packet &pkt, cv::cuda::GpuMat &out) override;
bool accepts(const ftl::codecs::Packet &pkt);
private:
- NvPipe *nv_decoder_;
+ NvDecoder *nv_decoder_;
bool is_float_channel_;
ftl::codecs::definition_t last_definition_;
ftl::codecs::codec_t last_codec_;
MUTEX mutex_;
bool seen_iframe_;
- cv::cuda::GpuMat tmp_;
-
+ cv::cuda::GpuMat buffer_;
+ int width_;
+ int height_;
+ int last_width_;
+ int last_height_;
+ int n_;
+
+ bool _create(const ftl::codecs::Packet &pkt);
+ uint8_t* _decode(const uint8_t* src, uint64_t srcSize);
bool _checkIFrame(ftl::codecs::codec_t codec, const unsigned char *data, size_t size);
};
}
}
-#endif // _FTL_CODECS_NVPIPE_DECODER_HPP_
+#endif // _FTL_CODECS_NVIDIA_DECODER_HPP_
diff --git a/components/codecs/include/ftl/codecs/nvidia_encoder.hpp b/components/codecs/include/ftl/codecs/nvidia_encoder.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..5bff3adfdcc145d958c76ca941d76e426f3ee6b5
--- /dev/null
+++ b/components/codecs/include/ftl/codecs/nvidia_encoder.hpp
@@ -0,0 +1,56 @@
+#ifndef _FTL_CODECS_NVIDIA_ENCODER_HPP_
+#define _FTL_CODECS_NVIDIA_ENCODER_HPP_
+
+#include <ftl/codecs/encoder.hpp>
+
+class NvEncoderCuda;
+
+namespace ftl {
+namespace codecs {
+
+class NvidiaEncoder : public ftl::codecs::Encoder {
+ public:
+ NvidiaEncoder(ftl::codecs::definition_t maxdef,
+ ftl::codecs::definition_t mindef);
+ ~NvidiaEncoder();
+
+ bool encode(const cv::cuda::GpuMat &in, ftl::codecs::Packet &pkt) override;
+
+ void reset();
+
+ bool supports(ftl::codecs::codec_t codec) override;
+
+ struct Parameters {
+ ftl::codecs::codec_t codec;
+ bool is_float;
+ uint32_t width;
+ uint32_t height;
+ uint8_t bitrate;
+
+ inline uint32_t encodeWidth() const { return (is_float && !isLossy()) ? width*2 : width; }
+ inline uint32_t encodeHeight() const { return height; }
+ inline bool isLossy() const { return codec == ftl::codecs::codec_t::HEVC || codec == ftl::codecs::codec_t::H264; }
+
+ inline bool operator==(const Parameters &p) const {
+ return codec == p.codec && is_float == p.is_float && width == p.width &&
+ height == p.height && bitrate == p.bitrate;
+ }
+ };
+
+ private:
+ NvEncoderCuda *nvenc_;
+ ftl::codecs::codec_t codec_;
+ Parameters params_;
+
+ bool was_reset_;
+ int64_t frame_count_ = 0;
+
+ bool _createEncoder(const cv::cuda::GpuMat &in, const ftl::codecs::Packet &pkt);
+ ftl::codecs::definition_t _verifiedDefinition(ftl::codecs::definition_t def, const cv::cuda::GpuMat &in);
+ uint64_t _encode(uint8_t* dst, uint64_t dstSize, bool forceIFrame);
+};
+
+}
+}
+
+#endif // _FTL_CODECS_NVIDIA_ENCODER_HPP_
diff --git a/components/codecs/include/ftl/codecs/nvpipe_encoder.hpp b/components/codecs/include/ftl/codecs/nvpipe_encoder.hpp
deleted file mode 100644
index 607d8d40f134ec044e5cdf2c335bf4050fa51373..0000000000000000000000000000000000000000
--- a/components/codecs/include/ftl/codecs/nvpipe_encoder.hpp
+++ /dev/null
@@ -1,46 +0,0 @@
-#ifndef _FTL_CODECS_NVPIPE_ENCODER_HPP_
-#define _FTL_CODECS_NVPIPE_ENCODER_HPP_
-
-#include <ftl/codecs/encoder.hpp>
-#include <NvPipe.h>
-
-namespace ftl {
-namespace codecs {
-
-class NvPipeEncoder : public ftl::codecs::Encoder {
- public:
- NvPipeEncoder(ftl::codecs::definition_t maxdef,
- ftl::codecs::definition_t mindef);
- ~NvPipeEncoder();
-
- bool encode(const cv::cuda::GpuMat &in, ftl::codecs::Packet &pkt) override;
-
- //bool encode(const cv::cuda::GpuMat &in, std::vector<uint8_t> &out, bitrate_t bix, bool);
-
- void reset();
-
- bool supports(ftl::codecs::codec_t codec) override;
-
- static constexpr int kFlagRGB = 0x00000001;
- static constexpr int kFlagMappedDepth = 0x00000002;
-
- private:
- NvPipe *nvenc_;
- NvPipe_Codec codec_;
- NvPipe_Format format_;
- NvPipe_Compression compression_;
- uint8_t last_bitrate_;
-
- bool was_reset_;
- cv::cuda::GpuMat tmp_;
- cv::cuda::GpuMat tmp2_;
-
- bool _encoderMatch(const ftl::codecs::Packet &pkt, format_t fmt);
- bool _createEncoder(const ftl::codecs::Packet &pkt, format_t fmt);
- ftl::codecs::definition_t _verifiedDefinition(ftl::codecs::definition_t def, const cv::cuda::GpuMat &in);
-};
-
-}
-}
-
-#endif // _FTL_CODECS_NVPIPE_ENCODER_HPP_
diff --git a/components/codecs/include/ftl/codecs/packet.hpp b/components/codecs/include/ftl/codecs/packet.hpp
index 546da9ac9e654757730284d269d6c56e305a3175..1b37d88b4a07c0351bfe9bf92f1d0e427f9eed2e 100644
--- a/components/codecs/include/ftl/codecs/packet.hpp
+++ b/components/codecs/include/ftl/codecs/packet.hpp
@@ -5,7 +5,7 @@
#include <vector>
#include <ftl/codecs/codecs.hpp>
#include <ftl/codecs/channels.hpp>
-#include <ftl/utility/msgpack.hpp>
+#include <msgpack.hpp>
namespace ftl {
namespace codecs {
@@ -18,7 +18,7 @@ static constexpr uint8_t kAllFramesets = 255;
*/
struct Header {
const char magic[4] = {'F','T','L','F'};
- uint8_t version = 4;
+ uint8_t version = 5;
};
/**
@@ -36,25 +36,44 @@ struct IndexHeader {
*/
struct Packet {
ftl::codecs::codec_t codec;
- ftl::codecs::definition_t definition; // Data resolution
+ uint8_t reserved=0;
+ uint8_t frame_count=1; // v4+ Frames included in this packet
- union {
- [[deprecated]] uint8_t block_total; // v1-3 Packets expected per frame
- uint8_t frame_count; // v4+ Frames included in this packet
- };
+ uint8_t bitrate=0; // v4+ For multi-bitrate encoding, 0=highest
union {
- [[deprecated]] uint8_t block_number; // v1-3 This packets number within a frame
- uint8_t bitrate=0; // v4+ For multi-bitrate encoding, 0=highest
+ uint8_t flags=0; // Codec dependent flags (eg. I-Frame or P-Frame)
+ uint8_t packet_count;
};
-
- uint8_t flags; // Codec dependent flags (eg. I-Frame or P-Frame)
std::vector<uint8_t> data;
- MSGPACK_DEFINE(codec, definition, frame_count, bitrate, flags, data);
+ MSGPACK_DEFINE(codec, reserved, frame_count, bitrate, flags, data);
};
static constexpr unsigned int kStreamCap_Static = 0x01;
+static constexpr unsigned int kStreamCap_Recorded = 0x02;
+static constexpr unsigned int kStreamCap_NewConnection = 0x04;
+
+/** V4 packets have no stream flags field */
+struct StreamPacketV4 {
+ int version; // FTL version, Not encoded into stream
+
+ int64_t timestamp;
+ uint8_t streamID; // Source number [or v4 frameset id]
+ uint8_t frame_number; // v4+ First frame number (packet may include multiple frames)
+ ftl::codecs::Channel channel; // Actual channel of this current set of packets
+
+ inline int frameNumber() const { return (version >= 4) ? frame_number : streamID; }
+ inline size_t frameSetID() const { return (version >= 4) ? streamID : 0; }
+
+ int64_t localTimestamp; // Not message packet / saved
+ unsigned int hint_capability; // Is this a video stream, for example
+ size_t hint_source_total; // Number of tracks per frame to expect
+
+ MSGPACK_DEFINE(timestamp, streamID, frame_number, channel);
+
+ operator std::string() const;
+};
/**
* Add timestamp and channel information to a raw encoded frame packet. This
@@ -66,23 +85,20 @@ struct StreamPacket {
int64_t timestamp;
uint8_t streamID; // Source number [or v4 frameset id]
-
- union {
- [[deprecated]] uint8_t channel_count; // v1-3 Number of channels to expect for this frame(set) to complete (usually 1 or 2)
- uint8_t frame_number; // v4+ First frame number (packet may include multiple frames)
- };
-
+ uint8_t frame_number; // v4+ First frame number (packet may include multiple frames)
ftl::codecs::Channel channel; // Actual channel of this current set of packets
+ uint8_t flags=0;
inline int frameNumber() const { return (version >= 4) ? frame_number : streamID; }
inline size_t frameSetID() const { return (version >= 4) ? streamID : 0; }
- inline int64_t localTimestamp() const { return timestamp + originClockDelta; }
- int64_t originClockDelta; // Not message packet / saved
+ int64_t localTimestamp; // Not message packet / saved
unsigned int hint_capability; // Is this a video stream, for example
size_t hint_source_total; // Number of tracks per frame to expect
+ int retry_count = 0; // Decode retry count
+ unsigned int hint_peerid=0;
- MSGPACK_DEFINE(timestamp, streamID, frame_number, channel);
+ MSGPACK_DEFINE(timestamp, streamID, frame_number, channel, flags);
operator std::string() const;
};
diff --git a/components/codecs/include/ftl/codecs/shapes.hpp b/components/codecs/include/ftl/codecs/shapes.hpp
index 3fffaee3e209000733bba5f94f4cf84f01cce87a..2368660e526a294a468e19bcd8ebf105a4fa9263 100644
--- a/components/codecs/include/ftl/codecs/shapes.hpp
+++ b/components/codecs/include/ftl/codecs/shapes.hpp
@@ -17,12 +17,11 @@ enum class Shape3DType {
CLIPPING,
CAMERA,
FEATURE,
- ARUCO
+ ARUCO,
+ CURSOR
};
struct Shape3D {
- Shape3D() {};
-
int id;
Shape3DType type;
Eigen::Vector3f size;
diff --git a/components/codecs/include/ftl/codecs/touch.hpp b/components/codecs/include/ftl/codecs/touch.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..a48ba834ad3820e355e42362ae80c1fcc0006012
--- /dev/null
+++ b/components/codecs/include/ftl/codecs/touch.hpp
@@ -0,0 +1,35 @@
+#ifndef _FTL_CODECS_TOUCH_HPP_
+#define _FTL_CODECS_TOUCH_HPP_
+
+#include <ftl/utility/msgpack.hpp>
+
+namespace ftl {
+namespace codecs {
+
+enum class TouchType {
+ MOUSE_LEFT=0,
+ MOUSE_RIGHT=1,
+ MOUSE_MIDDLE=2,
+ TOUCH_SCREEN=3,
+ COLLISION=16
+};
+
+struct Touch {
+ Touch() {};
+
+ int id;
+ TouchType type;
+ uint8_t strength;
+ int x;
+ int y;
+ float d;
+
+ MSGPACK_DEFINE(id, type, strength, x, y, d);
+};
+
+}
+}
+
+MSGPACK_ADD_ENUM(ftl::codecs::TouchType);
+
+#endif
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Lib/Win32/nvcuvid.lib b/components/codecs/src/Video_Codec_SDK_9.1.23/Lib/Win32/nvcuvid.lib
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diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Lib/Win32/nvencodeapi.lib b/components/codecs/src/Video_Codec_SDK_9.1.23/Lib/Win32/nvencodeapi.lib
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diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Lib/linux/stubs/ppc64le/libnvidia-encode.so b/components/codecs/src/Video_Codec_SDK_9.1.23/Lib/linux/stubs/ppc64le/libnvidia-encode.so
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diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Lib/x64/nvcuvid.lib b/components/codecs/src/Video_Codec_SDK_9.1.23/Lib/x64/nvcuvid.lib
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diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Lib/x64/nvencodeapi.lib b/components/codecs/src/Video_Codec_SDK_9.1.23/Lib/x64/nvencodeapi.lib
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diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/LicenseAgreement.pdf b/components/codecs/src/Video_Codec_SDK_9.1.23/LicenseAgreement.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..0e44fcdba0dda1858c321e26695f10b399e84af9
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diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/NOTICES.txt b/components/codecs/src/Video_Codec_SDK_9.1.23/NOTICES.txt
new file mode 100644
index 0000000000000000000000000000000000000000..073bb17cc7524b3c1c16214b368d4ff95f07973c
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/NOTICES.txt
@@ -0,0 +1,167 @@
+This SDK includes portions of FFMPEG, under the following license:
+
+ GNU LESSER GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+ This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+ 0. Additional Definitions.
+
+ As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+ "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+ An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+ A "Combined Work" is a work produced by combining or linking an
+Application with the Library. The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+ The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+ The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+ 1. Exception to Section 3 of the GNU GPL.
+
+ You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+ 2. Conveying Modified Versions.
+
+ If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+ a) under this License, provided that you make a good faith effort to
+ ensure that, in the event an Application does not supply the
+ function or data, the facility still operates, and performs
+ whatever part of its purpose remains meaningful, or
+
+ b) under the GNU GPL, with none of the additional permissions of
+ this License applicable to that copy.
+
+ 3. Object Code Incorporating Material from Library Header Files.
+
+ The object code form of an Application may incorporate material from
+a header file that is part of the Library. You may convey such object
+code under terms of your choice, provided that, if the incorporated
+material is not limited to numerical parameters, data structure
+layouts and accessors, or small macros, inline functions and templates
+(ten or fewer lines in length), you do both of the following:
+
+ a) Give prominent notice with each copy of the object code that the
+ Library is used in it and that the Library and its use are
+ covered by this License.
+
+ b) Accompany the object code with a copy of the GNU GPL and this license
+ document.
+
+ 4. Combined Works.
+
+ You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
+engineering for debugging such modifications, if you also do each of
+the following:
+
+ a) Give prominent notice with each copy of the Combined Work that
+ the Library is used in it and that the Library and its use are
+ covered by this License.
+
+ b) Accompany the Combined Work with a copy of the GNU GPL and this license
+ document.
+
+ c) For a Combined Work that displays copyright notices during
+ execution, include the copyright notice for the Library among
+ these notices, as well as a reference directing the user to the
+ copies of the GNU GPL and this license document.
+
+ d) Do one of the following:
+
+ 0) Convey the Minimal Corresponding Source under the terms of this
+ License, and the Corresponding Application Code in a form
+ suitable for, and under terms that permit, the user to
+ recombine or relink the Application with a modified version of
+ the Linked Version to produce a modified Combined Work, in the
+ manner specified by section 6 of the GNU GPL for conveying
+ Corresponding Source.
+
+ 1) Use a suitable shared library mechanism for linking with the
+ Library. A suitable mechanism is one that (a) uses at run time
+ a copy of the Library already present on the user's computer
+ system, and (b) will operate properly with a modified version
+ of the Library that is interface-compatible with the Linked
+ Version.
+
+ e) Provide Installation Information, but only if you would otherwise
+ be required to provide such information under section 6 of the
+ GNU GPL, and only to the extent that such information is
+ necessary to install and execute a modified version of the
+ Combined Work produced by recombining or relinking the
+ Application with a modified version of the Linked Version. (If
+ you use option 4d0, the Installation Information must accompany
+ the Minimal Corresponding Source and Corresponding Application
+ Code. If you use option 4d1, you must provide the Installation
+ Information in the manner specified by section 6 of the GNU GPL
+ for conveying Corresponding Source.)
+
+ 5. Combined Libraries.
+
+ You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+ a) Accompany the combined library with a copy of the same work based
+ on the Library, uncombined with any other library facilities,
+ conveyed under the terms of this License.
+
+ b) Give prominent notice with the combined library that part of it
+ is a work based on the Library, and explaining where to find the
+ accompanying uncombined form of the same work.
+
+ 6. Revised Versions of the GNU Lesser General Public License.
+
+ The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+ If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/ReadMe.txt b/components/codecs/src/Video_Codec_SDK_9.1.23/ReadMe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bc24a22516d8c36aa4b626131535f6e046eee773
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/ReadMe.txt
@@ -0,0 +1,68 @@
+NVIDIA Video Codec SDK 9.0 and NVIDIA Video Codec SDK 9.1 Readme and Getting Started Guide
+
+System Requirements
+
+* NVIDIA Kepler/Maxwell/Pascal/Volta/Turing GPU with hardware video accelerators
+ Refer to the NVIDIA Video SDK developer zone web page
+ (https://developer.nvidia.com/nvidia-video-codec-sdk) for GPUs which support
+ video encoding and decoding acceleration.
+
+* Windows: Driver version 436.15 or higher
+* Linux: Driver version 435.21 or higher
+* CUDA 10.0 Toolkit
+* NVIDIA Video Codec SDK is now supported on IBM Power9 class server with
+ NVIDIA Tesla V100 (SXM2) GPU.
+
+[Windows Configuration Requirements]
+- DirectX SDK is needed. You can download the latest SDK from Microsoft's DirectX
+ website.
+- The CUDA 10.0 tool kit is needed to compile the decode samples in SDK 9.0
+ and above.
+- CUDA tool kit is also used for building CUDA kernels that can interop with
+ NVENC.
+
+In Windows, the following environment variables must be set to build the sample
+applications included with the SDK
+ - DXSDK_DIR: pointing to the DirectX SDK root directory.
+ - The CUDA 10.0 Toolkit is optional to install if the client has
+ Video Codec SDK 8.0. However it is mandatory if client has
+ Video Codec SDK 8.1 or above on his/her machine.
+
+[Linux Configuration Requirements]
+ - X11 and OpenGL, GLUT, GLEW libraries for video playback and display
+ - The CUDA 10.0 Toolkit is optional to install if the client has Video Codec
+ SDK 8.0.
+ - CUDA 10.0 Toolkit is mandatory if client has Video Codec SDK 8.1 or above
+ on his/her machine.
+ - CUDA toolkit is used for building CUDA kernels that can interop with NVENC.
+ - Libraries and headers from the FFmpeg project which can be downloaded and
+ installed using the distribution's package manager or compiled from source.
+ The sample applications have been compiled and tested against the
+ libraries and headers from FFmpeg- 4.1. The source code of FFmpeg- 4.1
+ has been included in this SDK package. While configuring FFmpeg on Linux,
+ it is recommended not to use 'disable-decoders' option. This configuration
+ is known to have a channel error (XID 31) while executing sample
+ applications with certain clips and/or result in an unexpected behavior.
+ - To build/use sample applications that depend on FFmpeg, users may need to
+ * Add the directory (/usr/local/lib/pkgconfig by default) to the
+ PKG_CONFIG_PATH environment variable. This is required by the Makefile
+ to determine the include paths for the FFmpeg headers.
+ * Add the directory where the FFmpeg libraries are installed, to the
+ LD_LIBRARY_PATH environment variable. This is required for resolving
+ runtime dependencies on FFmpeg libraries.
+ - Stub libraries (libnvcuvid.so and libnvidia-encode.so) have been included
+ as part of the SDK package, in order to aid development of applications on
+ systems where the NVIDIA driver has not been installed. The sample
+ applications in the SDK will link against these stub libraries as part of
+ the build process. However, users need to ensure that the stub libraries
+ are not referenced when running the sample applications. A driver
+ compatible with this SDK needs to be installed in order for the sample
+ applications to work correctly.
+ - The Vulkan SDK needs to be installed in order to build and run the
+ AppMotionEstimationVkCuda sample application. Vulkan SDK can be downloaded
+ from https://vulkan.lunarg.com/sdk/home. Alternatively, it can be
+ installed by using the distribution's package manager.
+
+[Common to all OS platforms]
+* To download the CUDA 10.0 toolkit, please go to the following web site:
+ http://developer.nvidia.com/cuda/cuda-toolkit
\ No newline at end of file
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Release_notes.txt b/components/codecs/src/Video_Codec_SDK_9.1.23/Release_notes.txt
new file mode 100644
index 0000000000000000000000000000000000000000..589dd714dfd3a108bbff6b7456d83e43adc807c3
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Release_notes.txt
@@ -0,0 +1,81 @@
+What's new in Video Codec SDK 9.1:
+----------------------------------
+In NVIDIA Video Codec SDK release 9.1, following features have been added:
+
+Encode Features:
+1. NVENCODE API for retrieving the last encountered error
+2. Support for CUStream
+3. Filler NALU insertion
+4. Fixes for H.264 MVC
+5. Multiple reference frames
+
+Decode Features:
+1. Enhancements to decode capability API
+2. Memory optimization in sample applications
+
+
+What's new in Video Codec SDK 9.0:
+----------------------------------
+In NVIDIA Video Codec SDK release 9.0, following features were added:
+
+Encode Features:
+1. Improved encoded quality for Turing GPUs
+2. HEVC B-frame support (Turing GPUs only)
+3. Encoded output in video memory
+4. H.264 ME only mode output in video memory.
+5. Non-reference P frames
+6. Support for accepting CUArray as input
+
+Decode Features:
+1. HEVC YUV 444 decoding (Turing GPUs only)
+2. Multiple NVDEC engines(Turing GPUs only)
+
+Please refer to .\doc\NVENC_Application_Note.pdf and
+.\doc\NVDEC_Application_Note.pdf to get more details about the available
+encoding and decoding functionalities in the SDK.
+
+For system, software and build environment requirements, please refer to the
+file ReadMe.txt included in the SDK package.
+
+Package Contents
+----------------
+This package contains the following:
+
+1) Sample applications demonstrating various encoding/decoding/transcoding
+ capabilities
+ - [.\Samples\]
+
+2) NVIDIA video encoder API header
+ - [.\include\nvEncodeAPI.h]
+
+3) NVIDIA video encoder application note
+ - [.\doc\NVENC_Application_Note.pdf]
+
+4) NVIDIA video encoder programming guide
+ - [.\doc\NVENC_VideoEncoder_API_ProgGuide.pdf]
+
+5) NVIDIA video decoder API headers
+ - [.\include\cuviddec.h]
+ - [.\include\nvcuvid.h]
+
+6) NVIDIA video decoder application note
+ - [.\doc\NVDEC_Application_Note.pdf]
+
+7) NVIDIA video decoder programming guide
+ - [.\doc\NVDEC_VideoDecoder_API_ProgGuide.pdf]
+
+8) Application note on how to use NVIDIA video acceleration in FFmpeg
+ - [.\doc\Using FFmpeg with NVIDIA GPU Hardware Acceleration.pdf]
+
+9) NVIDIA video decoder and encoder stub libraries
+ - [.\Lib\linux\stubs\x86_64\libnvcuvid.so]
+ - [.\Lib\linux\stubs\x86_64\libnvidia-encode.so]
+ - [.\Lib\linux\stubs\ppc64le\libnvcuvid.so]
+ - [.\Lib\linux\stubs\ppc64le\libnvidia-encode.so]
+ - [.\Lib\Win32\nvcuvid.lib]
+ - [.\Lib\x64\nvcuvid.lib]
+
+The sample applications provided in the package are for demonstration purposes
+only and may not be fully tuned for quality and performance. Hence the users
+are advised to do their independent evaluation for quality and/or performance.
+
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvDecoder/NvDecoder.cpp b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvDecoder/NvDecoder.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..1601563836eff72fc34b1308c5b0a6ab2e64f69b
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvDecoder/NvDecoder.cpp
@@ -0,0 +1,672 @@
+/*
+* Copyright 2017-2019 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+#include <iostream>
+#include <algorithm>
+#include <chrono>
+
+#include "nvcuvid.h"
+#include "../Utils/NvCodecUtils.h"
+#include "NvDecoder/NvDecoder.h"
+
+#define START_TIMER auto start = std::chrono::high_resolution_clock::now();
+#define STOP_TIMER(print_message) std::cout << print_message << \
+ std::chrono::duration_cast<std::chrono::milliseconds>( \
+ std::chrono::high_resolution_clock::now() - start).count() \
+ << " ms " << std::endl;
+
+#define CUDA_DRVAPI_CALL( call ) \
+ do \
+ { \
+ CUresult err__ = call; \
+ if (err__ != CUDA_SUCCESS) \
+ { \
+ const char *szErrName = NULL; \
+ cuGetErrorName(err__, &szErrName); \
+ std::ostringstream errorLog; \
+ errorLog << "CUDA driver API error " << szErrName ; \
+ throw NVDECException::makeNVDECException(errorLog.str(), err__, __FUNCTION__, __FILE__, __LINE__); \
+ } \
+ } \
+ while (0)
+
+static const char * GetVideoCodecString(cudaVideoCodec eCodec) {
+ static struct {
+ cudaVideoCodec eCodec;
+ const char *name;
+ } aCodecName [] = {
+ { cudaVideoCodec_MPEG1, "MPEG-1" },
+ { cudaVideoCodec_MPEG2, "MPEG-2" },
+ { cudaVideoCodec_MPEG4, "MPEG-4 (ASP)" },
+ { cudaVideoCodec_VC1, "VC-1/WMV" },
+ { cudaVideoCodec_H264, "AVC/H.264" },
+ { cudaVideoCodec_JPEG, "M-JPEG" },
+ { cudaVideoCodec_H264_SVC, "H.264/SVC" },
+ { cudaVideoCodec_H264_MVC, "H.264/MVC" },
+ { cudaVideoCodec_HEVC, "H.265/HEVC" },
+ { cudaVideoCodec_VP8, "VP8" },
+ { cudaVideoCodec_VP9, "VP9" },
+ { cudaVideoCodec_NumCodecs, "Invalid" },
+ { cudaVideoCodec_YUV420, "YUV 4:2:0" },
+ { cudaVideoCodec_YV12, "YV12 4:2:0" },
+ { cudaVideoCodec_NV12, "NV12 4:2:0" },
+ { cudaVideoCodec_YUYV, "YUYV 4:2:2" },
+ { cudaVideoCodec_UYVY, "UYVY 4:2:2" },
+ };
+
+ if (eCodec >= 0 && eCodec <= cudaVideoCodec_NumCodecs) {
+ return aCodecName[eCodec].name;
+ }
+ for (int i = cudaVideoCodec_NumCodecs + 1; i < sizeof(aCodecName) / sizeof(aCodecName[0]); i++) {
+ if (eCodec == aCodecName[i].eCodec) {
+ return aCodecName[eCodec].name;
+ }
+ }
+ return "Unknown";
+}
+
+static const char * GetVideoChromaFormatString(cudaVideoChromaFormat eChromaFormat) {
+ static struct {
+ cudaVideoChromaFormat eChromaFormat;
+ const char *name;
+ } aChromaFormatName[] = {
+ { cudaVideoChromaFormat_Monochrome, "YUV 400 (Monochrome)" },
+ { cudaVideoChromaFormat_420, "YUV 420" },
+ { cudaVideoChromaFormat_422, "YUV 422" },
+ { cudaVideoChromaFormat_444, "YUV 444" },
+ };
+
+ if (eChromaFormat >= 0 && eChromaFormat < sizeof(aChromaFormatName) / sizeof(aChromaFormatName[0])) {
+ return aChromaFormatName[eChromaFormat].name;
+ }
+ return "Unknown";
+}
+
+static float GetChromaHeightFactor(cudaVideoChromaFormat eChromaFormat)
+{
+ float factor = 0.5;
+ switch (eChromaFormat)
+ {
+ case cudaVideoChromaFormat_Monochrome:
+ factor = 0.0;
+ break;
+ case cudaVideoChromaFormat_420:
+ factor = 0.5;
+ break;
+ case cudaVideoChromaFormat_422:
+ factor = 1.0;
+ break;
+ case cudaVideoChromaFormat_444:
+ factor = 1.0;
+ break;
+ }
+
+ return factor;
+}
+
+static int GetChromaPlaneCount(cudaVideoChromaFormat eChromaFormat)
+{
+ int numPlane = 1;
+ switch (eChromaFormat)
+ {
+ case cudaVideoChromaFormat_Monochrome:
+ numPlane = 0;
+ break;
+ case cudaVideoChromaFormat_420:
+ numPlane = 1;
+ break;
+ case cudaVideoChromaFormat_444:
+ numPlane = 2;
+ break;
+ }
+
+ return numPlane;
+}
+
+/* Return value from HandleVideoSequence() are interpreted as :
+* 0: fail, 1: succeeded, > 1: override dpb size of parser (set by CUVIDPARSERPARAMS::ulMaxNumDecodeSurfaces while creating parser)
+*/
+int NvDecoder::HandleVideoSequence(CUVIDEOFORMAT *pVideoFormat)
+{
+ START_TIMER
+ m_videoInfo.str("");
+ m_videoInfo.clear();
+ m_videoInfo << "Video Input Information" << std::endl
+ << "\tCodec : " << GetVideoCodecString(pVideoFormat->codec) << std::endl
+ << "\tFrame rate : " << pVideoFormat->frame_rate.numerator << "/" << pVideoFormat->frame_rate.denominator
+ << " = " << 1.0 * pVideoFormat->frame_rate.numerator / pVideoFormat->frame_rate.denominator << " fps" << std::endl
+ << "\tSequence : " << (pVideoFormat->progressive_sequence ? "Progressive" : "Interlaced") << std::endl
+ << "\tCoded size : [" << pVideoFormat->coded_width << ", " << pVideoFormat->coded_height << "]" << std::endl
+ << "\tDisplay area : [" << pVideoFormat->display_area.left << ", " << pVideoFormat->display_area.top << ", "
+ << pVideoFormat->display_area.right << ", " << pVideoFormat->display_area.bottom << "]" << std::endl
+ << "\tChroma : " << GetVideoChromaFormatString(pVideoFormat->chroma_format) << std::endl
+ << "\tBit depth : " << pVideoFormat->bit_depth_luma_minus8 + 8
+ ;
+ m_videoInfo << std::endl;
+
+ int nDecodeSurface = pVideoFormat->min_num_decode_surfaces;
+
+ CUVIDDECODECAPS decodecaps;
+ memset(&decodecaps, 0, sizeof(decodecaps));
+
+ decodecaps.eCodecType = pVideoFormat->codec;
+ decodecaps.eChromaFormat = pVideoFormat->chroma_format;
+ decodecaps.nBitDepthMinus8 = pVideoFormat->bit_depth_luma_minus8;
+
+ CUDA_DRVAPI_CALL(cuCtxPushCurrent(m_cuContext));
+ NVDEC_API_CALL(cuvidGetDecoderCaps(&decodecaps));
+ CUDA_DRVAPI_CALL(cuCtxPopCurrent(NULL));
+
+ if(!decodecaps.bIsSupported){
+ NVDEC_THROW_ERROR("Codec not supported on this GPU", CUDA_ERROR_NOT_SUPPORTED);
+ return nDecodeSurface;
+ }
+
+ if ((pVideoFormat->coded_width > decodecaps.nMaxWidth) ||
+ (pVideoFormat->coded_height > decodecaps.nMaxHeight)){
+
+ std::ostringstream errorString;
+ errorString << std::endl
+ << "Resolution : " << pVideoFormat->coded_width << "x" << pVideoFormat->coded_height << std::endl
+ << "Max Supported (wxh) : " << decodecaps.nMaxWidth << "x" << decodecaps.nMaxHeight << std::endl
+ << "Resolution not supported on this GPU";
+
+ const std::string cErr = errorString.str();
+ NVDEC_THROW_ERROR(cErr, CUDA_ERROR_NOT_SUPPORTED);
+ return nDecodeSurface;
+ }
+
+ if ((pVideoFormat->coded_width>>4)*(pVideoFormat->coded_height>>4) > decodecaps.nMaxMBCount){
+
+ std::ostringstream errorString;
+ errorString << std::endl
+ << "MBCount : " << (pVideoFormat->coded_width >> 4)*(pVideoFormat->coded_height >> 4) << std::endl
+ << "Max Supported mbcnt : " << decodecaps.nMaxMBCount << std::endl
+ << "MBCount not supported on this GPU";
+
+ const std::string cErr = errorString.str();
+ NVDEC_THROW_ERROR(cErr, CUDA_ERROR_NOT_SUPPORTED);
+ return nDecodeSurface;
+ }
+
+ if (m_nWidth && m_nLumaHeight && m_nChromaHeight) {
+
+ // cuvidCreateDecoder() has been called before, and now there's possible config change
+ return ReconfigureDecoder(pVideoFormat);
+ }
+
+ // eCodec has been set in the constructor (for parser). Here it's set again for potential correction
+ m_eCodec = pVideoFormat->codec;
+ m_eChromaFormat = pVideoFormat->chroma_format;
+ m_nBitDepthMinus8 = pVideoFormat->bit_depth_luma_minus8;
+ m_nBPP = m_nBitDepthMinus8 > 0 ? 2 : 1;
+
+ if (m_eChromaFormat == cudaVideoChromaFormat_420)
+ m_eOutputFormat = pVideoFormat->bit_depth_luma_minus8 ? cudaVideoSurfaceFormat_P016 : cudaVideoSurfaceFormat_NV12;
+ else if (m_eChromaFormat == cudaVideoChromaFormat_444)
+ m_eOutputFormat = pVideoFormat->bit_depth_luma_minus8 ? cudaVideoSurfaceFormat_YUV444_16Bit : cudaVideoSurfaceFormat_YUV444;
+
+ m_videoFormat = *pVideoFormat;
+
+ CUVIDDECODECREATEINFO videoDecodeCreateInfo = { 0 };
+ videoDecodeCreateInfo.CodecType = pVideoFormat->codec;
+ videoDecodeCreateInfo.ChromaFormat = pVideoFormat->chroma_format;
+ videoDecodeCreateInfo.OutputFormat = m_eOutputFormat;
+ videoDecodeCreateInfo.bitDepthMinus8 = pVideoFormat->bit_depth_luma_minus8;
+ if (pVideoFormat->progressive_sequence)
+ videoDecodeCreateInfo.DeinterlaceMode = cudaVideoDeinterlaceMode_Weave;
+ else
+ videoDecodeCreateInfo.DeinterlaceMode = cudaVideoDeinterlaceMode_Adaptive;
+ videoDecodeCreateInfo.ulNumOutputSurfaces = 2;
+ // With PreferCUVID, JPEG is still decoded by CUDA while video is decoded by NVDEC hardware
+ videoDecodeCreateInfo.ulCreationFlags = cudaVideoCreate_PreferCUVID;
+ videoDecodeCreateInfo.ulNumDecodeSurfaces = nDecodeSurface;
+ videoDecodeCreateInfo.vidLock = m_ctxLock;
+ videoDecodeCreateInfo.ulWidth = pVideoFormat->coded_width;
+ videoDecodeCreateInfo.ulHeight = pVideoFormat->coded_height;
+ if (m_nMaxWidth < (int)pVideoFormat->coded_width)
+ m_nMaxWidth = pVideoFormat->coded_width;
+ if (m_nMaxHeight < (int)pVideoFormat->coded_height)
+ m_nMaxHeight = pVideoFormat->coded_height;
+ videoDecodeCreateInfo.ulMaxWidth = m_nMaxWidth;
+ videoDecodeCreateInfo.ulMaxHeight = m_nMaxHeight;
+
+ if (!(m_cropRect.r && m_cropRect.b) && !(m_resizeDim.w && m_resizeDim.h)) {
+ m_nWidth = pVideoFormat->display_area.right - pVideoFormat->display_area.left;
+ m_nLumaHeight = pVideoFormat->display_area.bottom - pVideoFormat->display_area.top;
+ videoDecodeCreateInfo.ulTargetWidth = pVideoFormat->coded_width;
+ videoDecodeCreateInfo.ulTargetHeight = pVideoFormat->coded_height;
+ } else {
+ if (m_resizeDim.w && m_resizeDim.h) {
+ videoDecodeCreateInfo.display_area.left = pVideoFormat->display_area.left;
+ videoDecodeCreateInfo.display_area.top = pVideoFormat->display_area.top;
+ videoDecodeCreateInfo.display_area.right = pVideoFormat->display_area.right;
+ videoDecodeCreateInfo.display_area.bottom = pVideoFormat->display_area.bottom;
+ m_nWidth = m_resizeDim.w;
+ m_nLumaHeight = m_resizeDim.h;
+ }
+
+ if (m_cropRect.r && m_cropRect.b) {
+ videoDecodeCreateInfo.display_area.left = m_cropRect.l;
+ videoDecodeCreateInfo.display_area.top = m_cropRect.t;
+ videoDecodeCreateInfo.display_area.right = m_cropRect.r;
+ videoDecodeCreateInfo.display_area.bottom = m_cropRect.b;
+ m_nWidth = m_cropRect.r - m_cropRect.l;
+ m_nLumaHeight = m_cropRect.b - m_cropRect.t;
+ }
+ videoDecodeCreateInfo.ulTargetWidth = m_nWidth;
+ videoDecodeCreateInfo.ulTargetHeight = m_nLumaHeight;
+ }
+
+ m_nChromaHeight = (int)(m_nLumaHeight * GetChromaHeightFactor(videoDecodeCreateInfo.ChromaFormat));
+ m_nNumChromaPlanes = GetChromaPlaneCount(videoDecodeCreateInfo.ChromaFormat);
+ m_nSurfaceHeight = videoDecodeCreateInfo.ulTargetHeight;
+ m_nSurfaceWidth = videoDecodeCreateInfo.ulTargetWidth;
+ m_displayRect.b = videoDecodeCreateInfo.display_area.bottom;
+ m_displayRect.t = videoDecodeCreateInfo.display_area.top;
+ m_displayRect.l = videoDecodeCreateInfo.display_area.left;
+ m_displayRect.r = videoDecodeCreateInfo.display_area.right;
+
+ m_videoInfo << "Video Decoding Params:" << std::endl
+ << "\tNum Surfaces : " << videoDecodeCreateInfo.ulNumDecodeSurfaces << std::endl
+ << "\tCrop : [" << videoDecodeCreateInfo.display_area.left << ", " << videoDecodeCreateInfo.display_area.top << ", "
+ << videoDecodeCreateInfo.display_area.right << ", " << videoDecodeCreateInfo.display_area.bottom << "]" << std::endl
+ << "\tResize : " << videoDecodeCreateInfo.ulTargetWidth << "x" << videoDecodeCreateInfo.ulTargetHeight << std::endl
+ << "\tDeinterlace : " << std::vector<const char *>{"Weave", "Bob", "Adaptive"}[videoDecodeCreateInfo.DeinterlaceMode]
+ ;
+ m_videoInfo << std::endl;
+
+ CUDA_DRVAPI_CALL(cuCtxPushCurrent(m_cuContext));
+ NVDEC_API_CALL(cuvidCreateDecoder(&m_hDecoder, &videoDecodeCreateInfo));
+ CUDA_DRVAPI_CALL(cuCtxPopCurrent(NULL));
+ STOP_TIMER("Session Initialization Time: ");
+ return nDecodeSurface;
+}
+
+int NvDecoder::ReconfigureDecoder(CUVIDEOFORMAT *pVideoFormat)
+{
+ if (pVideoFormat->bit_depth_luma_minus8 != m_videoFormat.bit_depth_luma_minus8 || pVideoFormat->bit_depth_chroma_minus8 != m_videoFormat.bit_depth_chroma_minus8){
+
+ NVDEC_THROW_ERROR("Reconfigure Not supported for bit depth change", CUDA_ERROR_NOT_SUPPORTED);
+ }
+
+ if (pVideoFormat->chroma_format != m_videoFormat.chroma_format) {
+
+ NVDEC_THROW_ERROR("Reconfigure Not supported for chroma format change", CUDA_ERROR_NOT_SUPPORTED);
+ }
+
+ bool bDecodeResChange = !(pVideoFormat->coded_width == m_videoFormat.coded_width && pVideoFormat->coded_height == m_videoFormat.coded_height);
+ bool bDisplayRectChange = !(pVideoFormat->display_area.bottom == m_videoFormat.display_area.bottom && pVideoFormat->display_area.top == m_videoFormat.display_area.top \
+ && pVideoFormat->display_area.left == m_videoFormat.display_area.left && pVideoFormat->display_area.right == m_videoFormat.display_area.right);
+
+ int nDecodeSurface = pVideoFormat->min_num_decode_surfaces;
+
+ if ((pVideoFormat->coded_width > m_nMaxWidth) || (pVideoFormat->coded_height > m_nMaxHeight)) {
+ // For VP9, let driver handle the change if new width/height > maxwidth/maxheight
+ if ((m_eCodec != cudaVideoCodec_VP9) || m_bReconfigExternal)
+ {
+ NVDEC_THROW_ERROR("Reconfigure Not supported when width/height > maxwidth/maxheight", CUDA_ERROR_NOT_SUPPORTED);
+ }
+ return 1;
+ }
+
+ if (!bDecodeResChange && !m_bReconfigExtPPChange) {
+ // if the coded_width/coded_height hasn't changed but display resolution has changed, then need to update width/height for
+ // correct output without cropping. Example : 1920x1080 vs 1920x1088
+ if (bDisplayRectChange)
+ {
+ m_nWidth = pVideoFormat->display_area.right - pVideoFormat->display_area.left;
+ m_nLumaHeight = pVideoFormat->display_area.bottom - pVideoFormat->display_area.top;
+ m_nChromaHeight = int(m_nLumaHeight * GetChromaHeightFactor(pVideoFormat->chroma_format));
+ m_nNumChromaPlanes = GetChromaPlaneCount(pVideoFormat->chroma_format);
+ }
+
+ // no need for reconfigureDecoder(). Just return
+ return 1;
+ }
+
+ CUVIDRECONFIGUREDECODERINFO reconfigParams = { 0 };
+
+ reconfigParams.ulWidth = m_videoFormat.coded_width = pVideoFormat->coded_width;
+ reconfigParams.ulHeight = m_videoFormat.coded_height = pVideoFormat->coded_height;
+
+ // Dont change display rect and get scaled output from decoder. This will help display app to present apps smoothly
+ reconfigParams.display_area.bottom = m_displayRect.b;
+ reconfigParams.display_area.top = m_displayRect.t;
+ reconfigParams.display_area.left = m_displayRect.l;
+ reconfigParams.display_area.right = m_displayRect.r;
+ reconfigParams.ulTargetWidth = m_nSurfaceWidth;
+ reconfigParams.ulTargetHeight = m_nSurfaceHeight;
+
+ // If external reconfigure is called along with resolution change even if post processing params is not changed,
+ // do full reconfigure params update
+ if ((m_bReconfigExternal && bDecodeResChange) || m_bReconfigExtPPChange) {
+ // update display rect and target resolution if requested explicitely
+ m_bReconfigExternal = false;
+ m_bReconfigExtPPChange = false;
+ m_videoFormat = *pVideoFormat;
+ if (!(m_cropRect.r && m_cropRect.b) && !(m_resizeDim.w && m_resizeDim.h)) {
+ m_nWidth = pVideoFormat->display_area.right - pVideoFormat->display_area.left;
+ m_nLumaHeight = pVideoFormat->display_area.bottom - pVideoFormat->display_area.top;
+ reconfigParams.ulTargetWidth = pVideoFormat->coded_width;
+ reconfigParams.ulTargetHeight = pVideoFormat->coded_height;
+ }
+ else {
+ if (m_resizeDim.w && m_resizeDim.h) {
+ reconfigParams.display_area.left = pVideoFormat->display_area.left;
+ reconfigParams.display_area.top = pVideoFormat->display_area.top;
+ reconfigParams.display_area.right = pVideoFormat->display_area.right;
+ reconfigParams.display_area.bottom = pVideoFormat->display_area.bottom;
+ m_nWidth = m_resizeDim.w;
+ m_nLumaHeight = m_resizeDim.h;
+ }
+
+ if (m_cropRect.r && m_cropRect.b) {
+ reconfigParams.display_area.left = m_cropRect.l;
+ reconfigParams.display_area.top = m_cropRect.t;
+ reconfigParams.display_area.right = m_cropRect.r;
+ reconfigParams.display_area.bottom = m_cropRect.b;
+ m_nWidth = m_cropRect.r - m_cropRect.l;
+ m_nLumaHeight = m_cropRect.b - m_cropRect.t;
+ }
+ reconfigParams.ulTargetWidth = m_nWidth;
+ reconfigParams.ulTargetHeight = m_nLumaHeight;
+ }
+
+ m_nChromaHeight = int(m_nLumaHeight * GetChromaHeightFactor(pVideoFormat->chroma_format));
+ m_nNumChromaPlanes = GetChromaPlaneCount(pVideoFormat->chroma_format);
+ m_nSurfaceHeight = reconfigParams.ulTargetHeight;
+ m_nSurfaceWidth = reconfigParams.ulTargetWidth;
+ m_displayRect.b = reconfigParams.display_area.bottom;
+ m_displayRect.t = reconfigParams.display_area.top;
+ m_displayRect.l = reconfigParams.display_area.left;
+ m_displayRect.r = reconfigParams.display_area.right;
+ }
+
+ reconfigParams.ulNumDecodeSurfaces = nDecodeSurface;
+
+ START_TIMER
+ CUDA_DRVAPI_CALL(cuCtxPushCurrent(m_cuContext));
+ NVDEC_API_CALL(cuvidReconfigureDecoder(m_hDecoder, &reconfigParams));
+ CUDA_DRVAPI_CALL(cuCtxPopCurrent(NULL));
+ STOP_TIMER("Session Reconfigure Time: ");
+
+ return nDecodeSurface;
+}
+
+int NvDecoder::setReconfigParams(const Rect *pCropRect, const Dim *pResizeDim)
+{
+ m_bReconfigExternal = true;
+ m_bReconfigExtPPChange = false;
+ if (pCropRect)
+ {
+ if (!((pCropRect->t == m_cropRect.t) && (pCropRect->l == m_cropRect.l) &&
+ (pCropRect->b == m_cropRect.b) && (pCropRect->r == m_cropRect.r)))
+ {
+ m_bReconfigExtPPChange = true;
+ m_cropRect = *pCropRect;
+ }
+ }
+ if (pResizeDim)
+ {
+ if (!((pResizeDim->w == m_resizeDim.w) && (pResizeDim->h == m_resizeDim.h)))
+ {
+ m_bReconfigExtPPChange = true;
+ m_resizeDim = *pResizeDim;
+ }
+ }
+
+ // Clear existing output buffers of different size
+ uint8_t *pFrame = NULL;
+ while (!m_vpFrame.empty())
+ {
+ pFrame = m_vpFrame.back();
+ m_vpFrame.pop_back();
+ if (m_bUseDeviceFrame)
+ {
+ CUDA_DRVAPI_CALL(cuCtxPushCurrent(m_cuContext));
+ CUDA_DRVAPI_CALL(cuMemFree((CUdeviceptr)pFrame));
+ CUDA_DRVAPI_CALL(cuCtxPopCurrent(NULL));
+ }
+ else
+ {
+ delete pFrame;
+ }
+ }
+ m_vpFrameRet.clear();
+
+ return 1;
+}
+
+/* Return value from HandlePictureDecode() are interpreted as:
+* 0: fail, >=1: succeeded
+*/
+int NvDecoder::HandlePictureDecode(CUVIDPICPARAMS *pPicParams) {
+ if (!m_hDecoder)
+ {
+ NVDEC_THROW_ERROR("Decoder not initialized.", CUDA_ERROR_NOT_INITIALIZED);
+ return false;
+ }
+ m_nPicNumInDecodeOrder[pPicParams->CurrPicIdx] = m_nDecodePicCnt++;
+ NVDEC_API_CALL(cuvidDecodePicture(m_hDecoder, pPicParams));
+ return 1;
+}
+
+/* Return value from HandlePictureDisplay() are interpreted as:
+* 0: fail, >=1: succeeded
+*/
+int NvDecoder::HandlePictureDisplay(CUVIDPARSERDISPINFO *pDispInfo) {
+ CUVIDPROCPARAMS videoProcessingParameters = {};
+ videoProcessingParameters.progressive_frame = pDispInfo->progressive_frame;
+ videoProcessingParameters.second_field = pDispInfo->repeat_first_field + 1;
+ videoProcessingParameters.top_field_first = pDispInfo->top_field_first;
+ videoProcessingParameters.unpaired_field = pDispInfo->repeat_first_field < 0;
+ videoProcessingParameters.output_stream = m_cuvidStream;
+
+ CUdeviceptr dpSrcFrame = 0;
+ unsigned int nSrcPitch = 0;
+ NVDEC_API_CALL(cuvidMapVideoFrame(m_hDecoder, pDispInfo->picture_index, &dpSrcFrame,
+ &nSrcPitch, &videoProcessingParameters));
+
+ CUVIDGETDECODESTATUS DecodeStatus;
+ memset(&DecodeStatus, 0, sizeof(DecodeStatus));
+ CUresult result = cuvidGetDecodeStatus(m_hDecoder, pDispInfo->picture_index, &DecodeStatus);
+ if (result == CUDA_SUCCESS && (DecodeStatus.decodeStatus == cuvidDecodeStatus_Error || DecodeStatus.decodeStatus == cuvidDecodeStatus_Error_Concealed))
+ {
+ printf("Decode Error occurred for picture %d\n", m_nPicNumInDecodeOrder[pDispInfo->picture_index]);
+ }
+
+ uint8_t *pDecodedFrame = nullptr;
+ {
+ std::lock_guard<std::mutex> lock(m_mtxVPFrame);
+ if ((unsigned)++m_nDecodedFrame > m_vpFrame.size())
+ {
+ // Not enough frames in stock
+ m_nFrameAlloc++;
+ uint8_t *pFrame = NULL;
+ if (m_bUseDeviceFrame)
+ {
+ CUDA_DRVAPI_CALL(cuCtxPushCurrent(m_cuContext));
+ if (m_bDeviceFramePitched)
+ {
+ CUDA_DRVAPI_CALL(cuMemAllocPitch((CUdeviceptr *)&pFrame, &m_nDeviceFramePitch, m_nWidth * m_nBPP, m_nLumaHeight + (m_nChromaHeight * m_nNumChromaPlanes), 16));
+ }
+ else
+ {
+ CUDA_DRVAPI_CALL(cuMemAlloc((CUdeviceptr *)&pFrame, GetFrameSize()));
+ }
+ CUDA_DRVAPI_CALL(cuCtxPopCurrent(NULL));
+ }
+ else
+ {
+ pFrame = new uint8_t[GetFrameSize()];
+ }
+ m_vpFrame.push_back(pFrame);
+ }
+ pDecodedFrame = m_vpFrame[m_nDecodedFrame - 1];
+ }
+
+ CUDA_DRVAPI_CALL(cuCtxPushCurrent(m_cuContext));
+ CUDA_MEMCPY2D m = { 0 };
+ m.srcMemoryType = CU_MEMORYTYPE_DEVICE;
+ m.srcDevice = dpSrcFrame;
+ m.srcPitch = nSrcPitch;
+ m.dstMemoryType = m_bUseDeviceFrame ? CU_MEMORYTYPE_DEVICE : CU_MEMORYTYPE_HOST;
+ m.dstDevice = (CUdeviceptr)(m.dstHost = pDecodedFrame);
+ m.dstPitch = m_nDeviceFramePitch ? m_nDeviceFramePitch : m_nWidth * m_nBPP;
+ m.WidthInBytes = m_nWidth * m_nBPP;
+ m.Height = m_nLumaHeight;
+ CUDA_DRVAPI_CALL(cuMemcpy2DAsync(&m, m_cuvidStream));
+
+ m.srcDevice = (CUdeviceptr)((uint8_t *)dpSrcFrame + m.srcPitch * m_nSurfaceHeight);
+ m.dstDevice = (CUdeviceptr)(m.dstHost = pDecodedFrame + m.dstPitch * m_nLumaHeight);
+ m.Height = m_nChromaHeight;
+ CUDA_DRVAPI_CALL(cuMemcpy2DAsync(&m, m_cuvidStream));
+
+ if (m_nNumChromaPlanes == 2)
+ {
+ m.srcDevice = (CUdeviceptr)((uint8_t *)dpSrcFrame + m.srcPitch * m_nSurfaceHeight * 2);
+ m.dstDevice = (CUdeviceptr)(m.dstHost = pDecodedFrame + m.dstPitch * m_nLumaHeight * 2);
+ m.Height = m_nChromaHeight;
+ CUDA_DRVAPI_CALL(cuMemcpy2DAsync(&m, m_cuvidStream));
+ }
+ CUDA_DRVAPI_CALL(cuStreamSynchronize(m_cuvidStream));
+ CUDA_DRVAPI_CALL(cuCtxPopCurrent(NULL));
+
+ if ((int)m_vTimestamp.size() < m_nDecodedFrame) {
+ m_vTimestamp.resize(m_vpFrame.size());
+ }
+ m_vTimestamp[m_nDecodedFrame - 1] = pDispInfo->timestamp;
+
+ NVDEC_API_CALL(cuvidUnmapVideoFrame(m_hDecoder, dpSrcFrame));
+ return 1;
+}
+
+NvDecoder::NvDecoder(CUcontext cuContext, bool bUseDeviceFrame, cudaVideoCodec eCodec, std::mutex *pMutex,
+ bool bLowLatency, bool bDeviceFramePitched, const Rect *pCropRect, const Dim *pResizeDim, int maxWidth, int maxHeight) :
+ m_cuContext(cuContext), m_bUseDeviceFrame(bUseDeviceFrame), m_eCodec(eCodec), m_pMutex(pMutex), m_bDeviceFramePitched(bDeviceFramePitched),
+ m_nMaxWidth (maxWidth), m_nMaxHeight(maxHeight)
+{
+ if (pCropRect) m_cropRect = *pCropRect;
+ if (pResizeDim) m_resizeDim = *pResizeDim;
+
+ NVDEC_API_CALL(cuvidCtxLockCreate(&m_ctxLock, cuContext));
+
+ CUVIDPARSERPARAMS videoParserParameters = {};
+ videoParserParameters.CodecType = eCodec;
+ videoParserParameters.ulMaxNumDecodeSurfaces = 1;
+ videoParserParameters.ulMaxDisplayDelay = bLowLatency ? 0 : 1;
+ videoParserParameters.pUserData = this;
+ videoParserParameters.pfnSequenceCallback = HandleVideoSequenceProc;
+ videoParserParameters.pfnDecodePicture = HandlePictureDecodeProc;
+ videoParserParameters.pfnDisplayPicture = HandlePictureDisplayProc;
+ if (m_pMutex) m_pMutex->lock();
+ NVDEC_API_CALL(cuvidCreateVideoParser(&m_hParser, &videoParserParameters));
+ if (m_pMutex) m_pMutex->unlock();
+}
+
+NvDecoder::~NvDecoder() {
+
+ START_TIMER
+ cuCtxPushCurrent(m_cuContext);
+ cuCtxPopCurrent(NULL);
+
+ if (m_hParser) {
+ cuvidDestroyVideoParser(m_hParser);
+ }
+
+ if (m_hDecoder) {
+ if (m_pMutex) m_pMutex->lock();
+ cuvidDestroyDecoder(m_hDecoder);
+ if (m_pMutex) m_pMutex->unlock();
+ }
+
+ std::lock_guard<std::mutex> lock(m_mtxVPFrame);
+ if (m_vpFrame.size() != m_nFrameAlloc)
+ {
+ //LOG(WARNING) << "nFrameAlloc(" << m_nFrameAlloc << ") != m_vpFrame.size()(" << m_vpFrame.size() << ")";
+ }
+ for (uint8_t *pFrame : m_vpFrame)
+ {
+ if (m_bUseDeviceFrame)
+ {
+ if (m_pMutex) m_pMutex->lock();
+ cuCtxPushCurrent(m_cuContext);
+ cuMemFree((CUdeviceptr)pFrame);
+ cuCtxPopCurrent(NULL);
+ if (m_pMutex) m_pMutex->unlock();
+ }
+ else
+ {
+ delete[] pFrame;
+ }
+ }
+ cuvidCtxLockDestroy(m_ctxLock);
+ STOP_TIMER("Session Deinitialization Time: ");
+}
+
+bool NvDecoder::Decode(const uint8_t *pData, int nSize, uint8_t ***pppFrame, int *pnFrameReturned, uint32_t flags, int64_t **ppTimestamp, int64_t timestamp, CUstream stream)
+{
+ if (!m_hParser)
+ {
+ NVDEC_THROW_ERROR("Parser not initialized.", CUDA_ERROR_NOT_INITIALIZED);
+ return false;
+ }
+
+ m_nDecodedFrame = 0;
+ CUVIDSOURCEDATAPACKET packet = {0};
+ packet.payload = pData;
+ packet.payload_size = nSize;
+ packet.flags = flags | CUVID_PKT_TIMESTAMP;
+ packet.timestamp = timestamp;
+ if (!pData || nSize == 0) {
+ packet.flags |= CUVID_PKT_ENDOFSTREAM;
+ }
+ m_cuvidStream = stream;
+ if (m_pMutex) m_pMutex->lock();
+ NVDEC_API_CALL(cuvidParseVideoData(m_hParser, &packet));
+ if (m_pMutex) m_pMutex->unlock();
+ m_cuvidStream = 0;
+
+ if (m_nDecodedFrame > 0)
+ {
+ if (pppFrame)
+ {
+ m_vpFrameRet.clear();
+ std::lock_guard<std::mutex> lock(m_mtxVPFrame);
+ m_vpFrameRet.insert(m_vpFrameRet.begin(), m_vpFrame.begin(), m_vpFrame.begin() + m_nDecodedFrame);
+ *pppFrame = &m_vpFrameRet[0];
+ }
+ if (ppTimestamp)
+ {
+ *ppTimestamp = &m_vTimestamp[0];
+ }
+ }
+ if (pnFrameReturned)
+ {
+ *pnFrameReturned = m_nDecodedFrame;
+ }
+ return true;
+}
+
+bool NvDecoder::DecodeLockFrame(const uint8_t *pData, int nSize, uint8_t ***pppFrame, int *pnFrameReturned, uint32_t flags, int64_t **ppTimestamp, int64_t timestamp, CUstream stream)
+{
+ bool ret = Decode(pData, nSize, pppFrame, pnFrameReturned, flags, ppTimestamp, timestamp, stream);
+ std::lock_guard<std::mutex> lock(m_mtxVPFrame);
+ m_vpFrame.erase(m_vpFrame.begin(), m_vpFrame.begin() + m_nDecodedFrame);
+ return true;
+}
+
+void NvDecoder::UnlockFrame(uint8_t **ppFrame, int nFrame)
+{
+ std::lock_guard<std::mutex> lock(m_mtxVPFrame);
+ m_vpFrame.insert(m_vpFrame.end(), &ppFrame[0], &ppFrame[nFrame]);
+}
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvDecoder/NvDecoder.h b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvDecoder/NvDecoder.h
new file mode 100644
index 0000000000000000000000000000000000000000..1eaed1f91ccfa5b1232ea2875b9781a7a4bdb9a3
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvDecoder/NvDecoder.h
@@ -0,0 +1,280 @@
+/*
+* Copyright 2017-2018 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+#pragma once
+
+#include <assert.h>
+#include <stdint.h>
+#include <mutex>
+#include <vector>
+#include <string>
+#include <iostream>
+#include <sstream>
+#include <string.h>
+#include "nvcuvid.h"
+
+/**
+* @brief Exception class for error reporting from the decode API.
+*/
+class NVDECException : public std::exception
+{
+public:
+ NVDECException(const std::string& errorStr, const CUresult errorCode)
+ : m_errorString(errorStr), m_errorCode(errorCode) {}
+
+ virtual ~NVDECException() throw() {}
+ virtual const char* what() const throw() { return m_errorString.c_str(); }
+ CUresult getErrorCode() const { return m_errorCode; }
+ const std::string& getErrorString() const { return m_errorString; }
+ static NVDECException makeNVDECException(const std::string& errorStr, const CUresult errorCode,
+ const std::string& functionName, const std::string& fileName, int lineNo);
+private:
+ std::string m_errorString;
+ CUresult m_errorCode;
+};
+
+inline NVDECException NVDECException::makeNVDECException(const std::string& errorStr, const CUresult errorCode, const std::string& functionName,
+ const std::string& fileName, int lineNo)
+{
+ std::ostringstream errorLog;
+ errorLog << functionName << " : " << errorStr << " at " << fileName << ":" << lineNo << std::endl;
+ NVDECException exception(errorLog.str(), errorCode);
+ return exception;
+}
+
+#define NVDEC_THROW_ERROR( errorStr, errorCode ) \
+ do \
+ { \
+ throw NVDECException::makeNVDECException(errorStr, errorCode, __FUNCTION__, __FILE__, __LINE__); \
+ } while (0)
+
+
+#define NVDEC_API_CALL( cuvidAPI ) \
+ do \
+ { \
+ CUresult errorCode = cuvidAPI; \
+ if( errorCode != CUDA_SUCCESS) \
+ { \
+ std::ostringstream errorLog; \
+ errorLog << #cuvidAPI << " returned error " << errorCode; \
+ throw NVDECException::makeNVDECException(errorLog.str(), errorCode, __FUNCTION__, __FILE__, __LINE__); \
+ } \
+ } while (0)
+
+struct Rect {
+ int l, t, r, b;
+};
+
+struct Dim {
+ int w, h;
+};
+
+/**
+* @brief Base class for decoder interface.
+*/
+class NvDecoder {
+
+public:
+ /**
+ * @brief This function is used to initialize the decoder session.
+ * Application must call this function to initialize the decoder, before
+ * starting to decode any frames.
+ */
+ NvDecoder(CUcontext cuContext, bool bUseDeviceFrame, cudaVideoCodec eCodec, std::mutex *pMutex = NULL, bool bLowLatency = false,
+ bool bDeviceFramePitched = false, const Rect *pCropRect = NULL, const Dim *pResizeDim = NULL,
+ int maxWidth = 0, int maxHeight = 0);
+ ~NvDecoder();
+
+ /**
+ * @brief This function is used to get the current CUDA context.
+ */
+ CUcontext GetContext() { return m_cuContext; }
+
+ /**
+ * @brief This function is used to get the current decode width.
+ */
+ int GetWidth() { assert(m_nWidth); return m_nWidth; }
+
+ /**
+ * @brief This function is used to get the current decode height (Luma height).
+ */
+ int GetHeight() { assert(m_nLumaHeight); return m_nLumaHeight; }
+
+ /**
+ * @brief This function is used to get the current chroma height.
+ */
+ int GetChromaHeight() { assert(m_nChromaHeight); return m_nChromaHeight; }
+
+ /**
+ * @brief This function is used to get the number of chroma planes.
+ */
+ int GetNumChromaPlanes() { assert(m_nNumChromaPlanes); return m_nNumChromaPlanes; }
+
+ /**
+ * @brief This function is used to get the current frame size based on pixel format.
+ */
+ int GetFrameSize() { assert(m_nWidth); return m_nWidth * (m_nLumaHeight + m_nChromaHeight * m_nNumChromaPlanes) * m_nBPP; }
+
+ /**
+ * @brief This function is used to get the pitch of the device buffer holding the decoded frame.
+ */
+ int GetDeviceFramePitch() { assert(m_nWidth); return m_nDeviceFramePitch ? (int)m_nDeviceFramePitch : m_nWidth * m_nBPP; }
+
+ /**
+ * @brief This function is used to get the bit depth associated with the pixel format.
+ */
+ int GetBitDepth() { assert(m_nWidth); return m_nBitDepthMinus8 + 8; }
+
+ /**
+ * @brief This function is used to get the bytes used per pixel.
+ */
+ int GetBPP() { assert(m_nWidth); return m_nBPP; }
+
+ /**
+ * @brief This function is used to get the YUV chroma format
+ */
+ cudaVideoSurfaceFormat GetOutputFormat() { return m_eOutputFormat; }
+
+ /**
+ * @brief This function is used to get information about the video stream (codec, display parameters etc)
+ */
+ CUVIDEOFORMAT GetVideoFormatInfo() { assert(m_nWidth); return m_videoFormat; }
+
+ /**
+ * @brief This function is used to print information about the video stream
+ */
+ std::string GetVideoInfo() const { return m_videoInfo.str(); }
+
+ /**
+ * @brief This function decodes a frame and returns frames that are available for display.
+ The frames should be used or buffered before making subsequent calls to the Decode function again
+ * @param pData - pointer to the data buffer that is to be decoded
+ * @param nSize - size of the data buffer in bytes
+ * @param pppFrame - CUvideopacketflags for setting decode options
+ * @param pnFrameReturned - pointer to array of decoded frames that are returned
+ * @param flags - CUvideopacketflags for setting decode options
+ * @param ppTimestamp - pointer to array of timestamps for decoded frames that are returned
+ * @param timestamp - presentation timestamp
+ * @param stream - CUstream to be used for post-processing operations
+ */
+ bool Decode(const uint8_t *pData, int nSize, uint8_t ***pppFrame, int *pnFrameReturned, uint32_t flags = 0, int64_t **ppTimestamp = NULL, int64_t timestamp = 0, CUstream stream = 0);
+
+ /**
+ * @brief This function decodes a frame and returns the locked frame buffers
+ * This makes the buffers available for use by the application without the buffers
+ * getting overwritten, even if subsequent decode calls are made. The frame buffers
+ * remain locked, until ::UnlockFrame() is called
+ * @param pData - pointer to the data buffer that is to be decoded
+ * @param nSize - size of the data buffer in bytes
+ * @param pppFrame - CUvideopacketflags for setting decode options
+ * @param pnFrameReturned - pointer to array of decoded frames that are returned
+ * @param flags - CUvideopacketflags for setting decode options
+ * @param ppTimestamp - pointer to array of timestamps for decoded frames that are returned
+ * @param timestamp - presentation timestamp
+ * @param stream - CUstream to be used for post-processing operations
+ */
+ bool DecodeLockFrame(const uint8_t *pData, int nSize, uint8_t ***pppFrame, int *pnFrameReturned, uint32_t flags = 0, int64_t **ppTimestamp = NULL, int64_t timestamp = 0, CUstream stream = 0);
+
+ /**
+ * @brief This function unlocks the frame buffer and makes the frame buffers available for write again
+ * @param ppFrame - pointer to array of frames that are to be unlocked
+ * @param nFrame - number of frames to be unlocked
+ */
+ void UnlockFrame(uint8_t **ppFrame, int nFrame);
+
+ /**
+ * @brief This function allow app to set decoder reconfig params
+ * @param pCropRect - cropping rectangle coordinates
+ * @param pResizeDim - width and height of resized output
+ */
+ int setReconfigParams(const Rect * pCropRect, const Dim * pResizeDim);
+
+private:
+ /**
+ * @brief Callback function to be registered for getting a callback when decoding of sequence starts
+ */
+ static int CUDAAPI HandleVideoSequenceProc(void *pUserData, CUVIDEOFORMAT *pVideoFormat) { return ((NvDecoder *)pUserData)->HandleVideoSequence(pVideoFormat); }
+
+ /**
+ * @brief Callback function to be registered for getting a callback when a decoded frame is ready to be decoded
+ */
+ static int CUDAAPI HandlePictureDecodeProc(void *pUserData, CUVIDPICPARAMS *pPicParams) { return ((NvDecoder *)pUserData)->HandlePictureDecode(pPicParams); }
+
+ /**
+ * @brief Callback function to be registered for getting a callback when a decoded frame is available for display
+ */
+ static int CUDAAPI HandlePictureDisplayProc(void *pUserData, CUVIDPARSERDISPINFO *pDispInfo) { return ((NvDecoder *)pUserData)->HandlePictureDisplay(pDispInfo); }
+
+ /**
+ * @brief This function gets called when a sequence is ready to be decoded. The function also gets called
+ when there is format change
+ */
+ int HandleVideoSequence(CUVIDEOFORMAT *pVideoFormat);
+
+ /**
+ * @brief This function gets called when a picture is ready to be decoded. cuvidDecodePicture is called from this function
+ * to decode the picture
+ */
+ int HandlePictureDecode(CUVIDPICPARAMS *pPicParams);
+
+ /**
+ * @brief This function gets called after a picture is decoded and available for display. Frames are fetched and stored in
+ internal buffer
+ */
+ int HandlePictureDisplay(CUVIDPARSERDISPINFO *pDispInfo);
+
+ /**
+ * @brief This function reconfigure decoder if there is a change in sequence params.
+ */
+ int ReconfigureDecoder(CUVIDEOFORMAT *pVideoFormat);
+
+private:
+ CUcontext m_cuContext = NULL;
+ CUvideoctxlock m_ctxLock;
+ std::mutex *m_pMutex;
+ CUvideoparser m_hParser = NULL;
+ CUvideodecoder m_hDecoder = NULL;
+ bool m_bUseDeviceFrame;
+ // dimension of the output
+ unsigned int m_nWidth = 0, m_nLumaHeight = 0, m_nChromaHeight = 0;
+ unsigned int m_nNumChromaPlanes = 0;
+ // height of the mapped surface
+ int m_nSurfaceHeight = 0;
+ int m_nSurfaceWidth = 0;
+ cudaVideoCodec m_eCodec = cudaVideoCodec_NumCodecs;
+ cudaVideoChromaFormat m_eChromaFormat;
+ cudaVideoSurfaceFormat m_eOutputFormat;
+ int m_nBitDepthMinus8 = 0;
+ int m_nBPP = 1;
+ CUVIDEOFORMAT m_videoFormat = {};
+ Rect m_displayRect = {};
+ // stock of frames
+ std::vector<uint8_t *> m_vpFrame;
+ // decoded frames for return
+ std::vector<uint8_t *> m_vpFrameRet;
+ // timestamps of decoded frames
+ std::vector<int64_t> m_vTimestamp;
+ int m_nDecodedFrame = 0, m_nDecodedFrameReturned = 0;
+ int m_nDecodePicCnt = 0, m_nPicNumInDecodeOrder[32];
+ bool m_bEndDecodeDone = false;
+ std::mutex m_mtxVPFrame;
+ int m_nFrameAlloc = 0;
+ CUstream m_cuvidStream = 0;
+ bool m_bDeviceFramePitched = false;
+ size_t m_nDeviceFramePitch = 0;
+ Rect m_cropRect = {};
+ Dim m_resizeDim = {};
+
+ std::ostringstream m_videoInfo;
+ unsigned int m_nMaxWidth = 0, m_nMaxHeight = 0;
+ bool m_bReconfigExternal = false;
+ bool m_bReconfigExtPPChange = false;
+};
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoder.cpp b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoder.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..fd50ab3fc7bc6dbe2610a1cc02d11e32d0fc57fe
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoder.cpp
@@ -0,0 +1,981 @@
+/*
+* Copyright 2017-2019 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+// Nick: Add dlfcn.h
+#ifndef WIN32
+#include <dlfcn.h>
+#endif
+#include "NvEncoder/NvEncoder.h"
+
+#ifndef _WIN32
+#include <cstring>
+static inline bool operator==(const GUID &guid1, const GUID &guid2) {
+ return !memcmp(&guid1, &guid2, sizeof(GUID));
+}
+
+static inline bool operator!=(const GUID &guid1, const GUID &guid2) {
+ return !(guid1 == guid2);
+}
+#endif
+
+NvEncoder::NvEncoder(NV_ENC_DEVICE_TYPE eDeviceType, void *pDevice, uint32_t nWidth, uint32_t nHeight, NV_ENC_BUFFER_FORMAT eBufferFormat,
+ uint32_t nExtraOutputDelay, bool bMotionEstimationOnly, bool bOutputInVideoMemory) :
+ m_pDevice(pDevice),
+ m_eDeviceType(eDeviceType),
+ m_nWidth(nWidth),
+ m_nHeight(nHeight),
+ m_nMaxEncodeWidth(nWidth),
+ m_nMaxEncodeHeight(nHeight),
+ m_eBufferFormat(eBufferFormat),
+ m_bMotionEstimationOnly(bMotionEstimationOnly),
+ m_bOutputInVideoMemory(bOutputInVideoMemory),
+ m_nExtraOutputDelay(nExtraOutputDelay),
+ m_hEncoder(nullptr)
+{
+ LoadNvEncApi();
+
+ if (!m_nvenc.nvEncOpenEncodeSession)
+ {
+ m_nEncoderBuffer = 0;
+ NVENC_THROW_ERROR("EncodeAPI not found", NV_ENC_ERR_NO_ENCODE_DEVICE);
+ }
+
+ NV_ENC_OPEN_ENCODE_SESSION_EX_PARAMS encodeSessionExParams = { NV_ENC_OPEN_ENCODE_SESSION_EX_PARAMS_VER };
+ encodeSessionExParams.device = m_pDevice;
+ encodeSessionExParams.deviceType = m_eDeviceType;
+ encodeSessionExParams.apiVersion = NVENCAPI_VERSION;
+ void *hEncoder = NULL;
+ NVENC_API_CALL(m_nvenc.nvEncOpenEncodeSessionEx(&encodeSessionExParams, &hEncoder));
+ m_hEncoder = hEncoder;
+}
+
+void NvEncoder::LoadNvEncApi()
+{
+ // Nick: Patched, as this is missing
+#if defined(_WIN32)
+#if defined(_WIN64)
+ HMODULE hModule = LoadLibrary(TEXT("nvEncodeAPI64.dll"));
+#else
+ HMODULE hModule = LoadLibrary(TEXT("nvEncodeAPI.dll"));
+#endif
+#else
+ void *hModule = dlopen("libnvidia-encode.so.1", RTLD_LAZY);
+#endif
+
+ if (hModule == NULL)
+ {
+ NVENC_THROW_ERROR("NVENC library file is not found. Please ensure NV driver is installed", NV_ENC_ERR_NO_ENCODE_DEVICE);
+ }
+
+ m_hModule = hModule;
+
+ typedef NVENCSTATUS(NVENCAPI *NvEncodeAPIGetMaxSupportedVersion_Type)(uint32_t*);
+#if defined(_WIN32)
+ NvEncodeAPIGetMaxSupportedVersion_Type NvEncodeAPIGetMaxSupportedVersion = (NvEncodeAPIGetMaxSupportedVersion_Type)GetProcAddress(hModule, "NvEncodeAPIGetMaxSupportedVersion");
+#else
+ NvEncodeAPIGetMaxSupportedVersion_Type NvEncodeAPIGetMaxSupportedVersion = (NvEncodeAPIGetMaxSupportedVersion_Type)dlsym(hModule, "NvEncodeAPIGetMaxSupportedVersion");
+#endif
+ // Nick: End patch
+
+ uint32_t version = 0;
+ uint32_t currentVersion = (NVENCAPI_MAJOR_VERSION << 4) | NVENCAPI_MINOR_VERSION;
+ NVENC_API_CALL(NvEncodeAPIGetMaxSupportedVersion(&version));
+ if (currentVersion > version)
+ {
+ NVENC_THROW_ERROR("Current Driver Version does not support this NvEncodeAPI version, please upgrade driver", NV_ENC_ERR_INVALID_VERSION);
+ }
+
+ // Nick: Patch
+ typedef NVENCSTATUS(NVENCAPI *NvEncodeAPICreateInstance_Type)(NV_ENCODE_API_FUNCTION_LIST*);
+#if defined(_WIN32)
+ NvEncodeAPICreateInstance_Type NvEncodeAPICreateInstance = (NvEncodeAPICreateInstance_Type)GetProcAddress(hModule, "NvEncodeAPICreateInstance");
+#else
+ NvEncodeAPICreateInstance_Type NvEncodeAPICreateInstance = (NvEncodeAPICreateInstance_Type)dlsym(hModule, "NvEncodeAPICreateInstance");
+#endif
+
+ if (!NvEncodeAPICreateInstance)
+ {
+ NVENC_THROW_ERROR("Cannot find NvEncodeAPICreateInstance() entry in NVENC library", NV_ENC_ERR_NO_ENCODE_DEVICE);
+ }
+
+ m_nvenc = { NV_ENCODE_API_FUNCTION_LIST_VER };
+ NVENC_API_CALL(NvEncodeAPICreateInstance(&m_nvenc));
+}
+
+NvEncoder::~NvEncoder()
+{
+ DestroyHWEncoder();
+
+ // Nick: Patch
+ if (m_hModule)
+ {
+#if defined(_WIN32)
+ FreeLibrary((HMODULE)m_hModule);
+#else
+ dlclose(m_hModule);
+#endif
+ m_hModule = nullptr;
+ }
+}
+
+void NvEncoder::CreateDefaultEncoderParams(NV_ENC_INITIALIZE_PARAMS* pIntializeParams, GUID codecGuid, GUID presetGuid)
+{
+ if (!m_hEncoder)
+ {
+ NVENC_THROW_ERROR("Encoder Initialization failed", NV_ENC_ERR_NO_ENCODE_DEVICE);
+ return;
+ }
+
+ if (pIntializeParams == nullptr || pIntializeParams->encodeConfig == nullptr)
+ {
+ NVENC_THROW_ERROR("pInitializeParams and pInitializeParams->encodeConfig can't be NULL", NV_ENC_ERR_INVALID_PTR);
+ }
+
+ memset(pIntializeParams->encodeConfig, 0, sizeof(NV_ENC_CONFIG));
+ auto pEncodeConfig = pIntializeParams->encodeConfig;
+ memset(pIntializeParams, 0, sizeof(NV_ENC_INITIALIZE_PARAMS));
+ pIntializeParams->encodeConfig = pEncodeConfig;
+
+
+ pIntializeParams->encodeConfig->version = NV_ENC_CONFIG_VER;
+ pIntializeParams->version = NV_ENC_INITIALIZE_PARAMS_VER;
+
+ pIntializeParams->encodeGUID = codecGuid;
+ pIntializeParams->presetGUID = presetGuid;
+ pIntializeParams->encodeWidth = m_nWidth;
+ pIntializeParams->encodeHeight = m_nHeight;
+ pIntializeParams->darWidth = m_nWidth;
+ pIntializeParams->darHeight = m_nHeight;
+ pIntializeParams->frameRateNum = 30;
+ pIntializeParams->frameRateDen = 1;
+ pIntializeParams->enablePTD = 1;
+ pIntializeParams->reportSliceOffsets = 0;
+ pIntializeParams->enableSubFrameWrite = 0;
+ pIntializeParams->maxEncodeWidth = m_nWidth;
+ pIntializeParams->maxEncodeHeight = m_nHeight;
+ pIntializeParams->enableMEOnlyMode = m_bMotionEstimationOnly;
+ pIntializeParams->enableOutputInVidmem = m_bOutputInVideoMemory;
+#if defined(_WIN32)
+ if (!m_bOutputInVideoMemory)
+ {
+ pIntializeParams->enableEncodeAsync = GetCapabilityValue(codecGuid, NV_ENC_CAPS_ASYNC_ENCODE_SUPPORT);
+ }
+#endif
+
+ NV_ENC_PRESET_CONFIG presetConfig = { NV_ENC_PRESET_CONFIG_VER, { NV_ENC_CONFIG_VER } };
+ m_nvenc.nvEncGetEncodePresetConfig(m_hEncoder, codecGuid, presetGuid, &presetConfig);
+ memcpy(pIntializeParams->encodeConfig, &presetConfig.presetCfg, sizeof(NV_ENC_CONFIG));
+ pIntializeParams->encodeConfig->frameIntervalP = 1;
+ pIntializeParams->encodeConfig->gopLength = NVENC_INFINITE_GOPLENGTH;
+
+ pIntializeParams->encodeConfig->rcParams.rateControlMode = NV_ENC_PARAMS_RC_CONSTQP;
+
+ if (pIntializeParams->presetGUID != NV_ENC_PRESET_LOSSLESS_DEFAULT_GUID
+ && pIntializeParams->presetGUID != NV_ENC_PRESET_LOSSLESS_HP_GUID)
+ {
+ pIntializeParams->encodeConfig->rcParams.constQP = { 28, 31, 25 };
+ }
+
+ if (pIntializeParams->encodeGUID == NV_ENC_CODEC_H264_GUID)
+ {
+ if (m_eBufferFormat == NV_ENC_BUFFER_FORMAT_YUV444 || m_eBufferFormat == NV_ENC_BUFFER_FORMAT_YUV444_10BIT)
+ {
+ pIntializeParams->encodeConfig->encodeCodecConfig.h264Config.chromaFormatIDC = 3;
+ }
+ pIntializeParams->encodeConfig->encodeCodecConfig.h264Config.idrPeriod = pIntializeParams->encodeConfig->gopLength;
+ }
+ else if (pIntializeParams->encodeGUID == NV_ENC_CODEC_HEVC_GUID)
+ {
+ pIntializeParams->encodeConfig->encodeCodecConfig.hevcConfig.pixelBitDepthMinus8 =
+ (m_eBufferFormat == NV_ENC_BUFFER_FORMAT_YUV420_10BIT || m_eBufferFormat == NV_ENC_BUFFER_FORMAT_YUV444_10BIT ) ? 2 : 0;
+ if (m_eBufferFormat == NV_ENC_BUFFER_FORMAT_YUV444 || m_eBufferFormat == NV_ENC_BUFFER_FORMAT_YUV444_10BIT)
+ {
+ pIntializeParams->encodeConfig->encodeCodecConfig.hevcConfig.chromaFormatIDC = 3;
+ }
+ pIntializeParams->encodeConfig->encodeCodecConfig.hevcConfig.idrPeriod = pIntializeParams->encodeConfig->gopLength;
+ }
+
+ return;
+}
+
+void NvEncoder::CreateEncoder(const NV_ENC_INITIALIZE_PARAMS* pEncoderParams)
+{
+ if (!m_hEncoder)
+ {
+ NVENC_THROW_ERROR("Encoder Initialization failed", NV_ENC_ERR_NO_ENCODE_DEVICE);
+ }
+
+ if (!pEncoderParams)
+ {
+ NVENC_THROW_ERROR("Invalid NV_ENC_INITIALIZE_PARAMS ptr", NV_ENC_ERR_INVALID_PTR);
+ }
+
+ if (pEncoderParams->encodeWidth == 0 || pEncoderParams->encodeHeight == 0)
+ {
+ NVENC_THROW_ERROR("Invalid encoder width and height", NV_ENC_ERR_INVALID_PARAM);
+ }
+
+ if (pEncoderParams->encodeGUID != NV_ENC_CODEC_H264_GUID && pEncoderParams->encodeGUID != NV_ENC_CODEC_HEVC_GUID)
+ {
+ NVENC_THROW_ERROR("Invalid codec guid", NV_ENC_ERR_INVALID_PARAM);
+ }
+
+ if (pEncoderParams->encodeGUID == NV_ENC_CODEC_H264_GUID)
+ {
+ if (m_eBufferFormat == NV_ENC_BUFFER_FORMAT_YUV420_10BIT || m_eBufferFormat == NV_ENC_BUFFER_FORMAT_YUV444_10BIT)
+ {
+ NVENC_THROW_ERROR("10-bit format isn't supported by H264 encoder", NV_ENC_ERR_INVALID_PARAM);
+ }
+ }
+
+ // set other necessary params if not set yet
+ if (pEncoderParams->encodeGUID == NV_ENC_CODEC_H264_GUID)
+ {
+ if ((m_eBufferFormat == NV_ENC_BUFFER_FORMAT_YUV444) &&
+ (pEncoderParams->encodeConfig->encodeCodecConfig.h264Config.chromaFormatIDC != 3))
+ {
+ NVENC_THROW_ERROR("Invalid ChromaFormatIDC", NV_ENC_ERR_INVALID_PARAM);
+ }
+ }
+
+ if (pEncoderParams->encodeGUID == NV_ENC_CODEC_HEVC_GUID)
+ {
+ bool yuv10BitFormat = (m_eBufferFormat == NV_ENC_BUFFER_FORMAT_YUV420_10BIT || m_eBufferFormat == NV_ENC_BUFFER_FORMAT_YUV444_10BIT) ? true : false;
+ if (yuv10BitFormat && pEncoderParams->encodeConfig->encodeCodecConfig.hevcConfig.pixelBitDepthMinus8 != 2)
+ {
+ NVENC_THROW_ERROR("Invalid PixelBitdepth", NV_ENC_ERR_INVALID_PARAM);
+ }
+
+ if ((m_eBufferFormat == NV_ENC_BUFFER_FORMAT_YUV444 || m_eBufferFormat == NV_ENC_BUFFER_FORMAT_YUV444_10BIT) &&
+ (pEncoderParams->encodeConfig->encodeCodecConfig.hevcConfig.chromaFormatIDC != 3))
+ {
+ NVENC_THROW_ERROR("Invalid ChromaFormatIDC", NV_ENC_ERR_INVALID_PARAM);
+ }
+ }
+
+ memcpy(&m_initializeParams, pEncoderParams, sizeof(m_initializeParams));
+ m_initializeParams.version = NV_ENC_INITIALIZE_PARAMS_VER;
+
+ if (pEncoderParams->encodeConfig)
+ {
+ memcpy(&m_encodeConfig, pEncoderParams->encodeConfig, sizeof(m_encodeConfig));
+ m_encodeConfig.version = NV_ENC_CONFIG_VER;
+ }
+ else
+ {
+ NV_ENC_PRESET_CONFIG presetConfig = { NV_ENC_PRESET_CONFIG_VER, { NV_ENC_CONFIG_VER } };
+ m_nvenc.nvEncGetEncodePresetConfig(m_hEncoder, pEncoderParams->encodeGUID, NV_ENC_PRESET_DEFAULT_GUID, &presetConfig);
+ memcpy(&m_encodeConfig, &presetConfig.presetCfg, sizeof(NV_ENC_CONFIG));
+ m_encodeConfig.version = NV_ENC_CONFIG_VER;
+ m_encodeConfig.rcParams.rateControlMode = NV_ENC_PARAMS_RC_CONSTQP;
+ m_encodeConfig.rcParams.constQP = { 28, 31, 25 };
+ }
+ m_initializeParams.encodeConfig = &m_encodeConfig;
+
+ NVENC_API_CALL(m_nvenc.nvEncInitializeEncoder(m_hEncoder, &m_initializeParams));
+
+ m_bEncoderInitialized = true;
+ m_nWidth = m_initializeParams.encodeWidth;
+ m_nHeight = m_initializeParams.encodeHeight;
+ m_nMaxEncodeWidth = m_initializeParams.maxEncodeWidth;
+ m_nMaxEncodeHeight = m_initializeParams.maxEncodeHeight;
+
+ m_nEncoderBuffer = m_encodeConfig.frameIntervalP + m_encodeConfig.rcParams.lookaheadDepth + m_nExtraOutputDelay;
+ m_nOutputDelay = m_nEncoderBuffer - 1;
+ m_vMappedInputBuffers.resize(m_nEncoderBuffer, nullptr);
+
+ if (!m_bOutputInVideoMemory)
+ {
+ m_vpCompletionEvent.resize(m_nEncoderBuffer, nullptr);
+ }
+
+#if defined(_WIN32)
+ for (uint32_t i = 0; i < m_vpCompletionEvent.size(); i++)
+ {
+ m_vpCompletionEvent[i] = CreateEvent(NULL, FALSE, FALSE, NULL);
+ NV_ENC_EVENT_PARAMS eventParams = { NV_ENC_EVENT_PARAMS_VER };
+ eventParams.completionEvent = m_vpCompletionEvent[i];
+ m_nvenc.nvEncRegisterAsyncEvent(m_hEncoder, &eventParams);
+ }
+#endif
+
+ if (m_bMotionEstimationOnly)
+ {
+ m_vMappedRefBuffers.resize(m_nEncoderBuffer, nullptr);
+
+ if (!m_bOutputInVideoMemory)
+ {
+ InitializeMVOutputBuffer();
+ }
+ }
+ else
+ {
+ if (!m_bOutputInVideoMemory)
+ {
+ m_vBitstreamOutputBuffer.resize(m_nEncoderBuffer, nullptr);
+ InitializeBitstreamBuffer();
+ }
+ }
+
+ AllocateInputBuffers(m_nEncoderBuffer);
+}
+
+void NvEncoder::DestroyEncoder()
+{
+ if (!m_hEncoder)
+ {
+ return;
+ }
+
+ ReleaseInputBuffers();
+
+ DestroyHWEncoder();
+}
+
+void NvEncoder::DestroyHWEncoder()
+{
+ if (!m_hEncoder)
+ {
+ return;
+ }
+
+#if defined(_WIN32)
+ for (uint32_t i = 0; i < m_vpCompletionEvent.size(); i++)
+ {
+ if (m_vpCompletionEvent[i])
+ {
+ NV_ENC_EVENT_PARAMS eventParams = { NV_ENC_EVENT_PARAMS_VER };
+ eventParams.completionEvent = m_vpCompletionEvent[i];
+ m_nvenc.nvEncUnregisterAsyncEvent(m_hEncoder, &eventParams);
+ CloseHandle(m_vpCompletionEvent[i]);
+ }
+ }
+ m_vpCompletionEvent.clear();
+#endif
+
+ if (m_bMotionEstimationOnly)
+ {
+ DestroyMVOutputBuffer();
+ }
+ else
+ {
+ DestroyBitstreamBuffer();
+ }
+
+ m_nvenc.nvEncDestroyEncoder(m_hEncoder);
+
+ m_hEncoder = nullptr;
+
+ m_bEncoderInitialized = false;
+}
+
+const NvEncInputFrame* NvEncoder::GetNextInputFrame()
+{
+ int i = m_iToSend % m_nEncoderBuffer;
+ return &m_vInputFrames[i];
+}
+
+const NvEncInputFrame* NvEncoder::GetNextReferenceFrame()
+{
+ int i = m_iToSend % m_nEncoderBuffer;
+ return &m_vReferenceFrames[i];
+}
+
+void NvEncoder::MapResources(uint32_t bfrIdx)
+{
+ NV_ENC_MAP_INPUT_RESOURCE mapInputResource = { NV_ENC_MAP_INPUT_RESOURCE_VER };
+
+ mapInputResource.registeredResource = m_vRegisteredResources[bfrIdx];
+ NVENC_API_CALL(m_nvenc.nvEncMapInputResource(m_hEncoder, &mapInputResource));
+ m_vMappedInputBuffers[bfrIdx] = mapInputResource.mappedResource;
+
+ if (m_bMotionEstimationOnly)
+ {
+ mapInputResource.registeredResource = m_vRegisteredResourcesForReference[bfrIdx];
+ NVENC_API_CALL(m_nvenc.nvEncMapInputResource(m_hEncoder, &mapInputResource));
+ m_vMappedRefBuffers[bfrIdx] = mapInputResource.mappedResource;
+ }
+}
+
+void NvEncoder::EncodeFrame(std::vector<std::vector<uint8_t>> &vPacket, NV_ENC_PIC_PARAMS *pPicParams)
+{
+ vPacket.clear();
+ if (!IsHWEncoderInitialized())
+ {
+ NVENC_THROW_ERROR("Encoder device not found", NV_ENC_ERR_NO_ENCODE_DEVICE);
+ }
+
+ int bfrIdx = m_iToSend % m_nEncoderBuffer;
+
+ MapResources(bfrIdx);
+
+ NVENCSTATUS nvStatus = DoEncode(m_vMappedInputBuffers[bfrIdx], m_vBitstreamOutputBuffer[bfrIdx], pPicParams);
+
+ if (nvStatus == NV_ENC_SUCCESS || nvStatus == NV_ENC_ERR_NEED_MORE_INPUT)
+ {
+ m_iToSend++;
+ GetEncodedPacket(m_vBitstreamOutputBuffer, vPacket, true);
+ }
+ else
+ {
+ NVENC_THROW_ERROR("nvEncEncodePicture API failed", nvStatus);
+ }
+}
+
+void NvEncoder::RunMotionEstimation(std::vector<uint8_t> &mvData)
+{
+ if (!m_hEncoder)
+ {
+ NVENC_THROW_ERROR("Encoder Initialization failed", NV_ENC_ERR_NO_ENCODE_DEVICE);
+ return;
+ }
+
+ const uint32_t bfrIdx = m_iToSend % m_nEncoderBuffer;
+
+ MapResources(bfrIdx);
+
+ NVENCSTATUS nvStatus = DoMotionEstimation(m_vMappedInputBuffers[bfrIdx], m_vMappedRefBuffers[bfrIdx], m_vMVDataOutputBuffer[bfrIdx]);
+
+ if (nvStatus == NV_ENC_SUCCESS)
+ {
+ m_iToSend++;
+ std::vector<std::vector<uint8_t>> vPacket;
+ GetEncodedPacket(m_vMVDataOutputBuffer, vPacket, true);
+ if (vPacket.size() != 1)
+ {
+ NVENC_THROW_ERROR("GetEncodedPacket() doesn't return one (and only one) MVData", NV_ENC_ERR_GENERIC);
+ }
+ mvData = vPacket[0];
+ }
+ else
+ {
+ NVENC_THROW_ERROR("nvEncEncodePicture API failed", nvStatus);
+ }
+}
+
+
+void NvEncoder::GetSequenceParams(std::vector<uint8_t> &seqParams)
+{
+ uint8_t spsppsData[1024]; // Assume maximum spspps data is 1KB or less
+ memset(spsppsData, 0, sizeof(spsppsData));
+ NV_ENC_SEQUENCE_PARAM_PAYLOAD payload = { NV_ENC_SEQUENCE_PARAM_PAYLOAD_VER };
+ uint32_t spsppsSize = 0;
+
+ payload.spsppsBuffer = spsppsData;
+ payload.inBufferSize = sizeof(spsppsData);
+ payload.outSPSPPSPayloadSize = &spsppsSize;
+ NVENC_API_CALL(m_nvenc.nvEncGetSequenceParams(m_hEncoder, &payload));
+ seqParams.clear();
+ seqParams.insert(seqParams.end(), &spsppsData[0], &spsppsData[spsppsSize]);
+}
+
+NVENCSTATUS NvEncoder::DoEncode(NV_ENC_INPUT_PTR inputBuffer, NV_ENC_OUTPUT_PTR outputBuffer, NV_ENC_PIC_PARAMS *pPicParams)
+{
+ NV_ENC_PIC_PARAMS picParams = {};
+ if (pPicParams)
+ {
+ picParams = *pPicParams;
+ }
+ picParams.version = NV_ENC_PIC_PARAMS_VER;
+ picParams.pictureStruct = NV_ENC_PIC_STRUCT_FRAME;
+ picParams.inputBuffer = inputBuffer;
+ picParams.bufferFmt = GetPixelFormat();
+ picParams.inputWidth = GetEncodeWidth();
+ picParams.inputHeight = GetEncodeHeight();
+ picParams.outputBitstream = outputBuffer;
+ picParams.completionEvent = GetCompletionEvent(m_iToSend % m_nEncoderBuffer);
+ NVENCSTATUS nvStatus = m_nvenc.nvEncEncodePicture(m_hEncoder, &picParams);
+
+ return nvStatus;
+}
+
+void NvEncoder::SendEOS()
+{
+ NV_ENC_PIC_PARAMS picParams = { NV_ENC_PIC_PARAMS_VER };
+ picParams.encodePicFlags = NV_ENC_PIC_FLAG_EOS;
+ picParams.completionEvent = GetCompletionEvent(m_iToSend % m_nEncoderBuffer);
+ NVENC_API_CALL(m_nvenc.nvEncEncodePicture(m_hEncoder, &picParams));
+}
+
+void NvEncoder::EndEncode(std::vector<std::vector<uint8_t>> &vPacket)
+{
+ vPacket.clear();
+ if (!IsHWEncoderInitialized())
+ {
+ NVENC_THROW_ERROR("Encoder device not initialized", NV_ENC_ERR_ENCODER_NOT_INITIALIZED);
+ }
+
+ SendEOS();
+
+ GetEncodedPacket(m_vBitstreamOutputBuffer, vPacket, false);
+}
+
+void NvEncoder::GetEncodedPacket(std::vector<NV_ENC_OUTPUT_PTR> &vOutputBuffer, std::vector<std::vector<uint8_t>> &vPacket, bool bOutputDelay)
+{
+ unsigned i = 0;
+ int iEnd = bOutputDelay ? m_iToSend - m_nOutputDelay : m_iToSend;
+ for (; m_iGot < iEnd; m_iGot++)
+ {
+ WaitForCompletionEvent(m_iGot % m_nEncoderBuffer);
+ NV_ENC_LOCK_BITSTREAM lockBitstreamData = { NV_ENC_LOCK_BITSTREAM_VER };
+ lockBitstreamData.outputBitstream = vOutputBuffer[m_iGot % m_nEncoderBuffer];
+ lockBitstreamData.doNotWait = false;
+ NVENC_API_CALL(m_nvenc.nvEncLockBitstream(m_hEncoder, &lockBitstreamData));
+
+ uint8_t *pData = (uint8_t *)lockBitstreamData.bitstreamBufferPtr;
+ if (vPacket.size() < i + 1)
+ {
+ vPacket.push_back(std::vector<uint8_t>());
+ }
+ vPacket[i].clear();
+ vPacket[i].insert(vPacket[i].end(), &pData[0], &pData[lockBitstreamData.bitstreamSizeInBytes]);
+ i++;
+
+ NVENC_API_CALL(m_nvenc.nvEncUnlockBitstream(m_hEncoder, lockBitstreamData.outputBitstream));
+
+ if (m_vMappedInputBuffers[m_iGot % m_nEncoderBuffer])
+ {
+ NVENC_API_CALL(m_nvenc.nvEncUnmapInputResource(m_hEncoder, m_vMappedInputBuffers[m_iGot % m_nEncoderBuffer]));
+ m_vMappedInputBuffers[m_iGot % m_nEncoderBuffer] = nullptr;
+ }
+
+ if (m_bMotionEstimationOnly && m_vMappedRefBuffers[m_iGot % m_nEncoderBuffer])
+ {
+ NVENC_API_CALL(m_nvenc.nvEncUnmapInputResource(m_hEncoder, m_vMappedRefBuffers[m_iGot % m_nEncoderBuffer]));
+ m_vMappedRefBuffers[m_iGot % m_nEncoderBuffer] = nullptr;
+ }
+ }
+}
+
+bool NvEncoder::Reconfigure(const NV_ENC_RECONFIGURE_PARAMS *pReconfigureParams)
+{
+ NVENC_API_CALL(m_nvenc.nvEncReconfigureEncoder(m_hEncoder, const_cast<NV_ENC_RECONFIGURE_PARAMS*>(pReconfigureParams)));
+
+ memcpy(&m_initializeParams, &(pReconfigureParams->reInitEncodeParams), sizeof(m_initializeParams));
+ if (pReconfigureParams->reInitEncodeParams.encodeConfig)
+ {
+ memcpy(&m_encodeConfig, pReconfigureParams->reInitEncodeParams.encodeConfig, sizeof(m_encodeConfig));
+ }
+
+ m_nWidth = m_initializeParams.encodeWidth;
+ m_nHeight = m_initializeParams.encodeHeight;
+ m_nMaxEncodeWidth = m_initializeParams.maxEncodeWidth;
+ m_nMaxEncodeHeight = m_initializeParams.maxEncodeHeight;
+
+ return true;
+}
+
+NV_ENC_REGISTERED_PTR NvEncoder::RegisterResource(void *pBuffer, NV_ENC_INPUT_RESOURCE_TYPE eResourceType,
+ int width, int height, int pitch, NV_ENC_BUFFER_FORMAT bufferFormat, NV_ENC_BUFFER_USAGE bufferUsage)
+{
+ NV_ENC_REGISTER_RESOURCE registerResource = { NV_ENC_REGISTER_RESOURCE_VER };
+ registerResource.resourceType = eResourceType;
+ registerResource.resourceToRegister = pBuffer;
+ registerResource.width = width;
+ registerResource.height = height;
+ registerResource.pitch = pitch;
+ registerResource.bufferFormat = bufferFormat;
+ registerResource.bufferUsage = bufferUsage;
+ NVENC_API_CALL(m_nvenc.nvEncRegisterResource(m_hEncoder, ®isterResource));
+
+ return registerResource.registeredResource;
+}
+
+void NvEncoder::RegisterInputResources(std::vector<void*> inputframes, NV_ENC_INPUT_RESOURCE_TYPE eResourceType,
+ int width, int height, int pitch, NV_ENC_BUFFER_FORMAT bufferFormat, bool bReferenceFrame)
+{
+ for (uint32_t i = 0; i < inputframes.size(); ++i)
+ {
+ NV_ENC_REGISTERED_PTR registeredPtr = RegisterResource(inputframes[i], eResourceType, width, height, pitch, bufferFormat, NV_ENC_INPUT_IMAGE);
+
+ std::vector<uint32_t> _chromaOffsets;
+ NvEncoder::GetChromaSubPlaneOffsets(bufferFormat, pitch, height, _chromaOffsets);
+ NvEncInputFrame inputframe = {};
+ inputframe.inputPtr = (void *)inputframes[i];
+ inputframe.chromaOffsets[0] = 0;
+ inputframe.chromaOffsets[1] = 0;
+ for (uint32_t ch = 0; ch < _chromaOffsets.size(); ch++)
+ {
+ inputframe.chromaOffsets[ch] = _chromaOffsets[ch];
+ }
+ inputframe.numChromaPlanes = NvEncoder::GetNumChromaPlanes(bufferFormat);
+ inputframe.pitch = pitch;
+ inputframe.chromaPitch = NvEncoder::GetChromaPitch(bufferFormat, pitch);
+ inputframe.bufferFormat = bufferFormat;
+ inputframe.resourceType = eResourceType;
+
+ if (bReferenceFrame)
+ {
+ m_vRegisteredResourcesForReference.push_back(registeredPtr);
+ m_vReferenceFrames.push_back(inputframe);
+ }
+ else
+ {
+ m_vRegisteredResources.push_back(registeredPtr);
+ m_vInputFrames.push_back(inputframe);
+ }
+ }
+}
+
+void NvEncoder::FlushEncoder()
+{
+ if (!m_bMotionEstimationOnly && !m_bOutputInVideoMemory)
+ {
+ // Incase of error it is possible for buffers still mapped to encoder.
+ // flush the encoder queue and then unmapped it if any surface is still mapped
+ try
+ {
+ std::vector<std::vector<uint8_t>> vPacket;
+ EndEncode(vPacket);
+ }
+ catch (...)
+ {
+
+ }
+ }
+}
+
+void NvEncoder::UnregisterInputResources()
+{
+ FlushEncoder();
+
+ if (m_bMotionEstimationOnly)
+ {
+ for (uint32_t i = 0; i < m_vMappedRefBuffers.size(); ++i)
+ {
+ if (m_vMappedRefBuffers[i])
+ {
+ m_nvenc.nvEncUnmapInputResource(m_hEncoder, m_vMappedRefBuffers[i]);
+ }
+ }
+ }
+ m_vMappedRefBuffers.clear();
+
+ for (uint32_t i = 0; i < m_vMappedInputBuffers.size(); ++i)
+ {
+ if (m_vMappedInputBuffers[i])
+ {
+ m_nvenc.nvEncUnmapInputResource(m_hEncoder, m_vMappedInputBuffers[i]);
+ }
+ }
+ m_vMappedInputBuffers.clear();
+
+ for (uint32_t i = 0; i < m_vRegisteredResources.size(); ++i)
+ {
+ if (m_vRegisteredResources[i])
+ {
+ m_nvenc.nvEncUnregisterResource(m_hEncoder, m_vRegisteredResources[i]);
+ }
+ }
+ m_vRegisteredResources.clear();
+
+
+ for (uint32_t i = 0; i < m_vRegisteredResourcesForReference.size(); ++i)
+ {
+ if (m_vRegisteredResourcesForReference[i])
+ {
+ m_nvenc.nvEncUnregisterResource(m_hEncoder, m_vRegisteredResourcesForReference[i]);
+ }
+ }
+ m_vRegisteredResourcesForReference.clear();
+
+}
+
+
+void NvEncoder::WaitForCompletionEvent(int iEvent)
+{
+#if defined(_WIN32)
+ // Check if we are in async mode. If not, don't wait for event;
+ NV_ENC_CONFIG sEncodeConfig = { 0 };
+ NV_ENC_INITIALIZE_PARAMS sInitializeParams = { 0 };
+ sInitializeParams.encodeConfig = &sEncodeConfig;
+ GetInitializeParams(&sInitializeParams);
+
+ if (0U == sInitializeParams.enableEncodeAsync)
+ {
+ return;
+ }
+#ifdef DEBUG
+ WaitForSingleObject(m_vpCompletionEvent[iEvent], INFINITE);
+#else
+ // wait for 20s which is infinite on terms of gpu time
+ if (WaitForSingleObject(m_vpCompletionEvent[iEvent], 20000) == WAIT_FAILED)
+ {
+ NVENC_THROW_ERROR("Failed to encode frame", NV_ENC_ERR_GENERIC);
+ }
+#endif
+#endif
+}
+
+uint32_t NvEncoder::GetWidthInBytes(const NV_ENC_BUFFER_FORMAT bufferFormat, const uint32_t width)
+{
+ switch (bufferFormat) {
+ case NV_ENC_BUFFER_FORMAT_NV12:
+ case NV_ENC_BUFFER_FORMAT_YV12:
+ case NV_ENC_BUFFER_FORMAT_IYUV:
+ case NV_ENC_BUFFER_FORMAT_YUV444:
+ return width;
+ case NV_ENC_BUFFER_FORMAT_YUV420_10BIT:
+ case NV_ENC_BUFFER_FORMAT_YUV444_10BIT:
+ return width * 2;
+ case NV_ENC_BUFFER_FORMAT_ARGB:
+ case NV_ENC_BUFFER_FORMAT_ARGB10:
+ case NV_ENC_BUFFER_FORMAT_AYUV:
+ case NV_ENC_BUFFER_FORMAT_ABGR:
+ case NV_ENC_BUFFER_FORMAT_ABGR10:
+ return width * 4;
+ default:
+ NVENC_THROW_ERROR("Invalid Buffer format", NV_ENC_ERR_INVALID_PARAM);
+ return 0;
+ }
+}
+
+uint32_t NvEncoder::GetNumChromaPlanes(const NV_ENC_BUFFER_FORMAT bufferFormat)
+{
+ switch (bufferFormat)
+ {
+ case NV_ENC_BUFFER_FORMAT_NV12:
+ case NV_ENC_BUFFER_FORMAT_YUV420_10BIT:
+ return 1;
+ case NV_ENC_BUFFER_FORMAT_YV12:
+ case NV_ENC_BUFFER_FORMAT_IYUV:
+ case NV_ENC_BUFFER_FORMAT_YUV444:
+ case NV_ENC_BUFFER_FORMAT_YUV444_10BIT:
+ return 2;
+ case NV_ENC_BUFFER_FORMAT_ARGB:
+ case NV_ENC_BUFFER_FORMAT_ARGB10:
+ case NV_ENC_BUFFER_FORMAT_AYUV:
+ case NV_ENC_BUFFER_FORMAT_ABGR:
+ case NV_ENC_BUFFER_FORMAT_ABGR10:
+ return 0;
+ default:
+ NVENC_THROW_ERROR("Invalid Buffer format", NV_ENC_ERR_INVALID_PARAM);
+ return -1;
+ }
+}
+
+uint32_t NvEncoder::GetChromaPitch(const NV_ENC_BUFFER_FORMAT bufferFormat,const uint32_t lumaPitch)
+{
+ switch (bufferFormat)
+ {
+ case NV_ENC_BUFFER_FORMAT_NV12:
+ case NV_ENC_BUFFER_FORMAT_YUV420_10BIT:
+ case NV_ENC_BUFFER_FORMAT_YUV444:
+ case NV_ENC_BUFFER_FORMAT_YUV444_10BIT:
+ return lumaPitch;
+ case NV_ENC_BUFFER_FORMAT_YV12:
+ case NV_ENC_BUFFER_FORMAT_IYUV:
+ return (lumaPitch + 1)/2;
+ case NV_ENC_BUFFER_FORMAT_ARGB:
+ case NV_ENC_BUFFER_FORMAT_ARGB10:
+ case NV_ENC_BUFFER_FORMAT_AYUV:
+ case NV_ENC_BUFFER_FORMAT_ABGR:
+ case NV_ENC_BUFFER_FORMAT_ABGR10:
+ return 0;
+ default:
+ NVENC_THROW_ERROR("Invalid Buffer format", NV_ENC_ERR_INVALID_PARAM);
+ return -1;
+ }
+}
+
+void NvEncoder::GetChromaSubPlaneOffsets(const NV_ENC_BUFFER_FORMAT bufferFormat, const uint32_t pitch, const uint32_t height, std::vector<uint32_t>& chromaOffsets)
+{
+ chromaOffsets.clear();
+ switch (bufferFormat)
+ {
+ case NV_ENC_BUFFER_FORMAT_NV12:
+ case NV_ENC_BUFFER_FORMAT_YUV420_10BIT:
+ chromaOffsets.push_back(pitch * height);
+ return;
+ case NV_ENC_BUFFER_FORMAT_YV12:
+ case NV_ENC_BUFFER_FORMAT_IYUV:
+ chromaOffsets.push_back(pitch * height);
+ chromaOffsets.push_back(chromaOffsets[0] + (NvEncoder::GetChromaPitch(bufferFormat, pitch) * GetChromaHeight(bufferFormat, height)));
+ return;
+ case NV_ENC_BUFFER_FORMAT_YUV444:
+ case NV_ENC_BUFFER_FORMAT_YUV444_10BIT:
+ chromaOffsets.push_back(pitch * height);
+ chromaOffsets.push_back(chromaOffsets[0] + (pitch * height));
+ return;
+ case NV_ENC_BUFFER_FORMAT_ARGB:
+ case NV_ENC_BUFFER_FORMAT_ARGB10:
+ case NV_ENC_BUFFER_FORMAT_AYUV:
+ case NV_ENC_BUFFER_FORMAT_ABGR:
+ case NV_ENC_BUFFER_FORMAT_ABGR10:
+ return;
+ default:
+ NVENC_THROW_ERROR("Invalid Buffer format", NV_ENC_ERR_INVALID_PARAM);
+ return;
+ }
+}
+
+uint32_t NvEncoder::GetChromaHeight(const NV_ENC_BUFFER_FORMAT bufferFormat, const uint32_t lumaHeight)
+{
+ switch (bufferFormat)
+ {
+ case NV_ENC_BUFFER_FORMAT_YV12:
+ case NV_ENC_BUFFER_FORMAT_IYUV:
+ case NV_ENC_BUFFER_FORMAT_NV12:
+ case NV_ENC_BUFFER_FORMAT_YUV420_10BIT:
+ return (lumaHeight + 1)/2;
+ case NV_ENC_BUFFER_FORMAT_YUV444:
+ case NV_ENC_BUFFER_FORMAT_YUV444_10BIT:
+ return lumaHeight;
+ case NV_ENC_BUFFER_FORMAT_ARGB:
+ case NV_ENC_BUFFER_FORMAT_ARGB10:
+ case NV_ENC_BUFFER_FORMAT_AYUV:
+ case NV_ENC_BUFFER_FORMAT_ABGR:
+ case NV_ENC_BUFFER_FORMAT_ABGR10:
+ return 0;
+ default:
+ NVENC_THROW_ERROR("Invalid Buffer format", NV_ENC_ERR_INVALID_PARAM);
+ return 0;
+ }
+}
+
+uint32_t NvEncoder::GetChromaWidthInBytes(const NV_ENC_BUFFER_FORMAT bufferFormat, const uint32_t lumaWidth)
+{
+ switch (bufferFormat)
+ {
+ case NV_ENC_BUFFER_FORMAT_YV12:
+ case NV_ENC_BUFFER_FORMAT_IYUV:
+ return (lumaWidth + 1) / 2;
+ case NV_ENC_BUFFER_FORMAT_NV12:
+ return lumaWidth;
+ case NV_ENC_BUFFER_FORMAT_YUV420_10BIT:
+ return 2 * lumaWidth;
+ case NV_ENC_BUFFER_FORMAT_YUV444:
+ return lumaWidth;
+ case NV_ENC_BUFFER_FORMAT_YUV444_10BIT:
+ return 2 * lumaWidth;
+ case NV_ENC_BUFFER_FORMAT_ARGB:
+ case NV_ENC_BUFFER_FORMAT_ARGB10:
+ case NV_ENC_BUFFER_FORMAT_AYUV:
+ case NV_ENC_BUFFER_FORMAT_ABGR:
+ case NV_ENC_BUFFER_FORMAT_ABGR10:
+ return 0;
+ default:
+ NVENC_THROW_ERROR("Invalid Buffer format", NV_ENC_ERR_INVALID_PARAM);
+ return 0;
+ }
+}
+
+
+int NvEncoder::GetCapabilityValue(GUID guidCodec, NV_ENC_CAPS capsToQuery)
+{
+ if (!m_hEncoder)
+ {
+ return 0;
+ }
+ NV_ENC_CAPS_PARAM capsParam = { NV_ENC_CAPS_PARAM_VER };
+ capsParam.capsToQuery = capsToQuery;
+ int v;
+ m_nvenc.nvEncGetEncodeCaps(m_hEncoder, guidCodec, &capsParam, &v);
+ return v;
+}
+
+int NvEncoder::GetFrameSize() const
+{
+ switch (GetPixelFormat())
+ {
+ case NV_ENC_BUFFER_FORMAT_YV12:
+ case NV_ENC_BUFFER_FORMAT_IYUV:
+ case NV_ENC_BUFFER_FORMAT_NV12:
+ return GetEncodeWidth() * (GetEncodeHeight() + (GetEncodeHeight() + 1) / 2);
+ case NV_ENC_BUFFER_FORMAT_YUV420_10BIT:
+ return 2 * GetEncodeWidth() * (GetEncodeHeight() + (GetEncodeHeight() + 1) / 2);
+ case NV_ENC_BUFFER_FORMAT_YUV444:
+ return GetEncodeWidth() * GetEncodeHeight() * 3;
+ case NV_ENC_BUFFER_FORMAT_YUV444_10BIT:
+ return 2 * GetEncodeWidth() * GetEncodeHeight() * 3;
+ case NV_ENC_BUFFER_FORMAT_ARGB:
+ case NV_ENC_BUFFER_FORMAT_ARGB10:
+ case NV_ENC_BUFFER_FORMAT_AYUV:
+ case NV_ENC_BUFFER_FORMAT_ABGR:
+ case NV_ENC_BUFFER_FORMAT_ABGR10:
+ return 4 * GetEncodeWidth() * GetEncodeHeight();
+ default:
+ NVENC_THROW_ERROR("Invalid Buffer format", NV_ENC_ERR_INVALID_PARAM);
+ return 0;
+ }
+}
+
+void NvEncoder::GetInitializeParams(NV_ENC_INITIALIZE_PARAMS *pInitializeParams)
+{
+ if (!pInitializeParams || !pInitializeParams->encodeConfig)
+ {
+ NVENC_THROW_ERROR("Both pInitializeParams and pInitializeParams->encodeConfig can't be NULL", NV_ENC_ERR_INVALID_PTR);
+ }
+ NV_ENC_CONFIG *pEncodeConfig = pInitializeParams->encodeConfig;
+ *pEncodeConfig = m_encodeConfig;
+ *pInitializeParams = m_initializeParams;
+ pInitializeParams->encodeConfig = pEncodeConfig;
+}
+
+void NvEncoder::InitializeBitstreamBuffer()
+{
+ for (int i = 0; i < m_nEncoderBuffer; i++)
+ {
+ NV_ENC_CREATE_BITSTREAM_BUFFER createBitstreamBuffer = { NV_ENC_CREATE_BITSTREAM_BUFFER_VER };
+ NVENC_API_CALL(m_nvenc.nvEncCreateBitstreamBuffer(m_hEncoder, &createBitstreamBuffer));
+ m_vBitstreamOutputBuffer[i] = createBitstreamBuffer.bitstreamBuffer;
+ }
+}
+
+void NvEncoder::DestroyBitstreamBuffer()
+{
+ for (uint32_t i = 0; i < m_vBitstreamOutputBuffer.size(); i++)
+ {
+ if (m_vBitstreamOutputBuffer[i])
+ {
+ m_nvenc.nvEncDestroyBitstreamBuffer(m_hEncoder, m_vBitstreamOutputBuffer[i]);
+ }
+ }
+
+ m_vBitstreamOutputBuffer.clear();
+}
+
+void NvEncoder::InitializeMVOutputBuffer()
+{
+ for (int i = 0; i < m_nEncoderBuffer; i++)
+ {
+ NV_ENC_CREATE_MV_BUFFER createMVBuffer = { NV_ENC_CREATE_MV_BUFFER_VER };
+ NVENC_API_CALL(m_nvenc.nvEncCreateMVBuffer(m_hEncoder, &createMVBuffer));
+ m_vMVDataOutputBuffer.push_back(createMVBuffer.mvBuffer);
+ }
+}
+
+void NvEncoder::DestroyMVOutputBuffer()
+{
+ for (uint32_t i = 0; i < m_vMVDataOutputBuffer.size(); i++)
+ {
+ if (m_vMVDataOutputBuffer[i])
+ {
+ m_nvenc.nvEncDestroyMVBuffer(m_hEncoder, m_vMVDataOutputBuffer[i]);
+ }
+ }
+
+ m_vMVDataOutputBuffer.clear();
+}
+
+NVENCSTATUS NvEncoder::DoMotionEstimation(NV_ENC_INPUT_PTR inputBuffer, NV_ENC_INPUT_PTR inputBufferForReference, NV_ENC_OUTPUT_PTR outputBuffer)
+{
+ NV_ENC_MEONLY_PARAMS meParams = { NV_ENC_MEONLY_PARAMS_VER };
+ meParams.inputBuffer = inputBuffer;
+ meParams.referenceFrame = inputBufferForReference;
+ meParams.inputWidth = GetEncodeWidth();
+ meParams.inputHeight = GetEncodeHeight();
+ meParams.mvBuffer = outputBuffer;
+ meParams.completionEvent = GetCompletionEvent(m_iToSend % m_nEncoderBuffer);
+ NVENCSTATUS nvStatus = m_nvenc.nvEncRunMotionEstimationOnly(m_hEncoder, &meParams);
+
+ return nvStatus;
+}
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoder.h b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoder.h
new file mode 100644
index 0000000000000000000000000000000000000000..a9e283321755e4f2036f2eebbb85113bc5d69c2d
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoder.h
@@ -0,0 +1,437 @@
+/*
+* Copyright 2017-2019 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+#pragma once
+
+#include <vector>
+#include "nvEncodeAPI.h"
+#include <stdint.h>
+#include <mutex>
+#include <string>
+#include <iostream>
+#include <sstream>
+#include <string.h>
+
+/**
+* @brief Exception class for error reporting from NvEncodeAPI calls.
+*/
+class NVENCException : public std::exception
+{
+public:
+ NVENCException(const std::string& errorStr, const NVENCSTATUS errorCode)
+ : m_errorString(errorStr), m_errorCode(errorCode) {}
+
+ virtual ~NVENCException() throw() {}
+ virtual const char* what() const throw() { return m_errorString.c_str(); }
+ NVENCSTATUS getErrorCode() const { return m_errorCode; }
+ const std::string& getErrorString() const { return m_errorString; }
+ static NVENCException makeNVENCException(const std::string& errorStr, const NVENCSTATUS errorCode,
+ const std::string& functionName, const std::string& fileName, int lineNo);
+private:
+ std::string m_errorString;
+ NVENCSTATUS m_errorCode;
+};
+
+inline NVENCException NVENCException::makeNVENCException(const std::string& errorStr, const NVENCSTATUS errorCode, const std::string& functionName,
+ const std::string& fileName, int lineNo)
+{
+ std::ostringstream errorLog;
+ errorLog << functionName << " : " << errorStr << " at " << fileName << ":" << lineNo << std::endl;
+ NVENCException exception(errorLog.str(), errorCode);
+ return exception;
+}
+
+#define NVENC_THROW_ERROR( errorStr, errorCode ) \
+ do \
+ { \
+ throw NVENCException::makeNVENCException(errorStr, errorCode, __FUNCTION__, __FILE__, __LINE__); \
+ } while (0)
+
+
+#define NVENC_API_CALL( nvencAPI ) \
+ do \
+ { \
+ NVENCSTATUS errorCode = nvencAPI; \
+ if( errorCode != NV_ENC_SUCCESS) \
+ { \
+ std::ostringstream errorLog; \
+ errorLog << #nvencAPI << " returned error " << errorCode; \
+ throw NVENCException::makeNVENCException(errorLog.str(), errorCode, __FUNCTION__, __FILE__, __LINE__); \
+ } \
+ } while (0)
+
+struct NvEncInputFrame
+{
+ void* inputPtr = nullptr;
+ uint32_t chromaOffsets[2];
+ uint32_t numChromaPlanes;
+ uint32_t pitch;
+ uint32_t chromaPitch;
+ NV_ENC_BUFFER_FORMAT bufferFormat;
+ NV_ENC_INPUT_RESOURCE_TYPE resourceType;
+};
+
+/**
+* @brief Shared base class for different encoder interfaces.
+*/
+class NvEncoder
+{
+public:
+ /**
+ * @brief This function is used to initialize the encoder session.
+ * Application must call this function to initialize the encoder, before
+ * starting to encode any frames.
+ */
+ void CreateEncoder(const NV_ENC_INITIALIZE_PARAMS* pEncodeParams);
+
+ /**
+ * @brief This function is used to destroy the encoder session.
+ * Application must call this function to destroy the encoder session and
+ * clean up any allocated resources. The application must call EndEncode()
+ * function to get any queued encoded frames before calling DestroyEncoder().
+ */
+ void DestroyEncoder();
+
+ /**
+ * @brief This function is used to reconfigure an existing encoder session.
+ * Application can use this function to dynamically change the bitrate,
+ * resolution and other QOS parameters. If the application changes the
+ * resolution, it must set NV_ENC_RECONFIGURE_PARAMS::forceIDR.
+ */
+ bool Reconfigure(const NV_ENC_RECONFIGURE_PARAMS *pReconfigureParams);
+
+ /**
+ * @brief This function is used to get the next available input buffer.
+ * Applications must call this function to obtain a pointer to the next
+ * input buffer. The application must copy the uncompressed data to the
+ * input buffer and then call EncodeFrame() function to encode it.
+ */
+ const NvEncInputFrame* GetNextInputFrame();
+
+
+ /**
+ * @brief This function is used to encode a frame.
+ * Applications must call EncodeFrame() function to encode the uncompressed
+ * data, which has been copied to an input buffer obtained from the
+ * GetNextInputFrame() function.
+ */
+ void EncodeFrame(std::vector<std::vector<uint8_t>> &vPacket, NV_ENC_PIC_PARAMS *pPicParams = nullptr);
+
+ /**
+ * @brief This function to flush the encoder queue.
+ * The encoder might be queuing frames for B picture encoding or lookahead;
+ * the application must call EndEncode() to get all the queued encoded frames
+ * from the encoder. The application must call this function before destroying
+ * an encoder session.
+ */
+ void EndEncode(std::vector<std::vector<uint8_t>> &vPacket);
+
+ /**
+ * @brief This function is used to query hardware encoder capabilities.
+ * Applications can call this function to query capabilities like maximum encode
+ * dimensions, support for lookahead or the ME-only mode etc.
+ */
+ int GetCapabilityValue(GUID guidCodec, NV_ENC_CAPS capsToQuery);
+
+ /**
+ * @brief This function is used to get the current device on which encoder is running.
+ */
+ void *GetDevice() const { return m_pDevice; }
+
+ /**
+ * @brief This function is used to get the current device type which encoder is running.
+ */
+ NV_ENC_DEVICE_TYPE GetDeviceType() const { return m_eDeviceType; }
+
+ /**
+ * @brief This function is used to get the current encode width.
+ * The encode width can be modified by Reconfigure() function.
+ */
+ int GetEncodeWidth() const { return m_nWidth; }
+
+ /**
+ * @brief This function is used to get the current encode height.
+ * The encode height can be modified by Reconfigure() function.
+ */
+ int GetEncodeHeight() const { return m_nHeight; }
+
+ /**
+ * @brief This function is used to get the current frame size based on pixel format.
+ */
+ int GetFrameSize() const;
+
+ /**
+ * @brief This function is used to initialize config parameters based on
+ * given codec and preset guids.
+ * The application can call this function to get the default configuration
+ * for a certain preset. The application can either use these parameters
+ * directly or override them with application-specific settings before
+ * using them in CreateEncoder() function.
+ */
+ void CreateDefaultEncoderParams(NV_ENC_INITIALIZE_PARAMS* pIntializeParams, GUID codecGuid, GUID presetGuid);
+
+ /**
+ * @brief This function is used to get the current initialization parameters,
+ * which had been used to configure the encoder session.
+ * The initialization parameters are modified if the application calls
+ * Reconfigure() function.
+ */
+ void GetInitializeParams(NV_ENC_INITIALIZE_PARAMS *pInitializeParams);
+
+ /**
+ * @brief This function is used to run motion estimation
+ * This is used to run motion estimation on a a pair of frames. The
+ * application must copy the reference frame data to the buffer obtained
+ * by calling GetNextReferenceFrame(), and copy the input frame data to
+ * the buffer obtained by calling GetNextInputFrame() before calling the
+ * RunMotionEstimation() function.
+ */
+ void RunMotionEstimation(std::vector<uint8_t> &mvData);
+
+ /**
+ * @brief This function is used to get an available reference frame.
+ * Application must call this function to get a pointer to reference buffer,
+ * to be used in the subsequent RunMotionEstimation() function.
+ */
+ const NvEncInputFrame* GetNextReferenceFrame();
+
+ /**
+ * @brief This function is used to get sequence and picture parameter headers.
+ * Application can call this function after encoder is initialized to get SPS and PPS
+ * nalus for the current encoder instance. The sequence header data might change when
+ * application calls Reconfigure() function.
+ */
+ void GetSequenceParams(std::vector<uint8_t> &seqParams);
+
+ /**
+ * @brief NvEncoder class virtual destructor.
+ */
+ virtual ~NvEncoder();
+
+public:
+ /**
+ * @brief This a static function to get chroma offsets for YUV planar formats.
+ */
+ static void GetChromaSubPlaneOffsets(const NV_ENC_BUFFER_FORMAT bufferFormat, const uint32_t pitch,
+ const uint32_t height, std::vector<uint32_t>& chromaOffsets);
+ /**
+ * @brief This a static function to get the chroma plane pitch for YUV planar formats.
+ */
+ static uint32_t GetChromaPitch(const NV_ENC_BUFFER_FORMAT bufferFormat, const uint32_t lumaPitch);
+
+ /**
+ * @brief This a static function to get the number of chroma planes for YUV planar formats.
+ */
+ static uint32_t GetNumChromaPlanes(const NV_ENC_BUFFER_FORMAT bufferFormat);
+
+ /**
+ * @brief This a static function to get the chroma plane width in bytes for YUV planar formats.
+ */
+ static uint32_t GetChromaWidthInBytes(const NV_ENC_BUFFER_FORMAT bufferFormat, const uint32_t lumaWidth);
+
+ /**
+ * @brief This a static function to get the chroma planes height in bytes for YUV planar formats.
+ */
+ static uint32_t GetChromaHeight(const NV_ENC_BUFFER_FORMAT bufferFormat, const uint32_t lumaHeight);
+
+
+ /**
+ * @brief This a static function to get the width in bytes for the frame.
+ * For YUV planar format this is the width in bytes of the luma plane.
+ */
+ static uint32_t GetWidthInBytes(const NV_ENC_BUFFER_FORMAT bufferFormat, const uint32_t width);
+
+protected:
+
+ /**
+ * @brief NvEncoder class constructor.
+ * NvEncoder class constructor cannot be called directly by the application.
+ */
+ NvEncoder(NV_ENC_DEVICE_TYPE eDeviceType, void *pDevice, uint32_t nWidth, uint32_t nHeight,
+ NV_ENC_BUFFER_FORMAT eBufferFormat, uint32_t nOutputDelay, bool bMotionEstimationOnly, bool bOutputInVideoMemory = false);
+
+ /**
+ * @brief This function is used to check if hardware encoder is properly initialized.
+ */
+ bool IsHWEncoderInitialized() const { return m_hEncoder != NULL && m_bEncoderInitialized; }
+
+ /**
+ * @brief This function is used to register CUDA, D3D or OpenGL input buffers with NvEncodeAPI.
+ * This is non public function and is called by derived class for allocating
+ * and registering input buffers.
+ */
+ void RegisterInputResources(std::vector<void*> inputframes, NV_ENC_INPUT_RESOURCE_TYPE eResourceType,
+ int width, int height, int pitch, NV_ENC_BUFFER_FORMAT bufferFormat, bool bReferenceFrame = false);
+
+ /**
+ * @brief This function is used to unregister resources which had been previously registered for encoding
+ * using RegisterInputResources() function.
+ */
+ void UnregisterInputResources();
+
+ /**
+ * @brief This function is used to register CUDA, D3D or OpenGL input or output buffers with NvEncodeAPI.
+ */
+ NV_ENC_REGISTERED_PTR RegisterResource(void *pBuffer, NV_ENC_INPUT_RESOURCE_TYPE eResourceType,
+ int width, int height, int pitch, NV_ENC_BUFFER_FORMAT bufferFormat, NV_ENC_BUFFER_USAGE bufferUsage = NV_ENC_INPUT_IMAGE);
+
+ /**
+ * @brief This function returns maximum width used to open the encoder session.
+ * All encode input buffers are allocated using maximum dimensions.
+ */
+ uint32_t GetMaxEncodeWidth() const { return m_nMaxEncodeWidth; }
+
+ /**
+ * @brief This function returns maximum height used to open the encoder session.
+ * All encode input buffers are allocated using maximum dimensions.
+ */
+ uint32_t GetMaxEncodeHeight() const { return m_nMaxEncodeHeight; }
+
+ /**
+ * @brief This function returns the completion event.
+ */
+ void* GetCompletionEvent(uint32_t eventIdx) { return (m_vpCompletionEvent.size() == m_nEncoderBuffer) ? m_vpCompletionEvent[eventIdx] : nullptr; }
+
+ /**
+ * @brief This function returns the current pixel format.
+ */
+ NV_ENC_BUFFER_FORMAT GetPixelFormat() const { return m_eBufferFormat; }
+
+ /**
+ * @brief This function is used to submit the encode commands to the
+ * NVENC hardware.
+ */
+ NVENCSTATUS DoEncode(NV_ENC_INPUT_PTR inputBuffer, NV_ENC_OUTPUT_PTR outputBuffer, NV_ENC_PIC_PARAMS *pPicParams);
+
+ /**
+ * @brief This function is used to submit the encode commands to the
+ * NVENC hardware for ME only mode.
+ */
+ NVENCSTATUS DoMotionEstimation(NV_ENC_INPUT_PTR inputBuffer, NV_ENC_INPUT_PTR inputBufferForReference, NV_ENC_OUTPUT_PTR outputBuffer);
+
+ /**
+ * @brief This function is used to map the input buffers to NvEncodeAPI.
+ */
+ void MapResources(uint32_t bfrIdx);
+
+ /**
+ * @brief This function is used to wait for completion of encode command.
+ */
+ void WaitForCompletionEvent(int iEvent);
+
+ /**
+ * @brief This function is used to send EOS to HW encoder.
+ */
+ void SendEOS();
+
+private:
+ /**
+ * @brief This is a private function which is used to check if there is any
+ buffering done by encoder.
+ * The encoder generally buffers data to encode B frames or for lookahead
+ * or pipelining.
+ */
+ bool IsZeroDelay() { return m_nOutputDelay == 0; }
+
+ /**
+ * @brief This is a private function which is used to load the encode api shared library.
+ */
+ void LoadNvEncApi();
+
+ /**
+ * @brief This is a private function which is used to get the output packets
+ * from the encoder HW.
+ * This is called by DoEncode() function. If there is buffering enabled,
+ * this may return without any output data.
+ */
+ void GetEncodedPacket(std::vector<NV_ENC_OUTPUT_PTR> &vOutputBuffer, std::vector<std::vector<uint8_t>> &vPacket, bool bOutputDelay);
+
+ /**
+ * @brief This is a private function which is used to initialize the bitstream buffers.
+ * This is only used in the encoding mode.
+ */
+ void InitializeBitstreamBuffer();
+
+ /**
+ * @brief This is a private function which is used to destroy the bitstream buffers.
+ * This is only used in the encoding mode.
+ */
+ void DestroyBitstreamBuffer();
+
+ /**
+ * @brief This is a private function which is used to initialize MV output buffers.
+ * This is only used in ME-only Mode.
+ */
+ void InitializeMVOutputBuffer();
+
+ /**
+ * @brief This is a private function which is used to destroy MV output buffers.
+ * This is only used in ME-only Mode.
+ */
+ void DestroyMVOutputBuffer();
+
+ /**
+ * @brief This is a private function which is used to destroy HW encoder.
+ */
+ void DestroyHWEncoder();
+
+ /**
+ * @brief This function is used to flush the encoder queue.
+ */
+ void FlushEncoder();
+
+private:
+ /**
+ * @brief This is a pure virtual function which is used to allocate input buffers.
+ * The derived classes must implement this function.
+ */
+ virtual void AllocateInputBuffers(int32_t numInputBuffers) = 0;
+
+ /**
+ * @brief This is a pure virtual function which is used to destroy input buffers.
+ * The derived classes must implement this function.
+ */
+ virtual void ReleaseInputBuffers() = 0;
+
+protected:
+ bool m_bMotionEstimationOnly = false;
+ bool m_bOutputInVideoMemory = false;
+ void *m_hEncoder = nullptr;
+ NV_ENCODE_API_FUNCTION_LIST m_nvenc;
+ std::vector<NvEncInputFrame> m_vInputFrames;
+ std::vector<NV_ENC_REGISTERED_PTR> m_vRegisteredResources;
+ std::vector<NvEncInputFrame> m_vReferenceFrames;
+ std::vector<NV_ENC_REGISTERED_PTR> m_vRegisteredResourcesForReference;
+ std::vector<NV_ENC_INPUT_PTR> m_vMappedInputBuffers;
+ std::vector<NV_ENC_INPUT_PTR> m_vMappedRefBuffers;
+ std::vector<void *> m_vpCompletionEvent;
+
+ int32_t m_iToSend = 0;
+ int32_t m_iGot = 0;
+ int32_t m_nEncoderBuffer = 0;
+ int32_t m_nOutputDelay = 0;
+
+private:
+ uint32_t m_nWidth;
+ uint32_t m_nHeight;
+ NV_ENC_BUFFER_FORMAT m_eBufferFormat;
+ void *m_pDevice;
+ NV_ENC_DEVICE_TYPE m_eDeviceType;
+ NV_ENC_INITIALIZE_PARAMS m_initializeParams = {};
+ NV_ENC_CONFIG m_encodeConfig = {};
+ bool m_bEncoderInitialized = false;
+ uint32_t m_nExtraOutputDelay = 3; // To ensure encode and graphics can work in parallel, m_nExtraOutputDelay should be set to at least 1
+ std::vector<NV_ENC_OUTPUT_PTR> m_vBitstreamOutputBuffer;
+ std::vector<NV_ENC_OUTPUT_PTR> m_vMVDataOutputBuffer;
+ uint32_t m_nMaxEncodeWidth = 0;
+ uint32_t m_nMaxEncodeHeight = 0;
+ void* m_hModule = nullptr;
+};
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderCuda.cpp b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderCuda.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..82c6f3c4a1404ddf5156cf6be957485d35b82b54
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderCuda.cpp
@@ -0,0 +1,289 @@
+/*
+* Copyright 2017-2019 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+#include "NvEncoder/NvEncoderCuda.h"
+
+
+NvEncoderCuda::NvEncoderCuda(CUcontext cuContext, uint32_t nWidth, uint32_t nHeight, NV_ENC_BUFFER_FORMAT eBufferFormat,
+ uint32_t nExtraOutputDelay, bool bMotionEstimationOnly, bool bOutputInVideoMemory):
+ NvEncoder(NV_ENC_DEVICE_TYPE_CUDA, cuContext, nWidth, nHeight, eBufferFormat, nExtraOutputDelay, bMotionEstimationOnly, bOutputInVideoMemory),
+ m_cuContext(cuContext)
+{
+ if (!m_hEncoder)
+ {
+ NVENC_THROW_ERROR("Encoder Initialization failed", NV_ENC_ERR_INVALID_DEVICE);
+ }
+
+ if (!m_cuContext)
+ {
+ NVENC_THROW_ERROR("Invalid Cuda Context", NV_ENC_ERR_INVALID_DEVICE);
+ }
+}
+
+NvEncoderCuda::~NvEncoderCuda()
+{
+ ReleaseCudaResources();
+}
+
+void NvEncoderCuda::AllocateInputBuffers(int32_t numInputBuffers)
+{
+ if (!IsHWEncoderInitialized())
+ {
+ NVENC_THROW_ERROR("Encoder intialization failed", NV_ENC_ERR_ENCODER_NOT_INITIALIZED);
+ }
+
+ // for MEOnly mode we need to allocate seperate set of buffers for reference frame
+ int numCount = m_bMotionEstimationOnly ? 2 : 1;
+
+ for (int count = 0; count < numCount; count++)
+ {
+ CUDA_DRVAPI_CALL(cuCtxPushCurrent(m_cuContext));
+ std::vector<void*> inputFrames;
+ for (int i = 0; i < numInputBuffers; i++)
+ {
+ CUdeviceptr pDeviceFrame;
+ uint32_t chromaHeight = GetNumChromaPlanes(GetPixelFormat()) * GetChromaHeight(GetPixelFormat(), GetMaxEncodeHeight());
+ if (GetPixelFormat() == NV_ENC_BUFFER_FORMAT_YV12 || GetPixelFormat() == NV_ENC_BUFFER_FORMAT_IYUV)
+ chromaHeight = GetChromaHeight(GetPixelFormat(), GetMaxEncodeHeight());
+ CUDA_DRVAPI_CALL(cuMemAllocPitch((CUdeviceptr *)&pDeviceFrame,
+ &m_cudaPitch,
+ GetWidthInBytes(GetPixelFormat(), GetMaxEncodeWidth()),
+ GetMaxEncodeHeight() + chromaHeight, 16));
+ inputFrames.push_back((void*)pDeviceFrame);
+ }
+ CUDA_DRVAPI_CALL(cuCtxPopCurrent(NULL));
+
+ RegisterInputResources(inputFrames,
+ NV_ENC_INPUT_RESOURCE_TYPE_CUDADEVICEPTR,
+ GetMaxEncodeWidth(),
+ GetMaxEncodeHeight(),
+ (int)m_cudaPitch,
+ GetPixelFormat(),
+ (count == 1) ? true : false);
+ }
+}
+
+void NvEncoderCuda::SetIOCudaStreams(NV_ENC_CUSTREAM_PTR inputStream, NV_ENC_CUSTREAM_PTR outputStream)
+{
+ NVENC_API_CALL(m_nvenc.nvEncSetIOCudaStreams(m_hEncoder, inputStream, outputStream));
+}
+
+void NvEncoderCuda::ReleaseInputBuffers()
+{
+ ReleaseCudaResources();
+}
+
+void NvEncoderCuda::ReleaseCudaResources()
+{
+ if (!m_hEncoder)
+ {
+ return;
+ }
+
+ if (!m_cuContext)
+ {
+ return;
+ }
+
+ UnregisterInputResources();
+
+ cuCtxPushCurrent(m_cuContext);
+
+ for (uint32_t i = 0; i < m_vInputFrames.size(); ++i)
+ {
+ if (m_vInputFrames[i].inputPtr)
+ {
+ cuMemFree(reinterpret_cast<CUdeviceptr>(m_vInputFrames[i].inputPtr));
+ }
+ }
+ m_vInputFrames.clear();
+
+ for (uint32_t i = 0; i < m_vReferenceFrames.size(); ++i)
+ {
+ if (m_vReferenceFrames[i].inputPtr)
+ {
+ cuMemFree(reinterpret_cast<CUdeviceptr>(m_vReferenceFrames[i].inputPtr));
+ }
+ }
+ m_vReferenceFrames.clear();
+
+ cuCtxPopCurrent(NULL);
+ m_cuContext = nullptr;
+}
+
+void NvEncoderCuda::CopyToDeviceFrame(CUcontext device,
+ void* pSrcFrame,
+ uint32_t nSrcPitch,
+ CUdeviceptr pDstFrame,
+ uint32_t dstPitch,
+ int width,
+ int height,
+ CUmemorytype srcMemoryType,
+ NV_ENC_BUFFER_FORMAT pixelFormat,
+ const uint32_t dstChromaOffsets[],
+ uint32_t numChromaPlanes,
+ bool bUnAlignedDeviceCopy,
+ CUstream stream)
+{
+ if (srcMemoryType != CU_MEMORYTYPE_HOST && srcMemoryType != CU_MEMORYTYPE_DEVICE)
+ {
+ NVENC_THROW_ERROR("Invalid source memory type for copy", NV_ENC_ERR_INVALID_PARAM);
+ }
+
+ CUDA_DRVAPI_CALL(cuCtxPushCurrent(device));
+
+ uint32_t srcPitch = nSrcPitch ? nSrcPitch : NvEncoder::GetWidthInBytes(pixelFormat, width);
+ CUDA_MEMCPY2D m = { 0 };
+ m.srcMemoryType = srcMemoryType;
+ if (srcMemoryType == CU_MEMORYTYPE_HOST)
+ {
+ m.srcHost = pSrcFrame;
+ }
+ else
+ {
+ m.srcDevice = (CUdeviceptr)pSrcFrame;
+ }
+ m.srcPitch = srcPitch;
+ m.dstMemoryType = CU_MEMORYTYPE_DEVICE;
+ m.dstDevice = pDstFrame;
+ m.dstPitch = dstPitch;
+ m.WidthInBytes = NvEncoder::GetWidthInBytes(pixelFormat, width);
+ m.Height = height;
+ if (bUnAlignedDeviceCopy && srcMemoryType == CU_MEMORYTYPE_DEVICE)
+ {
+ CUDA_DRVAPI_CALL(cuMemcpy2DUnaligned(&m));
+ }
+ else
+ {
+ CUDA_DRVAPI_CALL(stream == NULL? cuMemcpy2D(&m) : cuMemcpy2DAsync(&m, stream));
+ }
+
+ std::vector<uint32_t> srcChromaOffsets;
+ NvEncoder::GetChromaSubPlaneOffsets(pixelFormat, srcPitch, height, srcChromaOffsets);
+ uint32_t chromaHeight = NvEncoder::GetChromaHeight(pixelFormat, height);
+ uint32_t destChromaPitch = NvEncoder::GetChromaPitch(pixelFormat, dstPitch);
+ uint32_t srcChromaPitch = NvEncoder::GetChromaPitch(pixelFormat, srcPitch);
+ uint32_t chromaWidthInBytes = NvEncoder::GetChromaWidthInBytes(pixelFormat, width);
+
+ for (uint32_t i = 0; i < numChromaPlanes; ++i)
+ {
+ if (chromaHeight)
+ {
+ if (srcMemoryType == CU_MEMORYTYPE_HOST)
+ {
+ m.srcHost = ((uint8_t *)pSrcFrame + srcChromaOffsets[i]);
+ }
+ else
+ {
+ m.srcDevice = (CUdeviceptr)((uint8_t *)pSrcFrame + srcChromaOffsets[i]);
+ }
+ m.srcPitch = srcChromaPitch;
+
+ m.dstDevice = (CUdeviceptr)((uint8_t *)pDstFrame + dstChromaOffsets[i]);
+ m.dstPitch = destChromaPitch;
+ m.WidthInBytes = chromaWidthInBytes;
+ m.Height = chromaHeight;
+ if (bUnAlignedDeviceCopy && srcMemoryType == CU_MEMORYTYPE_DEVICE)
+ {
+ CUDA_DRVAPI_CALL(cuMemcpy2DUnaligned(&m));
+ }
+ else
+ {
+ CUDA_DRVAPI_CALL(stream == NULL? cuMemcpy2D(&m) : cuMemcpy2DAsync(&m, stream));
+ }
+ }
+ }
+ CUDA_DRVAPI_CALL(cuCtxPopCurrent(NULL));
+}
+
+void NvEncoderCuda::CopyToDeviceFrame(CUcontext device,
+ void* pSrcFrame,
+ uint32_t nSrcPitch,
+ CUdeviceptr pDstFrame,
+ uint32_t dstPitch,
+ int width,
+ int height,
+ CUmemorytype srcMemoryType,
+ NV_ENC_BUFFER_FORMAT pixelFormat,
+ CUdeviceptr dstChromaDevicePtrs[],
+ uint32_t dstChromaPitch,
+ uint32_t numChromaPlanes,
+ bool bUnAlignedDeviceCopy)
+{
+ if (srcMemoryType != CU_MEMORYTYPE_HOST && srcMemoryType != CU_MEMORYTYPE_DEVICE)
+ {
+ NVENC_THROW_ERROR("Invalid source memory type for copy", NV_ENC_ERR_INVALID_PARAM);
+ }
+
+ CUDA_DRVAPI_CALL(cuCtxPushCurrent(device));
+
+ uint32_t srcPitch = nSrcPitch ? nSrcPitch : NvEncoder::GetWidthInBytes(pixelFormat, width);
+ CUDA_MEMCPY2D m = { 0 };
+ m.srcMemoryType = srcMemoryType;
+ if (srcMemoryType == CU_MEMORYTYPE_HOST)
+ {
+ m.srcHost = pSrcFrame;
+ }
+ else
+ {
+ m.srcDevice = (CUdeviceptr)pSrcFrame;
+ }
+ m.srcPitch = srcPitch;
+ m.dstMemoryType = CU_MEMORYTYPE_DEVICE;
+ m.dstDevice = pDstFrame;
+ m.dstPitch = dstPitch;
+ m.WidthInBytes = NvEncoder::GetWidthInBytes(pixelFormat, width);
+ m.Height = height;
+ if (bUnAlignedDeviceCopy && srcMemoryType == CU_MEMORYTYPE_DEVICE)
+ {
+ CUDA_DRVAPI_CALL(cuMemcpy2DUnaligned(&m));
+ }
+ else
+ {
+ CUDA_DRVAPI_CALL(cuMemcpy2D(&m));
+ }
+
+ std::vector<uint32_t> srcChromaOffsets;
+ NvEncoder::GetChromaSubPlaneOffsets(pixelFormat, srcPitch, height, srcChromaOffsets);
+ uint32_t chromaHeight = NvEncoder::GetChromaHeight(pixelFormat, height);
+ uint32_t srcChromaPitch = NvEncoder::GetChromaPitch(pixelFormat, srcPitch);
+ uint32_t chromaWidthInBytes = NvEncoder::GetChromaWidthInBytes(pixelFormat, width);
+
+ for (uint32_t i = 0; i < numChromaPlanes; ++i)
+ {
+ if (chromaHeight)
+ {
+ if (srcMemoryType == CU_MEMORYTYPE_HOST)
+ {
+ m.srcHost = ((uint8_t *)pSrcFrame + srcChromaOffsets[i]);
+ }
+ else
+ {
+ m.srcDevice = (CUdeviceptr)((uint8_t *)pSrcFrame + srcChromaOffsets[i]);
+ }
+ m.srcPitch = srcChromaPitch;
+
+ m.dstDevice = dstChromaDevicePtrs[i];
+ m.dstPitch = dstChromaPitch;
+ m.WidthInBytes = chromaWidthInBytes;
+ m.Height = chromaHeight;
+ if (bUnAlignedDeviceCopy && srcMemoryType == CU_MEMORYTYPE_DEVICE)
+ {
+ CUDA_DRVAPI_CALL(cuMemcpy2DUnaligned(&m));
+ }
+ else
+ {
+ CUDA_DRVAPI_CALL(cuMemcpy2D(&m));
+ }
+ }
+ }
+ CUDA_DRVAPI_CALL(cuCtxPopCurrent(NULL));
+}
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderCuda.h b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderCuda.h
new file mode 100644
index 0000000000000000000000000000000000000000..e31b562f3b8221229c8d2c4a8b164f5a2d80dd32
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderCuda.h
@@ -0,0 +1,111 @@
+/*
+* Copyright 2017-2019 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+#pragma once
+
+#include <vector>
+#include <stdint.h>
+#include <mutex>
+#include <cuda.h>
+#include "NvEncoder.h"
+
+#define CUDA_DRVAPI_CALL( call ) \
+ do \
+ { \
+ CUresult err__ = call; \
+ if (err__ != CUDA_SUCCESS) \
+ { \
+ const char *szErrName = NULL; \
+ cuGetErrorName(err__, &szErrName); \
+ std::ostringstream errorLog; \
+ errorLog << "CUDA driver API error " << szErrName ; \
+ throw NVENCException::makeNVENCException(errorLog.str(), NV_ENC_ERR_GENERIC, __FUNCTION__, __FILE__, __LINE__); \
+ } \
+ } \
+ while (0)
+
+/**
+* @brief Encoder for CUDA device memory.
+*/
+class NvEncoderCuda : public NvEncoder
+{
+public:
+ NvEncoderCuda(CUcontext cuContext, uint32_t nWidth, uint32_t nHeight, NV_ENC_BUFFER_FORMAT eBufferFormat,
+ uint32_t nExtraOutputDelay = 3, bool bMotionEstimationOnly = false, bool bOPInVideoMemory = false);
+ virtual ~NvEncoderCuda();
+
+ /**
+ * @brief This is a static function to copy input data from host memory to device memory.
+ * This function assumes YUV plane is a single contiguous memory segment.
+ */
+ static void CopyToDeviceFrame(CUcontext device,
+ void* pSrcFrame,
+ uint32_t nSrcPitch,
+ CUdeviceptr pDstFrame,
+ uint32_t dstPitch,
+ int width,
+ int height,
+ CUmemorytype srcMemoryType,
+ NV_ENC_BUFFER_FORMAT pixelFormat,
+ const uint32_t dstChromaOffsets[],
+ uint32_t numChromaPlanes,
+ bool bUnAlignedDeviceCopy = false,
+ CUstream stream = NULL);
+
+ /**
+ * @brief This is a static function to copy input data from host memory to device memory.
+ * Application must pass a seperate device pointer for each YUV plane.
+ */
+ static void CopyToDeviceFrame(CUcontext device,
+ void* pSrcFrame,
+ uint32_t nSrcPitch,
+ CUdeviceptr pDstFrame,
+ uint32_t dstPitch,
+ int width,
+ int height,
+ CUmemorytype srcMemoryType,
+ NV_ENC_BUFFER_FORMAT pixelFormat,
+ CUdeviceptr dstChromaPtr[],
+ uint32_t dstChromaPitch,
+ uint32_t numChromaPlanes,
+ bool bUnAlignedDeviceCopy = false);
+
+ /**
+ * @brief This function sets input and output CUDA streams
+ */
+ void SetIOCudaStreams(NV_ENC_CUSTREAM_PTR inputStream, NV_ENC_CUSTREAM_PTR outputStream);
+
+protected:
+ /**
+ * @brief This function is used to release the input buffers allocated for encoding.
+ * This function is an override of virtual function NvEncoder::ReleaseInputBuffers().
+ */
+ virtual void ReleaseInputBuffers() override;
+
+private:
+ /**
+ * @brief This function is used to allocate input buffers for encoding.
+ * This function is an override of virtual function NvEncoder::AllocateInputBuffers().
+ */
+ virtual void AllocateInputBuffers(int32_t numInputBuffers) override;
+
+private:
+ /**
+ * @brief This is a private function to release CUDA device memory used for encoding.
+ */
+ void ReleaseCudaResources();
+
+protected:
+ CUcontext m_cuContext;
+
+private:
+ size_t m_cudaPitch = 0;
+};
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderD3D11.cpp b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderD3D11.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..029bee1deb4901c4d7b7b8ac8243975a994f9e5b
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderD3D11.cpp
@@ -0,0 +1,147 @@
+/*
+* Copyright 2017-2019 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+
+#ifndef WIN32
+#include <dlfcn.h>
+#endif
+#include "NvEncoder/NvEncoderD3D11.h"
+#include <D3D9Types.h>
+
+#ifndef MAKEFOURCC
+#define MAKEFOURCC(a,b,c,d) (((unsigned int)a) | (((unsigned int)b)<< 8) | (((unsigned int)c)<<16) | (((unsigned int)d)<<24) )
+#endif
+
+DXGI_FORMAT GetD3D11Format(NV_ENC_BUFFER_FORMAT eBufferFormat)
+{
+ switch (eBufferFormat)
+ {
+ case NV_ENC_BUFFER_FORMAT_NV12:
+ return DXGI_FORMAT_NV12;
+ case NV_ENC_BUFFER_FORMAT_ARGB:
+ return DXGI_FORMAT_B8G8R8A8_UNORM;
+ default:
+ return DXGI_FORMAT_UNKNOWN;
+ }
+}
+
+NvEncoderD3D11::NvEncoderD3D11(ID3D11Device* pD3D11Device, uint32_t nWidth, uint32_t nHeight,
+ NV_ENC_BUFFER_FORMAT eBufferFormat, uint32_t nExtraOutputDelay, bool bMotionEstimationOnly, bool bOutputInVideoMemory) :
+ NvEncoder(NV_ENC_DEVICE_TYPE_DIRECTX, pD3D11Device, nWidth, nHeight, eBufferFormat, nExtraOutputDelay, bMotionEstimationOnly, bOutputInVideoMemory)
+{
+ if (!pD3D11Device)
+ {
+ NVENC_THROW_ERROR("Bad d3d11device ptr", NV_ENC_ERR_INVALID_PTR);
+ return;
+ }
+
+ if (GetD3D11Format(GetPixelFormat()) == DXGI_FORMAT_UNKNOWN)
+ {
+ NVENC_THROW_ERROR("Unsupported Buffer format", NV_ENC_ERR_INVALID_PARAM);
+ }
+
+ if (!m_hEncoder)
+ {
+ NVENC_THROW_ERROR("Encoder Initialization failed", NV_ENC_ERR_INVALID_DEVICE);
+ }
+
+ m_pD3D11Device = pD3D11Device;
+ m_pD3D11Device->AddRef();
+ m_pD3D11Device->GetImmediateContext(&m_pD3D11DeviceContext);
+}
+
+NvEncoderD3D11::~NvEncoderD3D11()
+{
+ ReleaseD3D11Resources();
+}
+
+void NvEncoderD3D11::AllocateInputBuffers(int32_t numInputBuffers)
+{
+ if (!IsHWEncoderInitialized())
+ {
+ NVENC_THROW_ERROR("Encoder intialization failed", NV_ENC_ERR_ENCODER_NOT_INITIALIZED);
+ }
+
+ // for MEOnly mode we need to allocate seperate set of buffers for reference frame
+ int numCount = m_bMotionEstimationOnly ? 2 : 1;
+ for (int count = 0; count < numCount; count++)
+ {
+ std::vector<void*> inputFrames;
+ for (int i = 0; i < numInputBuffers; i++)
+ {
+ ID3D11Texture2D *pInputTextures = NULL;
+ D3D11_TEXTURE2D_DESC desc;
+ ZeroMemory(&desc, sizeof(D3D11_TEXTURE2D_DESC));
+ desc.Width = GetMaxEncodeWidth();
+ desc.Height = GetMaxEncodeHeight();
+ desc.MipLevels = 1;
+ desc.ArraySize = 1;
+ desc.Format = GetD3D11Format(GetPixelFormat());
+ desc.SampleDesc.Count = 1;
+ desc.Usage = D3D11_USAGE_DEFAULT;
+ desc.BindFlags = D3D11_BIND_RENDER_TARGET;
+ desc.CPUAccessFlags = 0;
+ if (m_pD3D11Device->CreateTexture2D(&desc, NULL, &pInputTextures) != S_OK)
+ {
+ NVENC_THROW_ERROR("Failed to create d3d11textures", NV_ENC_ERR_OUT_OF_MEMORY);
+ }
+ inputFrames.push_back(pInputTextures);
+ }
+ RegisterInputResources(inputFrames, NV_ENC_INPUT_RESOURCE_TYPE_DIRECTX,
+ GetMaxEncodeWidth(), GetMaxEncodeHeight(), 0, GetPixelFormat(), count == 1 ? true : false);
+ }
+}
+
+void NvEncoderD3D11::ReleaseInputBuffers()
+{
+ ReleaseD3D11Resources();
+}
+
+void NvEncoderD3D11::ReleaseD3D11Resources()
+{
+ if (!m_hEncoder)
+ {
+ return;
+ }
+
+ UnregisterInputResources();
+
+ for (uint32_t i = 0; i < m_vInputFrames.size(); ++i)
+ {
+ if (m_vInputFrames[i].inputPtr)
+ {
+ reinterpret_cast<ID3D11Texture2D*>(m_vInputFrames[i].inputPtr)->Release();
+ }
+ }
+ m_vInputFrames.clear();
+
+ for (uint32_t i = 0; i < m_vReferenceFrames.size(); ++i)
+ {
+ if (m_vReferenceFrames[i].inputPtr)
+ {
+ reinterpret_cast<ID3D11Texture2D*>(m_vReferenceFrames[i].inputPtr)->Release();
+ }
+ }
+ m_vReferenceFrames.clear();
+
+ if (m_pD3D11DeviceContext)
+ {
+ m_pD3D11DeviceContext->Release();
+ m_pD3D11DeviceContext = nullptr;
+ }
+
+ if (m_pD3D11Device)
+ {
+ m_pD3D11Device->Release();
+ m_pD3D11Device = nullptr;
+ }
+}
+
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderD3D11.h b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderD3D11.h
new file mode 100644
index 0000000000000000000000000000000000000000..68b83a4a5bc8be0a36876e27298a95c6611ee965
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderD3D11.h
@@ -0,0 +1,55 @@
+/*
+* Copyright 2017-2019 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+#pragma once
+
+#include <vector>
+#include <stdint.h>
+#include <mutex>
+#include <unordered_map>
+#include <d3d11.h>
+#include "NvEncoder.h"
+
+class NvEncoderD3D11 : public NvEncoder
+{
+public:
+ NvEncoderD3D11(ID3D11Device* pD3D11Device, uint32_t nWidth, uint32_t nHeight, NV_ENC_BUFFER_FORMAT eBufferFormat,
+ uint32_t nExtraOutputDelay = 3, bool bMotionEstimationOnly = false, bool bOPInVideoMemory = false);
+ virtual ~NvEncoderD3D11();
+
+protected:
+ /**
+ * @brief This function is used to release the input buffers allocated for encoding.
+ * This function is an override of virtual function NvEncoder::ReleaseInputBuffers().
+ */
+ virtual void ReleaseInputBuffers() override;
+
+private:
+ /**
+ * @brief This function is used to allocate input buffers for encoding.
+ * This function is an override of virtual function NvEncoder::AllocateInputBuffers().
+ * This function creates ID3D11Texture2D textures which is used to accept input data.
+ * To obtain handle to input buffers application must call NvEncoder::GetNextInputFrame()
+ */
+ virtual void AllocateInputBuffers(int32_t numInputBuffers) override;
+
+private:
+ /**
+ * @brief This is a private function to release ID3D11Texture2D textures used for encoding.
+ */
+ void ReleaseD3D11Resources();
+
+protected:
+ ID3D11Device *m_pD3D11Device = nullptr;
+
+private:
+ ID3D11DeviceContext* m_pD3D11DeviceContext = nullptr;
+};
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderD3D9.cpp b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderD3D9.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..0814995c596d24fef3b048095b5e01880a8bd144
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderD3D9.cpp
@@ -0,0 +1,150 @@
+/*
+* Copyright 2017-2019 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+
+#ifndef WIN32
+#include <dlfcn.h>
+#endif
+#include "NvEncoder/NvEncoderD3D9.h"
+#include <D3D9Types.h>
+#include <utility>
+
+#ifndef MAKEFOURCC
+#define MAKEFOURCC(a,b,c,d) (((unsigned int)a) | (((unsigned int)b)<< 8) | (((unsigned int)c)<<16) | (((unsigned int)d)<<24) )
+#endif
+
+D3DFORMAT GetD3D9Format(NV_ENC_BUFFER_FORMAT eBufferFormat)
+{
+ switch (eBufferFormat)
+ {
+ case NV_ENC_BUFFER_FORMAT_NV12:
+ return (D3DFORMAT)MAKEFOURCC('N', 'V', '1', '2');
+ case NV_ENC_BUFFER_FORMAT_ARGB:
+ return D3DFMT_A8R8G8B8;
+ default:
+ return D3DFMT_UNKNOWN;
+ }
+}
+
+NvEncoderD3D9::NvEncoderD3D9(IDirect3DDevice9* pD3D9Device, uint32_t nWidth, uint32_t nHeight, NV_ENC_BUFFER_FORMAT eBufferFormat,
+ IDirectXVideoAccelerationService* pDXVAService, uint32_t nExtraOutputDelay, bool bMotionEstimationOnly) :
+ NvEncoder(NV_ENC_DEVICE_TYPE_DIRECTX, pD3D9Device, nWidth, nHeight, eBufferFormat, nExtraOutputDelay, bMotionEstimationOnly)
+{
+ if (!pD3D9Device)
+ {
+ NVENC_THROW_ERROR("Bad d3d9device ptr", NV_ENC_ERR_INVALID_PTR);
+ }
+
+ if (GetD3D9Format(GetPixelFormat()) == D3DFMT_UNKNOWN)
+ {
+ NVENC_THROW_ERROR("Unsupported Buffer format", NV_ENC_ERR_INVALID_PARAM);
+ }
+
+ if (!m_hEncoder)
+ {
+ NVENC_THROW_ERROR("Encoder Initialization failed", NV_ENC_ERR_INVALID_DEVICE);
+ }
+
+ m_pD3D9Device = pD3D9Device;
+ m_pD3D9Device->AddRef();
+
+ m_pDXVAService = pDXVAService;
+ if (m_pDXVAService)
+ {
+ m_pDXVAService->AddRef();
+ }
+}
+
+NvEncoderD3D9::~NvEncoderD3D9()
+{
+ ReleaseD3D9Resources();
+}
+
+void NvEncoderD3D9::AllocateInputBuffers(int32_t numInputBuffers)
+{
+ if (!IsHWEncoderInitialized())
+ {
+ NVENC_THROW_ERROR("Encoder intialization failed", NV_ENC_ERR_ENCODER_NOT_INITIALIZED);
+ }
+
+
+ // for MEOnly mode we need to allocate seperate set of buffers for reference frame
+ int numCount = m_bMotionEstimationOnly ? 2 : 1;
+
+ for (int count = 0; count < numCount; count++)
+ {
+ std::vector<void*> inputFrames;
+ for (int i = 0; i < numInputBuffers; i++)
+ {
+ IDirect3DSurface9* pD3D9Surface;
+ HRESULT res = S_OK;
+ if (m_pDXVAService)
+ {
+ res = m_pDXVAService->CreateSurface(GetMaxEncodeWidth(), GetMaxEncodeHeight(), 0, GetD3D9Format(GetPixelFormat()), D3DPOOL_DEFAULT, 0, DXVA2_VideoProcessorRenderTarget, &pD3D9Surface, nullptr);
+ }
+ else
+ {
+ res = m_pD3D9Device->CreateOffscreenPlainSurface(GetMaxEncodeWidth(), GetMaxEncodeHeight(), GetD3D9Format(GetPixelFormat()), D3DPOOL_DEFAULT, &pD3D9Surface, nullptr);
+ }
+ if (res != S_OK)
+ {
+ NVENC_THROW_ERROR("Failed to create d3d9Surfaces", NV_ENC_ERR_OUT_OF_MEMORY);
+ }
+ inputFrames.push_back(pD3D9Surface);
+ }
+ RegisterInputResources(inputFrames, NV_ENC_INPUT_RESOURCE_TYPE_DIRECTX, GetMaxEncodeWidth(), GetMaxEncodeHeight(), 0, GetPixelFormat(), count == 1 ? true : false);
+ }
+}
+
+void NvEncoderD3D9::ReleaseInputBuffers()
+{
+ ReleaseD3D9Resources();
+}
+
+void NvEncoderD3D9::ReleaseD3D9Resources()
+{
+ if (!m_hEncoder)
+ {
+ return;
+ }
+
+ UnregisterInputResources();
+
+ for (uint32_t i = 0; i < m_vInputFrames.size(); ++i)
+ {
+ if (m_vInputFrames[i].inputPtr)
+ {
+ reinterpret_cast<IDirect3DSurface9*>(m_vInputFrames[i].inputPtr)->Release();
+ }
+ }
+ m_vInputFrames.clear();
+
+ for (uint32_t i = 0; i < m_vReferenceFrames.size(); ++i)
+ {
+ if (m_vReferenceFrames[i].inputPtr)
+ {
+ reinterpret_cast<IDirect3DSurface9*>(m_vReferenceFrames[i].inputPtr)->Release();
+ }
+ }
+ m_vReferenceFrames.clear();
+
+ if (m_pDXVAService)
+ {
+ m_pDXVAService->Release();
+ m_pDXVAService = nullptr;
+ }
+
+ if (m_pD3D9Device)
+ {
+ m_pD3D9Device->Release();
+ m_pD3D9Device = nullptr;
+ }
+}
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderD3D9.h b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderD3D9.h
new file mode 100644
index 0000000000000000000000000000000000000000..68c448003dc0ee8744f60e6f7f337bfe5864c6ab
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderD3D9.h
@@ -0,0 +1,52 @@
+/*
+* Copyright 2017-2018 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+#pragma once
+
+#include <vector>
+#include <stdint.h>
+#include <mutex>
+#include <unordered_map>
+#include <d3d9.h>
+#include <dxva2api.h>
+#include "NvEncoder.h"
+
+
+class NvEncoderD3D9 : public NvEncoder
+{
+public:
+ NvEncoderD3D9(IDirect3DDevice9* pD3D9Device, uint32_t nWidth, uint32_t nHeight, NV_ENC_BUFFER_FORMAT eBufferFormat,
+ IDirectXVideoAccelerationService* pDXVAService = nullptr, uint32_t nExtraOutputDelay = 3, bool bMotionEstimationOnly = false);
+ virtual ~NvEncoderD3D9();
+private:
+
+ /**
+ * @brief This function is used to allocate input buffers for encoding.
+ * This function is an override of virtual function NvEncoder::AllocateInputBuffers().
+ * This function creates IDirect3DSurface9* which is used to accept input data.
+ * To obtain handle to input buffers application must call NvEncoder::GetNextInputFrame()
+ */
+ virtual void AllocateInputBuffers(int32_t numInputBuffers) override;
+
+ /**
+ * @brief This function is used to release the input buffers allocated for encoding.
+ * This function is an override of virtual function NvEncoder::ReleaseInputBuffers().
+ */
+ virtual void ReleaseInputBuffers() override;
+private:
+ /**
+ * @brief This is a private function to release IDirect3DSurface9 surfaces used for encoding.
+ */
+ void ReleaseD3D9Resources();
+private:
+ IDirect3DDevice9* m_pD3D9Device = nullptr;
+ IDirectXVideoAccelerationService* m_pDXVAService = nullptr;
+};
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderGL.cpp b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderGL.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b82c8b6b93ab476a26233f2938403a3ef8f4195c
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderGL.cpp
@@ -0,0 +1,113 @@
+/*
+* Copyright 2017-2019 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+#include "NvEncoder/NvEncoderGL.h"
+
+NvEncoderGL::NvEncoderGL(uint32_t nWidth, uint32_t nHeight, NV_ENC_BUFFER_FORMAT eBufferFormat,
+ uint32_t nExtraOutputDelay, bool bMotionEstimationOnly) :
+ NvEncoder(NV_ENC_DEVICE_TYPE_OPENGL, nullptr, nWidth, nHeight, eBufferFormat,
+ nExtraOutputDelay, bMotionEstimationOnly)
+{
+ if (!m_hEncoder)
+ {
+ return;
+ }
+}
+
+NvEncoderGL::~NvEncoderGL()
+{
+ ReleaseGLResources();
+}
+
+void NvEncoderGL::ReleaseInputBuffers()
+{
+ ReleaseGLResources();
+}
+
+void NvEncoderGL::AllocateInputBuffers(int32_t numInputBuffers)
+{
+ if (!IsHWEncoderInitialized())
+ {
+ NVENC_THROW_ERROR("Encoder device not initialized", NV_ENC_ERR_ENCODER_NOT_INITIALIZED);
+ }
+ int numCount = m_bMotionEstimationOnly ? 2 : 1;
+
+ for (int count = 0; count < numCount; count++)
+ {
+ std::vector<void*> inputFrames;
+ for (int i = 0; i < numInputBuffers; i++)
+ {
+ NV_ENC_INPUT_RESOURCE_OPENGL_TEX *pResource = new NV_ENC_INPUT_RESOURCE_OPENGL_TEX;
+ uint32_t tex;
+
+ glGenTextures(1, &tex);
+ glBindTexture(GL_TEXTURE_RECTANGLE, tex);
+
+ uint32_t chromaHeight = GetNumChromaPlanes(GetPixelFormat()) * GetChromaHeight(GetPixelFormat(), GetMaxEncodeHeight());
+ if (GetPixelFormat() == NV_ENC_BUFFER_FORMAT_YV12 || GetPixelFormat() == NV_ENC_BUFFER_FORMAT_IYUV)
+ chromaHeight = GetChromaHeight(GetPixelFormat(), GetMaxEncodeHeight());
+
+ glTexImage2D(GL_TEXTURE_RECTANGLE, 0, GL_R8,
+ GetWidthInBytes(GetPixelFormat(), GetMaxEncodeWidth()),
+ GetMaxEncodeHeight() + chromaHeight,
+ 0, GL_RED, GL_UNSIGNED_BYTE, NULL);
+
+ glBindTexture(GL_TEXTURE_RECTANGLE, 0);
+
+ pResource->texture = tex;
+ pResource->target = GL_TEXTURE_RECTANGLE;
+ inputFrames.push_back(pResource);
+ }
+ RegisterInputResources(inputFrames, NV_ENC_INPUT_RESOURCE_TYPE_OPENGL_TEX,
+ GetMaxEncodeWidth(),
+ GetMaxEncodeHeight(),
+ GetWidthInBytes(GetPixelFormat(), GetMaxEncodeWidth()),
+ GetPixelFormat(), count == 1 ? true : false);
+ }
+}
+
+void NvEncoderGL::ReleaseGLResources()
+{
+ if (!m_hEncoder)
+ {
+ return;
+ }
+
+ UnregisterInputResources();
+
+ for (int i = 0; i < m_vInputFrames.size(); ++i)
+ {
+ if (m_vInputFrames[i].inputPtr)
+ {
+ NV_ENC_INPUT_RESOURCE_OPENGL_TEX *pResource = (NV_ENC_INPUT_RESOURCE_OPENGL_TEX *)m_vInputFrames[i].inputPtr;
+ if (pResource)
+ {
+ glDeleteTextures(1, &pResource->texture);
+ delete pResource;
+ }
+ }
+ }
+ m_vInputFrames.clear();
+
+ for (int i = 0; i < m_vReferenceFrames.size(); ++i)
+ {
+ if (m_vReferenceFrames[i].inputPtr)
+ {
+ NV_ENC_INPUT_RESOURCE_OPENGL_TEX *pResource = (NV_ENC_INPUT_RESOURCE_OPENGL_TEX *)m_vReferenceFrames[i].inputPtr;
+ if (pResource)
+ {
+ glDeleteTextures(1, &pResource->texture);
+ delete pResource;
+ }
+ }
+ }
+ m_vReferenceFrames.clear();
+}
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderGL.h b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderGL.h
new file mode 100644
index 0000000000000000000000000000000000000000..c1a5c96f989eaef15f8c620dfac71e42c20af499
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderGL.h
@@ -0,0 +1,49 @@
+/*
+* Copyright 2017-2019 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+#include <iostream>
+#include "NvEncoder/NvEncoder.h"
+#include <unordered_map>
+#include <GL/glew.h>
+
+class NvEncoderGL : public NvEncoder
+{
+public:
+ /**
+ * @brief The constructor for the NvEncoderGL class
+ * An OpenGL context must be current to the calling thread/process when
+ * creating an instance of this class.
+ */
+ NvEncoderGL(uint32_t nWidth, uint32_t nHeight, NV_ENC_BUFFER_FORMAT eBufferFormat,
+ uint32_t nExtraOutputDelay = 3, bool bMotionEstimationOnly = false);
+
+ virtual ~NvEncoderGL();
+private:
+ /**
+ * @brief This function is used to allocate input buffers for encoding.
+ * This function is an override of virtual function NvEncoder::AllocateInputBuffers().
+ * This function creates OpenGL textures which are used to hold input data.
+ * To obtain handle to input buffers, the application must call NvEncoder::GetNextInputFrame().
+ * An OpenGL context must be current to the thread/process when calling
+ * this method.
+ */
+ virtual void AllocateInputBuffers(int32_t numInputBuffers) override;
+
+ /**
+ * @brief This function is used to release the input buffers allocated for encoding.
+ * This function is an override of virtual function NvEncoder::ReleaseInputBuffers().
+ * An OpenGL context must be current to the thread/process when calling
+ * this method.
+ */
+ virtual void ReleaseInputBuffers() override;
+private:
+ void ReleaseGLResources();
+};
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderOutputInVidMemCuda.cpp b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderOutputInVidMemCuda.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..947e62cea9cfa2ab5b83cfafef2a3163309ffccd
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderOutputInVidMemCuda.cpp
@@ -0,0 +1,282 @@
+/*
+* Copyright 2019 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+#include "NvEncoder/NvEncoderOutputInVidMemCuda.h"
+
+
+NvEncoderOutputInVidMemCuda::NvEncoderOutputInVidMemCuda(CUcontext cuContext,
+ uint32_t nWidth, uint32_t nHeight, NV_ENC_BUFFER_FORMAT eBufferFormat,
+ bool bMotionEstimationOnly)
+ : NvEncoderCuda(cuContext, nWidth, nHeight, eBufferFormat, 0, bMotionEstimationOnly, true)
+{
+}
+
+NvEncoderOutputInVidMemCuda::~NvEncoderOutputInVidMemCuda()
+{
+ try
+ {
+ FlushEncoder();
+ ReleaseOutputBuffers();
+ }
+ catch (...)
+ {
+
+ }
+}
+
+uint32_t NvEncoderOutputInVidMemCuda::GetOutputBufferSize()
+{
+ uint32_t bufferSize = 0;
+
+ if (m_bMotionEstimationOnly)
+ {
+ uint32_t encodeWidthInMbs = (GetEncodeWidth() + 15) >> 4;
+ uint32_t encodeHeightInMbs = (GetEncodeHeight() + 15) >> 4;
+
+ bufferSize = encodeWidthInMbs * encodeHeightInMbs * sizeof(NV_ENC_H264_MV_DATA);
+ }
+ else
+ {
+ // 2-times the input size
+ bufferSize = GetFrameSize() * 2;
+
+ bufferSize += sizeof(NV_ENC_ENCODE_OUT_PARAMS);
+ }
+
+ bufferSize = ALIGN_UP(bufferSize, 4);
+
+ return bufferSize;
+}
+
+void NvEncoderOutputInVidMemCuda::AllocateOutputBuffers(uint32_t numOutputBuffers)
+{
+ uint32_t size = GetOutputBufferSize();
+
+ CUDA_DRVAPI_CALL(cuCtxPushCurrent(m_cuContext));
+
+ for (uint32_t i = 0; i < numOutputBuffers; i++)
+ {
+ CUdeviceptr pDeviceFrame;
+
+ CUresult cuResult = cuMemAlloc(&pDeviceFrame, size);
+ if (cuResult != CUDA_SUCCESS)
+ {
+ NVENC_THROW_ERROR("cuMemAlloc Failed", NV_ENC_ERR_OUT_OF_MEMORY);
+ }
+
+ m_pOutputBuffers.push_back((NV_ENC_OUTPUT_PTR)pDeviceFrame);
+ }
+
+ CUDA_DRVAPI_CALL(cuCtxPopCurrent(NULL));
+
+ RegisterOutputResources(size);
+}
+
+void NvEncoderOutputInVidMemCuda::ReleaseOutputBuffers()
+{
+ if (!m_hEncoder)
+ {
+ return;
+ }
+
+ UnregisterOutputResources();
+
+ for (uint32_t i = 0; i < m_pOutputBuffers.size(); ++i)
+ {
+ cuMemFree(reinterpret_cast<CUdeviceptr>(m_pOutputBuffers[i]));
+ }
+
+ m_pOutputBuffers.clear();
+}
+
+void NvEncoderOutputInVidMemCuda::RegisterOutputResources(uint32_t bfrSize)
+{
+ NV_ENC_BUFFER_USAGE bufferUsage = m_bMotionEstimationOnly? NV_ENC_OUTPUT_MOTION_VECTOR : NV_ENC_OUTPUT_BITSTREAM;
+
+ for (uint32_t i = 0; i < m_pOutputBuffers.size(); ++i)
+ {
+ if (m_pOutputBuffers[i])
+ {
+ NV_ENC_REGISTERED_PTR registeredPtr = RegisterResource((void *)m_pOutputBuffers[i],
+ NV_ENC_INPUT_RESOURCE_TYPE_CUDADEVICEPTR,
+ bfrSize, 1, bfrSize, NV_ENC_BUFFER_FORMAT_U8, bufferUsage);
+
+ m_vRegisteredResourcesOutputBuffer.push_back(registeredPtr);
+ }
+ }
+}
+
+void NvEncoderOutputInVidMemCuda::UnregisterOutputResources()
+{
+ for (uint32_t i = 0; i < m_vMappedOutputBuffers.size(); ++i)
+ {
+ if (m_vMappedOutputBuffers[i])
+ {
+ m_nvenc.nvEncUnmapInputResource(m_hEncoder, m_vMappedOutputBuffers[i]);
+ }
+ }
+ m_vMappedOutputBuffers.clear();
+
+ for (uint32_t i = 0; i < m_vRegisteredResourcesOutputBuffer.size(); ++i)
+ {
+ if (m_vRegisteredResourcesOutputBuffer[i])
+ {
+ m_nvenc.nvEncUnregisterResource(m_hEncoder, m_vRegisteredResourcesOutputBuffer[i]);
+ }
+ }
+
+ m_vRegisteredResourcesOutputBuffer.clear();
+}
+
+void NvEncoderOutputInVidMemCuda::CreateEncoder(const NV_ENC_INITIALIZE_PARAMS* pEncoderParams)
+{
+ NvEncoder::CreateEncoder(pEncoderParams);
+
+ AllocateOutputBuffers(m_nEncoderBuffer);
+
+ m_vMappedOutputBuffers.resize(m_nEncoderBuffer, nullptr);
+}
+
+void NvEncoderOutputInVidMemCuda::MapResources(uint32_t bfrIdx)
+{
+ NvEncoder::MapResources(bfrIdx);
+
+ //map output surface
+ NV_ENC_MAP_INPUT_RESOURCE mapInputResourceBitstreamBuffer = { NV_ENC_MAP_INPUT_RESOURCE_VER };
+ mapInputResourceBitstreamBuffer.registeredResource = m_vRegisteredResourcesOutputBuffer[bfrIdx];
+ NVENC_API_CALL(m_nvenc.nvEncMapInputResource(m_hEncoder, &mapInputResourceBitstreamBuffer));
+ m_vMappedOutputBuffers[bfrIdx] = mapInputResourceBitstreamBuffer.mappedResource;
+}
+
+void NvEncoderOutputInVidMemCuda::EncodeFrame(std::vector<NV_ENC_OUTPUT_PTR> &pOutputBuffer, NV_ENC_PIC_PARAMS *pPicParams)
+{
+ pOutputBuffer.clear();
+ if (!IsHWEncoderInitialized())
+ {
+ NVENC_THROW_ERROR("Encoder device not found", NV_ENC_ERR_NO_ENCODE_DEVICE);
+ }
+
+ int bfrIdx = m_iToSend % m_nEncoderBuffer;
+
+ MapResources(bfrIdx);
+
+ NVENCSTATUS nvStatus = DoEncode(m_vMappedInputBuffers[bfrIdx], m_vMappedOutputBuffers[bfrIdx], pPicParams);
+
+ if (nvStatus == NV_ENC_SUCCESS || nvStatus == NV_ENC_ERR_NEED_MORE_INPUT)
+ {
+ m_iToSend++;
+ GetEncodedPacket(pOutputBuffer, true);
+ }
+ else
+ {
+ NVENC_THROW_ERROR("nvEncEncodePicture API failed", nvStatus);
+ }
+}
+
+void NvEncoderOutputInVidMemCuda::EndEncode(std::vector<NV_ENC_OUTPUT_PTR> &pOutputBuffer)
+{
+ if (!IsHWEncoderInitialized())
+ {
+ NVENC_THROW_ERROR("Encoder device not initialized", NV_ENC_ERR_ENCODER_NOT_INITIALIZED);
+ }
+
+ SendEOS();
+
+ GetEncodedPacket(pOutputBuffer, false);
+}
+
+void NvEncoderOutputInVidMemCuda::RunMotionEstimation(std::vector<NV_ENC_OUTPUT_PTR> &pOutputBuffer)
+{
+ pOutputBuffer.clear();
+
+ if (!m_hEncoder)
+ {
+ NVENC_THROW_ERROR("Encoder Initialization failed", NV_ENC_ERR_NO_ENCODE_DEVICE);
+ return;
+ }
+
+ const uint32_t bfrIdx = m_iToSend % m_nEncoderBuffer;
+
+ MapResources(bfrIdx);
+
+ NVENCSTATUS nvStatus = DoMotionEstimation(m_vMappedInputBuffers[bfrIdx], m_vMappedRefBuffers[bfrIdx], m_vMappedOutputBuffers[bfrIdx]);
+
+ if (nvStatus == NV_ENC_SUCCESS)
+ {
+ m_iToSend++;
+ GetEncodedPacket(pOutputBuffer, true);
+ }
+ else
+ {
+ NVENC_THROW_ERROR("nvEncRunMotionEstimationOnly API failed", nvStatus);
+ }
+}
+
+void NvEncoderOutputInVidMemCuda::GetEncodedPacket(std::vector<NV_ENC_OUTPUT_PTR> &pOutputBuffer, bool bOutputDelay)
+{
+ unsigned i = 0;
+ int iEnd = bOutputDelay ? m_iToSend - m_nOutputDelay : m_iToSend;
+
+ for (; m_iGot < iEnd; m_iGot++)
+ {
+ if (m_vMappedOutputBuffers[m_iGot % m_nEncoderBuffer])
+ {
+ NVENC_API_CALL(m_nvenc.nvEncUnmapInputResource(m_hEncoder, m_vMappedOutputBuffers[m_iGot % m_nEncoderBuffer]));
+ m_vMappedOutputBuffers[m_iGot % m_nEncoderBuffer] = nullptr;
+ }
+
+ if (m_vMappedInputBuffers[m_iGot % m_nEncoderBuffer])
+ {
+ NVENC_API_CALL(m_nvenc.nvEncUnmapInputResource(m_hEncoder, m_vMappedInputBuffers[m_iGot % m_nEncoderBuffer]));
+ m_vMappedInputBuffers[m_iGot % m_nEncoderBuffer] = nullptr;
+ }
+
+ if (m_bMotionEstimationOnly && m_vMappedRefBuffers[m_iGot % m_nEncoderBuffer])
+ {
+ NVENC_API_CALL(m_nvenc.nvEncUnmapInputResource(m_hEncoder, m_vMappedRefBuffers[m_iGot % m_nEncoderBuffer]));
+ m_vMappedRefBuffers[m_iGot % m_nEncoderBuffer] = nullptr;
+ }
+
+ pOutputBuffer.push_back(m_pOutputBuffers[(m_iGot % m_nEncoderBuffer)]);
+
+ i++;
+ }
+}
+
+void NvEncoderOutputInVidMemCuda::FlushEncoder()
+{
+ if (!m_hEncoder)
+ {
+ return;
+ }
+
+ if (!m_bMotionEstimationOnly)
+ {
+ std::vector<NV_ENC_OUTPUT_PTR> pOutputBuffer;
+ EndEncode(pOutputBuffer);
+ }
+}
+
+void NvEncoderOutputInVidMemCuda::DestroyEncoder()
+{
+ if (!m_hEncoder)
+ {
+ return;
+ }
+
+ // Incase of error it is possible for buffers still mapped to encoder.
+ // flush the encoder queue and then unmapped it if any surface is still mapped
+ FlushEncoder();
+
+ ReleaseOutputBuffers();
+
+ NvEncoder::DestroyEncoder();
+}
\ No newline at end of file
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderOutputInVidMemCuda.h b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderOutputInVidMemCuda.h
new file mode 100644
index 0000000000000000000000000000000000000000..79f0b816f8d05e046efc4af1f0c33e9e8c9b2d43
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderOutputInVidMemCuda.h
@@ -0,0 +1,144 @@
+/*
+* Copyright 2019 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+#pragma once
+
+#include <vector>
+#include "nvEncodeAPI.h"
+#include <stdint.h>
+#include <mutex>
+#include <string>
+#include <iostream>
+#include <sstream>
+#include <string.h>
+#include "NvEncoder/NvEncoderCuda.h"
+
+#define ALIGN_UP(s,a) (((s) + (a) - 1) & ~((a) - 1))
+
+
+/**
+* @brief Class for encode or ME only output in video memory feature for Cuda interfaces.
+*/
+class NvEncoderOutputInVidMemCuda : public NvEncoderCuda
+{
+public:
+ /**
+ * @brief NvEncoderOutputInVidMem class constructor.
+ */
+ NvEncoderOutputInVidMemCuda(CUcontext cuContext, uint32_t nWidth, uint32_t nHeight, NV_ENC_BUFFER_FORMAT eBufferFormat,
+ bool bMotionEstimationOnly = false);
+
+ /**
+ * @brief NvEncoder class virtual destructor.
+ */
+ virtual ~NvEncoderOutputInVidMemCuda();
+
+ /**
+ * @brief This function is used to initialize the encoder session.
+ * Application must call this function to initialize the encoder, before
+ * starting to encode or motion estimate any frames.
+ */
+ void CreateEncoder(const NV_ENC_INITIALIZE_PARAMS* pEncoderParams);
+
+ /**
+ * @brief This function is used to encode a frame.
+ * Applications must call EncodeFrame() function to encode the uncompressed
+ * data, which has been copied to an input buffer obtained from the
+ * GetNextInputFrame() function.
+ * This function returns video memory buffer pointers containing compressed data
+ * in pOutputBuffer. If there is buffering enabled, this may return without
+ * any data in pOutputBuffer.
+ */
+ void EncodeFrame(std::vector<NV_ENC_OUTPUT_PTR> &pOutputBuffer, NV_ENC_PIC_PARAMS *pPicParams = nullptr);
+
+ /**
+ * @brief This function to flush the encoder queue.
+ * The encoder might be queuing frames for B picture encoding or lookahead;
+ * the application must call EndEncode() to get all the queued encoded frames
+ * from the encoder. The application must call this function before destroying
+ * an encoder session. Video memory buffer pointer containing compressed data
+ * is returned in pOutputBuffer.
+ */
+ void EndEncode(std::vector<NV_ENC_OUTPUT_PTR> &pOutputBuffer);
+
+ /**
+ * @brief This function is used to run motion estimation.
+ * This is used to run motion estimation on a a pair of frames. The
+ * application must copy the reference frame data to the buffer obtained
+ * by calling GetNextReferenceFrame(), and copy the input frame data to
+ * the buffer obtained by calling GetNextInputFrame() before calling the
+ * RunMotionEstimation() function.
+ * This function returns video memory buffer pointers containing
+ * motion vector data in pOutputBuffer.
+ */
+ void RunMotionEstimation(std::vector<NV_ENC_OUTPUT_PTR> &pOutputBuffer);
+
+ /**
+ * @brief This function is used to destroy the encoder session.
+ * Application must call this function to destroy the encoder session and
+ * clean up any allocated resources. The application must call EndEncode()
+ * function to get any queued encoded frames before calling DestroyEncoder().
+ */
+ void DestroyEncoder();
+
+ /**
+ * @brief This function is used to get the size of output buffer required to be
+ * allocated in order to store the output.
+ */
+ uint32_t GetOutputBufferSize();
+
+private:
+
+ /**
+ * @brief This function is used to allocate output buffers in video memory for storing
+ * encode or motion estimation output.
+ */
+ void AllocateOutputBuffers(uint32_t numOutputBuffers);
+
+ /**
+ * @brief This function is used to release output buffers.
+ */
+ void ReleaseOutputBuffers();
+
+ /**
+ * @brief This function is used to register output buffers with NvEncodeAPI.
+ */
+ void RegisterOutputResources(uint32_t bfrSize);
+
+ /**
+ * @brief This function is used to unregister output resources which had been previously registered for encoding
+ * using RegisterOutputResources() function.
+ */
+ void UnregisterOutputResources();
+
+ /**
+ * @brief This function is used to map the input and output buffers to NvEncodeAPI.
+ */
+ void MapResources(uint32_t bfrIdx);
+
+ /**
+ * @brief This is a private function which is used to get video memory buffer pointer containing compressed data
+ * or motion estimation output from the encoder HW.
+ * This is called by EncodeFrame() function. If there is buffering enabled,
+ * this may return without any output data.
+ */
+ void GetEncodedPacket(std::vector<NV_ENC_OUTPUT_PTR> &pOutputBuffer, bool bOutputDelay);
+
+ /**
+ * @brief This function is used to flush the encoder queue.
+ */
+ void FlushEncoder();
+
+private:
+ std::vector<NV_ENC_OUTPUT_PTR> m_vMappedOutputBuffers;
+ std::vector<NV_ENC_OUTPUT_PTR> m_pOutputBuffers;
+ std::vector<NV_ENC_REGISTERED_PTR> m_vRegisteredResourcesOutputBuffer;
+};
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderOutputInVidMemD3D11.cpp b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderOutputInVidMemD3D11.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..216fe2b746a1d61da043e789b2444b2a79a2733d
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderOutputInVidMemD3D11.cpp
@@ -0,0 +1,291 @@
+/*
+* Copyright 2019 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+#include "NvEncoder/NvEncoder.h"
+#include "NvEncoder/NvEncoderOutputInVidMemD3D11.h"
+
+
+NvEncoderOutputInVidMemD3D11::NvEncoderOutputInVidMemD3D11(ID3D11Device* pD3D11Device,
+ uint32_t nWidth, uint32_t nHeight, NV_ENC_BUFFER_FORMAT eBufferFormat,
+ bool bMotionEstimationOnly)
+ : NvEncoderD3D11(pD3D11Device, nWidth, nHeight, eBufferFormat, 0,
+ bMotionEstimationOnly, true)
+{
+}
+
+NvEncoderOutputInVidMemD3D11::~NvEncoderOutputInVidMemD3D11()
+{
+ try
+ {
+ FlushEncoder();
+ ReleaseOutputBuffers();
+ }
+ catch (...)
+ {
+
+ }
+}
+
+uint32_t NvEncoderOutputInVidMemD3D11::GetOutputBufferSize()
+{
+ uint32_t bufferSize = 0;
+
+ if (m_bMotionEstimationOnly)
+ {
+ uint32_t encodeWidthInMbs = (GetEncodeWidth() + 15) >> 4;
+ uint32_t encodeHeightInMbs = (GetEncodeHeight() + 15) >> 4;
+
+ bufferSize = encodeWidthInMbs * encodeHeightInMbs * sizeof(NV_ENC_H264_MV_DATA);
+ }
+ else
+ {
+ // 2-times the input size
+ bufferSize = GetFrameSize() * 2;
+
+ bufferSize += sizeof(NV_ENC_ENCODE_OUT_PARAMS);
+ }
+
+ bufferSize = ALIGN_UP(bufferSize, 4);
+
+ return bufferSize;
+}
+
+void NvEncoderOutputInVidMemD3D11::AllocateOutputBuffers(uint32_t numOutputBuffers)
+{
+ uint32_t size = GetOutputBufferSize();
+ D3D11_BUFFER_DESC desc;
+
+ ZeroMemory(&desc, sizeof(D3D11_BUFFER_DESC));
+
+ desc.ByteWidth = size;
+ desc.Usage = D3D11_USAGE_DEFAULT;
+ desc.BindFlags = D3D11_BIND_VIDEO_ENCODER | D3D11_BIND_SHADER_RESOURCE;
+ desc.CPUAccessFlags = 0;
+
+ for (uint32_t i = 0; i < numOutputBuffers; i++)
+ {
+ ID3D11Buffer *dx11bfr = NULL;
+
+ if (m_pD3D11Device->CreateBuffer(&desc, NULL, (ID3D11Buffer **)&dx11bfr) != S_OK)
+ {
+ NVENC_THROW_ERROR("Failed to create ID3D11Buffer", NV_ENC_ERR_OUT_OF_MEMORY);
+ }
+
+ m_pOutputBuffers.push_back((NV_ENC_OUTPUT_PTR)dx11bfr);
+ }
+
+ RegisterOutputResources(size);
+}
+
+void NvEncoderOutputInVidMemD3D11::ReleaseOutputBuffers()
+{
+ if (!m_hEncoder)
+ {
+ return;
+ }
+
+ UnregisterOutputResources();
+
+ for (uint32_t i = 0; i < m_pOutputBuffers.size(); ++i)
+ {
+ reinterpret_cast<ID3D11Buffer *>(m_pOutputBuffers[i])->Release();
+ }
+ m_pOutputBuffers.clear();
+}
+
+void NvEncoderOutputInVidMemD3D11::RegisterOutputResources(uint32_t bfrSize)
+{
+ NV_ENC_BUFFER_USAGE bufferUsage = m_bMotionEstimationOnly? NV_ENC_OUTPUT_MOTION_VECTOR : NV_ENC_OUTPUT_BITSTREAM;
+
+ for (uint32_t i = 0; i < m_pOutputBuffers.size(); ++i)
+ {
+ if (m_pOutputBuffers[i])
+ {
+ NV_ENC_REGISTERED_PTR registeredPtr = RegisterResource(m_pOutputBuffers[i],
+ NV_ENC_INPUT_RESOURCE_TYPE_DIRECTX, bfrSize, 1, 0,
+ NV_ENC_BUFFER_FORMAT_U8, bufferUsage);
+
+ m_vRegisteredResourcesOutputBuffer.push_back(registeredPtr);
+ }
+ }
+}
+
+void NvEncoderOutputInVidMemD3D11::UnregisterOutputResources()
+{
+ for (uint32_t i = 0; i < m_vMappedOutputBuffers.size(); ++i)
+ {
+ if (m_vMappedOutputBuffers[i])
+ {
+ m_nvenc.nvEncUnmapInputResource(m_hEncoder, m_vMappedOutputBuffers[i]);
+ }
+ }
+ m_vMappedOutputBuffers.clear();
+
+ for (uint32_t i = 0; i < m_vRegisteredResourcesOutputBuffer.size(); ++i)
+ {
+ if (m_vRegisteredResourcesOutputBuffer[i])
+ {
+ m_nvenc.nvEncUnregisterResource(m_hEncoder, m_vRegisteredResourcesOutputBuffer[i]);
+ }
+ }
+ m_vRegisteredResourcesOutputBuffer.clear();
+}
+
+void NvEncoderOutputInVidMemD3D11::CreateEncoder(const NV_ENC_INITIALIZE_PARAMS* pEncoderParams)
+{
+ NvEncoder::CreateEncoder(pEncoderParams);
+
+ AllocateOutputBuffers(m_nEncoderBuffer);
+
+ m_vMappedOutputBuffers.resize(m_nEncoderBuffer, nullptr);
+}
+
+void NvEncoderOutputInVidMemD3D11::MapResources(uint32_t bfrIdx)
+{
+ NvEncoder::MapResources(bfrIdx);
+
+ //map output surface
+ NV_ENC_MAP_INPUT_RESOURCE mapInputResourceBitstreamBuffer = { NV_ENC_MAP_INPUT_RESOURCE_VER };
+ mapInputResourceBitstreamBuffer.registeredResource = m_vRegisteredResourcesOutputBuffer[bfrIdx];
+ NVENC_API_CALL(m_nvenc.nvEncMapInputResource(m_hEncoder, &mapInputResourceBitstreamBuffer));
+ m_vMappedOutputBuffers[bfrIdx] = mapInputResourceBitstreamBuffer.mappedResource;
+}
+
+void NvEncoderOutputInVidMemD3D11::EncodeFrame(std::vector<NV_ENC_OUTPUT_PTR> &pOutputBuffer, NV_ENC_PIC_PARAMS *pPicParams)
+{
+ pOutputBuffer.clear();
+ if (!IsHWEncoderInitialized())
+ {
+ NVENC_THROW_ERROR("Encoder device not found", NV_ENC_ERR_NO_ENCODE_DEVICE);
+ }
+
+ int bfrIdx = m_iToSend % m_nEncoderBuffer;
+
+ MapResources(bfrIdx);
+
+ NVENCSTATUS nvStatus = DoEncode(m_vMappedInputBuffers[bfrIdx], m_vMappedOutputBuffers[bfrIdx], pPicParams);
+
+ if (nvStatus == NV_ENC_SUCCESS || nvStatus == NV_ENC_ERR_NEED_MORE_INPUT)
+ {
+ m_iToSend++;
+ GetEncodedPacket(pOutputBuffer, true);
+ }
+ else
+ {
+ NVENC_THROW_ERROR("nvEncEncodePicture API failed", nvStatus);
+ }
+}
+
+void NvEncoderOutputInVidMemD3D11::EndEncode(std::vector<NV_ENC_OUTPUT_PTR> &pOutputBuffer)
+{
+ if (!IsHWEncoderInitialized())
+ {
+ NVENC_THROW_ERROR("Encoder device not initialized", NV_ENC_ERR_ENCODER_NOT_INITIALIZED);
+ }
+
+ SendEOS();
+
+ GetEncodedPacket(pOutputBuffer, false);
+}
+
+void NvEncoderOutputInVidMemD3D11::RunMotionEstimation(std::vector<NV_ENC_OUTPUT_PTR> &pOutputBuffer)
+{
+ pOutputBuffer.clear();
+
+ if (!m_hEncoder)
+ {
+ NVENC_THROW_ERROR("Encoder Initialization failed", NV_ENC_ERR_NO_ENCODE_DEVICE);
+ return;
+ }
+
+ const uint32_t bfrIdx = m_iToSend % m_nEncoderBuffer;
+
+ MapResources(bfrIdx);
+
+ NVENCSTATUS nvStatus = DoMotionEstimation(m_vMappedInputBuffers[bfrIdx], m_vMappedRefBuffers[bfrIdx], m_vMappedOutputBuffers[bfrIdx]);
+
+ if (nvStatus == NV_ENC_SUCCESS)
+ {
+ m_iToSend++;
+ GetEncodedPacket(pOutputBuffer, true);
+ }
+ else
+ {
+ NVENC_THROW_ERROR("nvEncRunMotionEstimationOnly API failed", nvStatus);
+ }
+}
+
+void NvEncoderOutputInVidMemD3D11::GetEncodedPacket(std::vector<NV_ENC_OUTPUT_PTR> &pOutputBuffer , bool bOutputDelay)
+{
+ unsigned i = 0;
+ int iEnd = bOutputDelay ? m_iToSend - m_nOutputDelay : m_iToSend;
+
+ for (; m_iGot < iEnd; m_iGot++)
+ {
+ if (m_vMappedOutputBuffers[m_iGot % m_nEncoderBuffer])
+ {
+ NVENC_API_CALL(m_nvenc.nvEncUnmapInputResource(m_hEncoder, m_vMappedOutputBuffers[m_iGot % m_nEncoderBuffer]));
+ m_vMappedOutputBuffers[m_iGot % m_nEncoderBuffer] = nullptr;
+ }
+
+ if (m_vMappedInputBuffers[m_iGot % m_nEncoderBuffer])
+ {
+ NVENC_API_CALL(m_nvenc.nvEncUnmapInputResource(m_hEncoder, m_vMappedInputBuffers[m_iGot % m_nEncoderBuffer]));
+ m_vMappedInputBuffers[m_iGot % m_nEncoderBuffer] = nullptr;
+ }
+
+ if (m_bMotionEstimationOnly && m_vMappedRefBuffers[m_iGot % m_nEncoderBuffer])
+ {
+ NVENC_API_CALL(m_nvenc.nvEncUnmapInputResource(m_hEncoder, m_vMappedRefBuffers[m_iGot % m_nEncoderBuffer]));
+ m_vMappedRefBuffers[m_iGot % m_nEncoderBuffer] = nullptr;
+ }
+
+ pOutputBuffer.push_back(m_pOutputBuffers[(m_iGot % m_nEncoderBuffer)]);
+
+ i++;
+ }
+}
+
+void NvEncoderOutputInVidMemD3D11::FlushEncoder()
+{
+ if (!m_hEncoder)
+ {
+ return;
+ }
+
+ if (!m_bMotionEstimationOnly)
+ {
+ try
+ {
+ std::vector<NV_ENC_OUTPUT_PTR> pOutputBuffer;
+ EndEncode(pOutputBuffer);
+ }
+ catch (...)
+ {
+
+ }
+ }
+}
+
+void NvEncoderOutputInVidMemD3D11::DestroyEncoder()
+{
+ if (!m_hEncoder)
+ {
+ return;
+ }
+
+ // Incase of error it is possible for buffers still mapped to encoder.
+ // flush the encoder queue and then unmapped it if any surface is still mapped
+ FlushEncoder();
+ ReleaseOutputBuffers();
+
+ NvEncoder::DestroyEncoder();
+}
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderOutputInVidMemD3D11.h b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderOutputInVidMemD3D11.h
new file mode 100644
index 0000000000000000000000000000000000000000..224f1db9350dd5d766ccda12306e1928cd61f6d0
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/NvCodec/NvEncoder/NvEncoderOutputInVidMemD3D11.h
@@ -0,0 +1,144 @@
+/*
+* Copyright 2019 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+#pragma once
+
+#include <vector>
+#include "nvEncodeAPI.h"
+#include <stdint.h>
+#include <mutex>
+#include <string>
+#include <iostream>
+#include <sstream>
+#include <string.h>
+#include "NvEncoder/NvEncoderD3D11.h"
+
+#define ALIGN_UP(s,a) (((s) + (a) - 1) & ~((a) - 1))
+
+
+/**
+* @brief Class for encode or ME only output in video memory feature for D3D11 interfaces.
+*/
+class NvEncoderOutputInVidMemD3D11 : public NvEncoderD3D11
+{
+public:
+ /**
+ * @brief NvEncoderOutputInVidMemD3D11 class constructor.
+ */
+ NvEncoderOutputInVidMemD3D11(ID3D11Device* pD3D11Device, uint32_t nWidth, uint32_t nHeight, NV_ENC_BUFFER_FORMAT eBufferFormat,
+ bool bMotionEstimationOnly = false);
+
+ /**
+ * @brief NvEncoder class virtual destructor.
+ */
+ virtual ~NvEncoderOutputInVidMemD3D11();
+
+ /**
+ * @brief This function is used to initialize the encoder session.
+ * Application must call this function to initialize the encoder, before
+ * starting to encode or motion estimate any frames.
+ */
+ void CreateEncoder(const NV_ENC_INITIALIZE_PARAMS* pEncoderParams);
+
+ /**
+ * @brief This function is used to encode a frame.
+ * Applications must call EncodeFrame() function to encode the uncompressed
+ * data, which has been copied to an input buffer obtained from the
+ * GetNextInputFrame() function.
+ * This function returns video memory buffer pointers containing compressed data
+ * in pOutputBuffer. If there is buffering enabled, this may return without
+ * any data in pOutputBuffer.
+ */
+ void EncodeFrame(std::vector<NV_ENC_OUTPUT_PTR> &pOutputBuffer, NV_ENC_PIC_PARAMS *pPicParams = nullptr);
+
+ /**
+ * @brief This function to flush the encoder queue.
+ * The encoder might be queuing frames for B picture encoding or lookahead;
+ * the application must call EndEncode() to get all the queued encoded frames
+ * from the encoder. The application must call this function before destroying
+ * an encoder session. Video memory buffer pointer containing compressed data
+ * is returned in pOutputBuffer.
+ */
+ void EndEncode(std::vector<NV_ENC_OUTPUT_PTR> &pOutputBuffer);
+
+ /**
+ * @brief This function is used to run motion estimation.
+ * This is used to run motion estimation on a a pair of frames. The
+ * application must copy the reference frame data to the buffer obtained
+ * by calling GetNextReferenceFrame(), and copy the input frame data to
+ * the buffer obtained by calling GetNextInputFrame() before calling the
+ * RunMotionEstimation() function.
+ * This function returns video memory buffer pointers containing
+ * motion vector data in pOutputBuffer.
+ */
+ void RunMotionEstimation(std::vector<NV_ENC_OUTPUT_PTR> &pOutputBuffer);
+
+ /**
+ * @brief This function is used to destroy the encoder session.
+ * Application must call this function to destroy the encoder session and
+ * clean up any allocated resources. The application must call EndEncode()
+ * function to get any queued encoded frames before calling DestroyEncoder().
+ */
+ void DestroyEncoder();
+
+ /**
+ * @brief This function is used to get the size of output buffer required to be
+ * allocated in order to store the output.
+ */
+ uint32_t GetOutputBufferSize();
+
+private:
+
+ /**
+ * @brief This function is used to allocate output buffers in video memory for storing
+ * encode or motion estimation output.
+ */
+ void AllocateOutputBuffers(uint32_t numOutputBuffers);
+
+ /**
+ * @brief This function is used to release output buffers.
+ */
+ void ReleaseOutputBuffers();
+
+ /**
+ * @brief This function is used to register output buffers with NvEncodeAPI.
+ */
+ void RegisterOutputResources(uint32_t bfrSize);
+
+ /**
+ * @brief This function is used to unregister output resources which had been previously registered for encoding
+ * using RegisterOutputResources() function.
+ */
+ void UnregisterOutputResources();
+
+ /**
+ * @brief This function is used to map the input and output buffers to NvEncodeAPI.
+ */
+ void MapResources(uint32_t bfrIdx);
+
+ /**
+ * @brief This is a private function which is used to get video memory buffer pointer containing compressed data
+ * or motion estimation output from the encoder HW.
+ * This is called by EncodeFrame() function. If there is buffering enabled,
+ * this may return without any output data.
+ */
+ void GetEncodedPacket(std::vector<NV_ENC_OUTPUT_PTR> &pOutputBuffer, bool bOutputDelay);
+
+ /**
+ * @brief This function is used to flush the encoder queue.
+ */
+ void FlushEncoder();
+
+private:
+ std::vector<NV_ENC_OUTPUT_PTR> m_vMappedOutputBuffers;
+ std::vector<NV_ENC_OUTPUT_PTR> m_pOutputBuffers;
+ std::vector<NV_ENC_REGISTERED_PTR> m_vRegisteredResourcesOutputBuffer;
+};
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/BitDepth.cu b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/BitDepth.cu
new file mode 100644
index 0000000000000000000000000000000000000000..9fcc64f5a0952a71e87628f1538376abcf7e0285
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/BitDepth.cu
@@ -0,0 +1,54 @@
+/*
+* Copyright 2017-2018 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+#include <cuda_runtime.h>
+#include <stdint.h>
+#include <stdio.h>
+
+static __global__ void ConvertUInt8ToUInt16Kernel(uint8_t *dpUInt8, uint16_t *dpUInt16, int nSrcPitch, int nDestPitch, int nWidth, int nHeight)
+{
+ int x = blockIdx.x * blockDim.x + threadIdx.x,
+ y = blockIdx.y * blockDim.y + threadIdx.y;
+
+ if (x >= nWidth || y >= nHeight)
+ {
+ return;
+ }
+ int destStrideInPixels = nDestPitch / (sizeof(uint16_t));
+ *(uchar2 *)&dpUInt16[y * destStrideInPixels + x] = uchar2{ 0, dpUInt8[y * nSrcPitch + x] };
+}
+
+static __global__ void ConvertUInt16ToUInt8Kernel(uint16_t *dpUInt16, uint8_t *dpUInt8, int nSrcPitch, int nDestPitch, int nWidth, int nHeight)
+{
+ int x = blockIdx.x * blockDim.x + threadIdx.x,
+ y = blockIdx.y * blockDim.y + threadIdx.y;
+
+ if (x >= nWidth || y >= nHeight)
+ {
+ return;
+ }
+ int srcStrideInPixels = nSrcPitch / (sizeof(uint16_t));
+ dpUInt8[y * nDestPitch + x] = ((uchar2 *)&dpUInt16[y * srcStrideInPixels + x])->y;
+}
+
+void ConvertUInt8ToUInt16(uint8_t *dpUInt8, uint16_t *dpUInt16, int nSrcPitch, int nDestPitch, int nWidth, int nHeight)
+{
+ dim3 blockSize(16, 16, 1);
+ dim3 gridSize(((uint32_t)nWidth + blockSize.x - 1) / blockSize.x, ((uint32_t)nHeight + blockSize.y - 1) / blockSize.y, 1);
+ ConvertUInt8ToUInt16Kernel <<< gridSize, blockSize >>>(dpUInt8, dpUInt16, nSrcPitch, nDestPitch, nWidth, nHeight);
+}
+
+void ConvertUInt16ToUInt8(uint16_t *dpUInt16, uint8_t *dpUInt8, int nSrcPitch, int nDestPitch, int nWidth, int nHeight)
+{
+ dim3 blockSize(16, 16, 1);
+ dim3 gridSize(((uint32_t)nWidth + blockSize.x - 1) / blockSize.x, ((uint32_t)nHeight + blockSize.y - 1) / blockSize.y, 1);
+ ConvertUInt16ToUInt8Kernel <<<gridSize, blockSize >>>(dpUInt16, dpUInt8, nSrcPitch, nDestPitch, nWidth, nHeight);
+}
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/ColorSpace.cu b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/ColorSpace.cu
new file mode 100644
index 0000000000000000000000000000000000000000..6600dcc4e13be66fc92a207f7da321896e88b47e
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/ColorSpace.cu
@@ -0,0 +1,382 @@
+/*
+* Copyright 2017-2018 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+#include "ColorSpace.h"
+
+__constant__ float matYuv2Rgb[3][3];
+__constant__ float matRgb2Yuv[3][3];
+
+void inline GetConstants(int iMatrix, float &wr, float &wb, int &black, int &white, int &max) {
+ // Default is BT709
+ wr = 0.2126f; wb = 0.0722f;
+ black = 16; white = 235;
+ max = 255;
+ if (iMatrix == ColorSpaceStandard_BT601) {
+ wr = 0.2990f; wb = 0.1140f;
+ } else if (iMatrix == ColorSpaceStandard_BT2020) {
+ wr = 0.2627f; wb = 0.0593f;
+ // 10-bit only
+ black = 64 << 6; white = 940 << 6;
+ max = (1 << 16) - 1;
+ }
+}
+
+// Full-range BT.709 and BT.2020 are the default matrices used for YUV to RGB conversion for 8-bit and 10/12-bit encoded streams, respectively.
+// If color primaries are encoded/embedded in the bitstream, the client should use those color primaries in the conversion matrices for more accurate color reproduction.
+
+void SetMatYuv2Rgb(int iMatrix) {
+ float wr, wb;
+ int black, white, max;
+ GetConstants(iMatrix, wr, wb, black, white, max);
+ float mat[3][3] = {
+ 1.0f, 0.0f, (1.0f - wr) / 0.5f,
+ 1.0f, -wb * (1.0f - wb) / 0.5f / (1 - wb - wr), -wr * (1 - wr) / 0.5f / (1 - wb - wr),
+ 1.0f, (1.0f - wb) / 0.5f, 0.0f,
+ };
+ for (int i = 0; i < 3; i++) {
+ for (int j = 0; j < 3; j++) {
+ mat[i][j] = (float)(1.0 * max / (white - black) * mat[i][j]);
+ }
+ }
+ cudaMemcpyToSymbol(matYuv2Rgb, mat, sizeof(mat));
+}
+
+void SetMatRgb2Yuv(int iMatrix) {
+ float wr, wb;
+ int black, white, max;
+ GetConstants(iMatrix, wr, wb, black, white, max);
+ float mat[3][3] = {
+ wr, 1.0f - wb - wr, wb,
+ -0.5f * wr / (1.0f - wb), -0.5f * (1 - wb - wr) / (1.0f - wb), 0.5f,
+ 0.5f, -0.5f * (1.0f - wb - wr) / (1.0f - wr), -0.5f * wb / (1.0f - wr),
+ };
+ for (int i = 0; i < 3; i++) {
+ for (int j = 0; j < 3; j++) {
+ mat[i][j] = (float)(1.0 * (white - black) / max * mat[i][j]);
+ }
+ }
+ cudaMemcpyToSymbol(matRgb2Yuv, mat, sizeof(mat));
+}
+
+template<class T>
+__device__ static T Clamp(T x, T lower, T upper) {
+ return x < lower ? lower : (x > upper ? upper : x);
+}
+
+template<class Rgb, class YuvUnit>
+__device__ inline Rgb YuvToRgbForPixel(YuvUnit y, YuvUnit u, YuvUnit v) {
+ const int
+ low = 1 << (sizeof(YuvUnit) * 8 - 4),
+ mid = 1 << (sizeof(YuvUnit) * 8 - 1);
+ float fy = (int)y - low, fu = (int)u - mid, fv = (int)v - mid;
+ const float maxf = (1 << sizeof(YuvUnit) * 8) - 1.0f;
+ YuvUnit
+ r = (YuvUnit)Clamp(matYuv2Rgb[0][0] * fy + matYuv2Rgb[0][1] * fu + matYuv2Rgb[0][2] * fv, 0.0f, maxf),
+ g = (YuvUnit)Clamp(matYuv2Rgb[1][0] * fy + matYuv2Rgb[1][1] * fu + matYuv2Rgb[1][2] * fv, 0.0f, maxf),
+ b = (YuvUnit)Clamp(matYuv2Rgb[2][0] * fy + matYuv2Rgb[2][1] * fu + matYuv2Rgb[2][2] * fv, 0.0f, maxf);
+
+ Rgb rgb{};
+ const int nShift = abs((int)sizeof(YuvUnit) - (int)sizeof(rgb.c.r)) * 8;
+ if (sizeof(YuvUnit) >= sizeof(rgb.c.r)) {
+ rgb.c.r = r >> nShift;
+ rgb.c.g = g >> nShift;
+ rgb.c.b = b >> nShift;
+ } else {
+ rgb.c.r = r << nShift;
+ rgb.c.g = g << nShift;
+ rgb.c.b = b << nShift;
+ }
+ return rgb;
+}
+
+template<class YuvUnitx2, class Rgb, class RgbIntx2>
+__global__ static void YuvToRgbKernel(uint8_t *pYuv, int nYuvPitch, uint8_t *pRgb, int nRgbPitch, int nWidth, int nHeight) {
+ int x = (threadIdx.x + blockIdx.x * blockDim.x) * 2;
+ int y = (threadIdx.y + blockIdx.y * blockDim.y) * 2;
+ if (x + 1 >= nWidth || y + 1 >= nHeight) {
+ return;
+ }
+
+ uint8_t *pSrc = pYuv + x * sizeof(YuvUnitx2) / 2 + y * nYuvPitch;
+ uint8_t *pDst = pRgb + x * sizeof(Rgb) + y * nRgbPitch;
+
+ YuvUnitx2 l0 = *(YuvUnitx2 *)pSrc;
+ YuvUnitx2 l1 = *(YuvUnitx2 *)(pSrc + nYuvPitch);
+ YuvUnitx2 ch = *(YuvUnitx2 *)(pSrc + (nHeight - y / 2) * nYuvPitch);
+
+ *(RgbIntx2 *)pDst = RgbIntx2 {
+ YuvToRgbForPixel<Rgb>(l0.x, ch.x, ch.y).d,
+ YuvToRgbForPixel<Rgb>(l0.y, ch.x, ch.y).d,
+ };
+ *(RgbIntx2 *)(pDst + nRgbPitch) = RgbIntx2 {
+ YuvToRgbForPixel<Rgb>(l1.x, ch.x, ch.y).d,
+ YuvToRgbForPixel<Rgb>(l1.y, ch.x, ch.y).d,
+ };
+}
+
+template<class YuvUnitx2, class Rgb, class RgbIntx2>
+__global__ static void Yuv444ToRgbKernel(uint8_t *pYuv, int nYuvPitch, uint8_t *pRgb, int nRgbPitch, int nWidth, int nHeight) {
+ int x = (threadIdx.x + blockIdx.x * blockDim.x) * 2;
+ int y = (threadIdx.y + blockIdx.y * blockDim.y);
+ if (x + 1 >= nWidth || y >= nHeight) {
+ return;
+ }
+
+ uint8_t *pSrc = pYuv + x * sizeof(YuvUnitx2) / 2 + y * nYuvPitch;
+ uint8_t *pDst = pRgb + x * sizeof(Rgb) + y * nRgbPitch;
+
+ YuvUnitx2 l0 = *(YuvUnitx2 *)pSrc;
+ YuvUnitx2 ch1 = *(YuvUnitx2 *)(pSrc + (nHeight * nYuvPitch));
+ YuvUnitx2 ch2 = *(YuvUnitx2 *)(pSrc + (2 * nHeight * nYuvPitch));
+
+ *(RgbIntx2 *)pDst = RgbIntx2{
+ YuvToRgbForPixel<Rgb>(l0.x, ch1.x, ch2.x).d,
+ YuvToRgbForPixel<Rgb>(l0.y, ch1.y, ch2.y).d,
+ };
+}
+
+template<class YuvUnitx2, class Rgb, class RgbUnitx2>
+__global__ static void YuvToRgbPlanarKernel(uint8_t *pYuv, int nYuvPitch, uint8_t *pRgbp, int nRgbpPitch, int nWidth, int nHeight) {
+ int x = (threadIdx.x + blockIdx.x * blockDim.x) * 2;
+ int y = (threadIdx.y + blockIdx.y * blockDim.y) * 2;
+ if (x + 1 >= nWidth || y + 1 >= nHeight) {
+ return;
+ }
+
+ uint8_t *pSrc = pYuv + x * sizeof(YuvUnitx2) / 2 + y * nYuvPitch;
+
+ YuvUnitx2 l0 = *(YuvUnitx2 *)pSrc;
+ YuvUnitx2 l1 = *(YuvUnitx2 *)(pSrc + nYuvPitch);
+ YuvUnitx2 ch = *(YuvUnitx2 *)(pSrc + (nHeight - y / 2) * nYuvPitch);
+
+ Rgb rgb0 = YuvToRgbForPixel<Rgb>(l0.x, ch.x, ch.y),
+ rgb1 = YuvToRgbForPixel<Rgb>(l0.y, ch.x, ch.y),
+ rgb2 = YuvToRgbForPixel<Rgb>(l1.x, ch.x, ch.y),
+ rgb3 = YuvToRgbForPixel<Rgb>(l1.y, ch.x, ch.y);
+
+ uint8_t *pDst = pRgbp + x * sizeof(RgbUnitx2) / 2 + y * nRgbpPitch;
+ *(RgbUnitx2 *)pDst = RgbUnitx2 {rgb0.v.x, rgb1.v.x};
+ *(RgbUnitx2 *)(pDst + nRgbpPitch) = RgbUnitx2 {rgb2.v.x, rgb3.v.x};
+ pDst += nRgbpPitch * nHeight;
+ *(RgbUnitx2 *)pDst = RgbUnitx2 {rgb0.v.y, rgb1.v.y};
+ *(RgbUnitx2 *)(pDst + nRgbpPitch) = RgbUnitx2 {rgb2.v.y, rgb3.v.y};
+ pDst += nRgbpPitch * nHeight;
+ *(RgbUnitx2 *)pDst = RgbUnitx2 {rgb0.v.z, rgb1.v.z};
+ *(RgbUnitx2 *)(pDst + nRgbpPitch) = RgbUnitx2 {rgb2.v.z, rgb3.v.z};
+}
+
+template<class YuvUnitx2, class Rgb, class RgbUnitx2>
+__global__ static void Yuv444ToRgbPlanarKernel(uint8_t *pYuv, int nYuvPitch, uint8_t *pRgbp, int nRgbpPitch, int nWidth, int nHeight) {
+ int x = (threadIdx.x + blockIdx.x * blockDim.x) * 2;
+ int y = (threadIdx.y + blockIdx.y * blockDim.y);
+ if (x + 1 >= nWidth || y >= nHeight) {
+ return;
+ }
+
+ uint8_t *pSrc = pYuv + x * sizeof(YuvUnitx2) / 2 + y * nYuvPitch;
+
+ YuvUnitx2 l0 = *(YuvUnitx2 *)pSrc;
+ YuvUnitx2 ch1 = *(YuvUnitx2 *)(pSrc + (nHeight * nYuvPitch));
+ YuvUnitx2 ch2 = *(YuvUnitx2 *)(pSrc + (2 * nHeight * nYuvPitch));
+
+ Rgb rgb0 = YuvToRgbForPixel<Rgb>(l0.x, ch1.x, ch2.x),
+ rgb1 = YuvToRgbForPixel<Rgb>(l0.y, ch1.y, ch2.y);
+
+
+ uint8_t *pDst = pRgbp + x * sizeof(RgbUnitx2) / 2 + y * nRgbpPitch;
+ *(RgbUnitx2 *)pDst = RgbUnitx2{ rgb0.v.x, rgb1.v.x };
+
+ pDst += nRgbpPitch * nHeight;
+ *(RgbUnitx2 *)pDst = RgbUnitx2{ rgb0.v.y, rgb1.v.y };
+
+ pDst += nRgbpPitch * nHeight;
+ *(RgbUnitx2 *)pDst = RgbUnitx2{ rgb0.v.z, rgb1.v.z };
+}
+
+template <class COLOR32>
+void Nv12ToColor32(uint8_t *dpNv12, int nNv12Pitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix) {
+ SetMatYuv2Rgb(iMatrix);
+ YuvToRgbKernel<uchar2, COLOR32, uint2>
+ <<<dim3((nWidth + 63) / 32 / 2, (nHeight + 3) / 2 / 2), dim3(32, 2)>>>
+ (dpNv12, nNv12Pitch, dpBgra, nBgraPitch, nWidth, nHeight);
+}
+
+template <class COLOR64>
+void Nv12ToColor64(uint8_t *dpNv12, int nNv12Pitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix) {
+ SetMatYuv2Rgb(iMatrix);
+ YuvToRgbKernel<uchar2, COLOR64, ulonglong2>
+ <<<dim3((nWidth + 63) / 32 / 2, (nHeight + 3) / 2 / 2), dim3(32, 2)>>>
+ (dpNv12, nNv12Pitch, dpBgra, nBgraPitch, nWidth, nHeight);
+}
+
+template <class COLOR32>
+void YUV444ToColor32(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix) {
+ SetMatYuv2Rgb(iMatrix);
+ Yuv444ToRgbKernel<uchar2, COLOR32, uint2>
+ <<<dim3((nWidth + 63) / 32 / 2, (nHeight + 3) / 2), dim3(32, 2) >>>
+ (dpYUV444, nPitch, dpBgra, nBgraPitch, nWidth, nHeight);
+}
+
+template <class COLOR64>
+void YUV444ToColor64(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix) {
+ SetMatYuv2Rgb(iMatrix);
+ Yuv444ToRgbKernel<uchar2, COLOR64, ulonglong2>
+ <<<dim3((nWidth + 63) / 32 / 2, (nHeight + 3) / 2), dim3(32, 2) >>>
+ (dpYUV444, nPitch, dpBgra, nBgraPitch, nWidth, nHeight);
+}
+
+template <class COLOR32>
+void P016ToColor32(uint8_t *dpP016, int nP016Pitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix) {
+ SetMatYuv2Rgb(iMatrix);
+ YuvToRgbKernel<ushort2, COLOR32, uint2>
+ <<<dim3((nWidth + 63) / 32 / 2, (nHeight + 3) / 2 / 2), dim3(32, 2)>>>
+ (dpP016, nP016Pitch, dpBgra, nBgraPitch, nWidth, nHeight);
+}
+
+template <class COLOR64>
+void P016ToColor64(uint8_t *dpP016, int nP016Pitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix) {
+ SetMatYuv2Rgb(iMatrix);
+ YuvToRgbKernel<ushort2, COLOR64, ulonglong2>
+ <<<dim3((nWidth + 63) / 32 / 2, (nHeight + 3) / 2 / 2), dim3(32, 2)>>>
+ (dpP016, nP016Pitch, dpBgra, nBgraPitch, nWidth, nHeight);
+}
+
+template <class COLOR32>
+void YUV444P16ToColor32(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix) {
+ SetMatYuv2Rgb(iMatrix);
+ Yuv444ToRgbKernel<ushort2, COLOR32, uint2>
+ <<<dim3((nWidth + 63) / 32 / 2, (nHeight + 3) / 2), dim3(32, 2) >>>
+ (dpYUV444, nPitch, dpBgra, nBgraPitch, nWidth, nHeight);
+}
+
+template <class COLOR64>
+void YUV444P16ToColor64(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix) {
+ SetMatYuv2Rgb(iMatrix);
+ Yuv444ToRgbKernel<ushort2, COLOR64, ulonglong2>
+ <<<dim3((nWidth + 63) / 32 / 2, (nHeight + 3) / 2), dim3(32, 2) >>>
+ (dpYUV444, nPitch, dpBgra, nBgraPitch, nWidth, nHeight);
+}
+
+template <class COLOR32>
+void Nv12ToColorPlanar(uint8_t *dpNv12, int nNv12Pitch, uint8_t *dpBgrp, int nBgrpPitch, int nWidth, int nHeight, int iMatrix) {
+ SetMatYuv2Rgb(iMatrix);
+ YuvToRgbPlanarKernel<uchar2, COLOR32, uchar2>
+ <<<dim3((nWidth + 63) / 32 / 2, (nHeight + 3) / 2 / 2), dim3(32, 2)>>>
+ (dpNv12, nNv12Pitch, dpBgrp, nBgrpPitch, nWidth, nHeight);
+}
+
+template <class COLOR32>
+void P016ToColorPlanar(uint8_t *dpP016, int nP016Pitch, uint8_t *dpBgrp, int nBgrpPitch, int nWidth, int nHeight, int iMatrix) {
+ SetMatYuv2Rgb(iMatrix);
+ YuvToRgbPlanarKernel<ushort2, COLOR32, uchar2>
+ <<<dim3((nWidth + 63) / 32 / 2, (nHeight + 3) / 2 / 2), dim3(32, 2)>>>
+ (dpP016, nP016Pitch, dpBgrp, nBgrpPitch, nWidth, nHeight);
+}
+
+template <class COLOR32>
+void YUV444ToColorPlanar(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgrp, int nBgrpPitch, int nWidth, int nHeight, int iMatrix) {
+ SetMatYuv2Rgb(iMatrix);
+ Yuv444ToRgbPlanarKernel<uchar2, COLOR32, uchar2>
+ <<<dim3((nWidth + 63) / 32 / 2, (nHeight + 3) / 2), dim3(32, 2) >>>
+ (dpYUV444, nPitch, dpBgrp, nBgrpPitch, nWidth, nHeight);
+}
+
+template <class COLOR32>
+void YUV444P16ToColorPlanar(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgrp, int nBgrpPitch, int nWidth, int nHeight, int iMatrix) {
+ SetMatYuv2Rgb(iMatrix);
+ Yuv444ToRgbPlanarKernel<ushort2, COLOR32, uchar2>
+ << <dim3((nWidth + 63) / 32 / 2, (nHeight + 3) / 2), dim3(32, 2) >> >
+ (dpYUV444, nPitch, dpBgrp, nBgrpPitch, nWidth, nHeight);
+}
+
+// Explicit Instantiation
+template void Nv12ToColor32<BGRA32>(uint8_t *dpNv12, int nNv12Pitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix);
+template void Nv12ToColor32<RGBA32>(uint8_t *dpNv12, int nNv12Pitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix);
+template void Nv12ToColor64<BGRA64>(uint8_t *dpNv12, int nNv12Pitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix);
+template void Nv12ToColor64<RGBA64>(uint8_t *dpNv12, int nNv12Pitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix);
+template void YUV444ToColor32<BGRA32>(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix);
+template void YUV444ToColor32<RGBA32>(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix);
+template void YUV444ToColor64<BGRA64>(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix);
+template void YUV444ToColor64<RGBA64>(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix);
+template void P016ToColor32<BGRA32>(uint8_t *dpP016, int nP016Pitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix);
+template void P016ToColor32<RGBA32>(uint8_t *dpP016, int nP016Pitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix);
+template void P016ToColor64<BGRA64>(uint8_t *dpP016, int nP016Pitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix);
+template void P016ToColor64<RGBA64>(uint8_t *dpP016, int nP016Pitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix);
+template void YUV444P16ToColor32<BGRA32>(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix);
+template void YUV444P16ToColor32<RGBA32>(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix);
+template void YUV444P16ToColor64<BGRA64>(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix);
+template void YUV444P16ToColor64<RGBA64>(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix);
+template void Nv12ToColorPlanar<BGRA32>(uint8_t *dpNv12, int nNv12Pitch, uint8_t *dpBgrp, int nBgrpPitch, int nWidth, int nHeight, int iMatrix);
+template void Nv12ToColorPlanar<RGBA32>(uint8_t *dpNv12, int nNv12Pitch, uint8_t *dpBgrp, int nBgrpPitch, int nWidth, int nHeight, int iMatrix);
+template void P016ToColorPlanar<BGRA32>(uint8_t *dpP016, int nP016Pitch, uint8_t *dpBgrp, int nBgrpPitch, int nWidth, int nHeight, int iMatrix);
+template void P016ToColorPlanar<RGBA32>(uint8_t *dpP016, int nP016Pitch, uint8_t *dpBgrp, int nBgrpPitch, int nWidth, int nHeight, int iMatrix);
+template void YUV444ToColorPlanar<BGRA32>(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgrp, int nBgrpPitch, int nWidth, int nHeight, int iMatrix);
+template void YUV444ToColorPlanar<RGBA32>(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgrp, int nBgrpPitch, int nWidth, int nHeight, int iMatrix);
+template void YUV444P16ToColorPlanar<BGRA32>(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgrp, int nBgrpPitch, int nWidth, int nHeight, int iMatrix);
+template void YUV444P16ToColorPlanar<RGBA32>(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgrp, int nBgrpPitch, int nWidth, int nHeight, int iMatrix);
+
+template<class YuvUnit, class RgbUnit>
+__device__ inline YuvUnit RgbToY(RgbUnit r, RgbUnit g, RgbUnit b) {
+ const YuvUnit low = 1 << (sizeof(YuvUnit) * 8 - 4);
+ return matRgb2Yuv[0][0] * r + matRgb2Yuv[0][1] * g + matRgb2Yuv[0][2] * b + low;
+}
+
+template<class YuvUnit, class RgbUnit>
+__device__ inline YuvUnit RgbToU(RgbUnit r, RgbUnit g, RgbUnit b) {
+ const YuvUnit mid = 1 << (sizeof(YuvUnit) * 8 - 1);
+ return matRgb2Yuv[1][0] * r + matRgb2Yuv[1][1] * g + matRgb2Yuv[1][2] * b + mid;
+}
+
+template<class YuvUnit, class RgbUnit>
+__device__ inline YuvUnit RgbToV(RgbUnit r, RgbUnit g, RgbUnit b) {
+ const YuvUnit mid = 1 << (sizeof(YuvUnit) * 8 - 1);
+ return matRgb2Yuv[2][0] * r + matRgb2Yuv[2][1] * g + matRgb2Yuv[2][2] * b + mid;
+}
+
+template<class YuvUnitx2, class Rgb, class RgbIntx2>
+__global__ static void RgbToYuvKernel(uint8_t *pRgb, int nRgbPitch, uint8_t *pYuv, int nYuvPitch, int nWidth, int nHeight) {
+ int x = (threadIdx.x + blockIdx.x * blockDim.x) * 2;
+ int y = (threadIdx.y + blockIdx.y * blockDim.y) * 2;
+ if (x + 1 >= nWidth || y + 1 >= nHeight) {
+ return;
+ }
+
+ uint8_t *pSrc = pRgb + x * sizeof(Rgb) + y * nRgbPitch;
+ RgbIntx2 int2a = *(RgbIntx2 *)pSrc;
+ RgbIntx2 int2b = *(RgbIntx2 *)(pSrc + nRgbPitch);
+
+ Rgb rgb[4] = {int2a.x, int2a.y, int2b.x, int2b.y};
+ decltype(Rgb::c.r)
+ r = (rgb[0].c.r + rgb[1].c.r + rgb[2].c.r + rgb[3].c.r) / 4,
+ g = (rgb[0].c.g + rgb[1].c.g + rgb[2].c.g + rgb[3].c.g) / 4,
+ b = (rgb[0].c.b + rgb[1].c.b + rgb[2].c.b + rgb[3].c.b) / 4;
+
+ uint8_t *pDst = pYuv + x * sizeof(YuvUnitx2) / 2 + y * nYuvPitch;
+ *(YuvUnitx2 *)pDst = YuvUnitx2 {
+ RgbToY<decltype(YuvUnitx2::x)>(rgb[0].c.r, rgb[0].c.g, rgb[0].c.b),
+ RgbToY<decltype(YuvUnitx2::x)>(rgb[1].c.r, rgb[1].c.g, rgb[1].c.b),
+ };
+ *(YuvUnitx2 *)(pDst + nYuvPitch) = YuvUnitx2 {
+ RgbToY<decltype(YuvUnitx2::x)>(rgb[2].c.r, rgb[2].c.g, rgb[2].c.b),
+ RgbToY<decltype(YuvUnitx2::x)>(rgb[3].c.r, rgb[3].c.g, rgb[3].c.b),
+ };
+ *(YuvUnitx2 *)(pDst + (nHeight - y / 2) * nYuvPitch) = YuvUnitx2 {
+ RgbToU<decltype(YuvUnitx2::x)>(r, g, b),
+ RgbToV<decltype(YuvUnitx2::x)>(r, g, b),
+ };
+}
+
+void Bgra64ToP016(uint8_t *dpBgra, int nBgraPitch, uint8_t *dpP016, int nP016Pitch, int nWidth, int nHeight, int iMatrix) {
+ SetMatRgb2Yuv(iMatrix);
+ RgbToYuvKernel<ushort2, BGRA64, ulonglong2>
+ <<<dim3((nWidth + 63) / 32 / 2, (nHeight + 3) / 2 / 2), dim3(32, 2)>>>
+ (dpBgra, nBgraPitch, dpP016, nP016Pitch, nWidth, nHeight);
+}
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/ColorSpace.h b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/ColorSpace.h
new file mode 100644
index 0000000000000000000000000000000000000000..7dcdc92b6899ebb64f2b0ebaa78d6a0b1db8943d
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/ColorSpace.h
@@ -0,0 +1,41 @@
+#pragma once
+#include <stdint.h>
+#include <cuda_runtime.h>
+
+typedef enum ColorSpaceStandard {
+ ColorSpaceStandard_BT709 = 0,
+ ColorSpaceStandard_BT601 = 2,
+ ColorSpaceStandard_BT2020 = 4
+} ColorSpaceStandard;
+
+union BGRA32 {
+ uint32_t d;
+ uchar4 v;
+ struct {
+ uint8_t b, g, r, a;
+ } c;
+};
+
+union RGBA32 {
+ uint32_t d;
+ uchar4 v;
+ struct {
+ uint8_t r, g, b, a;
+ } c;
+};
+
+union BGRA64 {
+ uint64_t d;
+ ushort4 v;
+ struct {
+ uint16_t b, g, r, a;
+ } c;
+};
+
+union RGBA64 {
+ uint64_t d;
+ ushort4 v;
+ struct {
+ uint16_t r, g, b, a;
+ } c;
+};
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/FFmpegDemuxer.h b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/FFmpegDemuxer.h
new file mode 100644
index 0000000000000000000000000000000000000000..a687614ab1aeddb9a83ecc28cc984d846622de4a
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/FFmpegDemuxer.h
@@ -0,0 +1,350 @@
+/*
+* Copyright 2017-2018 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+#pragma once
+
+extern "C" {
+#include <libavformat/avformat.h>
+#include <libavformat/avio.h>
+#include <libavcodec/avcodec.h>
+}
+#include "NvCodecUtils.h"
+
+//---------------------------------------------------------------------------
+//! \file FFmpegDemuxer.h
+//! \brief Provides functionality for stream demuxing
+//!
+//! This header file is used by Decode/Transcode apps to demux input video clips before decoding frames from it.
+//---------------------------------------------------------------------------
+
+/**
+* @brief libavformat wrapper class. Retrieves the elementary encoded stream from the container format.
+*/
+class FFmpegDemuxer {
+private:
+ AVFormatContext *fmtc = NULL;
+ AVIOContext *avioc = NULL;
+ AVPacket pkt, pktFiltered; /*!< AVPacket stores compressed data typically exported by demuxers and then passed as input to decoders */
+ AVBSFContext *bsfc = NULL;
+
+ int iVideoStream;
+ bool bMp4H264, bMp4HEVC, bMp4MPEG4;
+ AVCodecID eVideoCodec;
+ AVPixelFormat eChromaFormat;
+ int nWidth, nHeight, nBitDepth, nBPP, nChromaHeight;
+ double timeBase = 0.0;
+
+ uint8_t *pDataWithHeader = NULL;
+
+ unsigned int frameCount = 0;
+
+public:
+ class DataProvider {
+ public:
+ virtual ~DataProvider() {}
+ virtual int GetData(uint8_t *pBuf, int nBuf) = 0;
+ };
+
+private:
+
+ /**
+ * @brief Private constructor to initialize libavformat resources.
+ * @param fmtc - Pointer to AVFormatContext allocated inside avformat_open_input()
+ */
+ FFmpegDemuxer(AVFormatContext *fmtc) : fmtc(fmtc) {
+ if (!fmtc) {
+ LOG(ERROR) << "No AVFormatContext provided.";
+ return;
+ }
+
+ LOG(INFO) << "Media format: " << fmtc->iformat->long_name << " (" << fmtc->iformat->name << ")";
+
+ ck(avformat_find_stream_info(fmtc, NULL));
+ iVideoStream = av_find_best_stream(fmtc, AVMEDIA_TYPE_VIDEO, -1, -1, NULL, 0);
+ if (iVideoStream < 0) {
+ LOG(ERROR) << "FFmpeg error: " << __FILE__ << " " << __LINE__ << " " << "Could not find stream in input file";
+ return;
+ }
+
+ //fmtc->streams[iVideoStream]->need_parsing = AVSTREAM_PARSE_NONE;
+ eVideoCodec = fmtc->streams[iVideoStream]->codecpar->codec_id;
+ nWidth = fmtc->streams[iVideoStream]->codecpar->width;
+ nHeight = fmtc->streams[iVideoStream]->codecpar->height;
+ eChromaFormat = (AVPixelFormat)fmtc->streams[iVideoStream]->codecpar->format;
+ AVRational rTimeBase = fmtc->streams[iVideoStream]->time_base;
+ timeBase = av_q2d(rTimeBase);
+
+ // Set bit depth, chroma height, bits per pixel based on eChromaFormat of input
+ switch (eChromaFormat)
+ {
+ case AV_PIX_FMT_YUV420P10LE:
+ nBitDepth = 10;
+ nChromaHeight = (nHeight + 1) >> 1;
+ nBPP = 2;
+ break;
+ case AV_PIX_FMT_YUV420P12LE:
+ nBitDepth = 12;
+ nChromaHeight = (nHeight + 1) >> 1;
+ nBPP = 2;
+ break;
+ case AV_PIX_FMT_YUV444P10LE:
+ nBitDepth = 10;
+ nChromaHeight = nHeight << 1;
+ nBPP = 2;
+ break;
+ case AV_PIX_FMT_YUV444P12LE:
+ nBitDepth = 12;
+ nChromaHeight = nHeight << 1;
+ nBPP = 2;
+ break;
+ case AV_PIX_FMT_YUV444P:
+ nBitDepth = 8;
+ nChromaHeight = nHeight << 1;
+ nBPP = 1;
+ break;
+ case AV_PIX_FMT_YUV420P:
+ case AV_PIX_FMT_YUVJ420P:
+ case AV_PIX_FMT_YUVJ422P: // jpeg decoder output is subsampled to NV12 for 422/444 so treat it as 420
+ case AV_PIX_FMT_YUVJ444P: // jpeg decoder output is subsampled to NV12 for 422/444 so treat it as 420
+ nBitDepth = 8;
+ nChromaHeight = (nHeight + 1) >> 1;
+ nBPP = 1;
+ break;
+ default:
+ LOG(WARNING) << "ChromaFormat not recognized. Assuming 420";
+ nBitDepth = 8;
+ nChromaHeight = (nHeight + 1) >> 1;
+ nBPP = 1;
+ }
+
+ bMp4H264 = eVideoCodec == AV_CODEC_ID_H264 && (
+ !strcmp(fmtc->iformat->long_name, "QuickTime / MOV")
+ || !strcmp(fmtc->iformat->long_name, "FLV (Flash Video)")
+ || !strcmp(fmtc->iformat->long_name, "Matroska / WebM")
+ );
+ bMp4HEVC = eVideoCodec == AV_CODEC_ID_HEVC && (
+ !strcmp(fmtc->iformat->long_name, "QuickTime / MOV")
+ || !strcmp(fmtc->iformat->long_name, "FLV (Flash Video)")
+ || !strcmp(fmtc->iformat->long_name, "Matroska / WebM")
+ );
+
+ bMp4MPEG4 = eVideoCodec == AV_CODEC_ID_MPEG4 && (
+ !strcmp(fmtc->iformat->long_name, "QuickTime / MOV")
+ || !strcmp(fmtc->iformat->long_name, "FLV (Flash Video)")
+ || !strcmp(fmtc->iformat->long_name, "Matroska / WebM")
+ );
+
+ //Initialize packet fields with default values
+ av_init_packet(&pkt);
+ pkt.data = NULL;
+ pkt.size = 0;
+ av_init_packet(&pktFiltered);
+ pktFiltered.data = NULL;
+ pktFiltered.size = 0;
+
+ // Initialize bitstream filter and its required resources
+ if (bMp4H264) {
+ const AVBitStreamFilter *bsf = av_bsf_get_by_name("h264_mp4toannexb");
+ if (!bsf) {
+ LOG(ERROR) << "FFmpeg error: " << __FILE__ << " " << __LINE__ << " " << "av_bsf_get_by_name() failed";
+ return;
+ }
+ ck(av_bsf_alloc(bsf, &bsfc));
+ avcodec_parameters_copy(bsfc->par_in, fmtc->streams[iVideoStream]->codecpar);
+ ck(av_bsf_init(bsfc));
+ }
+ if (bMp4HEVC) {
+ const AVBitStreamFilter *bsf = av_bsf_get_by_name("hevc_mp4toannexb");
+ if (!bsf) {
+ LOG(ERROR) << "FFmpeg error: " << __FILE__ << " " << __LINE__ << " " << "av_bsf_get_by_name() failed";
+ return;
+ }
+ ck(av_bsf_alloc(bsf, &bsfc));
+ avcodec_parameters_copy(bsfc->par_in, fmtc->streams[iVideoStream]->codecpar);
+ ck(av_bsf_init(bsfc));
+ }
+ }
+
+ AVFormatContext *CreateFormatContext(DataProvider *pDataProvider) {
+
+ AVFormatContext *ctx = NULL;
+ if (!(ctx = avformat_alloc_context())) {
+ LOG(ERROR) << "FFmpeg error: " << __FILE__ << " " << __LINE__;
+ return NULL;
+ }
+
+ uint8_t *avioc_buffer = NULL;
+ int avioc_buffer_size = 8 * 1024 * 1024;
+ avioc_buffer = (uint8_t *)av_malloc(avioc_buffer_size);
+ if (!avioc_buffer) {
+ LOG(ERROR) << "FFmpeg error: " << __FILE__ << " " << __LINE__;
+ return NULL;
+ }
+ avioc = avio_alloc_context(avioc_buffer, avioc_buffer_size,
+ 0, pDataProvider, &ReadPacket, NULL, NULL);
+ if (!avioc) {
+ LOG(ERROR) << "FFmpeg error: " << __FILE__ << " " << __LINE__;
+ return NULL;
+ }
+ ctx->pb = avioc;
+
+ ck(avformat_open_input(&ctx, NULL, NULL, NULL));
+ return ctx;
+ }
+
+ /**
+ * @brief Allocate and return AVFormatContext*.
+ * @param szFilePath - Filepath pointing to input stream.
+ * @return Pointer to AVFormatContext
+ */
+ AVFormatContext *CreateFormatContext(const char *szFilePath) {
+ avformat_network_init();
+
+ AVFormatContext *ctx = NULL;
+ ck(avformat_open_input(&ctx, szFilePath, NULL, NULL));
+ return ctx;
+ }
+
+public:
+ FFmpegDemuxer(const char *szFilePath) : FFmpegDemuxer(CreateFormatContext(szFilePath)) {}
+ FFmpegDemuxer(DataProvider *pDataProvider) : FFmpegDemuxer(CreateFormatContext(pDataProvider)) {avioc = fmtc->pb;}
+ ~FFmpegDemuxer() {
+
+ if (!fmtc) {
+ return;
+ }
+
+ if (pkt.data) {
+ av_packet_unref(&pkt);
+ }
+ if (pktFiltered.data) {
+ av_packet_unref(&pktFiltered);
+ }
+
+ if (bsfc) {
+ av_bsf_free(&bsfc);
+ }
+
+ avformat_close_input(&fmtc);
+
+ if (avioc) {
+ av_freep(&avioc->buffer);
+ av_freep(&avioc);
+ }
+
+ if (pDataWithHeader) {
+ av_free(pDataWithHeader);
+ }
+ }
+ AVCodecID GetVideoCodec() {
+ return eVideoCodec;
+ }
+ AVPixelFormat GetChromaFormat() {
+ return eChromaFormat;
+ }
+ int GetWidth() {
+ return nWidth;
+ }
+ int GetHeight() {
+ return nHeight;
+ }
+ int GetBitDepth() {
+ return nBitDepth;
+ }
+ int GetFrameSize() {
+ return nWidth * (nHeight + nChromaHeight) * nBPP;
+ }
+ bool Demux(uint8_t **ppVideo, int *pnVideoBytes, int64_t *pts = NULL) {
+ if (!fmtc) {
+ return false;
+ }
+
+ *pnVideoBytes = 0;
+
+ if (pkt.data) {
+ av_packet_unref(&pkt);
+ }
+
+ int e = 0;
+ while ((e = av_read_frame(fmtc, &pkt)) >= 0 && pkt.stream_index != iVideoStream) {
+ av_packet_unref(&pkt);
+ }
+ if (e < 0) {
+ return false;
+ }
+
+ if (bMp4H264 || bMp4HEVC) {
+ if (pktFiltered.data) {
+ av_packet_unref(&pktFiltered);
+ }
+ ck(av_bsf_send_packet(bsfc, &pkt));
+ ck(av_bsf_receive_packet(bsfc, &pktFiltered));
+ *ppVideo = pktFiltered.data;
+ *pnVideoBytes = pktFiltered.size;
+ if (pts)
+ *pts = (int64_t) (pktFiltered.pts * 1000 * timeBase);
+ } else {
+
+ if (bMp4MPEG4 && (frameCount == 0)) {
+
+ int extraDataSize = fmtc->streams[iVideoStream]->codecpar->extradata_size;
+
+ if (extraDataSize > 0) {
+
+ // extradata contains start codes 00 00 01. Subtract its size
+ pDataWithHeader = (uint8_t *)av_malloc(extraDataSize + pkt.size - 3*sizeof(uint8_t));
+
+ if (!pDataWithHeader) {
+ LOG(ERROR) << "FFmpeg error: " << __FILE__ << " " << __LINE__;
+ return false;
+ }
+
+ memcpy(pDataWithHeader, fmtc->streams[iVideoStream]->codecpar->extradata, extraDataSize);
+ memcpy(pDataWithHeader+extraDataSize, pkt.data+3, pkt.size - 3*sizeof(uint8_t));
+
+ *ppVideo = pDataWithHeader;
+ *pnVideoBytes = extraDataSize + pkt.size - 3*sizeof(uint8_t);
+ }
+
+ } else {
+ *ppVideo = pkt.data;
+ *pnVideoBytes = pkt.size;
+ }
+
+ if (pts)
+ *pts = (int64_t)(pkt.pts * 1000 * timeBase);
+ }
+
+ frameCount++;
+
+ return true;
+ }
+
+ static int ReadPacket(void *opaque, uint8_t *pBuf, int nBuf) {
+ return ((DataProvider *)opaque)->GetData(pBuf, nBuf);
+ }
+};
+
+inline cudaVideoCodec FFmpeg2NvCodecId(AVCodecID id) {
+ switch (id) {
+ case AV_CODEC_ID_MPEG1VIDEO : return cudaVideoCodec_MPEG1;
+ case AV_CODEC_ID_MPEG2VIDEO : return cudaVideoCodec_MPEG2;
+ case AV_CODEC_ID_MPEG4 : return cudaVideoCodec_MPEG4;
+ case AV_CODEC_ID_VC1 : return cudaVideoCodec_VC1;
+ case AV_CODEC_ID_H264 : return cudaVideoCodec_H264;
+ case AV_CODEC_ID_HEVC : return cudaVideoCodec_HEVC;
+ case AV_CODEC_ID_VP8 : return cudaVideoCodec_VP8;
+ case AV_CODEC_ID_VP9 : return cudaVideoCodec_VP9;
+ case AV_CODEC_ID_MJPEG : return cudaVideoCodec_JPEG;
+ default : return cudaVideoCodec_NumCodecs;
+ }
+}
+
+
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/FFmpegStreamer.h b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/FFmpegStreamer.h
new file mode 100644
index 0000000000000000000000000000000000000000..d407cbe2483ca1cc8b9e8dd3f872a0d87a7298ed
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/FFmpegStreamer.h
@@ -0,0 +1,109 @@
+/*
+* Copyright 2017-2018 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+#pragma once
+
+#include <thread>
+#include <mutex>
+extern "C" {
+#include <libavformat/avformat.h>
+#include <libavutil/opt.h>
+#include <libswresample/swresample.h>
+};
+#include "Logger.h"
+
+extern simplelogger::Logger *logger;
+
+class FFmpegStreamer {
+private:
+ AVFormatContext *oc = NULL;
+ AVStream *vs = NULL;
+ int nFps = 0;
+
+public:
+ FFmpegStreamer(AVCodecID eCodecId, int nWidth, int nHeight, int nFps, const char *szInFilePath) : nFps(nFps) {
+ avformat_network_init();
+ oc = avformat_alloc_context();
+ if (!oc) {
+ LOG(ERROR) << "FFMPEG: avformat_alloc_context error";
+ return;
+ }
+
+ // Set format on oc
+ AVOutputFormat *fmt = av_guess_format("mpegts", NULL, NULL);
+ if (!fmt) {
+ LOG(ERROR) << "Invalid format";
+ return;
+ }
+ fmt->video_codec = eCodecId;
+
+ oc->oformat = fmt;
+ oc->url = av_strdup(szInFilePath);
+ LOG(INFO) << "Streaming destination: " << oc->url;
+
+ // Add video stream to oc
+ vs = avformat_new_stream(oc, NULL);
+ if (!vs) {
+ LOG(ERROR) << "FFMPEG: Could not alloc video stream";
+ return;
+ }
+ vs->id = 0;
+
+ // Set video parameters
+ AVCodecParameters *vpar = vs->codecpar;
+ vpar->codec_id = fmt->video_codec;
+ vpar->codec_type = AVMEDIA_TYPE_VIDEO;
+ vpar->width = nWidth;
+ vpar->height = nHeight;
+
+ // Everything is ready. Now open the output stream.
+ if (avio_open(&oc->pb, oc->url, AVIO_FLAG_WRITE) < 0) {
+ LOG(ERROR) << "FFMPEG: Could not open " << oc->url;
+ return ;
+ }
+
+ // Write the container header
+ if (avformat_write_header(oc, NULL)) {
+ LOG(ERROR) << "FFMPEG: avformat_write_header error!";
+ return;
+ }
+ }
+ ~FFmpegStreamer() {
+ if (oc) {
+ av_write_trailer(oc);
+ avio_close(oc->pb);
+ avformat_free_context(oc);
+ }
+ }
+
+ bool Stream(uint8_t *pData, int nBytes, int nPts) {
+ AVPacket pkt = {0};
+ av_init_packet(&pkt);
+ pkt.pts = av_rescale_q(nPts++, AVRational {1, nFps}, vs->time_base);
+ // No B-frames
+ pkt.dts = pkt.pts;
+ pkt.stream_index = vs->index;
+ pkt.data = pData;
+ pkt.size = nBytes;
+
+ if(!memcmp(pData, "\x00\x00\x00\x01\x67", 5)) {
+ pkt.flags |= AV_PKT_FLAG_KEY;
+ }
+
+ // Write the compressed frame into the output
+ int ret = av_write_frame(oc, &pkt);
+ av_write_frame(oc, NULL);
+ if (ret < 0) {
+ LOG(ERROR) << "FFMPEG: Error while writing video frame";
+ }
+
+ return true;
+ }
+};
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/Logger.h b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/Logger.h
new file mode 100644
index 0000000000000000000000000000000000000000..acffa978be260dc345d4581309af413c0c54367d
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/Logger.h
@@ -0,0 +1,240 @@
+/*
+* Copyright 2017-2018 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+#pragma once
+
+#include <iostream>
+#include <fstream>
+#include <string>
+#include <sstream>
+#include <mutex>
+#include <time.h>
+
+#ifdef _WIN32
+#include <winsock.h>
+#include <windows.h>
+
+#pragma comment(lib, "ws2_32.lib")
+#undef ERROR
+#else
+#include <unistd.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#define SOCKET int
+#define INVALID_SOCKET -1
+#endif
+
+enum LogLevel {
+ TRACE,
+ INFO,
+ WARNING,
+ ERROR,
+ FATAL
+};
+
+namespace simplelogger{
+class Logger {
+public:
+ Logger(LogLevel level, bool bPrintTimeStamp) : level(level), bPrintTimeStamp(bPrintTimeStamp) {}
+ virtual ~Logger() {}
+ virtual std::ostream& GetStream() = 0;
+ virtual void FlushStream() {}
+ bool ShouldLogFor(LogLevel l) {
+ return l >= level;
+ }
+ char* GetLead(LogLevel l, const char *szFile, int nLine, const char *szFunc) {
+ if (l < TRACE || l > FATAL) {
+ sprintf(szLead, "[?????] ");
+ return szLead;
+ }
+ const char *szLevels[] = {"TRACE", "INFO", "WARN", "ERROR", "FATAL"};
+ if (bPrintTimeStamp) {
+ time_t t = time(NULL);
+ struct tm *ptm = localtime(&t);
+ sprintf(szLead, "[%-5s][%02d:%02d:%02d] ",
+ szLevels[l], ptm->tm_hour, ptm->tm_min, ptm->tm_sec);
+ } else {
+ sprintf(szLead, "[%-5s] ", szLevels[l]);
+ }
+ return szLead;
+ }
+ void EnterCriticalSection() {
+ mtx.lock();
+ }
+ void LeaveCriticalSection() {
+ mtx.unlock();
+ }
+private:
+ LogLevel level;
+ char szLead[80];
+ bool bPrintTimeStamp;
+ std::mutex mtx;
+};
+
+class LoggerFactory {
+public:
+ static Logger* CreateFileLogger(std::string strFilePath,
+ LogLevel level = INFO, bool bPrintTimeStamp = true) {
+ return new FileLogger(strFilePath, level, bPrintTimeStamp);
+ }
+ static Logger* CreateConsoleLogger(LogLevel level = INFO,
+ bool bPrintTimeStamp = true) {
+ return new ConsoleLogger(level, bPrintTimeStamp);
+ }
+ static Logger* CreateUdpLogger(char *szHost, unsigned uPort, LogLevel level = INFO,
+ bool bPrintTimeStamp = true) {
+ return new UdpLogger(szHost, uPort, level, bPrintTimeStamp);
+ }
+private:
+ LoggerFactory() {}
+
+ class FileLogger : public Logger {
+ public:
+ FileLogger(std::string strFilePath, LogLevel level, bool bPrintTimeStamp)
+ : Logger(level, bPrintTimeStamp) {
+ pFileOut = new std::ofstream();
+ pFileOut->open(strFilePath.c_str());
+ }
+ ~FileLogger() {
+ pFileOut->close();
+ }
+ std::ostream& GetStream() {
+ return *pFileOut;
+ }
+ private:
+ std::ofstream *pFileOut;
+ };
+
+ class ConsoleLogger : public Logger {
+ public:
+ ConsoleLogger(LogLevel level, bool bPrintTimeStamp)
+ : Logger(level, bPrintTimeStamp) {}
+ std::ostream& GetStream() {
+ return std::cout;
+ }
+ };
+
+ class UdpLogger : public Logger {
+ private:
+ class UdpOstream : public std::ostream {
+ public:
+ UdpOstream(char *szHost, unsigned short uPort) : std::ostream(&sb), socket(INVALID_SOCKET){
+#ifdef _WIN32
+ WSADATA w;
+ if (WSAStartup(0x0101, &w) != 0) {
+ fprintf(stderr, "WSAStartup() failed.\n");
+ return;
+ }
+#endif
+ socket = ::socket(AF_INET, SOCK_DGRAM, 0);
+ if (socket == INVALID_SOCKET) {
+#ifdef _WIN32
+ WSACleanup();
+#endif
+ fprintf(stderr, "socket() failed.\n");
+ return;
+ }
+#ifdef _WIN32
+ unsigned int b1, b2, b3, b4;
+ sscanf(szHost, "%u.%u.%u.%u", &b1, &b2, &b3, &b4);
+ struct in_addr addr = {(unsigned char)b1, (unsigned char)b2, (unsigned char)b3, (unsigned char)b4};
+#else
+ struct in_addr addr = {inet_addr(szHost)};
+#endif
+ struct sockaddr_in s = {AF_INET, htons(uPort), addr};
+ server = s;
+ }
+ ~UdpOstream() throw() {
+ if (socket == INVALID_SOCKET) {
+ return;
+ }
+#ifdef _WIN32
+ closesocket(socket);
+ WSACleanup();
+#else
+ close(socket);
+#endif
+ }
+ void Flush() {
+ if (sendto(socket, sb.str().c_str(), (int)sb.str().length() + 1,
+ 0, (struct sockaddr *)&server, (int)sizeof(sockaddr_in)) == -1) {
+ fprintf(stderr, "sendto() failed.\n");
+ }
+ sb.str("");
+ }
+
+ private:
+ std::stringbuf sb;
+ SOCKET socket;
+ struct sockaddr_in server;
+ };
+ public:
+ UdpLogger(char *szHost, unsigned uPort, LogLevel level, bool bPrintTimeStamp)
+ : Logger(level, bPrintTimeStamp), udpOut(szHost, (unsigned short)uPort) {}
+ UdpOstream& GetStream() {
+ return udpOut;
+ }
+ virtual void FlushStream() {
+ udpOut.Flush();
+ }
+ private:
+ UdpOstream udpOut;
+ };
+};
+
+class LogTransaction {
+public:
+ LogTransaction(Logger *pLogger, LogLevel level, const char *szFile, const int nLine, const char *szFunc) : pLogger(pLogger), level(level) {
+ if (!pLogger) {
+ std::cout << "[-----] ";
+ return;
+ }
+ if (!pLogger->ShouldLogFor(level)) {
+ return;
+ }
+ pLogger->EnterCriticalSection();
+ pLogger->GetStream() << pLogger->GetLead(level, szFile, nLine, szFunc);
+ }
+ ~LogTransaction() {
+ if (!pLogger) {
+ std::cout << std::endl;
+ return;
+ }
+ if (!pLogger->ShouldLogFor(level)) {
+ return;
+ }
+ pLogger->GetStream() << std::endl;
+ pLogger->FlushStream();
+ pLogger->LeaveCriticalSection();
+ if (level == FATAL) {
+ exit(1);
+ }
+ }
+ std::ostream& GetStream() {
+ if (!pLogger) {
+ return std::cout;
+ }
+ if (!pLogger->ShouldLogFor(level)) {
+ return ossNull;
+ }
+ return pLogger->GetStream();
+ }
+private:
+ Logger *pLogger;
+ LogLevel level;
+ std::ostringstream ossNull;
+};
+
+}
+
+extern simplelogger::Logger *logger;
+#define LOG(level) simplelogger::LogTransaction(logger, level, __FILE__, __LINE__, __FUNCTION__).GetStream()
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/NvCodecUtils.h b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/NvCodecUtils.h
new file mode 100644
index 0000000000000000000000000000000000000000..0a92ba494c9858a468a0d3634696f57d9d1785bf
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/NvCodecUtils.h
@@ -0,0 +1,368 @@
+/*
+* Copyright 2017-2018 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+//---------------------------------------------------------------------------
+//! \file NvCodecUtils.h
+//! \brief Miscellaneous classes and error checking functions.
+//!
+//! Used by Transcode/Encode samples apps for reading input files, mutithreading, performance measurement or colorspace conversion while decoding.
+//---------------------------------------------------------------------------
+
+#pragma once
+#include <iomanip>
+#include <chrono>
+#include <sys/stat.h>
+#include <assert.h>
+#include <stdint.h>
+#include <string.h>
+#include "Logger.h"
+#include <thread>
+
+extern simplelogger::Logger *logger;
+
+#ifdef __cuda_cuda_h__
+inline bool check(CUresult e, int iLine, const char *szFile) {
+ if (e != CUDA_SUCCESS) {
+ const char *szErrName = NULL;
+ cuGetErrorName(e, &szErrName);
+ LOG(FATAL) << "CUDA driver API error " << szErrName << " at line " << iLine << " in file " << szFile;
+ return false;
+ }
+ return true;
+}
+#endif
+
+#ifdef __CUDA_RUNTIME_H__
+inline bool check(cudaError_t e, int iLine, const char *szFile) {
+ if (e != cudaSuccess) {
+ LOG(FATAL) << "CUDA runtime API error " << cudaGetErrorName(e) << " at line " << iLine << " in file " << szFile;
+ return false;
+ }
+ return true;
+}
+#endif
+
+#ifdef _NV_ENCODEAPI_H_
+inline bool check(NVENCSTATUS e, int iLine, const char *szFile) {
+ const char *aszErrName[] = {
+ "NV_ENC_SUCCESS",
+ "NV_ENC_ERR_NO_ENCODE_DEVICE",
+ "NV_ENC_ERR_UNSUPPORTED_DEVICE",
+ "NV_ENC_ERR_INVALID_ENCODERDEVICE",
+ "NV_ENC_ERR_INVALID_DEVICE",
+ "NV_ENC_ERR_DEVICE_NOT_EXIST",
+ "NV_ENC_ERR_INVALID_PTR",
+ "NV_ENC_ERR_INVALID_EVENT",
+ "NV_ENC_ERR_INVALID_PARAM",
+ "NV_ENC_ERR_INVALID_CALL",
+ "NV_ENC_ERR_OUT_OF_MEMORY",
+ "NV_ENC_ERR_ENCODER_NOT_INITIALIZED",
+ "NV_ENC_ERR_UNSUPPORTED_PARAM",
+ "NV_ENC_ERR_LOCK_BUSY",
+ "NV_ENC_ERR_NOT_ENOUGH_BUFFER",
+ "NV_ENC_ERR_INVALID_VERSION",
+ "NV_ENC_ERR_MAP_FAILED",
+ "NV_ENC_ERR_NEED_MORE_INPUT",
+ "NV_ENC_ERR_ENCODER_BUSY",
+ "NV_ENC_ERR_EVENT_NOT_REGISTERD",
+ "NV_ENC_ERR_GENERIC",
+ "NV_ENC_ERR_INCOMPATIBLE_CLIENT_KEY",
+ "NV_ENC_ERR_UNIMPLEMENTED",
+ "NV_ENC_ERR_RESOURCE_REGISTER_FAILED",
+ "NV_ENC_ERR_RESOURCE_NOT_REGISTERED",
+ "NV_ENC_ERR_RESOURCE_NOT_MAPPED",
+ };
+ if (e != NV_ENC_SUCCESS) {
+ LOG(FATAL) << "NVENC error " << aszErrName[e] << " at line " << iLine << " in file " << szFile;
+ return false;
+ }
+ return true;
+}
+#endif
+
+#ifdef _WINERROR_
+inline bool check(HRESULT e, int iLine, const char *szFile) {
+ if (e != S_OK) {
+ LOG(FATAL) << "HRESULT error 0x" << (void *)e << " at line " << iLine << " in file " << szFile;
+ return false;
+ }
+ return true;
+}
+#endif
+
+#if defined(__gl_h_) || defined(__GL_H__)
+inline bool check(GLenum e, int iLine, const char *szFile) {
+ if (e != 0) {
+ LOG(ERROR) << "GLenum error " << e << " at line " << iLine << " in file " << szFile;
+ return false;
+ }
+ return true;
+}
+#endif
+
+inline bool check(int e, int iLine, const char *szFile) {
+ if (e < 0) {
+ LOG(ERROR) << "General error " << e << " at line " << iLine << " in file " << szFile;
+ return false;
+ }
+ return true;
+}
+
+#define ck(call) check(call, __LINE__, __FILE__)
+
+/**
+* @brief Wrapper class around std::thread
+*/
+class NvThread
+{
+public:
+ NvThread() = default;
+ NvThread(const NvThread&) = delete;
+ NvThread& operator=(const NvThread& other) = delete;
+
+ NvThread(std::thread&& thread) : t(std::move(thread))
+ {
+
+ }
+
+ NvThread(NvThread&& thread) : t(std::move(thread.t))
+ {
+
+ }
+
+ NvThread& operator=(NvThread&& other)
+ {
+ t = std::move(other.t);
+ return *this;
+ }
+
+ ~NvThread()
+ {
+ join();
+ }
+
+ void join()
+ {
+ if (t.joinable())
+ {
+ t.join();
+ }
+ }
+private:
+ std::thread t;
+};
+
+#ifndef _WIN32
+#define _stricmp strcasecmp
+#define _stat64 stat64
+#endif
+
+/**
+* @brief Utility class to allocate buffer memory. Helps avoid I/O during the encode/decode loop in case of performance tests.
+*/
+class BufferedFileReader {
+public:
+ /**
+ * @brief Constructor function to allocate appropriate memory and copy file contents into it
+ */
+ BufferedFileReader(const char *szFileName, bool bPartial = false) {
+ struct _stat64 st;
+
+ if (_stat64(szFileName, &st) != 0) {
+ return;
+ }
+
+ nSize = st.st_size;
+ while (nSize) {
+ try {
+ pBuf = new uint8_t[(size_t)nSize];
+ if (nSize != st.st_size) {
+ LOG(WARNING) << "File is too large - only " << std::setprecision(4) << 100.0 * nSize / st.st_size << "% is loaded";
+ }
+ break;
+ } catch(std::bad_alloc) {
+ if (!bPartial) {
+ LOG(ERROR) << "Failed to allocate memory in BufferedReader";
+ return;
+ }
+ nSize = (uint32_t)(nSize * 0.9);
+ }
+ }
+
+ std::ifstream fpIn(szFileName, std::ifstream::in | std::ifstream::binary);
+ if (!fpIn)
+ {
+ LOG(ERROR) << "Unable to open input file: " << szFileName;
+ return;
+ }
+
+ std::streamsize nRead = fpIn.read(reinterpret_cast<char*>(pBuf), nSize).gcount();
+ fpIn.close();
+
+ assert(nRead == nSize);
+ }
+ ~BufferedFileReader() {
+ if (pBuf) {
+ delete[] pBuf;
+ }
+ }
+ bool GetBuffer(uint8_t **ppBuf, uint64_t *pnSize) {
+ if (!pBuf) {
+ return false;
+ }
+
+ *ppBuf = pBuf;
+ *pnSize = nSize;
+ return true;
+ }
+
+private:
+ uint8_t *pBuf = NULL;
+ uint64_t nSize = 0;
+};
+
+/**
+* @brief Template class to facilitate color space conversion
+*/
+template<typename T>
+class YuvConverter {
+public:
+ YuvConverter(int nWidth, int nHeight) : nWidth(nWidth), nHeight(nHeight) {
+ pQuad = new T[nWidth * nHeight / 4];
+ }
+ ~YuvConverter() {
+ delete pQuad;
+ }
+ void PlanarToUVInterleaved(T *pFrame, int nPitch = 0) {
+ if (nPitch == 0) {
+ nPitch = nWidth;
+ }
+ T *puv = pFrame + nPitch * nHeight;
+ if (nPitch == nWidth) {
+ memcpy(pQuad, puv, nWidth * nHeight / 4 * sizeof(T));
+ } else {
+ for (int i = 0; i < nHeight / 2; i++) {
+ memcpy(pQuad + nWidth / 2 * i, puv + nPitch / 2 * i, nWidth / 2 * sizeof(T));
+ }
+ }
+ T *pv = puv + (nPitch / 2) * (nHeight / 2);
+ for (int y = 0; y < nHeight / 2; y++) {
+ for (int x = 0; x < nWidth / 2; x++) {
+ puv[y * nPitch + x * 2] = pQuad[y * nWidth / 2 + x];
+ puv[y * nPitch + x * 2 + 1] = pv[y * nPitch / 2 + x];
+ }
+ }
+ }
+ void UVInterleavedToPlanar(T *pFrame, int nPitch = 0) {
+ if (nPitch == 0) {
+ nPitch = nWidth;
+ }
+ T *puv = pFrame + nPitch * nHeight,
+ *pu = puv,
+ *pv = puv + nPitch * nHeight / 4;
+ for (int y = 0; y < nHeight / 2; y++) {
+ for (int x = 0; x < nWidth / 2; x++) {
+ pu[y * nPitch / 2 + x] = puv[y * nPitch + x * 2];
+ pQuad[y * nWidth / 2 + x] = puv[y * nPitch + x * 2 + 1];
+ }
+ }
+ if (nPitch == nWidth) {
+ memcpy(pv, pQuad, nWidth * nHeight / 4 * sizeof(T));
+ } else {
+ for (int i = 0; i < nHeight / 2; i++) {
+ memcpy(pv + nPitch / 2 * i, pQuad + nWidth / 2 * i, nWidth / 2 * sizeof(T));
+ }
+ }
+ }
+
+private:
+ T *pQuad;
+ int nWidth, nHeight;
+};
+
+/**
+* @brief Utility class to measure elapsed time in seconds between the block of executed code
+*/
+class StopWatch {
+public:
+ void Start() {
+ t0 = std::chrono::high_resolution_clock::now();
+ }
+ double Stop() {
+ return std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::high_resolution_clock::now().time_since_epoch() - t0.time_since_epoch()).count() / 1.0e9;
+ }
+
+private:
+ std::chrono::high_resolution_clock::time_point t0;
+};
+
+inline void CheckInputFile(const char *szInFilePath) {
+ std::ifstream fpIn(szInFilePath, std::ios::in | std::ios::binary);
+ if (fpIn.fail()) {
+ std::ostringstream err;
+ err << "Unable to open input file: " << szInFilePath << std::endl;
+ throw std::invalid_argument(err.str());
+ }
+}
+
+inline void ValidateResolution(int nWidth, int nHeight) {
+
+ if (nWidth <= 0 || nHeight <= 0) {
+ std::ostringstream err;
+ err << "Please specify positive non zero resolution as -s WxH. Current resolution is " << nWidth << "x" << nHeight << std::endl;
+ throw std::invalid_argument(err.str());
+ }
+}
+
+template <class COLOR32>
+void Nv12ToColor32(uint8_t *dpNv12, int nNv12Pitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix = 0);
+template <class COLOR64>
+void Nv12ToColor64(uint8_t *dpNv12, int nNv12Pitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix = 0);
+
+template <class COLOR32>
+void P016ToColor32(uint8_t *dpP016, int nP016Pitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix = 4);
+template <class COLOR64>
+void P016ToColor64(uint8_t *dpP016, int nP016Pitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix = 4);
+
+template <class COLOR32>
+void YUV444ToColor32(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix = 0);
+template <class COLOR64>
+void YUV444ToColor64(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix = 0);
+
+template <class COLOR32>
+void YUV444P16ToColor32(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix = 4);
+template <class COLOR64>
+void YUV444P16ToColor64(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix = 4);
+
+template <class COLOR32>
+void Nv12ToColorPlanar(uint8_t *dpNv12, int nNv12Pitch, uint8_t *dpBgrp, int nBgrpPitch, int nWidth, int nHeight, int iMatrix = 0);
+template <class COLOR32>
+void P016ToColorPlanar(uint8_t *dpP016, int nP016Pitch, uint8_t *dpBgrp, int nBgrpPitch, int nWidth, int nHeight, int iMatrix = 4);
+
+template <class COLOR32>
+void YUV444ToColorPlanar(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgrp, int nBgrpPitch, int nWidth, int nHeight, int iMatrix = 0);
+template <class COLOR32>
+void YUV444P16ToColorPlanar(uint8_t *dpYUV444, int nPitch, uint8_t *dpBgrp, int nBgrpPitch, int nWidth, int nHeight, int iMatrix = 4);
+
+void Bgra64ToP016(uint8_t *dpBgra, int nBgraPitch, uint8_t *dpP016, int nP016Pitch, int nWidth, int nHeight, int iMatrix = 4);
+
+void ConvertUInt8ToUInt16(uint8_t *dpUInt8, uint16_t *dpUInt16, int nSrcPitch, int nDestPitch, int nWidth, int nHeight);
+void ConvertUInt16ToUInt8(uint16_t *dpUInt16, uint8_t *dpUInt8, int nSrcPitch, int nDestPitch, int nWidth, int nHeight);
+
+void ResizeNv12(unsigned char *dpDstNv12, int nDstPitch, int nDstWidth, int nDstHeight, unsigned char *dpSrcNv12, int nSrcPitch, int nSrcWidth, int nSrcHeight, unsigned char *dpDstNv12UV = nullptr);
+void ResizeP016(unsigned char *dpDstP016, int nDstPitch, int nDstWidth, int nDstHeight, unsigned char *dpSrcP016, int nSrcPitch, int nSrcWidth, int nSrcHeight, unsigned char *dpDstP016UV = nullptr);
+
+void ScaleYUV420(unsigned char *dpDstY, unsigned char* dpDstU, unsigned char* dpDstV, int nDstPitch, int nDstChromaPitch, int nDstWidth, int nDstHeight,
+ unsigned char *dpSrcY, unsigned char* dpSrcU, unsigned char* dpSrcV, int nSrcPitch, int nSrcChromaPitch, int nSrcWidth, int nSrcHeight, bool bSemiplanar);
+
+#ifdef __cuda_cuda_h__
+void ComputeCRC(uint8_t *pBuffer, uint32_t *crcValue, CUstream_st *outputCUStream);
+#endif
\ No newline at end of file
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/NvEncoderCLIOptions.h b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/NvEncoderCLIOptions.h
new file mode 100644
index 0000000000000000000000000000000000000000..3584bc784036013c044ecdc19a41ca8060e0811e
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/NvEncoderCLIOptions.h
@@ -0,0 +1,621 @@
+/*
+* Copyright 2017-2019 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+#pragma once
+#include <vector>
+#include <string>
+#include <algorithm>
+#include <stdexcept>
+#include <sstream>
+#include <iterator>
+#include <cstring>
+#include <functional>
+#include "../Utils/Logger.h"
+
+extern simplelogger::Logger *logger;
+
+#ifndef _WIN32
+inline bool operator==(const GUID &guid1, const GUID &guid2) {
+ return !memcmp(&guid1, &guid2, sizeof(GUID));
+}
+
+inline bool operator!=(const GUID &guid1, const GUID &guid2) {
+ return !(guid1 == guid2);
+}
+#endif
+
+/*
+ * Helper class for parsing generic encoder options and preparing encoder
+ * initialization parameters. This class also provides some utility methods
+ * which generate verbose descriptions of the provided set of encoder
+ * initialization parameters.
+ */
+class NvEncoderInitParam {
+public:
+ NvEncoderInitParam(const char *szParam = "",
+ std::function<void(NV_ENC_INITIALIZE_PARAMS *pParams)> *pfuncInit = NULL, bool _bLowLatency = false)
+ : strParam(szParam), bLowLatency(_bLowLatency)
+ {
+ if (pfuncInit) {
+ funcInit = *pfuncInit;
+ }
+
+ std::transform(strParam.begin(), strParam.end(), strParam.begin(), tolower);
+ std::istringstream ss(strParam);
+ tokens = std::vector<std::string> {
+ std::istream_iterator<std::string>(ss),
+ std::istream_iterator<std::string>()
+ };
+
+ for (unsigned i = 0; i < tokens.size(); i++)
+ {
+ if (tokens[i] == "-codec" && ++i != tokens.size())
+ {
+ ParseString("-codec", tokens[i], vCodec, szCodecNames, &guidCodec);
+ continue;
+ }
+ if (bLowLatency)
+ {
+ if (tokens[i] == "-preset" && ++i != tokens.size()) {
+ ParseString("-preset", tokens[i], vLowLatencyPreset, szLowLatencyPresetNames, &guidPreset);
+ continue;
+ }
+ }
+ else
+ {
+ if (tokens[i] == "-preset" && ++i != tokens.size()) {
+ ParseString("-preset", tokens[i], vPreset, szPresetNames, &guidPreset);
+ continue;
+ }
+ }
+ }
+
+ if (bLowLatency) guidPreset = NV_ENC_PRESET_LOW_LATENCY_DEFAULT_GUID;
+ }
+ virtual ~NvEncoderInitParam() {}
+ virtual bool IsCodecH264() {
+ return GetEncodeGUID() == NV_ENC_CODEC_H264_GUID;
+ }
+
+ virtual bool IsCodecHEVC() {
+ return GetEncodeGUID() == NV_ENC_CODEC_HEVC_GUID;
+ }
+ std::string GetHelpMessage(bool bMeOnly = false, bool bUnbuffered = false, bool bHide444 = false, bool bOutputInVidMem = false)
+ {
+ std::ostringstream oss;
+
+ if (bOutputInVidMem && bMeOnly)
+ {
+ oss << "-codec Codec: " << "h264" << std::endl;
+ }
+ else
+ {
+ oss << "-codec Codec: " << szCodecNames << std::endl;
+ }
+
+ oss << "-preset Preset: " << (bLowLatency ? szLowLatencyPresetNames : szPresetNames) << std::endl
+ << "-profile H264: " << szH264ProfileNames;
+
+ if (bOutputInVidMem && bMeOnly)
+ {
+ oss << std::endl;
+ }
+ else
+ {
+ oss << "; HEVC: " << szHevcProfileNames << std::endl;
+ }
+
+ if (!bHide444 && !bLowLatency)
+ {
+ oss << "-444 (Only for RGB input) YUV444 encode" << std::endl;
+ }
+ if (bMeOnly) return oss.str();
+ oss << "-rc Rate control mode: " << szRcModeNames << std::endl
+ << "-fps Frame rate" << std::endl
+ << "-gop Length of GOP (Group of Pictures)" << std::endl;
+ if (!bUnbuffered && !bLowLatency)
+ {
+ oss << "-bf Number of consecutive B-frames" << std::endl;
+ }
+ oss << "-bitrate Average bit rate, can be in unit of 1, K, M" << std::endl
+ << "-maxbitrate Max bit rate, can be in unit of 1, K, M" << std::endl
+ << "-vbvbufsize VBV buffer size in bits, can be in unit of 1, K, M" << std::endl
+ << "-vbvinit VBV initial delay in bits, can be in unit of 1, K, M" << std::endl;
+ if (!bLowLatency)
+ {
+ oss << "-aq Enable spatial AQ and set its stength (range 1-15, 0-auto)" << std::endl
+ << "-temporalaq (No value) Enable temporal AQ" << std::endl;
+ }
+ if (!bUnbuffered && !bLowLatency)
+ {
+ oss << "-lookahead Maximum depth of lookahead (range 0-32)" << std::endl;
+ }
+ oss << "-cq Target constant quality level for VBR mode (range 1-51, 0-auto)" << std::endl
+ << "-qmin Min QP value" << std::endl
+ << "-qmax Max QP value" << std::endl
+ << "-initqp Initial QP value" << std::endl;
+ if (!bLowLatency)
+ {
+ oss << "-constqp QP value for constqp rate control mode" << std::endl
+ << "Note: QP value can be in the form of qp_of_P_B_I or qp_P,qp_B,qp_I (no space)" << std::endl;
+ }
+ if (bUnbuffered && !bLowLatency)
+ {
+ oss << "Note: Options -bf and -lookahead are unavailable for this app" << std::endl;
+ }
+ return oss.str();
+ }
+
+ /**
+ * @brief Generate and return a string describing the values of the main/common
+ * encoder initialization parameters
+ */
+ std::string MainParamToString(const NV_ENC_INITIALIZE_PARAMS *pParams) {
+ std::ostringstream os;
+ os
+ << "Encoding Parameters:"
+ << std::endl << "\tcodec : " << ConvertValueToString(vCodec, szCodecNames, pParams->encodeGUID)
+ << std::endl << "\tpreset : " << ConvertValueToString(vPreset, szPresetNames, pParams->presetGUID)
+ << std::endl << "\tprofile : " << ConvertValueToString(vProfile, szProfileNames, pParams->encodeConfig->profileGUID)
+ << std::endl << "\tchroma : " << ConvertValueToString(vChroma, szChromaNames, (pParams->encodeGUID == NV_ENC_CODEC_H264_GUID) ? pParams->encodeConfig->encodeCodecConfig.h264Config.chromaFormatIDC : pParams->encodeConfig->encodeCodecConfig.hevcConfig.chromaFormatIDC)
+ << std::endl << "\tbitdepth : " << ((pParams->encodeGUID == NV_ENC_CODEC_H264_GUID) ? 0 : pParams->encodeConfig->encodeCodecConfig.hevcConfig.pixelBitDepthMinus8) + 8
+ << std::endl << "\trc : " << ConvertValueToString(vRcMode, szRcModeNames, pParams->encodeConfig->rcParams.rateControlMode)
+ ;
+ if (pParams->encodeConfig->rcParams.rateControlMode == NV_ENC_PARAMS_RC_CONSTQP) {
+ os << " (P,B,I=" << pParams->encodeConfig->rcParams.constQP.qpInterP << "," << pParams->encodeConfig->rcParams.constQP.qpInterB << "," << pParams->encodeConfig->rcParams.constQP.qpIntra << ")";
+ }
+ os
+ << std::endl << "\tfps : " << pParams->frameRateNum << "/" << pParams->frameRateDen
+ << std::endl << "\tgop : " << (pParams->encodeConfig->gopLength == NVENC_INFINITE_GOPLENGTH ? "INF" : std::to_string(pParams->encodeConfig->gopLength))
+ << std::endl << "\tbf : " << pParams->encodeConfig->frameIntervalP - 1
+ << std::endl << "\tsize : " << pParams->encodeWidth << "x" << pParams->encodeHeight
+ << std::endl << "\tbitrate : " << pParams->encodeConfig->rcParams.averageBitRate
+ << std::endl << "\tmaxbitrate : " << pParams->encodeConfig->rcParams.maxBitRate
+ << std::endl << "\tvbvbufsize : " << pParams->encodeConfig->rcParams.vbvBufferSize
+ << std::endl << "\tvbvinit : " << pParams->encodeConfig->rcParams.vbvInitialDelay
+ << std::endl << "\taq : " << (pParams->encodeConfig->rcParams.enableAQ ? (pParams->encodeConfig->rcParams.aqStrength ? std::to_string(pParams->encodeConfig->rcParams.aqStrength) : "auto") : "disabled")
+ << std::endl << "\ttemporalaq : " << (pParams->encodeConfig->rcParams.enableTemporalAQ ? "enabled" : "disabled")
+ << std::endl << "\tlookahead : " << (pParams->encodeConfig->rcParams.enableLookahead ? std::to_string(pParams->encodeConfig->rcParams.lookaheadDepth) : "disabled")
+ << std::endl << "\tcq : " << pParams->encodeConfig->rcParams.targetQuality
+ << std::endl << "\tqmin : P,B,I=" << pParams->encodeConfig->rcParams.minQP.qpInterP << "," << pParams->encodeConfig->rcParams.minQP.qpInterB << "," << pParams->encodeConfig->rcParams.minQP.qpIntra
+ << std::endl << "\tqmax : P,B,I=" << pParams->encodeConfig->rcParams.maxQP.qpInterP << "," << pParams->encodeConfig->rcParams.maxQP.qpInterB << "," << pParams->encodeConfig->rcParams.maxQP.qpIntra
+ << std::endl << "\tinitqp : P,B,I=" << pParams->encodeConfig->rcParams.initialRCQP.qpInterP << "," << pParams->encodeConfig->rcParams.initialRCQP.qpInterB << "," << pParams->encodeConfig->rcParams.initialRCQP.qpIntra
+ ;
+ return os.str();
+ }
+
+public:
+ virtual GUID GetEncodeGUID() { return guidCodec; }
+ virtual GUID GetPresetGUID() { return guidPreset; }
+
+ /*
+ * @brief Set encoder initialization parameters based on input options
+ * This method parses the tokens formed from the command line options
+ * provided to the application and sets the fields from NV_ENC_INITIALIZE_PARAMS
+ * based on the supplied values.
+ */
+ virtual void SetInitParams(NV_ENC_INITIALIZE_PARAMS *pParams, NV_ENC_BUFFER_FORMAT eBufferFormat)
+ {
+ NV_ENC_CONFIG &config = *pParams->encodeConfig;
+ for (unsigned i = 0; i < tokens.size(); i++)
+ {
+ if (
+ tokens[i] == "-codec" && ++i ||
+ tokens[i] == "-preset" && ++i ||
+ tokens[i] == "-profile" && ++i != tokens.size() && (IsCodecH264() ?
+ ParseString("-profile", tokens[i], vH264Profile, szH264ProfileNames, &config.profileGUID) :
+ ParseString("-profile", tokens[i], vHevcProfile, szHevcProfileNames, &config.profileGUID)) ||
+ tokens[i] == "-rc" && ++i != tokens.size() && ParseString("-rc", tokens[i], vRcMode, szRcModeNames, &config.rcParams.rateControlMode) ||
+ tokens[i] == "-fps" && ++i != tokens.size() && ParseInt("-fps", tokens[i], &pParams->frameRateNum) ||
+ tokens[i] == "-bf" && ++i != tokens.size() && ParseInt("-bf", tokens[i], &config.frameIntervalP) && ++config.frameIntervalP ||
+ tokens[i] == "-bitrate" && ++i != tokens.size() && ParseBitRate("-bitrate", tokens[i], &config.rcParams.averageBitRate) ||
+ tokens[i] == "-maxbitrate" && ++i != tokens.size() && ParseBitRate("-maxbitrate", tokens[i], &config.rcParams.maxBitRate) ||
+ tokens[i] == "-vbvbufsize" && ++i != tokens.size() && ParseBitRate("-vbvbufsize", tokens[i], &config.rcParams.vbvBufferSize) ||
+ tokens[i] == "-vbvinit" && ++i != tokens.size() && ParseBitRate("-vbvinit", tokens[i], &config.rcParams.vbvInitialDelay) ||
+ tokens[i] == "-cq" && ++i != tokens.size() && ParseInt("-cq", tokens[i], &config.rcParams.targetQuality) ||
+ tokens[i] == "-initqp" && ++i != tokens.size() && ParseQp("-initqp", tokens[i], &config.rcParams.initialRCQP) && (config.rcParams.enableInitialRCQP = true) ||
+ tokens[i] == "-qmin" && ++i != tokens.size() && ParseQp("-qmin", tokens[i], &config.rcParams.minQP) && (config.rcParams.enableMinQP = true) ||
+ tokens[i] == "-qmax" && ++i != tokens.size() && ParseQp("-qmax", tokens[i], &config.rcParams.maxQP) && (config.rcParams.enableMaxQP = true) ||
+ tokens[i] == "-constqp" && ++i != tokens.size() && ParseQp("-constqp", tokens[i], &config.rcParams.constQP) ||
+ tokens[i] == "-temporalaq" && (config.rcParams.enableTemporalAQ = true)
+ )
+ {
+ continue;
+ }
+ if (tokens[i] == "-lookahead" && ++i != tokens.size() && ParseInt("-lookahead", tokens[i], &config.rcParams.lookaheadDepth))
+ {
+ config.rcParams.enableLookahead = config.rcParams.lookaheadDepth > 0;
+ continue;
+ }
+ int aqStrength;
+ if (tokens[i] == "-aq" && ++i != tokens.size() && ParseInt("-aq", tokens[i], &aqStrength)) {
+ config.rcParams.enableAQ = true;
+ config.rcParams.aqStrength = aqStrength;
+ continue;
+ }
+
+ if (tokens[i] == "-gop" && ++i != tokens.size() && ParseInt("-gop", tokens[i], &config.gopLength))
+ {
+ if (IsCodecH264())
+ {
+ config.encodeCodecConfig.h264Config.idrPeriod = config.gopLength;
+ }
+ else
+ {
+ config.encodeCodecConfig.hevcConfig.idrPeriod = config.gopLength;
+ }
+ continue;
+ }
+
+ if (tokens[i] == "-444")
+ {
+ if (IsCodecH264())
+ {
+ config.encodeCodecConfig.h264Config.chromaFormatIDC = 3;
+ } else
+ {
+ config.encodeCodecConfig.hevcConfig.chromaFormatIDC = 3;
+ }
+ continue;
+ }
+
+ std::ostringstream errmessage;
+ errmessage << "Incorrect parameter: " << tokens[i] << std::endl;
+ errmessage << "Re-run the application with the -h option to get a list of the supported options.";
+ errmessage << std::endl;
+
+ throw std::invalid_argument(errmessage.str());
+ }
+
+ if (IsCodecHEVC())
+ {
+ if (eBufferFormat == NV_ENC_BUFFER_FORMAT_YUV420_10BIT || eBufferFormat == NV_ENC_BUFFER_FORMAT_YUV444_10BIT)
+ {
+ config.encodeCodecConfig.hevcConfig.pixelBitDepthMinus8 = 2;
+ }
+ }
+
+ funcInit(pParams);
+ LOG(INFO) << NvEncoderInitParam().MainParamToString(pParams);
+ LOG(TRACE) << NvEncoderInitParam().FullParamToString(pParams);
+ }
+
+private:
+ /*
+ * Helper methods for parsing tokens (generated by splitting the command line)
+ * and performing conversions to the appropriate target type/value.
+ */
+ template<typename T>
+ bool ParseString(const std::string &strName, const std::string &strValue, const std::vector<T> &vValue, const std::string &strValueNames, T *pValue) {
+ std::vector<std::string> vstrValueName = split(strValueNames, ' ');
+ auto it = std::find(vstrValueName.begin(), vstrValueName.end(), strValue);
+ if (it == vstrValueName.end()) {
+ LOG(ERROR) << strName << " options: " << strValueNames;
+ return false;
+ }
+ *pValue = vValue[it - vstrValueName.begin()];
+ return true;
+ }
+ template<typename T>
+ std::string ConvertValueToString(const std::vector<T> &vValue, const std::string &strValueNames, T value) {
+ auto it = std::find(vValue.begin(), vValue.end(), value);
+ if (it == vValue.end()) {
+ LOG(ERROR) << "Invalid value. Can't convert to one of " << strValueNames;
+ return std::string();
+ }
+ return split(strValueNames, ' ')[it - vValue.begin()];
+ }
+ bool ParseBitRate(const std::string &strName, const std::string &strValue, unsigned *pBitRate) {
+ try {
+ size_t l;
+ double r = std::stod(strValue, &l);
+ char c = strValue[l];
+ if (c != 0 && c != 'k' && c != 'm') {
+ LOG(ERROR) << strName << " units: 1, K, M (lower case also allowed)";
+ }
+ *pBitRate = (unsigned)((c == 'm' ? 1000000 : (c == 'k' ? 1000 : 1)) * r);
+ } catch (std::invalid_argument) {
+ return false;
+ }
+ return true;
+ }
+ template<typename T>
+ bool ParseInt(const std::string &strName, const std::string &strValue, T *pInt) {
+ try {
+ *pInt = std::stoi(strValue);
+ } catch (std::invalid_argument) {
+ LOG(ERROR) << strName << " need a value of positive number";
+ return false;
+ }
+ return true;
+ }
+ bool ParseQp(const std::string &strName, const std::string &strValue, NV_ENC_QP *pQp) {
+ std::vector<std::string> vQp = split(strValue, ',');
+ try {
+ if (vQp.size() == 1) {
+ unsigned qp = (unsigned)std::stoi(vQp[0]);
+ *pQp = {qp, qp, qp};
+ } else if (vQp.size() == 3) {
+ *pQp = {(unsigned)std::stoi(vQp[0]), (unsigned)std::stoi(vQp[1]), (unsigned)std::stoi(vQp[2])};
+ } else {
+ LOG(ERROR) << strName << " qp_for_P_B_I or qp_P,qp_B,qp_I (no space is allowed)";
+ return false;
+ }
+ } catch (std::invalid_argument) {
+ return false;
+ }
+ return true;
+ }
+ std::vector<std::string> split(const std::string &s, char delim) {
+ std::stringstream ss(s);
+ std::string token;
+ std::vector<std::string> tokens;
+ while (getline(ss, token, delim)) {
+ tokens.push_back(token);
+ }
+ return tokens;
+ }
+
+private:
+ std::string strParam;
+ std::function<void(NV_ENC_INITIALIZE_PARAMS *pParams)> funcInit = [](NV_ENC_INITIALIZE_PARAMS *pParams){};
+ std::vector<std::string> tokens;
+ GUID guidCodec = NV_ENC_CODEC_H264_GUID;
+ GUID guidPreset = NV_ENC_PRESET_DEFAULT_GUID;
+ bool bLowLatency = false;
+
+ const char *szCodecNames = "h264 hevc";
+ std::vector<GUID> vCodec = std::vector<GUID> {
+ NV_ENC_CODEC_H264_GUID,
+ NV_ENC_CODEC_HEVC_GUID
+ };
+
+ const char *szChromaNames = "yuv420 yuv444";
+ std::vector<uint32_t> vChroma = std::vector<uint32_t>
+ {
+ 1, 3
+ };
+
+ const char *szPresetNames = "default hp hq bd ll ll_hp ll_hq lossless lossless_hp";
+ const char *szLowLatencyPresetNames = "ll ll_hp ll_hq";
+ std::vector<GUID> vPreset = std::vector<GUID> {
+ NV_ENC_PRESET_DEFAULT_GUID,
+ NV_ENC_PRESET_HP_GUID,
+ NV_ENC_PRESET_HQ_GUID,
+ NV_ENC_PRESET_BD_GUID,
+ NV_ENC_PRESET_LOW_LATENCY_DEFAULT_GUID,
+ NV_ENC_PRESET_LOW_LATENCY_HP_GUID,
+ NV_ENC_PRESET_LOW_LATENCY_HQ_GUID,
+ NV_ENC_PRESET_LOSSLESS_DEFAULT_GUID,
+ NV_ENC_PRESET_LOSSLESS_HP_GUID
+ };
+
+ std::vector<GUID> vLowLatencyPreset = std::vector<GUID> {
+ NV_ENC_PRESET_LOW_LATENCY_DEFAULT_GUID,
+ NV_ENC_PRESET_LOW_LATENCY_HP_GUID,
+ NV_ENC_PRESET_LOW_LATENCY_HQ_GUID,
+ };
+
+ const char *szH264ProfileNames = "baseline main high high444";
+ std::vector<GUID> vH264Profile = std::vector<GUID> {
+ NV_ENC_H264_PROFILE_BASELINE_GUID,
+ NV_ENC_H264_PROFILE_MAIN_GUID,
+ NV_ENC_H264_PROFILE_HIGH_GUID,
+ NV_ENC_H264_PROFILE_HIGH_444_GUID,
+ };
+ const char *szHevcProfileNames = "main main10 frext";
+ std::vector<GUID> vHevcProfile = std::vector<GUID> {
+ NV_ENC_HEVC_PROFILE_MAIN_GUID,
+ NV_ENC_HEVC_PROFILE_MAIN10_GUID,
+ NV_ENC_HEVC_PROFILE_FREXT_GUID,
+ };
+ const char *szProfileNames = "(default) auto baseline(h264) main(h264) high(h264) high444(h264)"
+ " stereo(h264) svc_temporal_scalability(h264) progressiv_high(h264) constrained_high(h264)"
+ " main(hevc) main10(hevc) frext(hevc)";
+ std::vector<GUID> vProfile = std::vector<GUID> {
+ GUID{},
+ NV_ENC_CODEC_PROFILE_AUTOSELECT_GUID,
+ NV_ENC_H264_PROFILE_BASELINE_GUID,
+ NV_ENC_H264_PROFILE_MAIN_GUID,
+ NV_ENC_H264_PROFILE_HIGH_GUID,
+ NV_ENC_H264_PROFILE_HIGH_444_GUID,
+ NV_ENC_H264_PROFILE_STEREO_GUID,
+ NV_ENC_H264_PROFILE_SVC_TEMPORAL_SCALABILTY,
+ NV_ENC_H264_PROFILE_PROGRESSIVE_HIGH_GUID,
+ NV_ENC_H264_PROFILE_CONSTRAINED_HIGH_GUID,
+ NV_ENC_HEVC_PROFILE_MAIN_GUID,
+ NV_ENC_HEVC_PROFILE_MAIN10_GUID,
+ NV_ENC_HEVC_PROFILE_FREXT_GUID,
+ };
+
+ const char *szRcModeNames = "constqp vbr cbr cbr_ll_hq cbr_hq vbr_hq";
+ std::vector<NV_ENC_PARAMS_RC_MODE> vRcMode = std::vector<NV_ENC_PARAMS_RC_MODE> {
+ NV_ENC_PARAMS_RC_CONSTQP,
+ NV_ENC_PARAMS_RC_VBR,
+ NV_ENC_PARAMS_RC_CBR,
+ NV_ENC_PARAMS_RC_CBR_LOWDELAY_HQ,
+ NV_ENC_PARAMS_RC_CBR_HQ,
+ NV_ENC_PARAMS_RC_VBR_HQ,
+ };
+
+ const char *szQpMapModeNames = "disabled emphasis_level_map delta_qp_map qp_map";
+ std::vector<NV_ENC_QP_MAP_MODE> vQpMapMode = std::vector<NV_ENC_QP_MAP_MODE> {
+ NV_ENC_QP_MAP_DISABLED,
+ NV_ENC_QP_MAP_EMPHASIS,
+ NV_ENC_QP_MAP_DELTA,
+ NV_ENC_QP_MAP,
+ };
+
+
+public:
+ /*
+ * Generates and returns a string describing the values for each field in
+ * the NV_ENC_INITIALIZE_PARAMS structure (i.e. a description of the entire
+ * set of initialization parameters supplied to the API).
+ */
+ std::string FullParamToString(const NV_ENC_INITIALIZE_PARAMS *pInitializeParams) {
+ std::ostringstream os;
+ os << "NV_ENC_INITIALIZE_PARAMS:" << std::endl
+ << "encodeGUID: " << ConvertValueToString(vCodec, szCodecNames, pInitializeParams->encodeGUID) << std::endl
+ << "presetGUID: " << ConvertValueToString(vPreset, szPresetNames, pInitializeParams->presetGUID) << std::endl
+ << "encodeWidth: " << pInitializeParams->encodeWidth << std::endl
+ << "encodeHeight: " << pInitializeParams->encodeHeight << std::endl
+ << "darWidth: " << pInitializeParams->darWidth << std::endl
+ << "darHeight: " << pInitializeParams->darHeight << std::endl
+ << "frameRateNum: " << pInitializeParams->frameRateNum << std::endl
+ << "frameRateDen: " << pInitializeParams->frameRateDen << std::endl
+ << "enableEncodeAsync: " << pInitializeParams->enableEncodeAsync << std::endl
+ << "reportSliceOffsets: " << pInitializeParams->reportSliceOffsets << std::endl
+ << "enableSubFrameWrite: " << pInitializeParams->enableSubFrameWrite << std::endl
+ << "enableExternalMEHints: " << pInitializeParams->enableExternalMEHints << std::endl
+ << "enableMEOnlyMode: " << pInitializeParams->enableMEOnlyMode << std::endl
+ << "enableWeightedPrediction: " << pInitializeParams->enableWeightedPrediction << std::endl
+ << "maxEncodeWidth: " << pInitializeParams->maxEncodeWidth << std::endl
+ << "maxEncodeHeight: " << pInitializeParams->maxEncodeHeight << std::endl
+ << "maxMEHintCountsPerBlock: " << pInitializeParams->maxMEHintCountsPerBlock << std::endl
+ ;
+ NV_ENC_CONFIG *pConfig = pInitializeParams->encodeConfig;
+ os << "NV_ENC_CONFIG:" << std::endl
+ << "profile: " << ConvertValueToString(vProfile, szProfileNames, pConfig->profileGUID) << std::endl
+ << "gopLength: " << pConfig->gopLength << std::endl
+ << "frameIntervalP: " << pConfig->frameIntervalP << std::endl
+ << "monoChromeEncoding: " << pConfig->monoChromeEncoding << std::endl
+ << "frameFieldMode: " << pConfig->frameFieldMode << std::endl
+ << "mvPrecision: " << pConfig->mvPrecision << std::endl
+ << "NV_ENC_RC_PARAMS:" << std::endl
+ << " rateControlMode: 0x" << std::hex << pConfig->rcParams.rateControlMode << std::dec << std::endl
+ << " constQP: " << pConfig->rcParams.constQP.qpInterP << ", " << pConfig->rcParams.constQP.qpInterB << ", " << pConfig->rcParams.constQP.qpIntra << std::endl
+ << " averageBitRate: " << pConfig->rcParams.averageBitRate << std::endl
+ << " maxBitRate: " << pConfig->rcParams.maxBitRate << std::endl
+ << " vbvBufferSize: " << pConfig->rcParams.vbvBufferSize << std::endl
+ << " vbvInitialDelay: " << pConfig->rcParams.vbvInitialDelay << std::endl
+ << " enableMinQP: " << pConfig->rcParams.enableMinQP << std::endl
+ << " enableMaxQP: " << pConfig->rcParams.enableMaxQP << std::endl
+ << " enableInitialRCQP: " << pConfig->rcParams.enableInitialRCQP << std::endl
+ << " enableAQ: " << pConfig->rcParams.enableAQ << std::endl
+ << " qpMapMode: " << ConvertValueToString(vQpMapMode, szQpMapModeNames, pConfig->rcParams.qpMapMode) << std::endl
+ << " enableLookahead: " << pConfig->rcParams.enableLookahead << std::endl
+ << " disableIadapt: " << pConfig->rcParams.disableIadapt << std::endl
+ << " disableBadapt: " << pConfig->rcParams.disableBadapt << std::endl
+ << " enableTemporalAQ: " << pConfig->rcParams.enableTemporalAQ << std::endl
+ << " zeroReorderDelay: " << pConfig->rcParams.zeroReorderDelay << std::endl
+ << " enableNonRefP: " << pConfig->rcParams.enableNonRefP << std::endl
+ << " strictGOPTarget: " << pConfig->rcParams.strictGOPTarget << std::endl
+ << " aqStrength: " << pConfig->rcParams.aqStrength << std::endl
+ << " minQP: " << pConfig->rcParams.minQP.qpInterP << ", " << pConfig->rcParams.minQP.qpInterB << ", " << pConfig->rcParams.minQP.qpIntra << std::endl
+ << " maxQP: " << pConfig->rcParams.maxQP.qpInterP << ", " << pConfig->rcParams.maxQP.qpInterB << ", " << pConfig->rcParams.maxQP.qpIntra << std::endl
+ << " initialRCQP: " << pConfig->rcParams.initialRCQP.qpInterP << ", " << pConfig->rcParams.initialRCQP.qpInterB << ", " << pConfig->rcParams.initialRCQP.qpIntra << std::endl
+ << " temporallayerIdxMask: " << pConfig->rcParams.temporallayerIdxMask << std::endl
+ << " temporalLayerQP: " << (int)pConfig->rcParams.temporalLayerQP[0] << ", " << (int)pConfig->rcParams.temporalLayerQP[1] << ", " << (int)pConfig->rcParams.temporalLayerQP[2] << ", " << (int)pConfig->rcParams.temporalLayerQP[3] << ", " << (int)pConfig->rcParams.temporalLayerQP[4] << ", " << (int)pConfig->rcParams.temporalLayerQP[5] << ", " << (int)pConfig->rcParams.temporalLayerQP[6] << ", " << (int)pConfig->rcParams.temporalLayerQP[7] << std::endl
+ << " targetQuality: " << pConfig->rcParams.targetQuality << std::endl
+ << " lookaheadDepth: " << pConfig->rcParams.lookaheadDepth << std::endl;
+ if (pInitializeParams->encodeGUID == NV_ENC_CODEC_H264_GUID) {
+ os
+ << "NV_ENC_CODEC_CONFIG (H264):" << std::endl
+ << " enableStereoMVC: " << pConfig->encodeCodecConfig.h264Config.enableStereoMVC << std::endl
+ << " hierarchicalPFrames: " << pConfig->encodeCodecConfig.h264Config.hierarchicalPFrames << std::endl
+ << " hierarchicalBFrames: " << pConfig->encodeCodecConfig.h264Config.hierarchicalBFrames << std::endl
+ << " outputBufferingPeriodSEI: " << pConfig->encodeCodecConfig.h264Config.outputBufferingPeriodSEI << std::endl
+ << " outputPictureTimingSEI: " << pConfig->encodeCodecConfig.h264Config.outputPictureTimingSEI << std::endl
+ << " outputAUD: " << pConfig->encodeCodecConfig.h264Config.outputAUD << std::endl
+ << " disableSPSPPS: " << pConfig->encodeCodecConfig.h264Config.disableSPSPPS << std::endl
+ << " outputFramePackingSEI: " << pConfig->encodeCodecConfig.h264Config.outputFramePackingSEI << std::endl
+ << " outputRecoveryPointSEI: " << pConfig->encodeCodecConfig.h264Config.outputRecoveryPointSEI << std::endl
+ << " enableIntraRefresh: " << pConfig->encodeCodecConfig.h264Config.enableIntraRefresh << std::endl
+ << " enableConstrainedEncoding: " << pConfig->encodeCodecConfig.h264Config.enableConstrainedEncoding << std::endl
+ << " repeatSPSPPS: " << pConfig->encodeCodecConfig.h264Config.repeatSPSPPS << std::endl
+ << " enableVFR: " << pConfig->encodeCodecConfig.h264Config.enableVFR << std::endl
+ << " enableLTR: " << pConfig->encodeCodecConfig.h264Config.enableLTR << std::endl
+ << " qpPrimeYZeroTransformBypassFlag: " << pConfig->encodeCodecConfig.h264Config.qpPrimeYZeroTransformBypassFlag << std::endl
+ << " useConstrainedIntraPred: " << pConfig->encodeCodecConfig.h264Config.useConstrainedIntraPred << std::endl
+ << " level: " << pConfig->encodeCodecConfig.h264Config.level << std::endl
+ << " idrPeriod: " << pConfig->encodeCodecConfig.h264Config.idrPeriod << std::endl
+ << " separateColourPlaneFlag: " << pConfig->encodeCodecConfig.h264Config.separateColourPlaneFlag << std::endl
+ << " disableDeblockingFilterIDC: " << pConfig->encodeCodecConfig.h264Config.disableDeblockingFilterIDC << std::endl
+ << " numTemporalLayers: " << pConfig->encodeCodecConfig.h264Config.numTemporalLayers << std::endl
+ << " spsId: " << pConfig->encodeCodecConfig.h264Config.spsId << std::endl
+ << " ppsId: " << pConfig->encodeCodecConfig.h264Config.ppsId << std::endl
+ << " adaptiveTransformMode: " << pConfig->encodeCodecConfig.h264Config.adaptiveTransformMode << std::endl
+ << " fmoMode: " << pConfig->encodeCodecConfig.h264Config.fmoMode << std::endl
+ << " bdirectMode: " << pConfig->encodeCodecConfig.h264Config.bdirectMode << std::endl
+ << " entropyCodingMode: " << pConfig->encodeCodecConfig.h264Config.entropyCodingMode << std::endl
+ << " stereoMode: " << pConfig->encodeCodecConfig.h264Config.stereoMode << std::endl
+ << " intraRefreshPeriod: " << pConfig->encodeCodecConfig.h264Config.intraRefreshPeriod << std::endl
+ << " intraRefreshCnt: " << pConfig->encodeCodecConfig.h264Config.intraRefreshCnt << std::endl
+ << " maxNumRefFrames: " << pConfig->encodeCodecConfig.h264Config.maxNumRefFrames << std::endl
+ << " sliceMode: " << pConfig->encodeCodecConfig.h264Config.sliceMode << std::endl
+ << " sliceModeData: " << pConfig->encodeCodecConfig.h264Config.sliceModeData << std::endl
+ << " NV_ENC_CONFIG_H264_VUI_PARAMETERS:" << std::endl
+ << " overscanInfoPresentFlag: " << pConfig->encodeCodecConfig.h264Config.h264VUIParameters.overscanInfoPresentFlag << std::endl
+ << " overscanInfo: " << pConfig->encodeCodecConfig.h264Config.h264VUIParameters.overscanInfo << std::endl
+ << " videoSignalTypePresentFlag: " << pConfig->encodeCodecConfig.h264Config.h264VUIParameters.videoSignalTypePresentFlag << std::endl
+ << " videoFormat: " << pConfig->encodeCodecConfig.h264Config.h264VUIParameters.videoFormat << std::endl
+ << " videoFullRangeFlag: " << pConfig->encodeCodecConfig.h264Config.h264VUIParameters.videoFullRangeFlag << std::endl
+ << " colourDescriptionPresentFlag: " << pConfig->encodeCodecConfig.h264Config.h264VUIParameters.colourDescriptionPresentFlag << std::endl
+ << " colourPrimaries: " << pConfig->encodeCodecConfig.h264Config.h264VUIParameters.colourPrimaries << std::endl
+ << " transferCharacteristics: " << pConfig->encodeCodecConfig.h264Config.h264VUIParameters.transferCharacteristics << std::endl
+ << " colourMatrix: " << pConfig->encodeCodecConfig.h264Config.h264VUIParameters.colourMatrix << std::endl
+ << " chromaSampleLocationFlag: " << pConfig->encodeCodecConfig.h264Config.h264VUIParameters.chromaSampleLocationFlag << std::endl
+ << " chromaSampleLocationTop: " << pConfig->encodeCodecConfig.h264Config.h264VUIParameters.chromaSampleLocationTop << std::endl
+ << " chromaSampleLocationBot: " << pConfig->encodeCodecConfig.h264Config.h264VUIParameters.chromaSampleLocationBot << std::endl
+ << " bitstreamRestrictionFlag: " << pConfig->encodeCodecConfig.h264Config.h264VUIParameters.bitstreamRestrictionFlag << std::endl
+ << " ltrNumFrames: " << pConfig->encodeCodecConfig.h264Config.ltrNumFrames << std::endl
+ << " ltrTrustMode: " << pConfig->encodeCodecConfig.h264Config.ltrTrustMode << std::endl
+ << " chromaFormatIDC: " << pConfig->encodeCodecConfig.h264Config.chromaFormatIDC << std::endl
+ << " maxTemporalLayers: " << pConfig->encodeCodecConfig.h264Config.maxTemporalLayers << std::endl;
+ } else if (pInitializeParams->encodeGUID == NV_ENC_CODEC_HEVC_GUID) {
+ os
+ << "NV_ENC_CODEC_CONFIG (HEVC):" << std::endl
+ << " level: " << pConfig->encodeCodecConfig.hevcConfig.level << std::endl
+ << " tier: " << pConfig->encodeCodecConfig.hevcConfig.tier << std::endl
+ << " minCUSize: " << pConfig->encodeCodecConfig.hevcConfig.minCUSize << std::endl
+ << " maxCUSize: " << pConfig->encodeCodecConfig.hevcConfig.maxCUSize << std::endl
+ << " useConstrainedIntraPred: " << pConfig->encodeCodecConfig.hevcConfig.useConstrainedIntraPred << std::endl
+ << " disableDeblockAcrossSliceBoundary: " << pConfig->encodeCodecConfig.hevcConfig.disableDeblockAcrossSliceBoundary << std::endl
+ << " outputBufferingPeriodSEI: " << pConfig->encodeCodecConfig.hevcConfig.outputBufferingPeriodSEI << std::endl
+ << " outputPictureTimingSEI: " << pConfig->encodeCodecConfig.hevcConfig.outputPictureTimingSEI << std::endl
+ << " outputAUD: " << pConfig->encodeCodecConfig.hevcConfig.outputAUD << std::endl
+ << " enableLTR: " << pConfig->encodeCodecConfig.hevcConfig.enableLTR << std::endl
+ << " disableSPSPPS: " << pConfig->encodeCodecConfig.hevcConfig.disableSPSPPS << std::endl
+ << " repeatSPSPPS: " << pConfig->encodeCodecConfig.hevcConfig.repeatSPSPPS << std::endl
+ << " enableIntraRefresh: " << pConfig->encodeCodecConfig.hevcConfig.enableIntraRefresh << std::endl
+ << " chromaFormatIDC: " << pConfig->encodeCodecConfig.hevcConfig.chromaFormatIDC << std::endl
+ << " pixelBitDepthMinus8: " << pConfig->encodeCodecConfig.hevcConfig.pixelBitDepthMinus8 << std::endl
+ << " idrPeriod: " << pConfig->encodeCodecConfig.hevcConfig.idrPeriod << std::endl
+ << " intraRefreshPeriod: " << pConfig->encodeCodecConfig.hevcConfig.intraRefreshPeriod << std::endl
+ << " intraRefreshCnt: " << pConfig->encodeCodecConfig.hevcConfig.intraRefreshCnt << std::endl
+ << " maxNumRefFramesInDPB: " << pConfig->encodeCodecConfig.hevcConfig.maxNumRefFramesInDPB << std::endl
+ << " ltrNumFrames: " << pConfig->encodeCodecConfig.hevcConfig.ltrNumFrames << std::endl
+ << " vpsId: " << pConfig->encodeCodecConfig.hevcConfig.vpsId << std::endl
+ << " spsId: " << pConfig->encodeCodecConfig.hevcConfig.spsId << std::endl
+ << " ppsId: " << pConfig->encodeCodecConfig.hevcConfig.ppsId << std::endl
+ << " sliceMode: " << pConfig->encodeCodecConfig.hevcConfig.sliceMode << std::endl
+ << " sliceModeData: " << pConfig->encodeCodecConfig.hevcConfig.sliceModeData << std::endl
+ << " maxTemporalLayersMinus1: " << pConfig->encodeCodecConfig.hevcConfig.maxTemporalLayersMinus1 << std::endl
+ << " NV_ENC_CONFIG_HEVC_VUI_PARAMETERS:" << std::endl
+ << " overscanInfoPresentFlag: " << pConfig->encodeCodecConfig.hevcConfig.hevcVUIParameters.overscanInfoPresentFlag << std::endl
+ << " overscanInfo: " << pConfig->encodeCodecConfig.hevcConfig.hevcVUIParameters.overscanInfo << std::endl
+ << " videoSignalTypePresentFlag: " << pConfig->encodeCodecConfig.hevcConfig.hevcVUIParameters.videoSignalTypePresentFlag << std::endl
+ << " videoFormat: " << pConfig->encodeCodecConfig.hevcConfig.hevcVUIParameters.videoFormat << std::endl
+ << " videoFullRangeFlag: " << pConfig->encodeCodecConfig.hevcConfig.hevcVUIParameters.videoFullRangeFlag << std::endl
+ << " colourDescriptionPresentFlag: " << pConfig->encodeCodecConfig.hevcConfig.hevcVUIParameters.colourDescriptionPresentFlag << std::endl
+ << " colourPrimaries: " << pConfig->encodeCodecConfig.hevcConfig.hevcVUIParameters.colourPrimaries << std::endl
+ << " transferCharacteristics: " << pConfig->encodeCodecConfig.hevcConfig.hevcVUIParameters.transferCharacteristics << std::endl
+ << " colourMatrix: " << pConfig->encodeCodecConfig.hevcConfig.hevcVUIParameters.colourMatrix << std::endl
+ << " chromaSampleLocationFlag: " << pConfig->encodeCodecConfig.hevcConfig.hevcVUIParameters.chromaSampleLocationFlag << std::endl
+ << " chromaSampleLocationTop: " << pConfig->encodeCodecConfig.hevcConfig.hevcVUIParameters.chromaSampleLocationTop << std::endl
+ << " chromaSampleLocationBot: " << pConfig->encodeCodecConfig.hevcConfig.hevcVUIParameters.chromaSampleLocationBot << std::endl
+ << " bitstreamRestrictionFlag: " << pConfig->encodeCodecConfig.hevcConfig.hevcVUIParameters.bitstreamRestrictionFlag << std::endl
+ << " ltrTrustMode: " << pConfig->encodeCodecConfig.hevcConfig.ltrTrustMode << std::endl;
+ }
+ return os.str();
+ }
+};
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/Resize.cu b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/Resize.cu
new file mode 100644
index 0000000000000000000000000000000000000000..c928e4ff3de70bea4469c9dd2ad66229786741b9
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/Resize.cu
@@ -0,0 +1,192 @@
+/*
+* Copyright 2017-2018 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+#include <cuda_runtime.h>
+#include "NvCodecUtils.h"
+
+template<typename YuvUnitx2>
+static __global__ void Resize(cudaTextureObject_t texY, cudaTextureObject_t texUv,
+ uint8_t *pDst, uint8_t *pDstUV, int nPitch, int nWidth, int nHeight,
+ float fxScale, float fyScale)
+{
+ int ix = blockIdx.x * blockDim.x + threadIdx.x,
+ iy = blockIdx.y * blockDim.y + threadIdx.y;
+
+ if (ix >= nWidth / 2 || iy >= nHeight / 2) {
+ return;
+ }
+
+ int x = ix * 2, y = iy * 2;
+ typedef decltype(YuvUnitx2::x) YuvUnit;
+ const int MAX = 1 << (sizeof(YuvUnit) * 8);
+ *(YuvUnitx2 *)(pDst + y * nPitch + x * sizeof(YuvUnit)) = YuvUnitx2 {
+ (YuvUnit)(tex2D<float>(texY, x / fxScale, y / fyScale) * MAX),
+ (YuvUnit)(tex2D<float>(texY, (x + 1) / fxScale, y / fyScale) * MAX)
+ };
+ y++;
+ *(YuvUnitx2 *)(pDst + y * nPitch + x * sizeof(YuvUnit)) = YuvUnitx2 {
+ (YuvUnit)(tex2D<float>(texY, x / fxScale, y / fyScale) * MAX),
+ (YuvUnit)(tex2D<float>(texY, (x + 1) / fxScale, y / fyScale) * MAX)
+ };
+ float2 uv = tex2D<float2>(texUv, ix / fxScale, (nHeight + iy) / fyScale + 0.5f);
+ *(YuvUnitx2 *)(pDstUV + iy * nPitch + ix * 2 * sizeof(YuvUnit)) = YuvUnitx2{ (YuvUnit)(uv.x * MAX), (YuvUnit)(uv.y * MAX) };
+}
+
+template <typename YuvUnitx2>
+static void Resize(unsigned char *dpDst, unsigned char* dpDstUV, int nDstPitch, int nDstWidth, int nDstHeight, unsigned char *dpSrc, int nSrcPitch, int nSrcWidth, int nSrcHeight) {
+ cudaResourceDesc resDesc = {};
+ resDesc.resType = cudaResourceTypePitch2D;
+ resDesc.res.pitch2D.devPtr = dpSrc;
+ resDesc.res.pitch2D.desc = cudaCreateChannelDesc<decltype(YuvUnitx2::x)>();
+ resDesc.res.pitch2D.width = nSrcWidth;
+ resDesc.res.pitch2D.height = nSrcHeight;
+ resDesc.res.pitch2D.pitchInBytes = nSrcPitch;
+
+ cudaTextureDesc texDesc = {};
+ texDesc.filterMode = cudaFilterModeLinear;
+ texDesc.readMode = cudaReadModeNormalizedFloat;
+
+ cudaTextureObject_t texY=0;
+ ck(cudaCreateTextureObject(&texY, &resDesc, &texDesc, NULL));
+
+ resDesc.res.pitch2D.desc = cudaCreateChannelDesc<YuvUnitx2>();
+ resDesc.res.pitch2D.width = nSrcWidth / 2;
+ resDesc.res.pitch2D.height = nSrcHeight * 3 / 2;
+
+ cudaTextureObject_t texUv=0;
+ ck(cudaCreateTextureObject(&texUv, &resDesc, &texDesc, NULL));
+
+ Resize<YuvUnitx2> << <dim3((nDstWidth + 31) / 32, (nDstHeight + 31) / 32), dim3(16, 16) >> >(texY, texUv, dpDst, dpDstUV,
+ nDstPitch, nDstWidth, nDstHeight, 1.0f * nDstWidth / nSrcWidth, 1.0f * nDstHeight / nSrcHeight);
+
+ ck(cudaDestroyTextureObject(texY));
+ ck(cudaDestroyTextureObject(texUv));
+}
+
+void ResizeNv12(unsigned char *dpDstNv12, int nDstPitch, int nDstWidth, int nDstHeight, unsigned char *dpSrcNv12, int nSrcPitch, int nSrcWidth, int nSrcHeight, unsigned char* dpDstNv12UV)
+{
+ unsigned char* dpDstUV = dpDstNv12UV ? dpDstNv12UV : dpDstNv12 + (nDstPitch*nDstHeight);
+ return Resize<uchar2>(dpDstNv12, dpDstUV, nDstPitch, nDstWidth, nDstHeight, dpSrcNv12, nSrcPitch, nSrcWidth, nSrcHeight);
+}
+
+
+void ResizeP016(unsigned char *dpDstP016, int nDstPitch, int nDstWidth, int nDstHeight, unsigned char *dpSrcP016, int nSrcPitch, int nSrcWidth, int nSrcHeight, unsigned char* dpDstP016UV)
+{
+ unsigned char* dpDstUV = dpDstP016UV ? dpDstP016UV : dpDstP016 + (nDstPitch*nDstHeight);
+ return Resize<ushort2>(dpDstP016, dpDstUV, nDstPitch, nDstWidth, nDstHeight, dpSrcP016, nSrcPitch, nSrcWidth, nSrcHeight);
+}
+
+static __global__ void Scale(cudaTextureObject_t texSrc,
+ uint8_t *pDst, int nPitch, int nWidth, int nHeight,
+ float fxScale, float fyScale)
+{
+ int x = blockIdx.x * blockDim.x + threadIdx.x,
+ y = blockIdx.y * blockDim.y + threadIdx.y;
+
+ if (x >= nWidth || y >= nHeight)
+ {
+ return;
+ }
+
+ *(unsigned char*)(pDst + (y * nPitch) + x) = (unsigned char)(fminf((tex2D<float>(texSrc, x * fxScale, y * fyScale)) * 255.0f, 255.0f));
+}
+
+static __global__ void Scale_uv(cudaTextureObject_t texSrc,
+ uint8_t *pDst, int nPitch, int nWidth, int nHeight,
+ float fxScale, float fyScale)
+{
+ int x = blockIdx.x * blockDim.x + threadIdx.x,
+ y = blockIdx.y * blockDim.y + threadIdx.y;
+
+ if (x >= nWidth || y >= nHeight)
+ {
+ return;
+ }
+
+ float2 uv = tex2D<float2>(texSrc, x * fxScale, y * fyScale);
+ uchar2 uvOut = uchar2{ (unsigned char)(fminf(uv.x * 255.0f, 255.0f)), (unsigned char)(fminf(uv.y * 255.0f, 255.0f)) };
+
+ *(uchar2*)(pDst + (y * nPitch) + 2 * x) = uvOut;
+}
+
+void ScaleKernelLaunch(unsigned char *dpDst, int nDstPitch, int nDstWidth, int nDstHeight, unsigned char *dpSrc, int nSrcPitch, int nSrcWidth, int nSrcHeight, bool bUVPlane = false)
+{
+ cudaResourceDesc resDesc = {};
+ resDesc.resType = cudaResourceTypePitch2D;
+ resDesc.res.pitch2D.devPtr = dpSrc;
+ resDesc.res.pitch2D.desc = bUVPlane ? cudaCreateChannelDesc<uchar2>() : cudaCreateChannelDesc<unsigned char>();
+ resDesc.res.pitch2D.width = nSrcWidth;
+ resDesc.res.pitch2D.height = nSrcHeight;
+ resDesc.res.pitch2D.pitchInBytes = nSrcPitch;
+
+ cudaTextureDesc texDesc = {};
+ texDesc.filterMode = cudaFilterModeLinear;
+ texDesc.readMode = cudaReadModeNormalizedFloat;
+
+ texDesc.addressMode[0] = cudaAddressModeClamp;
+ texDesc.addressMode[1] = cudaAddressModeClamp;
+ texDesc.addressMode[2] = cudaAddressModeClamp;
+
+ cudaTextureObject_t texSrc = 0;
+ ck(cudaCreateTextureObject(&texSrc, &resDesc, &texDesc, NULL));
+
+ dim3 blockSize(16, 16, 1);
+ dim3 gridSize(((uint32_t)nDstWidth + blockSize.x - 1) / blockSize.x, ((uint32_t)nDstHeight + blockSize.y - 1) / blockSize.y, 1);
+
+ if (bUVPlane)
+ {
+ Scale_uv << <gridSize, blockSize >> >(texSrc, dpDst,
+ nDstPitch, nDstWidth, nDstHeight, 1.0f * nSrcWidth / nDstWidth, 1.0f * nSrcHeight / nDstHeight);
+ }
+ else
+ {
+ Scale << <gridSize, blockSize >> >(texSrc, dpDst,
+ nDstPitch, nDstWidth, nDstHeight, 1.0f * nSrcWidth / nDstWidth, 1.0f * nSrcHeight / nDstHeight);
+ }
+
+ ck(cudaGetLastError());
+ ck(cudaDestroyTextureObject(texSrc));
+}
+
+void ScaleYUV420(unsigned char *dpDstY,
+ unsigned char* dpDstU,
+ unsigned char* dpDstV,
+ int nDstPitch,
+ int nDstChromaPitch,
+ int nDstWidth,
+ int nDstHeight,
+ unsigned char *dpSrcY,
+ unsigned char* dpSrcU,
+ unsigned char* dpSrcV,
+ int nSrcPitch,
+ int nSrcChromaPitch,
+ int nSrcWidth,
+ int nSrcHeight,
+ bool bSemiplanar)
+{
+ int chromaWidthDst = (nDstWidth + 1) / 2;
+ int chromaHeightDst = (nDstHeight + 1) / 2;
+
+ int chromaWidthSrc = (nSrcWidth + 1) / 2;
+ int chromaHeightSrc = (nSrcHeight + 1) / 2;
+
+ ScaleKernelLaunch(dpDstY, nDstPitch, nDstWidth, nDstHeight, dpSrcY, nSrcPitch, nSrcWidth, nSrcHeight);
+
+ if (bSemiplanar)
+ {
+ ScaleKernelLaunch(dpDstU, nDstChromaPitch, chromaWidthDst, chromaHeightDst, dpSrcU, nSrcChromaPitch, chromaWidthSrc, chromaHeightSrc, true);
+ }
+ else
+ {
+ ScaleKernelLaunch(dpDstU, nDstChromaPitch, chromaWidthDst, chromaHeightDst, dpSrcU, nSrcChromaPitch, chromaWidthSrc, chromaHeightSrc);
+ ScaleKernelLaunch(dpDstV, nDstChromaPitch, chromaWidthDst, chromaHeightDst, dpSrcV, nSrcChromaPitch, chromaWidthSrc, chromaHeightSrc);
+ }
+}
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/crc.cu b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/crc.cu
new file mode 100644
index 0000000000000000000000000000000000000000..1b1198b448025036c2d73e548fd17c49aac6b375
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/Samples/Utils/crc.cu
@@ -0,0 +1,126 @@
+/*
+* Copyright 2018-2019 NVIDIA Corporation. All rights reserved.
+*
+* Please refer to the NVIDIA end user license agreement (EULA) associated
+* with this source code for terms and conditions that govern your use of
+* this software. Any use, reproduction, disclosure, or distribution of
+* this software and related documentation outside the terms of the EULA
+* is strictly prohibited.
+*
+*/
+
+#include <cuda_runtime.h>
+#include "NvCodecUtils.h"
+
+/*
+* CRC32 lookup table
+* Generated by the following routine
+* int i, j;
+* U032 crc;
+* for (i = 0; i < 256; i++)
+* {
+* crc = i;
+* for (j = 0; j < 8; j++) { // 8 reduction
+* crc = (crc >> 1) ^ ((crc & 1) ? 0xEDB88320L : 0);
+* }
+* Crc32Table[i] = crc;
+* }
+ */
+__device__ __constant__ uint32_t Crc32Table[256] = {
+ 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba,
+ 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
+ 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988,
+ 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
+ 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de,
+ 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
+ 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec,
+ 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
+ 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172,
+ 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
+ 0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940,
+ 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
+ 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116,
+ 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
+ 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924,
+ 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
+ 0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a,
+ 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
+ 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818,
+ 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
+ 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e,
+ 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
+ 0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c,
+ 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
+ 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2,
+ 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
+ 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0,
+ 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
+ 0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086,
+ 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
+ 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4,
+ 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
+ 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a,
+ 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
+ 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8,
+ 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
+ 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe,
+ 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
+ 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc,
+ 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
+ 0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252,
+ 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
+ 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60,
+ 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
+ 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236,
+ 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
+ 0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04,
+ 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
+ 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a,
+ 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
+ 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38,
+ 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
+ 0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e,
+ 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
+ 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c,
+ 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
+ 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2,
+ 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
+ 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0,
+ 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
+ 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6,
+ 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
+ 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94,
+ 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
+};
+
+typedef struct _NV_ENC_ENCODE_OUT_PARAMS
+{
+ uint32_t version; /**< [out]: Struct version. */
+ uint32_t bitstreamSizeInBytes; /**< [out]: Encoded bitstream size in bytes */
+ uint32_t cycleCount; /**< [out]: Cycle count */
+ uint32_t firstPassCycleCount; /**< [out]: First pass cycle count */
+ uint32_t reserved[60]; /**< [out]: Reserved and must be set to 0 */
+} NV_ENC_ENCODE_OUT_PARAMS;
+
+static __global__ void ComputeCRCKernel(uint8_t *pBuffer, uint32_t *crcValue)
+{
+ NV_ENC_ENCODE_OUT_PARAMS *outParams = (NV_ENC_ENCODE_OUT_PARAMS *)pBuffer;
+ uint32_t bitstreamSize = outParams->bitstreamSizeInBytes;
+ uint8_t *pEncStream = pBuffer + sizeof(NV_ENC_ENCODE_OUT_PARAMS);
+ uint32_t crc=~0;
+
+ for(uint32_t i = 0; i < bitstreamSize; i++)
+ {
+ crc = (crc >> 8) ^ Crc32Table[((uint8_t)(crc)) ^ (*pEncStream++)];
+ }
+
+ *crcValue = ~crc;
+}
+
+void ComputeCRC(uint8_t *pBuffer, uint32_t *crcValue, cudaStream_t outputCUStream)
+{
+ dim3 blockSize(1, 1, 1);
+ dim3 gridSize(1, 1, 1);
+
+ ComputeCRCKernel <<<gridSize, blockSize, 0, outputCUStream >>>(pBuffer, crcValue);
+}
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/deprecation_notices.txt b/components/codecs/src/Video_Codec_SDK_9.1.23/deprecation_notices.txt
new file mode 100644
index 0000000000000000000000000000000000000000..796c472e24094a8cfca3b1e8389651a0d865181e
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/deprecation_notices.txt
@@ -0,0 +1,13 @@
+The support for the following features and functionality in the existing Video Codec SDK(s)
+are planned to be removed in future.
+
+Hence we request and encourage all users of the SDK to take a note of this.
+
+1. Support for CUvideosource and the associated APIs including cuvidCreateVideoSource,
+ cuvidCreateVideoSourceW, cuvidDestroyVideoSource, cuvidSetVideoSourceState,
+ cuvidGetVideoSourceState, cuvidGetSourceVideoFormat,
+ cuvidGetSourceAudioFormat will be removed from the decoder API in future
+ SDK versions. Please note that the new decode sample applications in the
+ SDK do not use these APIs, but use FFmpeg instead.
+
+
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/include/cuviddec.h b/components/codecs/src/Video_Codec_SDK_9.1.23/include/cuviddec.h
new file mode 100644
index 0000000000000000000000000000000000000000..33d2ffd885c4b397185b8a3787af9cd15f0ae6aa
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/include/cuviddec.h
@@ -0,0 +1,1002 @@
+/*
+ * This copyright notice applies to this header file only:
+ *
+ * Copyright (c) 2010-2019 NVIDIA Corporation
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the software, and to permit persons to whom the
+ * software is furnished to do so, subject to the following
+ * conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+/*****************************************************************************************************/
+//! \file cuviddec.h
+//! NVDECODE API provides video decoding interface to NVIDIA GPU devices.
+//! \date 2015-2019
+//! This file contains constants, structure definitions and function prototypes used for decoding.
+/*****************************************************************************************************/
+
+#if !defined(__CUDA_VIDEO_H__)
+#define __CUDA_VIDEO_H__
+
+#ifndef __cuda_cuda_h__
+#include <cuda.h>
+#endif // __cuda_cuda_h__
+
+#if defined(_WIN64) || defined(__LP64__) || defined(__x86_64) || defined(AMD64) || defined(_M_AMD64)
+#if (CUDA_VERSION >= 3020) && (!defined(CUDA_FORCE_API_VERSION) || (CUDA_FORCE_API_VERSION >= 3020))
+#define __CUVID_DEVPTR64
+#endif
+#endif
+
+#if defined(__cplusplus)
+extern "C" {
+#endif /* __cplusplus */
+
+typedef void *CUvideodecoder;
+typedef struct _CUcontextlock_st *CUvideoctxlock;
+
+/*********************************************************************************/
+//! \enum cudaVideoCodec
+//! Video codec enums
+//! These enums are used in CUVIDDECODECREATEINFO and CUVIDDECODECAPS structures
+/*********************************************************************************/
+typedef enum cudaVideoCodec_enum {
+ cudaVideoCodec_MPEG1=0, /**< MPEG1 */
+ cudaVideoCodec_MPEG2, /**< MPEG2 */
+ cudaVideoCodec_MPEG4, /**< MPEG4 */
+ cudaVideoCodec_VC1, /**< VC1 */
+ cudaVideoCodec_H264, /**< H264 */
+ cudaVideoCodec_JPEG, /**< JPEG */
+ cudaVideoCodec_H264_SVC, /**< H264-SVC */
+ cudaVideoCodec_H264_MVC, /**< H264-MVC */
+ cudaVideoCodec_HEVC, /**< HEVC */
+ cudaVideoCodec_VP8, /**< VP8 */
+ cudaVideoCodec_VP9, /**< VP9 */
+ cudaVideoCodec_NumCodecs, /**< Max codecs */
+ // Uncompressed YUV
+ cudaVideoCodec_YUV420 = (('I'<<24)|('Y'<<16)|('U'<<8)|('V')), /**< Y,U,V (4:2:0) */
+ cudaVideoCodec_YV12 = (('Y'<<24)|('V'<<16)|('1'<<8)|('2')), /**< Y,V,U (4:2:0) */
+ cudaVideoCodec_NV12 = (('N'<<24)|('V'<<16)|('1'<<8)|('2')), /**< Y,UV (4:2:0) */
+ cudaVideoCodec_YUYV = (('Y'<<24)|('U'<<16)|('Y'<<8)|('V')), /**< YUYV/YUY2 (4:2:2) */
+ cudaVideoCodec_UYVY = (('U'<<24)|('Y'<<16)|('V'<<8)|('Y')) /**< UYVY (4:2:2) */
+} cudaVideoCodec;
+
+/*********************************************************************************/
+//! \enum cudaVideoSurfaceFormat
+//! Video surface format enums used for output format of decoded output
+//! These enums are used in CUVIDDECODECREATEINFO structure
+/*********************************************************************************/
+typedef enum cudaVideoSurfaceFormat_enum {
+ cudaVideoSurfaceFormat_NV12=0, /**< Semi-Planar YUV [Y plane followed by interleaved UV plane] */
+ cudaVideoSurfaceFormat_P016=1, /**< 16 bit Semi-Planar YUV [Y plane followed by interleaved UV plane].
+ Can be used for 10 bit(6LSB bits 0), 12 bit (4LSB bits 0) */
+ cudaVideoSurfaceFormat_YUV444=2, /**< Planar YUV [Y plane followed by U and V planes] */
+ cudaVideoSurfaceFormat_YUV444_16Bit=3, /**< 16 bit Planar YUV [Y plane followed by U and V planes].
+ Can be used for 10 bit(6LSB bits 0), 12 bit (4LSB bits 0) */
+} cudaVideoSurfaceFormat;
+
+/******************************************************************************************************************/
+//! \enum cudaVideoDeinterlaceMode
+//! Deinterlacing mode enums
+//! These enums are used in CUVIDDECODECREATEINFO structure
+//! Use cudaVideoDeinterlaceMode_Weave for progressive content and for content that doesn't need deinterlacing
+//! cudaVideoDeinterlaceMode_Adaptive needs more video memory than other DImodes
+/******************************************************************************************************************/
+typedef enum cudaVideoDeinterlaceMode_enum {
+ cudaVideoDeinterlaceMode_Weave=0, /**< Weave both fields (no deinterlacing) */
+ cudaVideoDeinterlaceMode_Bob, /**< Drop one field */
+ cudaVideoDeinterlaceMode_Adaptive /**< Adaptive deinterlacing */
+} cudaVideoDeinterlaceMode;
+
+/**************************************************************************************************************/
+//! \enum cudaVideoChromaFormat
+//! Chroma format enums
+//! These enums are used in CUVIDDECODECREATEINFO and CUVIDDECODECAPS structures
+/**************************************************************************************************************/
+typedef enum cudaVideoChromaFormat_enum {
+ cudaVideoChromaFormat_Monochrome=0, /**< MonoChrome */
+ cudaVideoChromaFormat_420, /**< YUV 4:2:0 */
+ cudaVideoChromaFormat_422, /**< YUV 4:2:2 */
+ cudaVideoChromaFormat_444 /**< YUV 4:4:4 */
+} cudaVideoChromaFormat;
+
+/*************************************************************************************************************/
+//! \enum cudaVideoCreateFlags
+//! Decoder flag enums to select preferred decode path
+//! cudaVideoCreate_Default and cudaVideoCreate_PreferCUVID are most optimized, use these whenever possible
+/*************************************************************************************************************/
+typedef enum cudaVideoCreateFlags_enum {
+ cudaVideoCreate_Default = 0x00, /**< Default operation mode: use dedicated video engines */
+ cudaVideoCreate_PreferCUDA = 0x01, /**< Use CUDA-based decoder (requires valid vidLock object for multi-threading) */
+ cudaVideoCreate_PreferDXVA = 0x02, /**< Go through DXVA internally if possible (requires D3D9 interop) */
+ cudaVideoCreate_PreferCUVID = 0x04 /**< Use dedicated video engines directly */
+} cudaVideoCreateFlags;
+
+
+/*************************************************************************/
+//! \enum cuvidDecodeStatus
+//! Decode status enums
+//! These enums are used in CUVIDGETDECODESTATUS structure
+/*************************************************************************/
+typedef enum cuvidDecodeStatus_enum
+{
+ cuvidDecodeStatus_Invalid = 0, // Decode status is not valid
+ cuvidDecodeStatus_InProgress = 1, // Decode is in progress
+ cuvidDecodeStatus_Success = 2, // Decode is completed without any errors
+ // 3 to 7 enums are reserved for future use
+ cuvidDecodeStatus_Error = 8, // Decode is completed with an error (error is not concealed)
+ cuvidDecodeStatus_Error_Concealed = 9, // Decode is completed with an error and error is concealed
+} cuvidDecodeStatus;
+
+/**************************************************************************************************************/
+//! \struct CUVIDDECODECAPS;
+//! This structure is used in cuvidGetDecoderCaps API
+/**************************************************************************************************************/
+typedef struct _CUVIDDECODECAPS
+{
+ cudaVideoCodec eCodecType; /**< IN: cudaVideoCodec_XXX */
+ cudaVideoChromaFormat eChromaFormat; /**< IN: cudaVideoChromaFormat_XXX */
+ unsigned int nBitDepthMinus8; /**< IN: The Value "BitDepth minus 8" */
+ unsigned int reserved1[3]; /**< Reserved for future use - set to zero */
+
+ unsigned char bIsSupported; /**< OUT: 1 if codec supported, 0 if not supported */
+ unsigned char reserved2; /**< Reserved for future use - set to zero */
+ unsigned short nOutputFormatMask; /**< OUT: each bit represents corresponding cudaVideoSurfaceFormat enum */
+ unsigned int nMaxWidth; /**< OUT: Max supported coded width in pixels */
+ unsigned int nMaxHeight; /**< OUT: Max supported coded height in pixels */
+ unsigned int nMaxMBCount; /**< OUT: Max supported macroblock count
+ CodedWidth*CodedHeight/256 must be <= nMaxMBCount */
+ unsigned short nMinWidth; /**< OUT: Min supported coded width in pixels */
+ unsigned short nMinHeight; /**< OUT: Min supported coded height in pixels */
+ unsigned int reserved3[11]; /**< Reserved for future use - set to zero */
+} CUVIDDECODECAPS;
+
+/**************************************************************************************************************/
+//! \struct CUVIDDECODECREATEINFO
+//! This structure is used in cuvidCreateDecoder API
+/**************************************************************************************************************/
+typedef struct _CUVIDDECODECREATEINFO
+{
+ unsigned long ulWidth; /**< IN: Coded sequence width in pixels */
+ unsigned long ulHeight; /**< IN: Coded sequence height in pixels */
+ unsigned long ulNumDecodeSurfaces; /**< IN: Maximum number of internal decode surfaces */
+ cudaVideoCodec CodecType; /**< IN: cudaVideoCodec_XXX */
+ cudaVideoChromaFormat ChromaFormat; /**< IN: cudaVideoChromaFormat_XXX */
+ unsigned long ulCreationFlags; /**< IN: Decoder creation flags (cudaVideoCreateFlags_XXX) */
+ unsigned long bitDepthMinus8; /**< IN: The value "BitDepth minus 8" */
+ unsigned long ulIntraDecodeOnly; /**< IN: Set 1 only if video has all intra frames (default value is 0). This will
+ optimize video memory for Intra frames only decoding. The support is limited
+ to specific codecs - H264, HEVC, VP9, the flag will be ignored for codecs which
+ are not supported. However decoding might fail if the flag is enabled in case
+ of supported codecs for regular bit streams having P and/or B frames. */
+ unsigned long ulMaxWidth; /**< IN: Coded sequence max width in pixels used with reconfigure Decoder */
+ unsigned long ulMaxHeight; /**< IN: Coded sequence max height in pixels used with reconfigure Decoder */
+ unsigned long Reserved1; /**< Reserved for future use - set to zero */
+ /**
+ * IN: area of the frame that should be displayed
+ */
+ struct {
+ short left;
+ short top;
+ short right;
+ short bottom;
+ } display_area;
+
+ cudaVideoSurfaceFormat OutputFormat; /**< IN: cudaVideoSurfaceFormat_XXX */
+ cudaVideoDeinterlaceMode DeinterlaceMode; /**< IN: cudaVideoDeinterlaceMode_XXX */
+ unsigned long ulTargetWidth; /**< IN: Post-processed output width (Should be aligned to 2) */
+ unsigned long ulTargetHeight; /**< IN: Post-processed output height (Should be aligned to 2) */
+ unsigned long ulNumOutputSurfaces; /**< IN: Maximum number of output surfaces simultaneously mapped */
+ CUvideoctxlock vidLock; /**< IN: If non-NULL, context lock used for synchronizing ownership of
+ the cuda context. Needed for cudaVideoCreate_PreferCUDA decode */
+ /**
+ * IN: target rectangle in the output frame (for aspect ratio conversion)
+ * if a null rectangle is specified, {0,0,ulTargetWidth,ulTargetHeight} will be used
+ */
+ struct {
+ short left;
+ short top;
+ short right;
+ short bottom;
+ } target_rect;
+ unsigned long Reserved2[5]; /**< Reserved for future use - set to zero */
+} CUVIDDECODECREATEINFO;
+
+/*********************************************************/
+//! \struct CUVIDH264DPBENTRY
+//! H.264 DPB entry
+//! This structure is used in CUVIDH264PICPARAMS structure
+/*********************************************************/
+typedef struct _CUVIDH264DPBENTRY
+{
+ int PicIdx; /**< picture index of reference frame */
+ int FrameIdx; /**< frame_num(short-term) or LongTermFrameIdx(long-term) */
+ int is_long_term; /**< 0=short term reference, 1=long term reference */
+ int not_existing; /**< non-existing reference frame (corresponding PicIdx should be set to -1) */
+ int used_for_reference; /**< 0=unused, 1=top_field, 2=bottom_field, 3=both_fields */
+ int FieldOrderCnt[2]; /**< field order count of top and bottom fields */
+} CUVIDH264DPBENTRY;
+
+/************************************************************/
+//! \struct CUVIDH264MVCEXT
+//! H.264 MVC picture parameters ext
+//! This structure is used in CUVIDH264PICPARAMS structure
+/************************************************************/
+typedef struct _CUVIDH264MVCEXT
+{
+ int num_views_minus1; /**< Max number of coded views minus 1 in video : Range - 0 to 1023 */
+ int view_id; /**< view identifier */
+ unsigned char inter_view_flag; /**< 1 if used for inter-view prediction, 0 if not */
+ unsigned char num_inter_view_refs_l0; /**< number of inter-view ref pics in RefPicList0 */
+ unsigned char num_inter_view_refs_l1; /**< number of inter-view ref pics in RefPicList1 */
+ unsigned char MVCReserved8Bits; /**< Reserved bits */
+ int InterViewRefsL0[16]; /**< view id of the i-th view component for inter-view prediction in RefPicList0 */
+ int InterViewRefsL1[16]; /**< view id of the i-th view component for inter-view prediction in RefPicList1 */
+} CUVIDH264MVCEXT;
+
+/*********************************************************/
+//! \struct CUVIDH264SVCEXT
+//! H.264 SVC picture parameters ext
+//! This structure is used in CUVIDH264PICPARAMS structure
+/*********************************************************/
+typedef struct _CUVIDH264SVCEXT
+{
+ unsigned char profile_idc;
+ unsigned char level_idc;
+ unsigned char DQId;
+ unsigned char DQIdMax;
+ unsigned char disable_inter_layer_deblocking_filter_idc;
+ unsigned char ref_layer_chroma_phase_y_plus1;
+ signed char inter_layer_slice_alpha_c0_offset_div2;
+ signed char inter_layer_slice_beta_offset_div2;
+
+ unsigned short DPBEntryValidFlag;
+ unsigned char inter_layer_deblocking_filter_control_present_flag;
+ unsigned char extended_spatial_scalability_idc;
+ unsigned char adaptive_tcoeff_level_prediction_flag;
+ unsigned char slice_header_restriction_flag;
+ unsigned char chroma_phase_x_plus1_flag;
+ unsigned char chroma_phase_y_plus1;
+
+ unsigned char tcoeff_level_prediction_flag;
+ unsigned char constrained_intra_resampling_flag;
+ unsigned char ref_layer_chroma_phase_x_plus1_flag;
+ unsigned char store_ref_base_pic_flag;
+ unsigned char Reserved8BitsA;
+ unsigned char Reserved8BitsB;
+
+ short scaled_ref_layer_left_offset;
+ short scaled_ref_layer_top_offset;
+ short scaled_ref_layer_right_offset;
+ short scaled_ref_layer_bottom_offset;
+ unsigned short Reserved16Bits;
+ struct _CUVIDPICPARAMS *pNextLayer; /**< Points to the picparams for the next layer to be decoded.
+ Linked list ends at the target layer. */
+ int bRefBaseLayer; /**< whether to store ref base pic */
+} CUVIDH264SVCEXT;
+
+/******************************************************/
+//! \struct CUVIDH264PICPARAMS
+//! H.264 picture parameters
+//! This structure is used in CUVIDPICPARAMS structure
+/******************************************************/
+typedef struct _CUVIDH264PICPARAMS
+{
+ // SPS
+ int log2_max_frame_num_minus4;
+ int pic_order_cnt_type;
+ int log2_max_pic_order_cnt_lsb_minus4;
+ int delta_pic_order_always_zero_flag;
+ int frame_mbs_only_flag;
+ int direct_8x8_inference_flag;
+ int num_ref_frames; // NOTE: shall meet level 4.1 restrictions
+ unsigned char residual_colour_transform_flag;
+ unsigned char bit_depth_luma_minus8; // Must be 0 (only 8-bit supported)
+ unsigned char bit_depth_chroma_minus8; // Must be 0 (only 8-bit supported)
+ unsigned char qpprime_y_zero_transform_bypass_flag;
+ // PPS
+ int entropy_coding_mode_flag;
+ int pic_order_present_flag;
+ int num_ref_idx_l0_active_minus1;
+ int num_ref_idx_l1_active_minus1;
+ int weighted_pred_flag;
+ int weighted_bipred_idc;
+ int pic_init_qp_minus26;
+ int deblocking_filter_control_present_flag;
+ int redundant_pic_cnt_present_flag;
+ int transform_8x8_mode_flag;
+ int MbaffFrameFlag;
+ int constrained_intra_pred_flag;
+ int chroma_qp_index_offset;
+ int second_chroma_qp_index_offset;
+ int ref_pic_flag;
+ int frame_num;
+ int CurrFieldOrderCnt[2];
+ // DPB
+ CUVIDH264DPBENTRY dpb[16]; // List of reference frames within the DPB
+ // Quantization Matrices (raster-order)
+ unsigned char WeightScale4x4[6][16];
+ unsigned char WeightScale8x8[2][64];
+ // FMO/ASO
+ unsigned char fmo_aso_enable;
+ unsigned char num_slice_groups_minus1;
+ unsigned char slice_group_map_type;
+ signed char pic_init_qs_minus26;
+ unsigned int slice_group_change_rate_minus1;
+ union
+ {
+ unsigned long long slice_group_map_addr;
+ const unsigned char *pMb2SliceGroupMap;
+ } fmo;
+ unsigned int Reserved[12];
+ // SVC/MVC
+ union
+ {
+ CUVIDH264MVCEXT mvcext;
+ CUVIDH264SVCEXT svcext;
+ };
+} CUVIDH264PICPARAMS;
+
+
+/********************************************************/
+//! \struct CUVIDMPEG2PICPARAMS
+//! MPEG-2 picture parameters
+//! This structure is used in CUVIDPICPARAMS structure
+/********************************************************/
+typedef struct _CUVIDMPEG2PICPARAMS
+{
+ int ForwardRefIdx; // Picture index of forward reference (P/B-frames)
+ int BackwardRefIdx; // Picture index of backward reference (B-frames)
+ int picture_coding_type;
+ int full_pel_forward_vector;
+ int full_pel_backward_vector;
+ int f_code[2][2];
+ int intra_dc_precision;
+ int frame_pred_frame_dct;
+ int concealment_motion_vectors;
+ int q_scale_type;
+ int intra_vlc_format;
+ int alternate_scan;
+ int top_field_first;
+ // Quantization matrices (raster order)
+ unsigned char QuantMatrixIntra[64];
+ unsigned char QuantMatrixInter[64];
+} CUVIDMPEG2PICPARAMS;
+
+// MPEG-4 has VOP types instead of Picture types
+#define I_VOP 0
+#define P_VOP 1
+#define B_VOP 2
+#define S_VOP 3
+
+/*******************************************************/
+//! \struct CUVIDMPEG4PICPARAMS
+//! MPEG-4 picture parameters
+//! This structure is used in CUVIDPICPARAMS structure
+/*******************************************************/
+typedef struct _CUVIDMPEG4PICPARAMS
+{
+ int ForwardRefIdx; // Picture index of forward reference (P/B-frames)
+ int BackwardRefIdx; // Picture index of backward reference (B-frames)
+ // VOL
+ int video_object_layer_width;
+ int video_object_layer_height;
+ int vop_time_increment_bitcount;
+ int top_field_first;
+ int resync_marker_disable;
+ int quant_type;
+ int quarter_sample;
+ int short_video_header;
+ int divx_flags;
+ // VOP
+ int vop_coding_type;
+ int vop_coded;
+ int vop_rounding_type;
+ int alternate_vertical_scan_flag;
+ int interlaced;
+ int vop_fcode_forward;
+ int vop_fcode_backward;
+ int trd[2];
+ int trb[2];
+ // Quantization matrices (raster order)
+ unsigned char QuantMatrixIntra[64];
+ unsigned char QuantMatrixInter[64];
+ int gmc_enabled;
+} CUVIDMPEG4PICPARAMS;
+
+/********************************************************/
+//! \struct CUVIDVC1PICPARAMS
+//! VC1 picture parameters
+//! This structure is used in CUVIDPICPARAMS structure
+/********************************************************/
+typedef struct _CUVIDVC1PICPARAMS
+{
+ int ForwardRefIdx; /**< Picture index of forward reference (P/B-frames) */
+ int BackwardRefIdx; /**< Picture index of backward reference (B-frames) */
+ int FrameWidth; /**< Actual frame width */
+ int FrameHeight; /**< Actual frame height */
+ // PICTURE
+ int intra_pic_flag; /**< Set to 1 for I,BI frames */
+ int ref_pic_flag; /**< Set to 1 for I,P frames */
+ int progressive_fcm; /**< Progressive frame */
+ // SEQUENCE
+ int profile;
+ int postprocflag;
+ int pulldown;
+ int interlace;
+ int tfcntrflag;
+ int finterpflag;
+ int psf;
+ int multires;
+ int syncmarker;
+ int rangered;
+ int maxbframes;
+ // ENTRYPOINT
+ int panscan_flag;
+ int refdist_flag;
+ int extended_mv;
+ int dquant;
+ int vstransform;
+ int loopfilter;
+ int fastuvmc;
+ int overlap;
+ int quantizer;
+ int extended_dmv;
+ int range_mapy_flag;
+ int range_mapy;
+ int range_mapuv_flag;
+ int range_mapuv;
+ int rangeredfrm; // range reduction state
+} CUVIDVC1PICPARAMS;
+
+/***********************************************************/
+//! \struct CUVIDJPEGPICPARAMS
+//! JPEG picture parameters
+//! This structure is used in CUVIDPICPARAMS structure
+/***********************************************************/
+typedef struct _CUVIDJPEGPICPARAMS
+{
+ int Reserved;
+} CUVIDJPEGPICPARAMS;
+
+
+/*******************************************************/
+//! \struct CUVIDHEVCPICPARAMS
+//! HEVC picture parameters
+//! This structure is used in CUVIDPICPARAMS structure
+/*******************************************************/
+typedef struct _CUVIDHEVCPICPARAMS
+{
+ // sps
+ int pic_width_in_luma_samples;
+ int pic_height_in_luma_samples;
+ unsigned char log2_min_luma_coding_block_size_minus3;
+ unsigned char log2_diff_max_min_luma_coding_block_size;
+ unsigned char log2_min_transform_block_size_minus2;
+ unsigned char log2_diff_max_min_transform_block_size;
+ unsigned char pcm_enabled_flag;
+ unsigned char log2_min_pcm_luma_coding_block_size_minus3;
+ unsigned char log2_diff_max_min_pcm_luma_coding_block_size;
+ unsigned char pcm_sample_bit_depth_luma_minus1;
+
+ unsigned char pcm_sample_bit_depth_chroma_minus1;
+ unsigned char pcm_loop_filter_disabled_flag;
+ unsigned char strong_intra_smoothing_enabled_flag;
+ unsigned char max_transform_hierarchy_depth_intra;
+ unsigned char max_transform_hierarchy_depth_inter;
+ unsigned char amp_enabled_flag;
+ unsigned char separate_colour_plane_flag;
+ unsigned char log2_max_pic_order_cnt_lsb_minus4;
+
+ unsigned char num_short_term_ref_pic_sets;
+ unsigned char long_term_ref_pics_present_flag;
+ unsigned char num_long_term_ref_pics_sps;
+ unsigned char sps_temporal_mvp_enabled_flag;
+ unsigned char sample_adaptive_offset_enabled_flag;
+ unsigned char scaling_list_enable_flag;
+ unsigned char IrapPicFlag;
+ unsigned char IdrPicFlag;
+
+ unsigned char bit_depth_luma_minus8;
+ unsigned char bit_depth_chroma_minus8;
+ //sps/pps extension fields
+ unsigned char log2_max_transform_skip_block_size_minus2;
+ unsigned char log2_sao_offset_scale_luma;
+ unsigned char log2_sao_offset_scale_chroma;
+ unsigned char high_precision_offsets_enabled_flag;
+ unsigned char reserved1[10];
+
+ // pps
+ unsigned char dependent_slice_segments_enabled_flag;
+ unsigned char slice_segment_header_extension_present_flag;
+ unsigned char sign_data_hiding_enabled_flag;
+ unsigned char cu_qp_delta_enabled_flag;
+ unsigned char diff_cu_qp_delta_depth;
+ signed char init_qp_minus26;
+ signed char pps_cb_qp_offset;
+ signed char pps_cr_qp_offset;
+
+ unsigned char constrained_intra_pred_flag;
+ unsigned char weighted_pred_flag;
+ unsigned char weighted_bipred_flag;
+ unsigned char transform_skip_enabled_flag;
+ unsigned char transquant_bypass_enabled_flag;
+ unsigned char entropy_coding_sync_enabled_flag;
+ unsigned char log2_parallel_merge_level_minus2;
+ unsigned char num_extra_slice_header_bits;
+
+ unsigned char loop_filter_across_tiles_enabled_flag;
+ unsigned char loop_filter_across_slices_enabled_flag;
+ unsigned char output_flag_present_flag;
+ unsigned char num_ref_idx_l0_default_active_minus1;
+ unsigned char num_ref_idx_l1_default_active_minus1;
+ unsigned char lists_modification_present_flag;
+ unsigned char cabac_init_present_flag;
+ unsigned char pps_slice_chroma_qp_offsets_present_flag;
+
+ unsigned char deblocking_filter_override_enabled_flag;
+ unsigned char pps_deblocking_filter_disabled_flag;
+ signed char pps_beta_offset_div2;
+ signed char pps_tc_offset_div2;
+ unsigned char tiles_enabled_flag;
+ unsigned char uniform_spacing_flag;
+ unsigned char num_tile_columns_minus1;
+ unsigned char num_tile_rows_minus1;
+
+ unsigned short column_width_minus1[21];
+ unsigned short row_height_minus1[21];
+
+ // sps and pps extension HEVC-main 444
+ unsigned char sps_range_extension_flag;
+ unsigned char transform_skip_rotation_enabled_flag;
+ unsigned char transform_skip_context_enabled_flag;
+ unsigned char implicit_rdpcm_enabled_flag;
+
+ unsigned char explicit_rdpcm_enabled_flag;
+ unsigned char extended_precision_processing_flag;
+ unsigned char intra_smoothing_disabled_flag;
+ unsigned char persistent_rice_adaptation_enabled_flag;
+
+ unsigned char cabac_bypass_alignment_enabled_flag;
+ unsigned char pps_range_extension_flag;
+ unsigned char cross_component_prediction_enabled_flag;
+ unsigned char chroma_qp_offset_list_enabled_flag;
+
+ unsigned char diff_cu_chroma_qp_offset_depth;
+ unsigned char chroma_qp_offset_list_len_minus1;
+ signed char cb_qp_offset_list[6];
+
+ signed char cr_qp_offset_list[6];
+ unsigned char reserved2[2];
+
+ unsigned int reserved3[8];
+
+ // RefPicSets
+ int NumBitsForShortTermRPSInSlice;
+ int NumDeltaPocsOfRefRpsIdx;
+ int NumPocTotalCurr;
+ int NumPocStCurrBefore;
+ int NumPocStCurrAfter;
+ int NumPocLtCurr;
+ int CurrPicOrderCntVal;
+ int RefPicIdx[16]; // [refpic] Indices of valid reference pictures (-1 if unused for reference)
+ int PicOrderCntVal[16]; // [refpic]
+ unsigned char IsLongTerm[16]; // [refpic] 0=not a long-term reference, 1=long-term reference
+ unsigned char RefPicSetStCurrBefore[8]; // [0..NumPocStCurrBefore-1] -> refpic (0..15)
+ unsigned char RefPicSetStCurrAfter[8]; // [0..NumPocStCurrAfter-1] -> refpic (0..15)
+ unsigned char RefPicSetLtCurr[8]; // [0..NumPocLtCurr-1] -> refpic (0..15)
+ unsigned char RefPicSetInterLayer0[8];
+ unsigned char RefPicSetInterLayer1[8];
+ unsigned int reserved4[12];
+
+ // scaling lists (diag order)
+ unsigned char ScalingList4x4[6][16]; // [matrixId][i]
+ unsigned char ScalingList8x8[6][64]; // [matrixId][i]
+ unsigned char ScalingList16x16[6][64]; // [matrixId][i]
+ unsigned char ScalingList32x32[2][64]; // [matrixId][i]
+ unsigned char ScalingListDCCoeff16x16[6]; // [matrixId]
+ unsigned char ScalingListDCCoeff32x32[2]; // [matrixId]
+} CUVIDHEVCPICPARAMS;
+
+
+/***********************************************************/
+//! \struct CUVIDVP8PICPARAMS
+//! VP8 picture parameters
+//! This structure is used in CUVIDPICPARAMS structure
+/***********************************************************/
+typedef struct _CUVIDVP8PICPARAMS
+{
+ int width;
+ int height;
+ unsigned int first_partition_size;
+ //Frame Indexes
+ unsigned char LastRefIdx;
+ unsigned char GoldenRefIdx;
+ unsigned char AltRefIdx;
+ union {
+ struct {
+ unsigned char frame_type : 1; /**< 0 = KEYFRAME, 1 = INTERFRAME */
+ unsigned char version : 3;
+ unsigned char show_frame : 1;
+ unsigned char update_mb_segmentation_data : 1; /**< Must be 0 if segmentation is not enabled */
+ unsigned char Reserved2Bits : 2;
+ }vp8_frame_tag;
+ unsigned char wFrameTagFlags;
+ };
+ unsigned char Reserved1[4];
+ unsigned int Reserved2[3];
+} CUVIDVP8PICPARAMS;
+
+/***********************************************************/
+//! \struct CUVIDVP9PICPARAMS
+//! VP9 picture parameters
+//! This structure is used in CUVIDPICPARAMS structure
+/***********************************************************/
+typedef struct _CUVIDVP9PICPARAMS
+{
+ unsigned int width;
+ unsigned int height;
+
+ //Frame Indices
+ unsigned char LastRefIdx;
+ unsigned char GoldenRefIdx;
+ unsigned char AltRefIdx;
+ unsigned char colorSpace;
+
+ unsigned short profile : 3;
+ unsigned short frameContextIdx : 2;
+ unsigned short frameType : 1;
+ unsigned short showFrame : 1;
+ unsigned short errorResilient : 1;
+ unsigned short frameParallelDecoding : 1;
+ unsigned short subSamplingX : 1;
+ unsigned short subSamplingY : 1;
+ unsigned short intraOnly : 1;
+ unsigned short allow_high_precision_mv : 1;
+ unsigned short refreshEntropyProbs : 1;
+ unsigned short reserved2Bits : 2;
+
+ unsigned short reserved16Bits;
+
+ unsigned char refFrameSignBias[4];
+
+ unsigned char bitDepthMinus8Luma;
+ unsigned char bitDepthMinus8Chroma;
+ unsigned char loopFilterLevel;
+ unsigned char loopFilterSharpness;
+
+ unsigned char modeRefLfEnabled;
+ unsigned char log2_tile_columns;
+ unsigned char log2_tile_rows;
+
+ unsigned char segmentEnabled : 1;
+ unsigned char segmentMapUpdate : 1;
+ unsigned char segmentMapTemporalUpdate : 1;
+ unsigned char segmentFeatureMode : 1;
+ unsigned char reserved4Bits : 4;
+
+
+ unsigned char segmentFeatureEnable[8][4];
+ short segmentFeatureData[8][4];
+ unsigned char mb_segment_tree_probs[7];
+ unsigned char segment_pred_probs[3];
+ unsigned char reservedSegment16Bits[2];
+
+ int qpYAc;
+ int qpYDc;
+ int qpChDc;
+ int qpChAc;
+
+ unsigned int activeRefIdx[3];
+ unsigned int resetFrameContext;
+ unsigned int mcomp_filter_type;
+ unsigned int mbRefLfDelta[4];
+ unsigned int mbModeLfDelta[2];
+ unsigned int frameTagSize;
+ unsigned int offsetToDctParts;
+ unsigned int reserved128Bits[4];
+
+} CUVIDVP9PICPARAMS;
+
+
+/******************************************************************************************/
+//! \struct CUVIDPICPARAMS
+//! Picture parameters for decoding
+//! This structure is used in cuvidDecodePicture API
+//! IN for cuvidDecodePicture
+/******************************************************************************************/
+typedef struct _CUVIDPICPARAMS
+{
+ int PicWidthInMbs; /**< IN: Coded frame size in macroblocks */
+ int FrameHeightInMbs; /**< IN: Coded frame height in macroblocks */
+ int CurrPicIdx; /**< IN: Output index of the current picture */
+ int field_pic_flag; /**< IN: 0=frame picture, 1=field picture */
+ int bottom_field_flag; /**< IN: 0=top field, 1=bottom field (ignored if field_pic_flag=0) */
+ int second_field; /**< IN: Second field of a complementary field pair */
+ // Bitstream data
+ unsigned int nBitstreamDataLen; /**< IN: Number of bytes in bitstream data buffer */
+ const unsigned char *pBitstreamData; /**< IN: Ptr to bitstream data for this picture (slice-layer) */
+ unsigned int nNumSlices; /**< IN: Number of slices in this picture */
+ const unsigned int *pSliceDataOffsets; /**< IN: nNumSlices entries, contains offset of each slice within
+ the bitstream data buffer */
+ int ref_pic_flag; /**< IN: This picture is a reference picture */
+ int intra_pic_flag; /**< IN: This picture is entirely intra coded */
+ unsigned int Reserved[30]; /**< Reserved for future use */
+ // IN: Codec-specific data
+ union {
+ CUVIDMPEG2PICPARAMS mpeg2; /**< Also used for MPEG-1 */
+ CUVIDH264PICPARAMS h264;
+ CUVIDVC1PICPARAMS vc1;
+ CUVIDMPEG4PICPARAMS mpeg4;
+ CUVIDJPEGPICPARAMS jpeg;
+ CUVIDHEVCPICPARAMS hevc;
+ CUVIDVP8PICPARAMS vp8;
+ CUVIDVP9PICPARAMS vp9;
+ unsigned int CodecReserved[1024];
+ } CodecSpecific;
+} CUVIDPICPARAMS;
+
+
+/******************************************************/
+//! \struct CUVIDPROCPARAMS
+//! Picture parameters for postprocessing
+//! This structure is used in cuvidMapVideoFrame API
+/******************************************************/
+typedef struct _CUVIDPROCPARAMS
+{
+ int progressive_frame; /**< IN: Input is progressive (deinterlace_mode will be ignored) */
+ int second_field; /**< IN: Output the second field (ignored if deinterlace mode is Weave) */
+ int top_field_first; /**< IN: Input frame is top field first (1st field is top, 2nd field is bottom) */
+ int unpaired_field; /**< IN: Input only contains one field (2nd field is invalid) */
+ // The fields below are used for raw YUV input
+ unsigned int reserved_flags; /**< Reserved for future use (set to zero) */
+ unsigned int reserved_zero; /**< Reserved (set to zero) */
+ unsigned long long raw_input_dptr; /**< IN: Input CUdeviceptr for raw YUV extensions */
+ unsigned int raw_input_pitch; /**< IN: pitch in bytes of raw YUV input (should be aligned appropriately) */
+ unsigned int raw_input_format; /**< IN: Input YUV format (cudaVideoCodec_enum) */
+ unsigned long long raw_output_dptr; /**< IN: Output CUdeviceptr for raw YUV extensions */
+ unsigned int raw_output_pitch; /**< IN: pitch in bytes of raw YUV output (should be aligned appropriately) */
+ unsigned int Reserved1; /**< Reserved for future use (set to zero) */
+ CUstream output_stream; /**< IN: stream object used by cuvidMapVideoFrame */
+ unsigned int Reserved[46]; /**< Reserved for future use (set to zero) */
+ void *Reserved2[2]; /**< Reserved for future use (set to zero) */
+} CUVIDPROCPARAMS;
+
+/*********************************************************************************************************/
+//! \struct CUVIDGETDECODESTATUS
+//! Struct for reporting decode status.
+//! This structure is used in cuvidGetDecodeStatus API.
+/*********************************************************************************************************/
+typedef struct _CUVIDGETDECODESTATUS
+{
+ cuvidDecodeStatus decodeStatus;
+ unsigned int reserved[31];
+ void *pReserved[8];
+} CUVIDGETDECODESTATUS;
+
+/****************************************************/
+//! \struct CUVIDRECONFIGUREDECODERINFO
+//! Struct for decoder reset
+//! This structure is used in cuvidReconfigureDecoder() API
+/****************************************************/
+typedef struct _CUVIDRECONFIGUREDECODERINFO
+{
+ unsigned int ulWidth; /**< IN: Coded sequence width in pixels, MUST be < = ulMaxWidth defined at CUVIDDECODECREATEINFO */
+ unsigned int ulHeight; /**< IN: Coded sequence height in pixels, MUST be < = ulMaxHeight defined at CUVIDDECODECREATEINFO */
+ unsigned int ulTargetWidth; /**< IN: Post processed output width */
+ unsigned int ulTargetHeight; /**< IN: Post Processed output height */
+ unsigned int ulNumDecodeSurfaces; /**< IN: Maximum number of internal decode surfaces */
+ unsigned int reserved1[12]; /**< Reserved for future use. Set to Zero */
+ /**
+ * IN: Area of frame to be displayed. Use-case : Source Cropping
+ */
+ struct {
+ short left;
+ short top;
+ short right;
+ short bottom;
+ } display_area;
+ /**
+ * IN: Target Rectangle in the OutputFrame. Use-case : Aspect ratio Conversion
+ */
+ struct {
+ short left;
+ short top;
+ short right;
+ short bottom;
+ } target_rect;
+ unsigned int reserved2[11]; /**< Reserved for future use. Set to Zero */
+} CUVIDRECONFIGUREDECODERINFO;
+
+
+/***********************************************************************************************************/
+//! VIDEO_DECODER
+//!
+//! In order to minimize decode latencies, there should be always at least 2 pictures in the decode
+//! queue at any time, in order to make sure that all decode engines are always busy.
+//!
+//! Overall data flow:
+//! - cuvidGetDecoderCaps(...)
+//! - cuvidCreateDecoder(...)
+//! - For each picture:
+//! + cuvidDecodePicture(N)
+//! + cuvidMapVideoFrame(N-4)
+//! + do some processing in cuda
+//! + cuvidUnmapVideoFrame(N-4)
+//! + cuvidDecodePicture(N+1)
+//! + cuvidMapVideoFrame(N-3)
+//! + ...
+//! - cuvidDestroyDecoder(...)
+//!
+//! NOTE:
+//! - When the cuda context is created from a D3D device, the D3D device must also be created
+//! with the D3DCREATE_MULTITHREADED flag.
+//! - There is a limit to how many pictures can be mapped simultaneously (ulNumOutputSurfaces)
+//! - cuvidDecodePicture may block the calling thread if there are too many pictures pending
+//! in the decode queue
+/***********************************************************************************************************/
+
+
+/**********************************************************************************************************************/
+//! \fn CUresult CUDAAPI cuvidGetDecoderCaps(CUVIDDECODECAPS *pdc)
+//! Queries decode capabilities of NVDEC-HW based on CodecType, ChromaFormat and BitDepthMinus8 parameters.
+//! 1. Application fills IN parameters CodecType, ChromaFormat and BitDepthMinus8 of CUVIDDECODECAPS structure
+//! 2. On calling cuvidGetDecoderCaps, driver fills OUT parameters if the IN parameters are supported
+//! If IN parameters passed to the driver are not supported by NVDEC-HW, then all OUT params are set to 0.
+//! E.g. on Geforce GTX 960:
+//! App fills - eCodecType = cudaVideoCodec_H264; eChromaFormat = cudaVideoChromaFormat_420; nBitDepthMinus8 = 0;
+//! Given IN parameters are supported, hence driver fills: bIsSupported = 1; nMinWidth = 48; nMinHeight = 16;
+//! nMaxWidth = 4096; nMaxHeight = 4096; nMaxMBCount = 65536;
+//! CodedWidth*CodedHeight/256 must be less than or equal to nMaxMBCount
+/**********************************************************************************************************************/
+extern CUresult CUDAAPI cuvidGetDecoderCaps(CUVIDDECODECAPS *pdc);
+
+/*****************************************************************************************************/
+//! \fn CUresult CUDAAPI cuvidCreateDecoder(CUvideodecoder *phDecoder, CUVIDDECODECREATEINFO *pdci)
+//! Create the decoder object based on pdci. A handle to the created decoder is returned
+/*****************************************************************************************************/
+extern CUresult CUDAAPI cuvidCreateDecoder(CUvideodecoder *phDecoder, CUVIDDECODECREATEINFO *pdci);
+
+/*****************************************************************************************************/
+//! \fn CUresult CUDAAPI cuvidDestroyDecoder(CUvideodecoder hDecoder)
+//! Destroy the decoder object
+/*****************************************************************************************************/
+extern CUresult CUDAAPI cuvidDestroyDecoder(CUvideodecoder hDecoder);
+
+/*****************************************************************************************************/
+//! \fn CUresult CUDAAPI cuvidDecodePicture(CUvideodecoder hDecoder, CUVIDPICPARAMS *pPicParams)
+//! Decode a single picture (field or frame)
+//! Kicks off HW decoding
+/*****************************************************************************************************/
+extern CUresult CUDAAPI cuvidDecodePicture(CUvideodecoder hDecoder, CUVIDPICPARAMS *pPicParams);
+
+/************************************************************************************************************/
+//! \fn CUresult CUDAAPI cuvidGetDecodeStatus(CUvideodecoder hDecoder, int nPicIdx);
+//! Get the decode status for frame corresponding to nPicIdx
+/************************************************************************************************************/
+extern CUresult CUDAAPI cuvidGetDecodeStatus(CUvideodecoder hDecoder, int nPicIdx, CUVIDGETDECODESTATUS* pDecodeStatus);
+
+/*********************************************************************************************************/
+//! \fn CUresult CUDAAPI cuvidReconfigureDecoder(CUvideodecoder hDecoder, CUVIDRECONFIGUREDECODERINFO *pDecReconfigParams)
+//! Used to reuse single decoder for multiple clips. Currently supports resolution change, resize params, display area
+//! params, target area params change for same codec. Must be called during CUVIDPARSERPARAMS::pfnSequenceCallback
+/*********************************************************************************************************/
+extern CUresult CUDAAPI cuvidReconfigureDecoder(CUvideodecoder hDecoder, CUVIDRECONFIGUREDECODERINFO *pDecReconfigParams);
+
+
+#if !defined(__CUVID_DEVPTR64) || defined(__CUVID_INTERNAL)
+/************************************************************************************************************************/
+//! \fn CUresult CUDAAPI cuvidMapVideoFrame(CUvideodecoder hDecoder, int nPicIdx, unsigned int *pDevPtr,
+//! unsigned int *pPitch, CUVIDPROCPARAMS *pVPP);
+//! Post-process and map video frame corresponding to nPicIdx for use in cuda. Returns cuda device pointer and associated
+//! pitch of the video frame
+/************************************************************************************************************************/
+extern CUresult CUDAAPI cuvidMapVideoFrame(CUvideodecoder hDecoder, int nPicIdx,
+ unsigned int *pDevPtr, unsigned int *pPitch,
+ CUVIDPROCPARAMS *pVPP);
+
+/*****************************************************************************************************/
+//! \fn CUresult CUDAAPI cuvidUnmapVideoFrame(CUvideodecoder hDecoder, unsigned int DevPtr)
+//! Unmap a previously mapped video frame
+/*****************************************************************************************************/
+extern CUresult CUDAAPI cuvidUnmapVideoFrame(CUvideodecoder hDecoder, unsigned int DevPtr);
+#endif
+
+#if defined(_WIN64) || defined(__LP64__) || defined(__x86_64) || defined(AMD64) || defined(_M_AMD64)
+/****************************************************************************************************************************/
+//! \fn CUresult CUDAAPI cuvidMapVideoFrame64(CUvideodecoder hDecoder, int nPicIdx, unsigned long long *pDevPtr,
+//! unsigned int * pPitch, CUVIDPROCPARAMS *pVPP);
+//! Post-process and map video frame corresponding to nPicIdx for use in cuda. Returns cuda device pointer and associated
+//! pitch of the video frame
+/****************************************************************************************************************************/
+extern CUresult CUDAAPI cuvidMapVideoFrame64(CUvideodecoder hDecoder, int nPicIdx, unsigned long long *pDevPtr,
+ unsigned int *pPitch, CUVIDPROCPARAMS *pVPP);
+
+/**************************************************************************************************/
+//! \fn CUresult CUDAAPI cuvidUnmapVideoFrame64(CUvideodecoder hDecoder, unsigned long long DevPtr);
+//! Unmap a previously mapped video frame
+/**************************************************************************************************/
+extern CUresult CUDAAPI cuvidUnmapVideoFrame64(CUvideodecoder hDecoder, unsigned long long DevPtr);
+
+#if defined(__CUVID_DEVPTR64) && !defined(__CUVID_INTERNAL)
+#define cuvidMapVideoFrame cuvidMapVideoFrame64
+#define cuvidUnmapVideoFrame cuvidUnmapVideoFrame64
+#endif
+#endif
+
+
+/********************************************************************************************************************/
+//!
+//! Context-locking: to facilitate multi-threaded implementations, the following 4 functions
+//! provide a simple mutex-style host synchronization. If a non-NULL context is specified
+//! in CUVIDDECODECREATEINFO, the codec library will acquire the mutex associated with the given
+//! context before making any cuda calls.
+//! A multi-threaded application could create a lock associated with a context handle so that
+//! multiple threads can safely share the same cuda context:
+//! - use cuCtxPopCurrent immediately after context creation in order to create a 'floating' context
+//! that can be passed to cuvidCtxLockCreate.
+//! - When using a floating context, all cuda calls should only be made within a cuvidCtxLock/cuvidCtxUnlock section.
+//!
+//! NOTE: This is a safer alternative to cuCtxPushCurrent and cuCtxPopCurrent, and is not related to video
+//! decoder in any way (implemented as a critical section associated with cuCtx{Push|Pop}Current calls).
+/********************************************************************************************************************/
+
+/********************************************************************************************************************/
+//! \fn CUresult CUDAAPI cuvidCtxLockCreate(CUvideoctxlock *pLock, CUcontext ctx)
+//! This API is used to create CtxLock object
+/********************************************************************************************************************/
+extern CUresult CUDAAPI cuvidCtxLockCreate(CUvideoctxlock *pLock, CUcontext ctx);
+
+/********************************************************************************************************************/
+//! \fn CUresult CUDAAPI cuvidCtxLockDestroy(CUvideoctxlock lck)
+//! This API is used to free CtxLock object
+/********************************************************************************************************************/
+extern CUresult CUDAAPI cuvidCtxLockDestroy(CUvideoctxlock lck);
+
+/********************************************************************************************************************/
+//! \fn CUresult CUDAAPI cuvidCtxLock(CUvideoctxlock lck, unsigned int reserved_flags)
+//! This API is used to acquire ctxlock
+/********************************************************************************************************************/
+extern CUresult CUDAAPI cuvidCtxLock(CUvideoctxlock lck, unsigned int reserved_flags);
+
+/********************************************************************************************************************/
+//! \fn CUresult CUDAAPI cuvidCtxUnlock(CUvideoctxlock lck, unsigned int reserved_flags)
+//! This API is used to release ctxlock
+/********************************************************************************************************************/
+extern CUresult CUDAAPI cuvidCtxUnlock(CUvideoctxlock lck, unsigned int reserved_flags);
+
+/**********************************************************************************************/
+
+
+#if defined(__cplusplus)
+}
+// Auto-lock helper for C++ applications
+class CCtxAutoLock
+{
+private:
+ CUvideoctxlock m_ctx;
+public:
+ CCtxAutoLock(CUvideoctxlock ctx):m_ctx(ctx) { cuvidCtxLock(m_ctx,0); }
+ ~CCtxAutoLock() { cuvidCtxUnlock(m_ctx,0); }
+};
+#endif /* __cplusplus */
+
+#endif // __CUDA_VIDEO_H__
+
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/include/nvEncodeAPI.h b/components/codecs/src/Video_Codec_SDK_9.1.23/include/nvEncodeAPI.h
new file mode 100644
index 0000000000000000000000000000000000000000..4b9ba1105fd26baed3334fe4e3e5c94bde388730
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/include/nvEncodeAPI.h
@@ -0,0 +1,3634 @@
+/*
+ * This copyright notice applies to this header file only:
+ *
+ * Copyright (c) 2010-2019 NVIDIA Corporation
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the software, and to permit persons to whom the
+ * software is furnished to do so, subject to the following
+ * conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+/**
+ * \file nvEncodeAPI.h
+ * NVIDIA GPUs - beginning with the Kepler generation - contain a hardware-based encoder
+ * (referred to as NVENC) which provides fully-accelerated hardware-based video encoding.
+ * NvEncodeAPI provides the interface for NVIDIA video encoder (NVENC).
+ * \date 2011-2019
+ * This file contains the interface constants, structure definitions and function prototypes.
+ */
+
+#ifndef _NV_ENCODEAPI_H_
+#define _NV_ENCODEAPI_H_
+
+#include <stdlib.h>
+
+#ifdef _WIN32
+#include <windows.h>
+#endif
+
+#ifdef _MSC_VER
+#ifndef _STDINT
+typedef __int32 int32_t;
+typedef unsigned __int32 uint32_t;
+typedef __int64 int64_t;
+typedef unsigned __int64 uint64_t;
+typedef signed char int8_t;
+typedef unsigned char uint8_t;
+typedef short int16_t;
+typedef unsigned short uint16_t;
+#endif
+#else
+#include <stdint.h>
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * \addtogroup ENCODER_STRUCTURE NvEncodeAPI Data structures
+ * @{
+ */
+
+#ifdef _WIN32
+#define NVENCAPI __stdcall
+typedef RECT NVENC_RECT;
+#else
+#define NVENCAPI
+// =========================================================================================
+#ifndef GUID
+/*!
+ * \struct GUID
+ * Abstracts the GUID structure for non-windows platforms.
+ */
+// =========================================================================================
+typedef struct
+{
+ uint32_t Data1; /**< [in]: Specifies the first 8 hexadecimal digits of the GUID. */
+ uint16_t Data2; /**< [in]: Specifies the first group of 4 hexadecimal digits. */
+ uint16_t Data3; /**< [in]: Specifies the second group of 4 hexadecimal digits. */
+ uint8_t Data4[8]; /**< [in]: Array of 8 bytes. The first 2 bytes contain the third group of 4 hexadecimal digits.
+ The remaining 6 bytes contain the final 12 hexadecimal digits. */
+} GUID;
+#endif // GUID
+
+/**
+ * \struct _NVENC_RECT
+ * Defines a Rectangle. Used in ::NV_ENC_PREPROCESS_FRAME.
+ */
+typedef struct _NVENC_RECT
+{
+ uint32_t left; /**< [in]: X coordinate of the upper left corner of rectangular area to be specified. */
+ uint32_t top; /**< [in]: Y coordinate of the upper left corner of the rectangular area to be specified. */
+ uint32_t right; /**< [in]: X coordinate of the bottom right corner of the rectangular area to be specified. */
+ uint32_t bottom; /**< [in]: Y coordinate of the bottom right corner of the rectangular area to be specified. */
+} NVENC_RECT;
+
+#endif // _WIN32
+
+/** @} */ /* End of GUID and NVENC_RECT structure grouping*/
+
+typedef void* NV_ENC_INPUT_PTR; /**< NVENCODE API input buffer */
+typedef void* NV_ENC_OUTPUT_PTR; /**< NVENCODE API output buffer*/
+typedef void* NV_ENC_REGISTERED_PTR; /**< A Resource that has been registered with NVENCODE API*/
+typedef void* NV_ENC_CUSTREAM_PTR; /**< Pointer to CUstream*/
+
+#define NVENCAPI_MAJOR_VERSION 9
+#define NVENCAPI_MINOR_VERSION 1
+
+#define NVENCAPI_VERSION (NVENCAPI_MAJOR_VERSION | (NVENCAPI_MINOR_VERSION << 24))
+
+/**
+ * Macro to generate per-structure version for use with API.
+ */
+#define NVENCAPI_STRUCT_VERSION(ver) ((uint32_t)NVENCAPI_VERSION | ((ver)<<16) | (0x7 << 28))
+
+
+#define NVENC_INFINITE_GOPLENGTH 0xffffffff
+
+#define NV_MAX_SEQ_HDR_LEN (512)
+
+// =========================================================================================
+// Encode Codec GUIDS supported by the NvEncodeAPI interface.
+// =========================================================================================
+
+// {6BC82762-4E63-4ca4-AA85-1E50F321F6BF}
+static const GUID NV_ENC_CODEC_H264_GUID =
+{ 0x6bc82762, 0x4e63, 0x4ca4, { 0xaa, 0x85, 0x1e, 0x50, 0xf3, 0x21, 0xf6, 0xbf } };
+
+// {790CDC88-4522-4d7b-9425-BDA9975F7603}
+static const GUID NV_ENC_CODEC_HEVC_GUID =
+{ 0x790cdc88, 0x4522, 0x4d7b, { 0x94, 0x25, 0xbd, 0xa9, 0x97, 0x5f, 0x76, 0x3 } };
+
+
+
+// =========================================================================================
+// * Encode Profile GUIDS supported by the NvEncodeAPI interface.
+// =========================================================================================
+
+// {BFD6F8E7-233C-4341-8B3E-4818523803F4}
+static const GUID NV_ENC_CODEC_PROFILE_AUTOSELECT_GUID =
+{ 0xbfd6f8e7, 0x233c, 0x4341, { 0x8b, 0x3e, 0x48, 0x18, 0x52, 0x38, 0x3, 0xf4 } };
+
+// {0727BCAA-78C4-4c83-8C2F-EF3DFF267C6A}
+static const GUID NV_ENC_H264_PROFILE_BASELINE_GUID =
+{ 0x727bcaa, 0x78c4, 0x4c83, { 0x8c, 0x2f, 0xef, 0x3d, 0xff, 0x26, 0x7c, 0x6a } };
+
+// {60B5C1D4-67FE-4790-94D5-C4726D7B6E6D}
+static const GUID NV_ENC_H264_PROFILE_MAIN_GUID =
+{ 0x60b5c1d4, 0x67fe, 0x4790, { 0x94, 0xd5, 0xc4, 0x72, 0x6d, 0x7b, 0x6e, 0x6d } };
+
+// {E7CBC309-4F7A-4b89-AF2A-D537C92BE310}
+static const GUID NV_ENC_H264_PROFILE_HIGH_GUID =
+{ 0xe7cbc309, 0x4f7a, 0x4b89, { 0xaf, 0x2a, 0xd5, 0x37, 0xc9, 0x2b, 0xe3, 0x10 } };
+
+// {7AC663CB-A598-4960-B844-339B261A7D52}
+static const GUID NV_ENC_H264_PROFILE_HIGH_444_GUID =
+{ 0x7ac663cb, 0xa598, 0x4960, { 0xb8, 0x44, 0x33, 0x9b, 0x26, 0x1a, 0x7d, 0x52 } };
+
+// {40847BF5-33F7-4601-9084-E8FE3C1DB8B7}
+static const GUID NV_ENC_H264_PROFILE_STEREO_GUID =
+{ 0x40847bf5, 0x33f7, 0x4601, { 0x90, 0x84, 0xe8, 0xfe, 0x3c, 0x1d, 0xb8, 0xb7 } };
+
+// {CE788D20-AAA9-4318-92BB-AC7E858C8D36}
+static const GUID NV_ENC_H264_PROFILE_SVC_TEMPORAL_SCALABILTY =
+{ 0xce788d20, 0xaaa9, 0x4318, { 0x92, 0xbb, 0xac, 0x7e, 0x85, 0x8c, 0x8d, 0x36 } };
+
+// {B405AFAC-F32B-417B-89C4-9ABEED3E5978}
+static const GUID NV_ENC_H264_PROFILE_PROGRESSIVE_HIGH_GUID =
+{ 0xb405afac, 0xf32b, 0x417b, { 0x89, 0xc4, 0x9a, 0xbe, 0xed, 0x3e, 0x59, 0x78 } };
+
+// {AEC1BD87-E85B-48f2-84C3-98BCA6285072}
+static const GUID NV_ENC_H264_PROFILE_CONSTRAINED_HIGH_GUID =
+{ 0xaec1bd87, 0xe85b, 0x48f2, { 0x84, 0xc3, 0x98, 0xbc, 0xa6, 0x28, 0x50, 0x72 } };
+
+// {B514C39A-B55B-40fa-878F-F1253B4DFDEC}
+static const GUID NV_ENC_HEVC_PROFILE_MAIN_GUID =
+{ 0xb514c39a, 0xb55b, 0x40fa, { 0x87, 0x8f, 0xf1, 0x25, 0x3b, 0x4d, 0xfd, 0xec } };
+
+// {fa4d2b6c-3a5b-411a-8018-0a3f5e3c9be5}
+static const GUID NV_ENC_HEVC_PROFILE_MAIN10_GUID =
+{ 0xfa4d2b6c, 0x3a5b, 0x411a, { 0x80, 0x18, 0x0a, 0x3f, 0x5e, 0x3c, 0x9b, 0xe5 } };
+
+// For HEVC Main 444 8 bit and HEVC Main 444 10 bit profiles only
+// {51ec32b5-1b4c-453c-9cbd-b616bd621341}
+static const GUID NV_ENC_HEVC_PROFILE_FREXT_GUID =
+{ 0x51ec32b5, 0x1b4c, 0x453c, { 0x9c, 0xbd, 0xb6, 0x16, 0xbd, 0x62, 0x13, 0x41 } };
+
+// =========================================================================================
+// * Preset GUIDS supported by the NvEncodeAPI interface.
+// =========================================================================================
+// {B2DFB705-4EBD-4C49-9B5F-24A777D3E587}
+static const GUID NV_ENC_PRESET_DEFAULT_GUID =
+{ 0xb2dfb705, 0x4ebd, 0x4c49, { 0x9b, 0x5f, 0x24, 0xa7, 0x77, 0xd3, 0xe5, 0x87 } };
+
+// {60E4C59F-E846-4484-A56D-CD45BE9FDDF6}
+static const GUID NV_ENC_PRESET_HP_GUID =
+{ 0x60e4c59f, 0xe846, 0x4484, { 0xa5, 0x6d, 0xcd, 0x45, 0xbe, 0x9f, 0xdd, 0xf6 } };
+
+// {34DBA71D-A77B-4B8F-9C3E-B6D5DA24C012}
+static const GUID NV_ENC_PRESET_HQ_GUID =
+{ 0x34dba71d, 0xa77b, 0x4b8f, { 0x9c, 0x3e, 0xb6, 0xd5, 0xda, 0x24, 0xc0, 0x12 } };
+
+// {82E3E450-BDBB-4e40-989C-82A90DF9EF32}
+static const GUID NV_ENC_PRESET_BD_GUID =
+{ 0x82e3e450, 0xbdbb, 0x4e40, { 0x98, 0x9c, 0x82, 0xa9, 0xd, 0xf9, 0xef, 0x32 } };
+
+// {49DF21C5-6DFA-4feb-9787-6ACC9EFFB726}
+static const GUID NV_ENC_PRESET_LOW_LATENCY_DEFAULT_GUID =
+{ 0x49df21c5, 0x6dfa, 0x4feb, { 0x97, 0x87, 0x6a, 0xcc, 0x9e, 0xff, 0xb7, 0x26 } };
+
+// {C5F733B9-EA97-4cf9-BEC2-BF78A74FD105}
+static const GUID NV_ENC_PRESET_LOW_LATENCY_HQ_GUID =
+{ 0xc5f733b9, 0xea97, 0x4cf9, { 0xbe, 0xc2, 0xbf, 0x78, 0xa7, 0x4f, 0xd1, 0x5 } };
+
+// {67082A44-4BAD-48FA-98EA-93056D150A58}
+static const GUID NV_ENC_PRESET_LOW_LATENCY_HP_GUID =
+{ 0x67082a44, 0x4bad, 0x48fa, { 0x98, 0xea, 0x93, 0x5, 0x6d, 0x15, 0xa, 0x58 } };
+
+// {D5BFB716-C604-44e7-9BB8-DEA5510FC3AC}
+static const GUID NV_ENC_PRESET_LOSSLESS_DEFAULT_GUID =
+{ 0xd5bfb716, 0xc604, 0x44e7, { 0x9b, 0xb8, 0xde, 0xa5, 0x51, 0xf, 0xc3, 0xac } };
+
+// {149998E7-2364-411d-82EF-179888093409}
+static const GUID NV_ENC_PRESET_LOSSLESS_HP_GUID =
+{ 0x149998e7, 0x2364, 0x411d, { 0x82, 0xef, 0x17, 0x98, 0x88, 0x9, 0x34, 0x9 } };
+
+/**
+ * \addtogroup ENCODER_STRUCTURE NvEncodeAPI Data structures
+ * @{
+ */
+
+/**
+ * Input frame encode modes
+ */
+typedef enum _NV_ENC_PARAMS_FRAME_FIELD_MODE
+{
+ NV_ENC_PARAMS_FRAME_FIELD_MODE_FRAME = 0x01, /**< Frame mode */
+ NV_ENC_PARAMS_FRAME_FIELD_MODE_FIELD = 0x02, /**< Field mode */
+ NV_ENC_PARAMS_FRAME_FIELD_MODE_MBAFF = 0x03 /**< MB adaptive frame/field */
+} NV_ENC_PARAMS_FRAME_FIELD_MODE;
+
+/**
+ * Rate Control Modes
+ */
+typedef enum _NV_ENC_PARAMS_RC_MODE
+{
+ NV_ENC_PARAMS_RC_CONSTQP = 0x0, /**< Constant QP mode */
+ NV_ENC_PARAMS_RC_VBR = 0x1, /**< Variable bitrate mode */
+ NV_ENC_PARAMS_RC_CBR = 0x2, /**< Constant bitrate mode */
+ NV_ENC_PARAMS_RC_CBR_LOWDELAY_HQ = 0x8, /**< low-delay CBR, high quality */
+ NV_ENC_PARAMS_RC_CBR_HQ = 0x10, /**< CBR, high quality (slower) */
+ NV_ENC_PARAMS_RC_VBR_HQ = 0x20 /**< VBR, high quality (slower) */
+} NV_ENC_PARAMS_RC_MODE;
+
+/**
+ * Emphasis Levels
+ */
+typedef enum _NV_ENC_EMPHASIS_MAP_LEVEL
+{
+ NV_ENC_EMPHASIS_MAP_LEVEL_0 = 0x0, /**< Emphasis Map Level 0, for zero Delta QP value */
+ NV_ENC_EMPHASIS_MAP_LEVEL_1 = 0x1, /**< Emphasis Map Level 1, for very low Delta QP value */
+ NV_ENC_EMPHASIS_MAP_LEVEL_2 = 0x2, /**< Emphasis Map Level 2, for low Delta QP value */
+ NV_ENC_EMPHASIS_MAP_LEVEL_3 = 0x3, /**< Emphasis Map Level 3, for medium Delta QP value */
+ NV_ENC_EMPHASIS_MAP_LEVEL_4 = 0x4, /**< Emphasis Map Level 4, for high Delta QP value */
+ NV_ENC_EMPHASIS_MAP_LEVEL_5 = 0x5 /**< Emphasis Map Level 5, for very high Delta QP value */
+} NV_ENC_EMPHASIS_MAP_LEVEL;
+
+/**
+ * QP MAP MODE
+ */
+typedef enum _NV_ENC_QP_MAP_MODE
+{
+ NV_ENC_QP_MAP_DISABLED = 0x0, /**< Value in NV_ENC_PIC_PARAMS::qpDeltaMap have no effect. */
+ NV_ENC_QP_MAP_EMPHASIS = 0x1, /**< Value in NV_ENC_PIC_PARAMS::qpDeltaMap will be treated as Empasis level. Currently this is only supported for H264 */
+ NV_ENC_QP_MAP_DELTA = 0x2, /**< Value in NV_ENC_PIC_PARAMS::qpDeltaMap will be treated as QP delta map. */
+ NV_ENC_QP_MAP = 0x3, /**< Currently This is not supported. Value in NV_ENC_PIC_PARAMS::qpDeltaMap will be treated as QP value. */
+} NV_ENC_QP_MAP_MODE;
+
+#define NV_ENC_PARAMS_RC_VBR_MINQP (NV_ENC_PARAMS_RC_MODE)0x4 /**< Deprecated */
+#define NV_ENC_PARAMS_RC_2_PASS_QUALITY NV_ENC_PARAMS_RC_CBR_LOWDELAY_HQ /**< Deprecated */
+#define NV_ENC_PARAMS_RC_2_PASS_FRAMESIZE_CAP NV_ENC_PARAMS_RC_CBR_HQ /**< Deprecated */
+#define NV_ENC_PARAMS_RC_2_PASS_VBR NV_ENC_PARAMS_RC_VBR_HQ /**< Deprecated */
+#define NV_ENC_PARAMS_RC_CBR2 NV_ENC_PARAMS_RC_CBR /**< Deprecated */
+
+/**
+ * Input picture structure
+ */
+typedef enum _NV_ENC_PIC_STRUCT
+{
+ NV_ENC_PIC_STRUCT_FRAME = 0x01, /**< Progressive frame */
+ NV_ENC_PIC_STRUCT_FIELD_TOP_BOTTOM = 0x02, /**< Field encoding top field first */
+ NV_ENC_PIC_STRUCT_FIELD_BOTTOM_TOP = 0x03 /**< Field encoding bottom field first */
+} NV_ENC_PIC_STRUCT;
+
+/**
+ * Input picture type
+ */
+typedef enum _NV_ENC_PIC_TYPE
+{
+ NV_ENC_PIC_TYPE_P = 0x0, /**< Forward predicted */
+ NV_ENC_PIC_TYPE_B = 0x01, /**< Bi-directionally predicted picture */
+ NV_ENC_PIC_TYPE_I = 0x02, /**< Intra predicted picture */
+ NV_ENC_PIC_TYPE_IDR = 0x03, /**< IDR picture */
+ NV_ENC_PIC_TYPE_BI = 0x04, /**< Bi-directionally predicted with only Intra MBs */
+ NV_ENC_PIC_TYPE_SKIPPED = 0x05, /**< Picture is skipped */
+ NV_ENC_PIC_TYPE_INTRA_REFRESH = 0x06, /**< First picture in intra refresh cycle */
+ NV_ENC_PIC_TYPE_NONREF_P = 0x07, /**< Non reference P picture */
+ NV_ENC_PIC_TYPE_UNKNOWN = 0xFF /**< Picture type unknown */
+} NV_ENC_PIC_TYPE;
+
+/**
+ * Motion vector precisions
+ */
+typedef enum _NV_ENC_MV_PRECISION
+{
+ NV_ENC_MV_PRECISION_DEFAULT = 0x0, /**<Driver selects QuarterPel motion vector precision by default*/
+ NV_ENC_MV_PRECISION_FULL_PEL = 0x01, /**< FullPel motion vector precision */
+ NV_ENC_MV_PRECISION_HALF_PEL = 0x02, /**< HalfPel motion vector precision */
+ NV_ENC_MV_PRECISION_QUARTER_PEL = 0x03 /**< QuarterPel motion vector precision */
+} NV_ENC_MV_PRECISION;
+
+
+/**
+ * Input buffer formats
+ */
+typedef enum _NV_ENC_BUFFER_FORMAT
+{
+ NV_ENC_BUFFER_FORMAT_UNDEFINED = 0x00000000, /**< Undefined buffer format */
+
+ NV_ENC_BUFFER_FORMAT_NV12 = 0x00000001, /**< Semi-Planar YUV [Y plane followed by interleaved UV plane] */
+ NV_ENC_BUFFER_FORMAT_YV12 = 0x00000010, /**< Planar YUV [Y plane followed by V and U planes] */
+ NV_ENC_BUFFER_FORMAT_IYUV = 0x00000100, /**< Planar YUV [Y plane followed by U and V planes] */
+ NV_ENC_BUFFER_FORMAT_YUV444 = 0x00001000, /**< Planar YUV [Y plane followed by U and V planes] */
+ NV_ENC_BUFFER_FORMAT_YUV420_10BIT = 0x00010000, /**< 10 bit Semi-Planar YUV [Y plane followed by interleaved UV plane]. Each pixel of size 2 bytes. Most Significant 10 bits contain pixel data. */
+ NV_ENC_BUFFER_FORMAT_YUV444_10BIT = 0x00100000, /**< 10 bit Planar YUV444 [Y plane followed by U and V planes]. Each pixel of size 2 bytes. Most Significant 10 bits contain pixel data. */
+ NV_ENC_BUFFER_FORMAT_ARGB = 0x01000000, /**< 8 bit Packed A8R8G8B8. This is a word-ordered format
+ where a pixel is represented by a 32-bit word with B
+ in the lowest 8 bits, G in the next 8 bits, R in the
+ 8 bits after that and A in the highest 8 bits. */
+ NV_ENC_BUFFER_FORMAT_ARGB10 = 0x02000000, /**< 10 bit Packed A2R10G10B10. This is a word-ordered format
+ where a pixel is represented by a 32-bit word with B
+ in the lowest 10 bits, G in the next 10 bits, R in the
+ 10 bits after that and A in the highest 2 bits. */
+ NV_ENC_BUFFER_FORMAT_AYUV = 0x04000000, /**< 8 bit Packed A8Y8U8V8. This is a word-ordered format
+ where a pixel is represented by a 32-bit word with V
+ in the lowest 8 bits, U in the next 8 bits, Y in the
+ 8 bits after that and A in the highest 8 bits. */
+ NV_ENC_BUFFER_FORMAT_ABGR = 0x10000000, /**< 8 bit Packed A8B8G8R8. This is a word-ordered format
+ where a pixel is represented by a 32-bit word with R
+ in the lowest 8 bits, G in the next 8 bits, B in the
+ 8 bits after that and A in the highest 8 bits. */
+ NV_ENC_BUFFER_FORMAT_ABGR10 = 0x20000000, /**< 10 bit Packed A2B10G10R10. This is a word-ordered format
+ where a pixel is represented by a 32-bit word with R
+ in the lowest 10 bits, G in the next 10 bits, B in the
+ 10 bits after that and A in the highest 2 bits. */
+ NV_ENC_BUFFER_FORMAT_U8 = 0x40000000, /**< Buffer format representing one-dimensional buffer.
+ This format should be used only when registering the
+ resource as output buffer, which will be used to write
+ the encoded bit stream or H.264 ME only mode output. */
+} NV_ENC_BUFFER_FORMAT;
+
+#define NV_ENC_BUFFER_FORMAT_NV12_PL NV_ENC_BUFFER_FORMAT_NV12
+#define NV_ENC_BUFFER_FORMAT_YV12_PL NV_ENC_BUFFER_FORMAT_YV12
+#define NV_ENC_BUFFER_FORMAT_IYUV_PL NV_ENC_BUFFER_FORMAT_IYUV
+#define NV_ENC_BUFFER_FORMAT_YUV444_PL NV_ENC_BUFFER_FORMAT_YUV444
+
+/**
+ * Encoding levels
+ */
+typedef enum _NV_ENC_LEVEL
+{
+ NV_ENC_LEVEL_AUTOSELECT = 0,
+
+ NV_ENC_LEVEL_H264_1 = 10,
+ NV_ENC_LEVEL_H264_1b = 9,
+ NV_ENC_LEVEL_H264_11 = 11,
+ NV_ENC_LEVEL_H264_12 = 12,
+ NV_ENC_LEVEL_H264_13 = 13,
+ NV_ENC_LEVEL_H264_2 = 20,
+ NV_ENC_LEVEL_H264_21 = 21,
+ NV_ENC_LEVEL_H264_22 = 22,
+ NV_ENC_LEVEL_H264_3 = 30,
+ NV_ENC_LEVEL_H264_31 = 31,
+ NV_ENC_LEVEL_H264_32 = 32,
+ NV_ENC_LEVEL_H264_4 = 40,
+ NV_ENC_LEVEL_H264_41 = 41,
+ NV_ENC_LEVEL_H264_42 = 42,
+ NV_ENC_LEVEL_H264_5 = 50,
+ NV_ENC_LEVEL_H264_51 = 51,
+ NV_ENC_LEVEL_H264_52 = 52,
+
+
+ NV_ENC_LEVEL_HEVC_1 = 30,
+ NV_ENC_LEVEL_HEVC_2 = 60,
+ NV_ENC_LEVEL_HEVC_21 = 63,
+ NV_ENC_LEVEL_HEVC_3 = 90,
+ NV_ENC_LEVEL_HEVC_31 = 93,
+ NV_ENC_LEVEL_HEVC_4 = 120,
+ NV_ENC_LEVEL_HEVC_41 = 123,
+ NV_ENC_LEVEL_HEVC_5 = 150,
+ NV_ENC_LEVEL_HEVC_51 = 153,
+ NV_ENC_LEVEL_HEVC_52 = 156,
+ NV_ENC_LEVEL_HEVC_6 = 180,
+ NV_ENC_LEVEL_HEVC_61 = 183,
+ NV_ENC_LEVEL_HEVC_62 = 186,
+
+ NV_ENC_TIER_HEVC_MAIN = 0,
+ NV_ENC_TIER_HEVC_HIGH = 1
+} NV_ENC_LEVEL;
+
+/**
+ * Error Codes
+ */
+typedef enum _NVENCSTATUS
+{
+ /**
+ * This indicates that API call returned with no errors.
+ */
+ NV_ENC_SUCCESS,
+
+ /**
+ * This indicates that no encode capable devices were detected.
+ */
+ NV_ENC_ERR_NO_ENCODE_DEVICE,
+
+ /**
+ * This indicates that devices pass by the client is not supported.
+ */
+ NV_ENC_ERR_UNSUPPORTED_DEVICE,
+
+ /**
+ * This indicates that the encoder device supplied by the client is not
+ * valid.
+ */
+ NV_ENC_ERR_INVALID_ENCODERDEVICE,
+
+ /**
+ * This indicates that device passed to the API call is invalid.
+ */
+ NV_ENC_ERR_INVALID_DEVICE,
+
+ /**
+ * This indicates that device passed to the API call is no longer available and
+ * needs to be reinitialized. The clients need to destroy the current encoder
+ * session by freeing the allocated input output buffers and destroying the device
+ * and create a new encoding session.
+ */
+ NV_ENC_ERR_DEVICE_NOT_EXIST,
+
+ /**
+ * This indicates that one or more of the pointers passed to the API call
+ * is invalid.
+ */
+ NV_ENC_ERR_INVALID_PTR,
+
+ /**
+ * This indicates that completion event passed in ::NvEncEncodePicture() call
+ * is invalid.
+ */
+ NV_ENC_ERR_INVALID_EVENT,
+
+ /**
+ * This indicates that one or more of the parameter passed to the API call
+ * is invalid.
+ */
+ NV_ENC_ERR_INVALID_PARAM,
+
+ /**
+ * This indicates that an API call was made in wrong sequence/order.
+ */
+ NV_ENC_ERR_INVALID_CALL,
+
+ /**
+ * This indicates that the API call failed because it was unable to allocate
+ * enough memory to perform the requested operation.
+ */
+ NV_ENC_ERR_OUT_OF_MEMORY,
+
+ /**
+ * This indicates that the encoder has not been initialized with
+ * ::NvEncInitializeEncoder() or that initialization has failed.
+ * The client cannot allocate input or output buffers or do any encoding
+ * related operation before successfully initializing the encoder.
+ */
+ NV_ENC_ERR_ENCODER_NOT_INITIALIZED,
+
+ /**
+ * This indicates that an unsupported parameter was passed by the client.
+ */
+ NV_ENC_ERR_UNSUPPORTED_PARAM,
+
+ /**
+ * This indicates that the ::NvEncLockBitstream() failed to lock the output
+ * buffer. This happens when the client makes a non blocking lock call to
+ * access the output bitstream by passing NV_ENC_LOCK_BITSTREAM::doNotWait flag.
+ * This is not a fatal error and client should retry the same operation after
+ * few milliseconds.
+ */
+ NV_ENC_ERR_LOCK_BUSY,
+
+ /**
+ * This indicates that the size of the user buffer passed by the client is
+ * insufficient for the requested operation.
+ */
+ NV_ENC_ERR_NOT_ENOUGH_BUFFER,
+
+ /**
+ * This indicates that an invalid struct version was used by the client.
+ */
+ NV_ENC_ERR_INVALID_VERSION,
+
+ /**
+ * This indicates that ::NvEncMapInputResource() API failed to map the client
+ * provided input resource.
+ */
+ NV_ENC_ERR_MAP_FAILED,
+
+ /**
+ * This indicates encode driver requires more input buffers to produce an output
+ * bitstream. If this error is returned from ::NvEncEncodePicture() API, this
+ * is not a fatal error. If the client is encoding with B frames then,
+ * ::NvEncEncodePicture() API might be buffering the input frame for re-ordering.
+ *
+ * A client operating in synchronous mode cannot call ::NvEncLockBitstream()
+ * API on the output bitstream buffer if ::NvEncEncodePicture() returned the
+ * ::NV_ENC_ERR_NEED_MORE_INPUT error code.
+ * The client must continue providing input frames until encode driver returns
+ * ::NV_ENC_SUCCESS. After receiving ::NV_ENC_SUCCESS status the client can call
+ * ::NvEncLockBitstream() API on the output buffers in the same order in which
+ * it has called ::NvEncEncodePicture().
+ */
+ NV_ENC_ERR_NEED_MORE_INPUT,
+
+ /**
+ * This indicates that the HW encoder is busy encoding and is unable to encode
+ * the input. The client should call ::NvEncEncodePicture() again after few
+ * milliseconds.
+ */
+ NV_ENC_ERR_ENCODER_BUSY,
+
+ /**
+ * This indicates that the completion event passed in ::NvEncEncodePicture()
+ * API has not been registered with encoder driver using ::NvEncRegisterAsyncEvent().
+ */
+ NV_ENC_ERR_EVENT_NOT_REGISTERD,
+
+ /**
+ * This indicates that an unknown internal error has occurred.
+ */
+ NV_ENC_ERR_GENERIC,
+
+ /**
+ * This indicates that the client is attempting to use a feature
+ * that is not available for the license type for the current system.
+ */
+ NV_ENC_ERR_INCOMPATIBLE_CLIENT_KEY,
+
+ /**
+ * This indicates that the client is attempting to use a feature
+ * that is not implemented for the current version.
+ */
+ NV_ENC_ERR_UNIMPLEMENTED,
+
+ /**
+ * This indicates that the ::NvEncRegisterResource API failed to register the resource.
+ */
+ NV_ENC_ERR_RESOURCE_REGISTER_FAILED,
+
+ /**
+ * This indicates that the client is attempting to unregister a resource
+ * that has not been successfully registered.
+ */
+ NV_ENC_ERR_RESOURCE_NOT_REGISTERED,
+
+ /**
+ * This indicates that the client is attempting to unmap a resource
+ * that has not been successfully mapped.
+ */
+ NV_ENC_ERR_RESOURCE_NOT_MAPPED,
+
+} NVENCSTATUS;
+
+/**
+ * Encode Picture encode flags.
+ */
+typedef enum _NV_ENC_PIC_FLAGS
+{
+ NV_ENC_PIC_FLAG_FORCEINTRA = 0x1, /**< Encode the current picture as an Intra picture */
+ NV_ENC_PIC_FLAG_FORCEIDR = 0x2, /**< Encode the current picture as an IDR picture.
+ This flag is only valid when Picture type decision is taken by the Encoder
+ [_NV_ENC_INITIALIZE_PARAMS::enablePTD == 1]. */
+ NV_ENC_PIC_FLAG_OUTPUT_SPSPPS = 0x4, /**< Write the sequence and picture header in encoded bitstream of the current picture */
+ NV_ENC_PIC_FLAG_EOS = 0x8, /**< Indicates end of the input stream */
+} NV_ENC_PIC_FLAGS;
+
+/**
+ * Memory heap to allocate input and output buffers.
+ */
+typedef enum _NV_ENC_MEMORY_HEAP
+{
+ NV_ENC_MEMORY_HEAP_AUTOSELECT = 0, /**< Memory heap to be decided by the encoder driver based on the usage */
+ NV_ENC_MEMORY_HEAP_VID = 1, /**< Memory heap is in local video memory */
+ NV_ENC_MEMORY_HEAP_SYSMEM_CACHED = 2, /**< Memory heap is in cached system memory */
+ NV_ENC_MEMORY_HEAP_SYSMEM_UNCACHED = 3 /**< Memory heap is in uncached system memory */
+} NV_ENC_MEMORY_HEAP;
+
+/**
+ * B-frame used as reference modes
+ */
+typedef enum _NV_ENC_BFRAME_REF_MODE
+{
+ NV_ENC_BFRAME_REF_MODE_DISABLED = 0x0, /**< B frame is not used for reference */
+ NV_ENC_BFRAME_REF_MODE_EACH = 0x1, /**< Each B-frame will be used for reference. currently not supported for H.264 */
+ NV_ENC_BFRAME_REF_MODE_MIDDLE = 0x2, /**< Only(Number of B-frame)/2 th B-frame will be used for reference */
+} NV_ENC_BFRAME_REF_MODE;
+
+/**
+ * H.264 entropy coding modes.
+ */
+typedef enum _NV_ENC_H264_ENTROPY_CODING_MODE
+{
+ NV_ENC_H264_ENTROPY_CODING_MODE_AUTOSELECT = 0x0, /**< Entropy coding mode is auto selected by the encoder driver */
+ NV_ENC_H264_ENTROPY_CODING_MODE_CABAC = 0x1, /**< Entropy coding mode is CABAC */
+ NV_ENC_H264_ENTROPY_CODING_MODE_CAVLC = 0x2 /**< Entropy coding mode is CAVLC */
+} NV_ENC_H264_ENTROPY_CODING_MODE;
+
+/**
+ * H.264 specific Bdirect modes
+ */
+typedef enum _NV_ENC_H264_BDIRECT_MODE
+{
+ NV_ENC_H264_BDIRECT_MODE_AUTOSELECT = 0x0, /**< BDirect mode is auto selected by the encoder driver */
+ NV_ENC_H264_BDIRECT_MODE_DISABLE = 0x1, /**< Disable BDirect mode */
+ NV_ENC_H264_BDIRECT_MODE_TEMPORAL = 0x2, /**< Temporal BDirect mode */
+ NV_ENC_H264_BDIRECT_MODE_SPATIAL = 0x3 /**< Spatial BDirect mode */
+} NV_ENC_H264_BDIRECT_MODE;
+
+/**
+ * H.264 specific FMO usage
+ */
+typedef enum _NV_ENC_H264_FMO_MODE
+{
+ NV_ENC_H264_FMO_AUTOSELECT = 0x0, /**< FMO usage is auto selected by the encoder driver */
+ NV_ENC_H264_FMO_ENABLE = 0x1, /**< Enable FMO */
+ NV_ENC_H264_FMO_DISABLE = 0x2, /**< Disble FMO */
+} NV_ENC_H264_FMO_MODE;
+
+/**
+ * H.264 specific Adaptive Transform modes
+ */
+typedef enum _NV_ENC_H264_ADAPTIVE_TRANSFORM_MODE
+{
+ NV_ENC_H264_ADAPTIVE_TRANSFORM_AUTOSELECT = 0x0, /**< Adaptive Transform 8x8 mode is auto selected by the encoder driver*/
+ NV_ENC_H264_ADAPTIVE_TRANSFORM_DISABLE = 0x1, /**< Adaptive Transform 8x8 mode disabled */
+ NV_ENC_H264_ADAPTIVE_TRANSFORM_ENABLE = 0x2, /**< Adaptive Transform 8x8 mode should be used */
+} NV_ENC_H264_ADAPTIVE_TRANSFORM_MODE;
+
+/**
+ * Stereo frame packing modes.
+ */
+typedef enum _NV_ENC_STEREO_PACKING_MODE
+{
+ NV_ENC_STEREO_PACKING_MODE_NONE = 0x0, /**< No Stereo packing required */
+ NV_ENC_STEREO_PACKING_MODE_CHECKERBOARD = 0x1, /**< Checkerboard mode for packing stereo frames */
+ NV_ENC_STEREO_PACKING_MODE_COLINTERLEAVE = 0x2, /**< Column Interleave mode for packing stereo frames */
+ NV_ENC_STEREO_PACKING_MODE_ROWINTERLEAVE = 0x3, /**< Row Interleave mode for packing stereo frames */
+ NV_ENC_STEREO_PACKING_MODE_SIDEBYSIDE = 0x4, /**< Side-by-side mode for packing stereo frames */
+ NV_ENC_STEREO_PACKING_MODE_TOPBOTTOM = 0x5, /**< Top-Bottom mode for packing stereo frames */
+ NV_ENC_STEREO_PACKING_MODE_FRAMESEQ = 0x6 /**< Frame Sequential mode for packing stereo frames */
+} NV_ENC_STEREO_PACKING_MODE;
+
+/**
+ * Input Resource type
+ */
+typedef enum _NV_ENC_INPUT_RESOURCE_TYPE
+{
+ NV_ENC_INPUT_RESOURCE_TYPE_DIRECTX = 0x0, /**< input resource type is a directx9 surface*/
+ NV_ENC_INPUT_RESOURCE_TYPE_CUDADEVICEPTR = 0x1, /**< input resource type is a cuda device pointer surface*/
+ NV_ENC_INPUT_RESOURCE_TYPE_CUDAARRAY = 0x2, /**< input resource type is a cuda array surface.
+ This array must be a 2D array and the CUDA_ARRAY3D_SURFACE_LDST
+ flag must have been specified when creating it. */
+ NV_ENC_INPUT_RESOURCE_TYPE_OPENGL_TEX = 0x3 /**< input resource type is an OpenGL texture */
+} NV_ENC_INPUT_RESOURCE_TYPE;
+
+/**
+ * Buffer usage
+ */
+typedef enum _NV_ENC_BUFFER_USAGE
+{
+ NV_ENC_INPUT_IMAGE = 0x0, /**< Registered surface will be used for input image */
+ NV_ENC_OUTPUT_MOTION_VECTOR = 0x1, /**< Registered surface will be used for output of H.264 ME only mode.
+ This buffer usage type is not supported for HEVC ME only mode. */
+ NV_ENC_OUTPUT_BITSTREAM = 0x2 /**< Registered surface will be used for output bitstream in encoding */
+} NV_ENC_BUFFER_USAGE;
+
+/**
+ * Encoder Device type
+ */
+typedef enum _NV_ENC_DEVICE_TYPE
+{
+ NV_ENC_DEVICE_TYPE_DIRECTX = 0x0, /**< encode device type is a directx9 device */
+ NV_ENC_DEVICE_TYPE_CUDA = 0x1, /**< encode device type is a cuda device */
+ NV_ENC_DEVICE_TYPE_OPENGL = 0x2 /**< encode device type is an OpenGL device.
+ Use of this device type is supported only on Linux */
+} NV_ENC_DEVICE_TYPE;
+
+/**
+ * Number of reference frames
+ */
+typedef enum _NV_ENC_NUM_REF_FRAMES
+{
+ NV_ENC_NUM_REF_FRAMES_AUTOSELECT = 0x0, /**< Number of reference frames is auto selected by the encoder driver */
+ NV_ENC_NUM_REF_FRAMES_1 = 0x1, /**< Number of reference frames equal to 1 */
+ NV_ENC_NUM_REF_FRAMES_2 = 0x2, /**< Number of reference frames equal to 2 */
+ NV_ENC_NUM_REF_FRAMES_3 = 0x3, /**< Number of reference frames equal to 3 */
+ NV_ENC_NUM_REF_FRAMES_4 = 0x4, /**< Number of reference frames equal to 4 */
+ NV_ENC_NUM_REF_FRAMES_5 = 0x5, /**< Number of reference frames equal to 5 */
+ NV_ENC_NUM_REF_FRAMES_6 = 0x6, /**< Number of reference frames equal to 6 */
+ NV_ENC_NUM_REF_FRAMES_7 = 0x7 /**< Number of reference frames equal to 7 */
+} NV_ENC_NUM_REF_FRAMES;
+
+/**
+ * Encoder capabilities enumeration.
+ */
+typedef enum _NV_ENC_CAPS
+{
+ /**
+ * Maximum number of B-Frames supported.
+ */
+ NV_ENC_CAPS_NUM_MAX_BFRAMES,
+
+ /**
+ * Rate control modes supported.
+ * \n The API return value is a bitmask of the values in NV_ENC_PARAMS_RC_MODE.
+ */
+ NV_ENC_CAPS_SUPPORTED_RATECONTROL_MODES,
+
+ /**
+ * Indicates HW support for field mode encoding.
+ * \n 0 : Interlaced mode encoding is not supported.
+ * \n 1 : Interlaced field mode encoding is supported.
+ * \n 2 : Interlaced frame encoding and field mode encoding are both supported.
+ */
+ NV_ENC_CAPS_SUPPORT_FIELD_ENCODING,
+
+ /**
+ * Indicates HW support for monochrome mode encoding.
+ * \n 0 : Monochrome mode not supported.
+ * \n 1 : Monochrome mode supported.
+ */
+ NV_ENC_CAPS_SUPPORT_MONOCHROME,
+
+ /**
+ * Indicates HW support for FMO.
+ * \n 0 : FMO not supported.
+ * \n 1 : FMO supported.
+ */
+ NV_ENC_CAPS_SUPPORT_FMO,
+
+ /**
+ * Indicates HW capability for Quarter pel motion estimation.
+ * \n 0 : QuarterPel Motion Estimation not supported.
+ * \n 1 : QuarterPel Motion Estimation supported.
+ */
+ NV_ENC_CAPS_SUPPORT_QPELMV,
+
+ /**
+ * H.264 specific. Indicates HW support for BDirect modes.
+ * \n 0 : BDirect mode encoding not supported.
+ * \n 1 : BDirect mode encoding supported.
+ */
+ NV_ENC_CAPS_SUPPORT_BDIRECT_MODE,
+
+ /**
+ * H264 specific. Indicates HW support for CABAC entropy coding mode.
+ * \n 0 : CABAC entropy coding not supported.
+ * \n 1 : CABAC entropy coding supported.
+ */
+ NV_ENC_CAPS_SUPPORT_CABAC,
+
+ /**
+ * Indicates HW support for Adaptive Transform.
+ * \n 0 : Adaptive Transform not supported.
+ * \n 1 : Adaptive Transform supported.
+ */
+ NV_ENC_CAPS_SUPPORT_ADAPTIVE_TRANSFORM,
+
+ /**
+ * Indicates HW support for Multi View Coding.
+ * \n 0 : Multi View Coding not supported.
+ * \n 1 : Multi View Coding supported.
+ */
+ NV_ENC_CAPS_SUPPORT_STEREO_MVC,
+
+ /**
+ * Indicates HW support for encoding Temporal layers.
+ * \n 0 : Encoding Temporal layers not supported.
+ * \n 1 : Encoding Temporal layers supported.
+ */
+ NV_ENC_CAPS_NUM_MAX_TEMPORAL_LAYERS,
+
+ /**
+ * Indicates HW support for Hierarchical P frames.
+ * \n 0 : Hierarchical P frames not supported.
+ * \n 1 : Hierarchical P frames supported.
+ */
+ NV_ENC_CAPS_SUPPORT_HIERARCHICAL_PFRAMES,
+
+ /**
+ * Indicates HW support for Hierarchical B frames.
+ * \n 0 : Hierarchical B frames not supported.
+ * \n 1 : Hierarchical B frames supported.
+ */
+ NV_ENC_CAPS_SUPPORT_HIERARCHICAL_BFRAMES,
+
+ /**
+ * Maximum Encoding level supported (See ::NV_ENC_LEVEL for details).
+ */
+ NV_ENC_CAPS_LEVEL_MAX,
+
+ /**
+ * Minimum Encoding level supported (See ::NV_ENC_LEVEL for details).
+ */
+ NV_ENC_CAPS_LEVEL_MIN,
+
+ /**
+ * Indicates HW support for separate colour plane encoding.
+ * \n 0 : Separate colour plane encoding not supported.
+ * \n 1 : Separate colour plane encoding supported.
+ */
+ NV_ENC_CAPS_SEPARATE_COLOUR_PLANE,
+
+ /**
+ * Maximum output width supported.
+ */
+ NV_ENC_CAPS_WIDTH_MAX,
+
+ /**
+ * Maximum output height supported.
+ */
+ NV_ENC_CAPS_HEIGHT_MAX,
+
+ /**
+ * Indicates Temporal Scalability Support.
+ * \n 0 : Temporal SVC encoding not supported.
+ * \n 1 : Temporal SVC encoding supported.
+ */
+ NV_ENC_CAPS_SUPPORT_TEMPORAL_SVC,
+
+ /**
+ * Indicates Dynamic Encode Resolution Change Support.
+ * Support added from NvEncodeAPI version 2.0.
+ * \n 0 : Dynamic Encode Resolution Change not supported.
+ * \n 1 : Dynamic Encode Resolution Change supported.
+ */
+ NV_ENC_CAPS_SUPPORT_DYN_RES_CHANGE,
+
+ /**
+ * Indicates Dynamic Encode Bitrate Change Support.
+ * Support added from NvEncodeAPI version 2.0.
+ * \n 0 : Dynamic Encode bitrate change not supported.
+ * \n 1 : Dynamic Encode bitrate change supported.
+ */
+ NV_ENC_CAPS_SUPPORT_DYN_BITRATE_CHANGE,
+
+ /**
+ * Indicates Forcing Constant QP On The Fly Support.
+ * Support added from NvEncodeAPI version 2.0.
+ * \n 0 : Forcing constant QP on the fly not supported.
+ * \n 1 : Forcing constant QP on the fly supported.
+ */
+ NV_ENC_CAPS_SUPPORT_DYN_FORCE_CONSTQP,
+
+ /**
+ * Indicates Dynamic rate control mode Change Support.
+ * \n 0 : Dynamic rate control mode change not supported.
+ * \n 1 : Dynamic rate control mode change supported.
+ */
+ NV_ENC_CAPS_SUPPORT_DYN_RCMODE_CHANGE,
+
+ /**
+ * Indicates Subframe readback support for slice-based encoding.
+ * \n 0 : Subframe readback not supported.
+ * \n 1 : Subframe readback supported.
+ */
+ NV_ENC_CAPS_SUPPORT_SUBFRAME_READBACK,
+
+ /**
+ * Indicates Constrained Encoding mode support.
+ * Support added from NvEncodeAPI version 2.0.
+ * \n 0 : Constrained encoding mode not supported.
+ * \n 1 : Constarined encoding mode supported.
+ * If this mode is supported client can enable this during initialisation.
+ * Client can then force a picture to be coded as constrained picture where
+ * each slice in a constrained picture will have constrained_intra_pred_flag set to 1
+ * and disable_deblocking_filter_idc will be set to 2 and prediction vectors for inter
+ * macroblocks in each slice will be restricted to the slice region.
+ */
+ NV_ENC_CAPS_SUPPORT_CONSTRAINED_ENCODING,
+
+ /**
+ * Indicates Intra Refresh Mode Support.
+ * Support added from NvEncodeAPI version 2.0.
+ * \n 0 : Intra Refresh Mode not supported.
+ * \n 1 : Intra Refresh Mode supported.
+ */
+ NV_ENC_CAPS_SUPPORT_INTRA_REFRESH,
+
+ /**
+ * Indicates Custom VBV Bufer Size support. It can be used for capping frame size.
+ * Support added from NvEncodeAPI version 2.0.
+ * \n 0 : Custom VBV buffer size specification from client, not supported.
+ * \n 1 : Custom VBV buffer size specification from client, supported.
+ */
+ NV_ENC_CAPS_SUPPORT_CUSTOM_VBV_BUF_SIZE,
+
+ /**
+ * Indicates Dynamic Slice Mode Support.
+ * Support added from NvEncodeAPI version 2.0.
+ * \n 0 : Dynamic Slice Mode not supported.
+ * \n 1 : Dynamic Slice Mode supported.
+ */
+ NV_ENC_CAPS_SUPPORT_DYNAMIC_SLICE_MODE,
+
+ /**
+ * Indicates Reference Picture Invalidation Support.
+ * Support added from NvEncodeAPI version 2.0.
+ * \n 0 : Reference Picture Invalidation not supported.
+ * \n 1 : Reference Picture Invalidation supported.
+ */
+ NV_ENC_CAPS_SUPPORT_REF_PIC_INVALIDATION,
+
+ /**
+ * Indicates support for PreProcessing.
+ * The API return value is a bitmask of the values defined in ::NV_ENC_PREPROC_FLAGS
+ */
+ NV_ENC_CAPS_PREPROC_SUPPORT,
+
+ /**
+ * Indicates support Async mode.
+ * \n 0 : Async Encode mode not supported.
+ * \n 1 : Async Encode mode supported.
+ */
+ NV_ENC_CAPS_ASYNC_ENCODE_SUPPORT,
+
+ /**
+ * Maximum MBs per frame supported.
+ */
+ NV_ENC_CAPS_MB_NUM_MAX,
+
+ /**
+ * Maximum aggregate throughput in MBs per sec.
+ */
+ NV_ENC_CAPS_MB_PER_SEC_MAX,
+
+ /**
+ * Indicates HW support for YUV444 mode encoding.
+ * \n 0 : YUV444 mode encoding not supported.
+ * \n 1 : YUV444 mode encoding supported.
+ */
+ NV_ENC_CAPS_SUPPORT_YUV444_ENCODE,
+
+ /**
+ * Indicates HW support for lossless encoding.
+ * \n 0 : lossless encoding not supported.
+ * \n 1 : lossless encoding supported.
+ */
+ NV_ENC_CAPS_SUPPORT_LOSSLESS_ENCODE,
+
+ /**
+ * Indicates HW support for Sample Adaptive Offset.
+ * \n 0 : SAO not supported.
+ * \n 1 : SAO encoding supported.
+ */
+ NV_ENC_CAPS_SUPPORT_SAO,
+
+ /**
+ * Indicates HW support for MEOnly Mode.
+ * \n 0 : MEOnly Mode not supported.
+ * \n 1 : MEOnly Mode supported for I and P frames.
+ * \n 2 : MEOnly Mode supported for I, P and B frames.
+ */
+ NV_ENC_CAPS_SUPPORT_MEONLY_MODE,
+
+ /**
+ * Indicates HW support for lookahead encoding (enableLookahead=1).
+ * \n 0 : Lookahead not supported.
+ * \n 1 : Lookahead supported.
+ */
+ NV_ENC_CAPS_SUPPORT_LOOKAHEAD,
+
+ /**
+ * Indicates HW support for temporal AQ encoding (enableTemporalAQ=1).
+ * \n 0 : Temporal AQ not supported.
+ * \n 1 : Temporal AQ supported.
+ */
+ NV_ENC_CAPS_SUPPORT_TEMPORAL_AQ,
+ /**
+ * Indicates HW support for 10 bit encoding.
+ * \n 0 : 10 bit encoding not supported.
+ * \n 1 : 10 bit encoding supported.
+ */
+ NV_ENC_CAPS_SUPPORT_10BIT_ENCODE,
+ /**
+ * Maximum number of Long Term Reference frames supported
+ */
+ NV_ENC_CAPS_NUM_MAX_LTR_FRAMES,
+
+ /**
+ * Indicates HW support for Weighted Predicition.
+ * \n 0 : Weighted Predicition not supported.
+ * \n 1 : Weighted Predicition supported.
+ */
+ NV_ENC_CAPS_SUPPORT_WEIGHTED_PREDICTION,
+
+
+ /**
+ * On managed (vGPU) platforms (Windows only), this API, in conjunction with other GRID Management APIs, can be used
+ * to estimate the residual capacity of the hardware encoder on the GPU as a percentage of the total available encoder capacity.
+ * This API can be called at any time; i.e. during the encode session or before opening the encode session.
+ * If the available encoder capacity is returned as zero, applications may choose to switch to software encoding
+ * and continue to call this API (e.g. polling once per second) until capacity becomes available.
+ *
+ * On baremetal (non-virtualized GPU) and linux platforms, this API always returns 100.
+ */
+ NV_ENC_CAPS_DYNAMIC_QUERY_ENCODER_CAPACITY,
+
+ /**
+ * Indicates B as refererence support.
+ * \n 0 : B as reference is not supported.
+ * \n 1 : each B-Frame as reference is supported.
+ * \n 2 : only Middle B-frame as reference is supported.
+ */
+ NV_ENC_CAPS_SUPPORT_BFRAME_REF_MODE,
+
+ /**
+ * Indicates HW support for Emphasis Level Map based delta QP computation.
+ * \n 0 : Emphasis Level Map based delta QP not supported.
+ * \n 1 : Emphasis Level Map based delta QP is supported.
+ */
+ NV_ENC_CAPS_SUPPORT_EMPHASIS_LEVEL_MAP,
+
+ /**
+ * Minimum input width supported.
+ */
+ NV_ENC_CAPS_WIDTH_MIN,
+
+ /**
+ * Minimum input height supported.
+ */
+ NV_ENC_CAPS_HEIGHT_MIN,
+
+ /**
+ * Indicates HW support for multiple reference frames.
+ */
+ NV_ENC_CAPS_SUPPORT_MULTIPLE_REF_FRAMES,
+
+ /**
+ * Reserved - Not to be used by clients.
+ */
+ NV_ENC_CAPS_EXPOSED_COUNT
+} NV_ENC_CAPS;
+
+/**
+ * HEVC CU SIZE
+ */
+typedef enum _NV_ENC_HEVC_CUSIZE
+{
+ NV_ENC_HEVC_CUSIZE_AUTOSELECT = 0,
+ NV_ENC_HEVC_CUSIZE_8x8 = 1,
+ NV_ENC_HEVC_CUSIZE_16x16 = 2,
+ NV_ENC_HEVC_CUSIZE_32x32 = 3,
+ NV_ENC_HEVC_CUSIZE_64x64 = 4,
+}NV_ENC_HEVC_CUSIZE;
+
+/**
+ * Input struct for querying Encoding capabilities.
+ */
+typedef struct _NV_ENC_CAPS_PARAM
+{
+ uint32_t version; /**< [in]: Struct version. Must be set to ::NV_ENC_CAPS_PARAM_VER */
+ NV_ENC_CAPS capsToQuery; /**< [in]: Specifies the encode capability to be queried. Client should pass a member for ::NV_ENC_CAPS enum. */
+ uint32_t reserved[62]; /**< [in]: Reserved and must be set to 0 */
+} NV_ENC_CAPS_PARAM;
+
+/** NV_ENC_CAPS_PARAM struct version. */
+#define NV_ENC_CAPS_PARAM_VER NVENCAPI_STRUCT_VERSION(1)
+
+
+/**
+ * Encoder Output parameters
+ */
+typedef struct _NV_ENC_ENCODE_OUT_PARAMS
+{
+ uint32_t version; /**< [out]: Struct version. */
+ uint32_t bitstreamSizeInBytes; /**< [out]: Encoded bitstream size in bytes */
+ uint32_t reserved[62]; /**< [out]: Reserved and must be set to 0 */
+} NV_ENC_ENCODE_OUT_PARAMS;
+
+/** NV_ENC_ENCODE_OUT_PARAMS struct version. */
+#define NV_ENC_ENCODE_OUT_PARAMS_VER NVENCAPI_STRUCT_VERSION(1)
+
+/**
+ * Creation parameters for input buffer.
+ */
+typedef struct _NV_ENC_CREATE_INPUT_BUFFER
+{
+ uint32_t version; /**< [in]: Struct version. Must be set to ::NV_ENC_CREATE_INPUT_BUFFER_VER */
+ uint32_t width; /**< [in]: Input buffer width */
+ uint32_t height; /**< [in]: Input buffer width */
+ NV_ENC_MEMORY_HEAP memoryHeap; /**< [in]: Deprecated. Do not use */
+ NV_ENC_BUFFER_FORMAT bufferFmt; /**< [in]: Input buffer format */
+ uint32_t reserved; /**< [in]: Reserved and must be set to 0 */
+ NV_ENC_INPUT_PTR inputBuffer; /**< [out]: Pointer to input buffer */
+ void* pSysMemBuffer; /**< [in]: Pointer to existing sysmem buffer */
+ uint32_t reserved1[57]; /**< [in]: Reserved and must be set to 0 */
+ void* reserved2[63]; /**< [in]: Reserved and must be set to NULL */
+} NV_ENC_CREATE_INPUT_BUFFER;
+
+/** NV_ENC_CREATE_INPUT_BUFFER struct version. */
+#define NV_ENC_CREATE_INPUT_BUFFER_VER NVENCAPI_STRUCT_VERSION(1)
+
+/**
+ * Creation parameters for output bitstream buffer.
+ */
+typedef struct _NV_ENC_CREATE_BITSTREAM_BUFFER
+{
+ uint32_t version; /**< [in]: Struct version. Must be set to ::NV_ENC_CREATE_BITSTREAM_BUFFER_VER */
+ uint32_t size; /**< [in]: Deprecated. Do not use */
+ NV_ENC_MEMORY_HEAP memoryHeap; /**< [in]: Deprecated. Do not use */
+ uint32_t reserved; /**< [in]: Reserved and must be set to 0 */
+ NV_ENC_OUTPUT_PTR bitstreamBuffer; /**< [out]: Pointer to the output bitstream buffer */
+ void* bitstreamBufferPtr; /**< [out]: Reserved and should not be used */
+ uint32_t reserved1[58]; /**< [in]: Reserved and should be set to 0 */
+ void* reserved2[64]; /**< [in]: Reserved and should be set to NULL */
+} NV_ENC_CREATE_BITSTREAM_BUFFER;
+
+/** NV_ENC_CREATE_BITSTREAM_BUFFER struct version. */
+#define NV_ENC_CREATE_BITSTREAM_BUFFER_VER NVENCAPI_STRUCT_VERSION(1)
+
+/**
+ * Structs needed for ME only mode.
+ */
+typedef struct _NV_ENC_MVECTOR
+{
+ int16_t mvx; /**< the x component of MV in qpel units */
+ int16_t mvy; /**< the y component of MV in qpel units */
+} NV_ENC_MVECTOR;
+
+/**
+ * Motion vector structure per macroblock for H264 motion estimation.
+ */
+typedef struct _NV_ENC_H264_MV_DATA
+{
+ NV_ENC_MVECTOR mv[4]; /**< up to 4 vectors for 8x8 partition */
+ uint8_t mbType; /**< 0 (I), 1 (P), 2 (IPCM), 3 (B) */
+ uint8_t partitionType; /**< Specifies the block partition type. 0:16x16, 1:8x8, 2:16x8, 3:8x16 */
+ uint16_t reserved; /**< reserved padding for alignment */
+ uint32_t mbCost;
+} NV_ENC_H264_MV_DATA;
+
+/**
+ * Motion vector structure per CU for HEVC motion estimation.
+ */
+typedef struct _NV_ENC_HEVC_MV_DATA
+{
+ NV_ENC_MVECTOR mv[4]; /**< up to 4 vectors within a CU */
+ uint8_t cuType; /**< 0 (I), 1(P) */
+ uint8_t cuSize; /**< 0: 8x8, 1: 16x16, 2: 32x32, 3: 64x64 */
+ uint8_t partitionMode; /**< The CU partition mode
+ 0 (2Nx2N), 1 (2NxN), 2(Nx2N), 3 (NxN),
+ 4 (2NxnU), 5 (2NxnD), 6(nLx2N), 7 (nRx2N) */
+ uint8_t lastCUInCTB; /**< Marker to separate CUs in the current CTB from CUs in the next CTB */
+} NV_ENC_HEVC_MV_DATA;
+
+/**
+ * Creation parameters for output motion vector buffer for ME only mode.
+ */
+typedef struct _NV_ENC_CREATE_MV_BUFFER
+{
+ uint32_t version; /**< [in]: Struct version. Must be set to NV_ENC_CREATE_MV_BUFFER_VER */
+ NV_ENC_OUTPUT_PTR mvBuffer; /**< [out]: Pointer to the output motion vector buffer */
+ uint32_t reserved1[255]; /**< [in]: Reserved and should be set to 0 */
+ void* reserved2[63]; /**< [in]: Reserved and should be set to NULL */
+} NV_ENC_CREATE_MV_BUFFER;
+
+/** NV_ENC_CREATE_MV_BUFFER struct version*/
+#define NV_ENC_CREATE_MV_BUFFER_VER NVENCAPI_STRUCT_VERSION(1)
+
+/**
+ * QP value for frames
+ */
+typedef struct _NV_ENC_QP
+{
+ uint32_t qpInterP; /**< [in]: Specifies QP value for P-frame. Even though this field is uint32_t for legacy reasons, the client should treat this as a signed parameter(int32_t) for cases in which negative QP values are to be specified. */
+ uint32_t qpInterB; /**< [in]: Specifies QP value for B-frame. Even though this field is uint32_t for legacy reasons, the client should treat this as a signed parameter(int32_t) for cases in which negative QP values are to be specified. */
+ uint32_t qpIntra; /**< [in]: Specifies QP value for Intra Frame. Even though this field is uint32_t for legacy reasons, the client should treat this as a signed parameter(int32_t) for cases in which negative QP values are to be specified. */
+} NV_ENC_QP;
+
+/**
+ * Rate Control Configuration Paramters
+ */
+ typedef struct _NV_ENC_RC_PARAMS
+ {
+ uint32_t version;
+ NV_ENC_PARAMS_RC_MODE rateControlMode; /**< [in]: Specifies the rate control mode. Check support for various rate control modes using ::NV_ENC_CAPS_SUPPORTED_RATECONTROL_MODES caps. */
+ NV_ENC_QP constQP; /**< [in]: Specifies the initial QP to be used for encoding, these values would be used for all frames if in Constant QP mode. */
+ uint32_t averageBitRate; /**< [in]: Specifies the average bitrate(in bits/sec) used for encoding. */
+ uint32_t maxBitRate; /**< [in]: Specifies the maximum bitrate for the encoded output. This is used for VBR and ignored for CBR mode. */
+ uint32_t vbvBufferSize; /**< [in]: Specifies the VBV(HRD) buffer size. in bits. Set 0 to use the default VBV buffer size. */
+ uint32_t vbvInitialDelay; /**< [in]: Specifies the VBV(HRD) initial delay in bits. Set 0 to use the default VBV initial delay .*/
+ uint32_t enableMinQP :1; /**< [in]: Set this to 1 if minimum QP used for rate control. */
+ uint32_t enableMaxQP :1; /**< [in]: Set this to 1 if maximum QP used for rate control. */
+ uint32_t enableInitialRCQP :1; /**< [in]: Set this to 1 if user suppplied initial QP is used for rate control. */
+ uint32_t enableAQ :1; /**< [in]: Set this to 1 to enable adaptive quantization (Spatial). */
+ uint32_t reservedBitField1 :1; /**< [in]: Reserved bitfields and must be set to 0. */
+ uint32_t enableLookahead :1; /**< [in]: Set this to 1 to enable lookahead with depth <lookaheadDepth> (if lookahead is enabled, input frames must remain available to the encoder until encode completion) */
+ uint32_t disableIadapt :1; /**< [in]: Set this to 1 to disable adaptive I-frame insertion at scene cuts (only has an effect when lookahead is enabled) */
+ uint32_t disableBadapt :1; /**< [in]: Set this to 1 to disable adaptive B-frame decision (only has an effect when lookahead is enabled) */
+ uint32_t enableTemporalAQ :1; /**< [in]: Set this to 1 to enable temporal AQ */
+ uint32_t zeroReorderDelay :1; /**< [in]: Set this to 1 to indicate zero latency operation (no reordering delay, num_reorder_frames=0) */
+ uint32_t enableNonRefP :1; /**< [in]: Set this to 1 to enable automatic insertion of non-reference P-frames (no effect if enablePTD=0) */
+ uint32_t strictGOPTarget :1; /**< [in]: Set this to 1 to minimize GOP-to-GOP rate fluctuations */
+ uint32_t aqStrength :4; /**< [in]: When AQ (Spatial) is enabled (i.e. NV_ENC_RC_PARAMS::enableAQ is set), this field is used to specify AQ strength. AQ strength scale is from 1 (low) - 15 (aggressive). If not set, strength is autoselected by driver. */
+ uint32_t reservedBitFields :16; /**< [in]: Reserved bitfields and must be set to 0 */
+ NV_ENC_QP minQP; /**< [in]: Specifies the minimum QP used for rate control. Client must set NV_ENC_CONFIG::enableMinQP to 1. */
+ NV_ENC_QP maxQP; /**< [in]: Specifies the maximum QP used for rate control. Client must set NV_ENC_CONFIG::enableMaxQP to 1. */
+ NV_ENC_QP initialRCQP; /**< [in]: Specifies the initial QP used for rate control. Client must set NV_ENC_CONFIG::enableInitialRCQP to 1. */
+ uint32_t temporallayerIdxMask; /**< [in]: Specifies the temporal layers (as a bitmask) whose QPs have changed. Valid max bitmask is [2^NV_ENC_CAPS_NUM_MAX_TEMPORAL_LAYERS - 1] */
+ uint8_t temporalLayerQP[8]; /**< [in]: Specifies the temporal layer QPs used for rate control. Temporal layer index is used as as the array index */
+ uint8_t targetQuality; /**< [in]: Target CQ (Constant Quality) level for VBR mode (range 0-51 with 0-automatic) */
+ uint8_t targetQualityLSB; /**< [in]: Fractional part of target quality (as 8.8 fixed point format) */
+ uint16_t lookaheadDepth; /**< [in]: Maximum depth of lookahead with range 0-32 (only used if enableLookahead=1) */
+ uint32_t reserved1;
+ NV_ENC_QP_MAP_MODE qpMapMode; /**< [in]: This flag is used to interpret values in array specified by NV_ENC_PIC_PARAMS::qpDeltaMap.
+ Set this to NV_ENC_QP_MAP_EMPHASIS to treat values specified by NV_ENC_PIC_PARAMS::qpDeltaMap as Emphasis Level Map.
+ Emphasis Level can be assigned any value specified in enum NV_ENC_EMPHASIS_MAP_LEVEL.
+ Emphasis Level Map is used to specify regions to be encoded at varying levels of quality.
+ The hardware encoder adjusts the quantization within the image as per the provided emphasis map,
+ by adjusting the quantization parameter (QP) assigned to each macroblock. This adjustment is commonly called “Delta QPâ€.
+ The adjustment depends on the absolute QP decided by the rate control algorithm, and is applied after the rate control has decided each macroblock’s QP.
+ Since the Delta QP overrides rate control, enabling Emphasis Level Map may violate bitrate and VBV buffer size constraints.
+ Emphasis Level Map is useful in situations where client has a priori knowledge of the image complexity (e.g. via use of NVFBC's Classification feature) and encoding those high-complexity areas at higher quality (lower QP) is important, even at the possible cost of violating bitrate/VBV buffer size constraints
+ This feature is not supported when AQ( Spatial/Temporal) is enabled.
+ This feature is only supported for H264 codec currently.
+
+ Set this to NV_ENC_QP_MAP_DELTA to treat values specified by NV_ENC_PIC_PARAMS::qpDeltaMap as QPDelta. This specifies QP modifier to be applied on top of the QP chosen by rate control
+
+ Set this to NV_ENC_QP_MAP_DISABLED to ignore NV_ENC_PIC_PARAMS::qpDeltaMap values. In this case, qpDeltaMap should be set to NULL.
+
+ Other values are reserved for future use.*/
+ uint32_t reserved[7];
+ } NV_ENC_RC_PARAMS;
+
+/** macro for constructing the version field of ::_NV_ENC_RC_PARAMS */
+#define NV_ENC_RC_PARAMS_VER NVENCAPI_STRUCT_VERSION(1)
+
+
+
+/**
+ * \struct _NV_ENC_CONFIG_H264_VUI_PARAMETERS
+ * H264 Video Usability Info parameters
+ */
+typedef struct _NV_ENC_CONFIG_H264_VUI_PARAMETERS
+{
+ uint32_t overscanInfoPresentFlag; /**< [in]: if set to 1 , it specifies that the overscanInfo is present */
+ uint32_t overscanInfo; /**< [in]: Specifies the overscan info(as defined in Annex E of the ITU-T Specification). */
+ uint32_t videoSignalTypePresentFlag; /**< [in]: If set to 1, it specifies that the videoFormat, videoFullRangeFlag and colourDescriptionPresentFlag are present. */
+ uint32_t videoFormat; /**< [in]: Specifies the source video format(as defined in Annex E of the ITU-T Specification).*/
+ uint32_t videoFullRangeFlag; /**< [in]: Specifies the output range of the luma and chroma samples(as defined in Annex E of the ITU-T Specification). */
+ uint32_t colourDescriptionPresentFlag; /**< [in]: If set to 1, it specifies that the colourPrimaries, transferCharacteristics and colourMatrix are present. */
+ uint32_t colourPrimaries; /**< [in]: Specifies color primaries for converting to RGB(as defined in Annex E of the ITU-T Specification) */
+ uint32_t transferCharacteristics; /**< [in]: Specifies the opto-electronic transfer characteristics to use (as defined in Annex E of the ITU-T Specification) */
+ uint32_t colourMatrix; /**< [in]: Specifies the matrix coefficients used in deriving the luma and chroma from the RGB primaries (as defined in Annex E of the ITU-T Specification). */
+ uint32_t chromaSampleLocationFlag; /**< [in]: if set to 1 , it specifies that the chromaSampleLocationTop and chromaSampleLocationBot are present.*/
+ uint32_t chromaSampleLocationTop; /**< [in]: Specifies the chroma sample location for top field(as defined in Annex E of the ITU-T Specification) */
+ uint32_t chromaSampleLocationBot; /**< [in]: Specifies the chroma sample location for bottom field(as defined in Annex E of the ITU-T Specification) */
+ uint32_t bitstreamRestrictionFlag; /**< [in]: if set to 1, it specifies the bitstream restriction parameters are present in the bitstream.*/
+ uint32_t reserved[15];
+}NV_ENC_CONFIG_H264_VUI_PARAMETERS;
+
+typedef NV_ENC_CONFIG_H264_VUI_PARAMETERS NV_ENC_CONFIG_HEVC_VUI_PARAMETERS;
+
+/**
+ * \struct _NVENC_EXTERNAL_ME_HINT_COUNTS_PER_BLOCKTYPE
+ * External motion vector hint counts per block type.
+ * H264 supports multiple hint while HEVC supports one hint for each valid candidate.
+ */
+typedef struct _NVENC_EXTERNAL_ME_HINT_COUNTS_PER_BLOCKTYPE
+{
+ uint32_t numCandsPerBlk16x16 : 4; /**< [in]: Supported for H264,HEVC.It Specifies the number of candidates per 16x16 block. */
+ uint32_t numCandsPerBlk16x8 : 4; /**< [in]: Supported for H264 only.Specifies the number of candidates per 16x8 block. */
+ uint32_t numCandsPerBlk8x16 : 4; /**< [in]: Supported for H264 only.Specifies the number of candidates per 8x16 block. */
+ uint32_t numCandsPerBlk8x8 : 4; /**< [in]: Supported for H264,HEVC.Specifies the number of candidates per 8x8 block. */
+ uint32_t reserved : 16; /**< [in]: Reserved for padding. */
+ uint32_t reserved1[3]; /**< [in]: Reserved for future use. */
+} NVENC_EXTERNAL_ME_HINT_COUNTS_PER_BLOCKTYPE;
+
+
+/**
+ * \struct _NVENC_EXTERNAL_ME_HINT
+ * External Motion Vector hint structure.
+ */
+typedef struct _NVENC_EXTERNAL_ME_HINT
+{
+ int32_t mvx : 12; /**< [in]: Specifies the x component of integer pixel MV (relative to current MB) S12.0. */
+ int32_t mvy : 10; /**< [in]: Specifies the y component of integer pixel MV (relative to current MB) S10.0 .*/
+ int32_t refidx : 5; /**< [in]: Specifies the reference index (31=invalid). Current we support only 1 reference frame per direction for external hints, so \p refidx must be 0. */
+ int32_t dir : 1; /**< [in]: Specifies the direction of motion estimation . 0=L0 1=L1.*/
+ int32_t partType : 2; /**< [in]: Specifies the block partition type.0=16x16 1=16x8 2=8x16 3=8x8 (blocks in partition must be consecutive).*/
+ int32_t lastofPart : 1; /**< [in]: Set to 1 for the last MV of (sub) partition */
+ int32_t lastOfMB : 1; /**< [in]: Set to 1 for the last MV of macroblock. */
+} NVENC_EXTERNAL_ME_HINT;
+
+
+/**
+ * \struct _NV_ENC_CONFIG_H264
+ * H264 encoder configuration parameters
+ */
+typedef struct _NV_ENC_CONFIG_H264
+{
+ uint32_t reserved :1; /**< [in]: Reserved and must be set to 0 */
+ uint32_t enableStereoMVC :1; /**< [in]: Set to 1 to enable stereo MVC*/
+ uint32_t hierarchicalPFrames :1; /**< [in]: Set to 1 to enable hierarchical PFrames */
+ uint32_t hierarchicalBFrames :1; /**< [in]: Set to 1 to enable hierarchical BFrames */
+ uint32_t outputBufferingPeriodSEI :1; /**< [in]: Set to 1 to write SEI buffering period syntax in the bitstream */
+ uint32_t outputPictureTimingSEI :1; /**< [in]: Set to 1 to write SEI picture timing syntax in the bitstream. When set for following rateControlMode : NV_ENC_PARAMS_RC_CBR, NV_ENC_PARAMS_RC_CBR_LOWDELAY_HQ,
+ NV_ENC_PARAMS_RC_CBR_HQ, filler data is inserted if needed to achieve hrd bitrate */
+ uint32_t outputAUD :1; /**< [in]: Set to 1 to write access unit delimiter syntax in bitstream */
+ uint32_t disableSPSPPS :1; /**< [in]: Set to 1 to disable writing of Sequence and Picture parameter info in bitstream */
+ uint32_t outputFramePackingSEI :1; /**< [in]: Set to 1 to enable writing of frame packing arrangement SEI messages to bitstream */
+ uint32_t outputRecoveryPointSEI :1; /**< [in]: Set to 1 to enable writing of recovery point SEI message */
+ uint32_t enableIntraRefresh :1; /**< [in]: Set to 1 to enable gradual decoder refresh or intra refresh. If the GOP structure uses B frames this will be ignored */
+ uint32_t enableConstrainedEncoding :1; /**< [in]: Set this to 1 to enable constrainedFrame encoding where each slice in the constarined picture is independent of other slices
+ Check support for constrained encoding using ::NV_ENC_CAPS_SUPPORT_CONSTRAINED_ENCODING caps. */
+ uint32_t repeatSPSPPS :1; /**< [in]: Set to 1 to enable writing of Sequence and Picture parameter for every IDR frame */
+ uint32_t enableVFR :1; /**< [in]: Set to 1 to enable variable frame rate. */
+ uint32_t enableLTR :1; /**< [in]: Set to 1 to enable LTR (Long Term Reference) frame support. LTR can be used in two modes: "LTR Trust" mode and "LTR Per Picture" mode.
+ LTR Trust mode: In this mode, ltrNumFrames pictures after IDR are automatically marked as LTR. This mode is enabled by setting ltrTrustMode = 1.
+ Use of LTR Trust mode is strongly discouraged as this mode may be deprecated in future.
+ LTR Per Picture mode: In this mode, client can control whether the current picture should be marked as LTR. Enable this mode by setting
+ ltrTrustMode = 0 and ltrMarkFrame = 1 for the picture to be marked as LTR. This is the preferred mode
+ for using LTR.
+ Note that LTRs are not supported if encoding session is configured with B-frames */
+ uint32_t qpPrimeYZeroTransformBypassFlag :1; /**< [in]: To enable lossless encode set this to 1, set QP to 0 and RC_mode to NV_ENC_PARAMS_RC_CONSTQP and profile to HIGH_444_PREDICTIVE_PROFILE.
+ Check support for lossless encoding using ::NV_ENC_CAPS_SUPPORT_LOSSLESS_ENCODE caps. */
+ uint32_t useConstrainedIntraPred :1; /**< [in]: Set 1 to enable constrained intra prediction. */
+ uint32_t enableFillerDataInsertion :1; /**< [in]: Set to 1 to enable insertion of filler data in the bitstream.
+ This flag will take effect only when one of the CBR rate
+ control modes (NV_ENC_PARAMS_RC_CBR, NV_ENC_PARAMS_RC_CBR_HQ,
+ NV_ENC_PARAMS_RC_CBR_LOWDELAY_HQ) is in use and both
+ NV_ENC_INITIALIZE_PARAMS::frameRateNum and
+ NV_ENC_INITIALIZE_PARAMS::frameRateDen are set to non-zero
+ values. Setting this field when
+ NV_ENC_INITIALIZE_PARAMS::enableOutputInVidmem is also set
+ is currently not supported and will make ::NvEncInitializeEncoder()
+ return an error. */
+ uint32_t reservedBitFields :14; /**< [in]: Reserved bitfields and must be set to 0 */
+ uint32_t level; /**< [in]: Specifies the encoding level. Client is recommended to set this to NV_ENC_LEVEL_AUTOSELECT in order to enable the NvEncodeAPI interface to select the correct level. */
+ uint32_t idrPeriod; /**< [in]: Specifies the IDR interval. If not set, this is made equal to gopLength in NV_ENC_CONFIG.Low latency application client can set IDR interval to NVENC_INFINITE_GOPLENGTH so that IDR frames are not inserted automatically. */
+ uint32_t separateColourPlaneFlag; /**< [in]: Set to 1 to enable 4:4:4 separate colour planes */
+ uint32_t disableDeblockingFilterIDC; /**< [in]: Specifies the deblocking filter mode. Permissible value range: [0,2] */
+ uint32_t numTemporalLayers; /**< [in]: Specifies max temporal layers to be used for hierarchical coding. Valid value range is [1,::NV_ENC_CAPS_NUM_MAX_TEMPORAL_LAYERS] */
+ uint32_t spsId; /**< [in]: Specifies the SPS id of the sequence header */
+ uint32_t ppsId; /**< [in]: Specifies the PPS id of the picture header */
+ NV_ENC_H264_ADAPTIVE_TRANSFORM_MODE adaptiveTransformMode; /**< [in]: Specifies the AdaptiveTransform Mode. Check support for AdaptiveTransform mode using ::NV_ENC_CAPS_SUPPORT_ADAPTIVE_TRANSFORM caps. */
+ NV_ENC_H264_FMO_MODE fmoMode; /**< [in]: Specified the FMO Mode. Check support for FMO using ::NV_ENC_CAPS_SUPPORT_FMO caps. */
+ NV_ENC_H264_BDIRECT_MODE bdirectMode; /**< [in]: Specifies the BDirect mode. Check support for BDirect mode using ::NV_ENC_CAPS_SUPPORT_BDIRECT_MODE caps.*/
+ NV_ENC_H264_ENTROPY_CODING_MODE entropyCodingMode; /**< [in]: Specifies the entropy coding mode. Check support for CABAC mode using ::NV_ENC_CAPS_SUPPORT_CABAC caps. */
+ NV_ENC_STEREO_PACKING_MODE stereoMode; /**< [in]: Specifies the stereo frame packing mode which is to be signalled in frame packing arrangement SEI */
+ uint32_t intraRefreshPeriod; /**< [in]: Specifies the interval between successive intra refresh if enableIntrarefresh is set. Requires enableIntraRefresh to be set.
+ Will be disabled if NV_ENC_CONFIG::gopLength is not set to NVENC_INFINITE_GOPLENGTH. */
+ uint32_t intraRefreshCnt; /**< [in]: Specifies the length of intra refresh in number of frames for periodic intra refresh. This value should be smaller than intraRefreshPeriod */
+ uint32_t maxNumRefFrames; /**< [in]: Specifies the DPB size used for encoding. Setting it to 0 will let driver use the default dpb size.
+ The low latency application which wants to invalidate reference frame as an error resilience tool
+ is recommended to use a large DPB size so that the encoder can keep old reference frames which can be used if recent
+ frames are invalidated. */
+ uint32_t sliceMode; /**< [in]: This parameter in conjunction with sliceModeData specifies the way in which the picture is divided into slices
+ sliceMode = 0 MB based slices, sliceMode = 1 Byte based slices, sliceMode = 2 MB row based slices, sliceMode = 3 numSlices in Picture.
+ When forceIntraRefreshWithFrameCnt is set it will have priority over sliceMode setting
+ When sliceMode == 0 and sliceModeData == 0 whole picture will be coded with one slice */
+ uint32_t sliceModeData; /**< [in]: Specifies the parameter needed for sliceMode. For:
+ sliceMode = 0, sliceModeData specifies # of MBs in each slice (except last slice)
+ sliceMode = 1, sliceModeData specifies maximum # of bytes in each slice (except last slice)
+ sliceMode = 2, sliceModeData specifies # of MB rows in each slice (except last slice)
+ sliceMode = 3, sliceModeData specifies number of slices in the picture. Driver will divide picture into slices optimally */
+ NV_ENC_CONFIG_H264_VUI_PARAMETERS h264VUIParameters; /**< [in]: Specifies the H264 video usability info pamameters */
+ uint32_t ltrNumFrames; /**< [in]: Specifies the number of LTR frames. This parameter has different meaning in two LTR modes.
+ In "LTR Trust" mode (ltrTrustMode = 1), encoder will mark the first ltrNumFrames base layer reference frames within each IDR interval as LTR.
+ In "LTR Per Picture" mode (ltrTrustMode = 0 and ltrMarkFrame = 1), ltrNumFrames specifies maximum number of LTR frames in DPB. */
+ uint32_t ltrTrustMode; /**< [in]: Specifies the LTR operating mode. See comments near NV_ENC_CONFIG_H264::enableLTR for description of the two modes.
+ Set to 1 to use "LTR Trust" mode of LTR operation. Clients are discouraged to use "LTR Trust" mode as this mode may
+ be deprecated in future releases.
+ Set to 0 when using "LTR Per Picture" mode of LTR operation. */
+ uint32_t chromaFormatIDC; /**< [in]: Specifies the chroma format. Should be set to 1 for yuv420 input, 3 for yuv444 input.
+ Check support for YUV444 encoding using ::NV_ENC_CAPS_SUPPORT_YUV444_ENCODE caps.*/
+ uint32_t maxTemporalLayers; /**< [in]: Specifies the max temporal layer used for hierarchical coding. */
+ NV_ENC_BFRAME_REF_MODE useBFramesAsRef; /**< [in]: Specifies the B-Frame as reference mode. Check support for useBFramesAsRef mode using ::NV_ENC_CAPS_SUPPORT_BFRAME_REF_MODE caps.*/
+ NV_ENC_NUM_REF_FRAMES numRefL0; /**< [in]: Specifies max number of reference frames in reference picture list L0, that can be used by hardware for prediction of a frame.
+ Check support for numRefL0 using ::NV_ENC_CAPS_SUPPORT_MULTIPLE_REF_FRAMES caps. */
+ NV_ENC_NUM_REF_FRAMES numRefL1; /**< [in]: Specifies max number of reference frames in reference picture list L1, that can be used by hardware for prediction of a frame.
+ Check support for numRefL1 using ::NV_ENC_CAPS_SUPPORT_MULTIPLE_REF_FRAMES caps. */
+ uint32_t reserved1[267]; /**< [in]: Reserved and must be set to 0 */
+ void* reserved2[64]; /**< [in]: Reserved and must be set to NULL */
+} NV_ENC_CONFIG_H264;
+
+/**
+ * \struct _NV_ENC_CONFIG_HEVC
+ * HEVC encoder configuration parameters to be set during initialization.
+ */
+typedef struct _NV_ENC_CONFIG_HEVC
+{
+ uint32_t level; /**< [in]: Specifies the level of the encoded bitstream.*/
+ uint32_t tier; /**< [in]: Specifies the level tier of the encoded bitstream.*/
+ NV_ENC_HEVC_CUSIZE minCUSize; /**< [in]: Specifies the minimum size of luma coding unit.*/
+ NV_ENC_HEVC_CUSIZE maxCUSize; /**< [in]: Specifies the maximum size of luma coding unit. Currently NVENC SDK only supports maxCUSize equal to NV_ENC_HEVC_CUSIZE_32x32.*/
+ uint32_t useConstrainedIntraPred :1; /**< [in]: Set 1 to enable constrained intra prediction. */
+ uint32_t disableDeblockAcrossSliceBoundary :1; /**< [in]: Set 1 to disable in loop filtering across slice boundary.*/
+ uint32_t outputBufferingPeriodSEI :1; /**< [in]: Set 1 to write SEI buffering period syntax in the bitstream */
+ uint32_t outputPictureTimingSEI :1; /**< [in]: Set 1 to write SEI picture timing syntax in the bitstream */
+ uint32_t outputAUD :1; /**< [in]: Set 1 to write Access Unit Delimiter syntax. */
+ uint32_t enableLTR :1; /**< [in]: Set to 1 to enable LTR (Long Term Reference) frame support. LTR can be used in two modes: "LTR Trust" mode and "LTR Per Picture" mode.
+ LTR Trust mode: In this mode, ltrNumFrames pictures after IDR are automatically marked as LTR. This mode is enabled by setting ltrTrustMode = 1.
+ Use of LTR Trust mode is strongly discouraged as this mode may be deprecated in future releases.
+ LTR Per Picture mode: In this mode, client can control whether the current picture should be marked as LTR. Enable this mode by setting
+ ltrTrustMode = 0 and ltrMarkFrame = 1 for the picture to be marked as LTR. This is the preferred mode
+ for using LTR.
+ Note that LTRs are not supported if encoding session is configured with B-frames */
+ uint32_t disableSPSPPS :1; /**< [in]: Set 1 to disable VPS,SPS and PPS signalling in the bitstream. */
+ uint32_t repeatSPSPPS :1; /**< [in]: Set 1 to output VPS,SPS and PPS for every IDR frame.*/
+ uint32_t enableIntraRefresh :1; /**< [in]: Set 1 to enable gradual decoder refresh or intra refresh. If the GOP structure uses B frames this will be ignored */
+ uint32_t chromaFormatIDC :2; /**< [in]: Specifies the chroma format. Should be set to 1 for yuv420 input, 3 for yuv444 input.*/
+ uint32_t pixelBitDepthMinus8 :3; /**< [in]: Specifies pixel bit depth minus 8. Should be set to 0 for 8 bit input, 2 for 10 bit input.*/
+ uint32_t enableFillerDataInsertion :1; /**< [in]: Set to 1 to enable insertion of filler data in the bitstream.
+ This flag will take effect only when one of the CBR rate
+ control modes (NV_ENC_PARAMS_RC_CBR, NV_ENC_PARAMS_RC_CBR_HQ,
+ NV_ENC_PARAMS_RC_CBR_LOWDELAY_HQ) is in use and both
+ NV_ENC_INITIALIZE_PARAMS::frameRateNum and
+ NV_ENC_INITIALIZE_PARAMS::frameRateDen are set to non-zero
+ values. Setting this field when
+ NV_ENC_INITIALIZE_PARAMS::enableOutputInVidmem is also set
+ is currently not supported and will make ::NvEncInitializeEncoder()
+ return an error. */
+ uint32_t reserved :17; /**< [in]: Reserved bitfields.*/
+ uint32_t idrPeriod; /**< [in]: Specifies the IDR interval. If not set, this is made equal to gopLength in NV_ENC_CONFIG.Low latency application client can set IDR interval to NVENC_INFINITE_GOPLENGTH so that IDR frames are not inserted automatically. */
+ uint32_t intraRefreshPeriod; /**< [in]: Specifies the interval between successive intra refresh if enableIntrarefresh is set. Requires enableIntraRefresh to be set.
+ Will be disabled if NV_ENC_CONFIG::gopLength is not set to NVENC_INFINITE_GOPLENGTH. */
+ uint32_t intraRefreshCnt; /**< [in]: Specifies the length of intra refresh in number of frames for periodic intra refresh. This value should be smaller than intraRefreshPeriod */
+ uint32_t maxNumRefFramesInDPB; /**< [in]: Specifies the maximum number of references frames in the DPB.*/
+ uint32_t ltrNumFrames; /**< [in]: This parameter has different meaning in two LTR modes.
+ In "LTR Trust" mode (ltrTrustMode = 1), encoder will mark the first ltrNumFrames base layer reference frames within each IDR interval as LTR.
+ In "LTR Per Picture" mode (ltrTrustMode = 0 and ltrMarkFrame = 1), ltrNumFrames specifies maximum number of LTR frames in DPB. */
+ uint32_t vpsId; /**< [in]: Specifies the VPS id of the video parameter set */
+ uint32_t spsId; /**< [in]: Specifies the SPS id of the sequence header */
+ uint32_t ppsId; /**< [in]: Specifies the PPS id of the picture header */
+ uint32_t sliceMode; /**< [in]: This parameter in conjunction with sliceModeData specifies the way in which the picture is divided into slices
+ sliceMode = 0 CTU based slices, sliceMode = 1 Byte based slices, sliceMode = 2 CTU row based slices, sliceMode = 3, numSlices in Picture
+ When sliceMode == 0 and sliceModeData == 0 whole picture will be coded with one slice */
+ uint32_t sliceModeData; /**< [in]: Specifies the parameter needed for sliceMode. For:
+ sliceMode = 0, sliceModeData specifies # of CTUs in each slice (except last slice)
+ sliceMode = 1, sliceModeData specifies maximum # of bytes in each slice (except last slice)
+ sliceMode = 2, sliceModeData specifies # of CTU rows in each slice (except last slice)
+ sliceMode = 3, sliceModeData specifies number of slices in the picture. Driver will divide picture into slices optimally */
+ uint32_t maxTemporalLayersMinus1; /**< [in]: Specifies the max temporal layer used for hierarchical coding. */
+ NV_ENC_CONFIG_HEVC_VUI_PARAMETERS hevcVUIParameters; /**< [in]: Specifies the HEVC video usability info pamameters */
+ uint32_t ltrTrustMode; /**< [in]: Specifies the LTR operating mode. See comments near NV_ENC_CONFIG_HEVC::enableLTR for description of the two modes.
+ Set to 1 to use "LTR Trust" mode of LTR operation. Clients are discouraged to use "LTR Trust" mode as this mode may
+ be deprecated in future releases.
+ Set to 0 when using "LTR Per Picture" mode of LTR operation. */
+ NV_ENC_BFRAME_REF_MODE useBFramesAsRef; /**< [in]: Specifies the B-Frame as reference mode. Check support for useBFramesAsRef mode using ::NV_ENC_CAPS_SUPPORT_BFRAME_REF_MODE caps.*/
+ NV_ENC_NUM_REF_FRAMES numRefL0; /**< [in]: Specifies max number of reference frames in reference picture list L0, that can be used by hardware for prediction of a frame.
+ Check support for numRefL0 using ::NV_ENC_CAPS_SUPPORT_MULTIPLE_REF_FRAMES caps. */
+ NV_ENC_NUM_REF_FRAMES numRefL1; /**< [in]: Specifies max number of reference frames in reference picture list L1, that can be used by hardware for prediction of a frame.
+ Check support for numRefL1 using ::NV_ENC_CAPS_SUPPORT_MULTIPLE_REF_FRAMES caps. */
+ uint32_t reserved1[214]; /**< [in]: Reserved and must be set to 0.*/
+ void* reserved2[64]; /**< [in]: Reserved and must be set to NULL */
+} NV_ENC_CONFIG_HEVC;
+
+/**
+ * \struct _NV_ENC_CONFIG_H264_MEONLY
+ * H264 encoder configuration parameters for ME only Mode
+ *
+ */
+typedef struct _NV_ENC_CONFIG_H264_MEONLY
+{
+ uint32_t disablePartition16x16 :1; /**< [in]: Disable MotionEstimation on 16x16 blocks*/
+ uint32_t disablePartition8x16 :1; /**< [in]: Disable MotionEstimation on 8x16 blocks*/
+ uint32_t disablePartition16x8 :1; /**< [in]: Disable MotionEstimation on 16x8 blocks*/
+ uint32_t disablePartition8x8 :1; /**< [in]: Disable MotionEstimation on 8x8 blocks*/
+ uint32_t disableIntraSearch :1; /**< [in]: Disable Intra search during MotionEstimation*/
+ uint32_t bStereoEnable :1; /**< [in]: Enable Stereo Mode for Motion Estimation where each view is independently executed*/
+ uint32_t reserved :26; /**< [in]: Reserved and must be set to 0 */
+ uint32_t reserved1 [255]; /**< [in]: Reserved and must be set to 0 */
+ void* reserved2[64]; /**< [in]: Reserved and must be set to NULL */
+} NV_ENC_CONFIG_H264_MEONLY;
+
+
+/**
+ * \struct _NV_ENC_CONFIG_HEVC_MEONLY
+ * HEVC encoder configuration parameters for ME only Mode
+ *
+ */
+typedef struct _NV_ENC_CONFIG_HEVC_MEONLY
+{
+ uint32_t reserved [256]; /**< [in]: Reserved and must be set to 0 */
+ void* reserved1[64]; /**< [in]: Reserved and must be set to NULL */
+} NV_ENC_CONFIG_HEVC_MEONLY;
+
+/**
+ * \struct _NV_ENC_CODEC_CONFIG
+ * Codec-specific encoder configuration parameters to be set during initialization.
+ */
+typedef union _NV_ENC_CODEC_CONFIG
+{
+ NV_ENC_CONFIG_H264 h264Config; /**< [in]: Specifies the H.264-specific encoder configuration. */
+ NV_ENC_CONFIG_HEVC hevcConfig; /**< [in]: Specifies the HEVC-specific encoder configuration. */
+ NV_ENC_CONFIG_H264_MEONLY h264MeOnlyConfig; /**< [in]: Specifies the H.264-specific ME only encoder configuration. */
+ NV_ENC_CONFIG_HEVC_MEONLY hevcMeOnlyConfig; /**< [in]: Specifies the HEVC-specific ME only encoder configuration. */
+ uint32_t reserved[320]; /**< [in]: Reserved and must be set to 0 */
+} NV_ENC_CODEC_CONFIG;
+
+
+/**
+ * \struct _NV_ENC_CONFIG
+ * Encoder configuration parameters to be set during initialization.
+ */
+typedef struct _NV_ENC_CONFIG
+{
+ uint32_t version; /**< [in]: Struct version. Must be set to ::NV_ENC_CONFIG_VER. */
+ GUID profileGUID; /**< [in]: Specifies the codec profile guid. If client specifies \p NV_ENC_CODEC_PROFILE_AUTOSELECT_GUID the NvEncodeAPI interface will select the appropriate codec profile. */
+ uint32_t gopLength; /**< [in]: Specifies the number of pictures in one GOP. Low latency application client can set goplength to NVENC_INFINITE_GOPLENGTH so that keyframes are not inserted automatically. */
+ int32_t frameIntervalP; /**< [in]: Specifies the GOP pattern as follows: \p frameIntervalP = 0: I, 1: IPP, 2: IBP, 3: IBBP If goplength is set to NVENC_INFINITE_GOPLENGTH \p frameIntervalP should be set to 1. */
+ uint32_t monoChromeEncoding; /**< [in]: Set this to 1 to enable monochrome encoding for this session. */
+ NV_ENC_PARAMS_FRAME_FIELD_MODE frameFieldMode; /**< [in]: Specifies the frame/field mode.
+ Check support for field encoding using ::NV_ENC_CAPS_SUPPORT_FIELD_ENCODING caps.
+ Using a frameFieldMode other than NV_ENC_PARAMS_FRAME_FIELD_MODE_FRAME for RGB input is not supported. */
+ NV_ENC_MV_PRECISION mvPrecision; /**< [in]: Specifies the desired motion vector prediction precision. */
+ NV_ENC_RC_PARAMS rcParams; /**< [in]: Specifies the rate control parameters for the current encoding session. */
+ NV_ENC_CODEC_CONFIG encodeCodecConfig; /**< [in]: Specifies the codec specific config parameters through this union. */
+ uint32_t reserved [278]; /**< [in]: Reserved and must be set to 0 */
+ void* reserved2[64]; /**< [in]: Reserved and must be set to NULL */
+} NV_ENC_CONFIG;
+
+/** macro for constructing the version field of ::_NV_ENC_CONFIG */
+#define NV_ENC_CONFIG_VER (NVENCAPI_STRUCT_VERSION(7) | ( 1<<31 ))
+
+
+/**
+ * \struct _NV_ENC_INITIALIZE_PARAMS
+ * Encode Session Initialization parameters.
+ */
+typedef struct _NV_ENC_INITIALIZE_PARAMS
+{
+ uint32_t version; /**< [in]: Struct version. Must be set to ::NV_ENC_INITIALIZE_PARAMS_VER. */
+ GUID encodeGUID; /**< [in]: Specifies the Encode GUID for which the encoder is being created. ::NvEncInitializeEncoder() API will fail if this is not set, or set to unsupported value. */
+ GUID presetGUID; /**< [in]: Specifies the preset for encoding. If the preset GUID is set then , the preset configuration will be applied before any other parameter. */
+ uint32_t encodeWidth; /**< [in]: Specifies the encode width. If not set ::NvEncInitializeEncoder() API will fail. */
+ uint32_t encodeHeight; /**< [in]: Specifies the encode height. If not set ::NvEncInitializeEncoder() API will fail. */
+ uint32_t darWidth; /**< [in]: Specifies the display aspect ratio Width. */
+ uint32_t darHeight; /**< [in]: Specifies the display aspect ratio height. */
+ uint32_t frameRateNum; /**< [in]: Specifies the numerator for frame rate used for encoding in frames per second ( Frame rate = frameRateNum / frameRateDen ). */
+ uint32_t frameRateDen; /**< [in]: Specifies the denominator for frame rate used for encoding in frames per second ( Frame rate = frameRateNum / frameRateDen ). */
+ uint32_t enableEncodeAsync; /**< [in]: Set this to 1 to enable asynchronous mode and is expected to use events to get picture completion notification. */
+ uint32_t enablePTD; /**< [in]: Set this to 1 to enable the Picture Type Decision is be taken by the NvEncodeAPI interface. */
+ uint32_t reportSliceOffsets :1; /**< [in]: Set this to 1 to enable reporting slice offsets in ::_NV_ENC_LOCK_BITSTREAM. NV_ENC_INITIALIZE_PARAMS::enableEncodeAsync must be set to 0 to use this feature. Client must set this to 0 if NV_ENC_CONFIG_H264::sliceMode is 1 on Kepler GPUs */
+ uint32_t enableSubFrameWrite :1; /**< [in]: Set this to 1 to write out available bitstream to memory at subframe intervals */
+ uint32_t enableExternalMEHints :1; /**< [in]: Set to 1 to enable external ME hints for the current frame. For NV_ENC_INITIALIZE_PARAMS::enablePTD=1 with B frames, programming L1 hints is optional for B frames since Client doesn't know internal GOP structure.
+ NV_ENC_PIC_PARAMS::meHintRefPicDist should preferably be set with enablePTD=1. */
+ uint32_t enableMEOnlyMode :1; /**< [in]: Set to 1 to enable ME Only Mode .*/
+ uint32_t enableWeightedPrediction :1; /**< [in]: Set this to 1 to enable weighted prediction. Not supported if encode session is configured for B-Frames( 'frameIntervalP' in NV_ENC_CONFIG is greater than 1).*/
+ uint32_t enableOutputInVidmem :1; /**< [in]: Set this to 1 to enable output of NVENC in video memory buffer created by application. This feature is not supported for HEVC ME only mode. */
+ uint32_t reservedBitFields :26; /**< [in]: Reserved bitfields and must be set to 0 */
+ uint32_t privDataSize; /**< [in]: Reserved private data buffer size and must be set to 0 */
+ void* privData; /**< [in]: Reserved private data buffer and must be set to NULL */
+ NV_ENC_CONFIG* encodeConfig; /**< [in]: Specifies the advanced codec specific structure. If client has sent a valid codec config structure, it will override parameters set by the NV_ENC_INITIALIZE_PARAMS::presetGUID parameter. If set to NULL the NvEncodeAPI interface will use the NV_ENC_INITIALIZE_PARAMS::presetGUID to set the codec specific parameters.
+ Client can also optionally query the NvEncodeAPI interface to get codec specific parameters for a presetGUID using ::NvEncGetEncodePresetConfig() API. It can then modify (if required) some of the codec config parameters and send down a custom config structure as part of ::_NV_ENC_INITIALIZE_PARAMS.
+ Even in this case client is recommended to pass the same preset guid it has used in ::NvEncGetEncodePresetConfig() API to query the config structure; as NV_ENC_INITIALIZE_PARAMS::presetGUID. This will not override the custom config structure but will be used to determine other Encoder HW specific parameters not exposed in the API. */
+ uint32_t maxEncodeWidth; /**< [in]: Maximum encode width to be used for current Encode session.
+ Client should allocate output buffers according to this dimension for dynamic resolution change. If set to 0, Encoder will not allow dynamic resolution change. */
+ uint32_t maxEncodeHeight; /**< [in]: Maximum encode height to be allowed for current Encode session.
+ Client should allocate output buffers according to this dimension for dynamic resolution change. If set to 0, Encode will not allow dynamic resolution change. */
+ NVENC_EXTERNAL_ME_HINT_COUNTS_PER_BLOCKTYPE maxMEHintCountsPerBlock[2]; /**< [in]: If Client wants to pass external motion vectors in NV_ENC_PIC_PARAMS::meExternalHints buffer it must specify the maximum number of hint candidates per block per direction for the encode session.
+ The NV_ENC_INITIALIZE_PARAMS::maxMEHintCountsPerBlock[0] is for L0 predictors and NV_ENC_INITIALIZE_PARAMS::maxMEHintCountsPerBlock[1] is for L1 predictors.
+ This client must also set NV_ENC_INITIALIZE_PARAMS::enableExternalMEHints to 1. */
+ uint32_t reserved [289]; /**< [in]: Reserved and must be set to 0 */
+ void* reserved2[64]; /**< [in]: Reserved and must be set to NULL */
+} NV_ENC_INITIALIZE_PARAMS;
+
+/** macro for constructing the version field of ::_NV_ENC_INITIALIZE_PARAMS */
+#define NV_ENC_INITIALIZE_PARAMS_VER (NVENCAPI_STRUCT_VERSION(5) | ( 1<<31 ))
+
+
+/**
+ * \struct _NV_ENC_RECONFIGURE_PARAMS
+ * Encode Session Reconfigured parameters.
+ */
+typedef struct _NV_ENC_RECONFIGURE_PARAMS
+{
+ uint32_t version; /**< [in]: Struct version. Must be set to ::NV_ENC_RECONFIGURE_PARAMS_VER. */
+ NV_ENC_INITIALIZE_PARAMS reInitEncodeParams; /**< [in]: Encoder session re-initialization parameters.
+ If reInitEncodeParams.encodeConfig is NULL and
+ reInitEncodeParams.presetGUID is the same as the preset
+ GUID specified on the call to NvEncInitializeEncoder(),
+ EncodeAPI will continue to use the existing encode
+ configuration.
+ If reInitEncodeParams.encodeConfig is NULL and
+ reInitEncodeParams.presetGUID is different from the preset
+ GUID specified on the call to NvEncInitializeEncoder(),
+ EncodeAPI will try to use the default configuration for
+ the preset specified by reInitEncodeParams.presetGUID.
+ In this case, reconfiguration may fail if the new
+ configuration is incompatible with the existing
+ configuration (e.g. the new configuration results in
+ a change in the GOP structure). */
+ uint32_t resetEncoder :1; /**< [in]: This resets the rate control states and other internal encoder states. This should be used only with an IDR frame.
+ If NV_ENC_INITIALIZE_PARAMS::enablePTD is set to 1, encoder will force the frame type to IDR */
+ uint32_t forceIDR :1; /**< [in]: Encode the current picture as an IDR picture. This flag is only valid when Picture type decision is taken by the Encoder
+ [_NV_ENC_INITIALIZE_PARAMS::enablePTD == 1]. */
+ uint32_t reserved :30;
+
+}NV_ENC_RECONFIGURE_PARAMS;
+
+/** macro for constructing the version field of ::_NV_ENC_RECONFIGURE_PARAMS */
+#define NV_ENC_RECONFIGURE_PARAMS_VER (NVENCAPI_STRUCT_VERSION(1) | ( 1<<31 ))
+
+/**
+ * \struct _NV_ENC_PRESET_CONFIG
+ * Encoder preset config
+ */
+typedef struct _NV_ENC_PRESET_CONFIG
+{
+ uint32_t version; /**< [in]: Struct version. Must be set to ::NV_ENC_PRESET_CONFIG_VER. */
+ NV_ENC_CONFIG presetCfg; /**< [out]: preset config returned by the Nvidia Video Encoder interface. */
+ uint32_t reserved1[255]; /**< [in]: Reserved and must be set to 0 */
+ void* reserved2[64]; /**< [in]: Reserved and must be set to NULL */
+}NV_ENC_PRESET_CONFIG;
+
+/** macro for constructing the version field of ::_NV_ENC_PRESET_CONFIG */
+#define NV_ENC_PRESET_CONFIG_VER (NVENCAPI_STRUCT_VERSION(4) | ( 1<<31 ))
+
+
+/**
+ * \struct _NV_ENC_PIC_PARAMS_MVC
+ * MVC-specific parameters to be sent on a per-frame basis.
+ */
+typedef struct _NV_ENC_PIC_PARAMS_MVC
+{
+ uint32_t version; /**< [in]: Struct version. Must be set to ::NV_ENC_PIC_PARAMS_MVC_VER. */
+ uint32_t viewID; /**< [in]: Specifies the view ID associated with the current input view. */
+ uint32_t temporalID; /**< [in]: Specifies the temporal ID associated with the current input view. */
+ uint32_t priorityID; /**< [in]: Specifies the priority ID associated with the current input view. Reserved and ignored by the NvEncodeAPI interface. */
+ uint32_t reserved1[12]; /**< [in]: Reserved and must be set to 0. */
+ void* reserved2[8]; /**< [in]: Reserved and must be set to NULL. */
+}NV_ENC_PIC_PARAMS_MVC;
+
+/** macro for constructing the version field of ::_NV_ENC_PIC_PARAMS_MVC */
+#define NV_ENC_PIC_PARAMS_MVC_VER NVENCAPI_STRUCT_VERSION(1)
+
+
+/**
+ * \union _NV_ENC_PIC_PARAMS_H264_EXT
+ * H264 extension picture parameters
+ */
+typedef union _NV_ENC_PIC_PARAMS_H264_EXT
+{
+ NV_ENC_PIC_PARAMS_MVC mvcPicParams; /**< [in]: Specifies the MVC picture parameters. */
+ uint32_t reserved1[32]; /**< [in]: Reserved and must be set to 0. */
+}NV_ENC_PIC_PARAMS_H264_EXT;
+
+/**
+ * \struct _NV_ENC_SEI_PAYLOAD
+ * User SEI message
+ */
+typedef struct _NV_ENC_SEI_PAYLOAD
+{
+ uint32_t payloadSize; /**< [in] SEI payload size in bytes. SEI payload must be byte aligned, as described in Annex D */
+ uint32_t payloadType; /**< [in] SEI payload types and syntax can be found in Annex D of the H.264 Specification. */
+ uint8_t *payload; /**< [in] pointer to user data */
+} NV_ENC_SEI_PAYLOAD;
+
+#define NV_ENC_H264_SEI_PAYLOAD NV_ENC_SEI_PAYLOAD
+
+/**
+ * \struct _NV_ENC_PIC_PARAMS_H264
+ * H264 specific enc pic params. sent on a per frame basis.
+ */
+typedef struct _NV_ENC_PIC_PARAMS_H264
+{
+ uint32_t displayPOCSyntax; /**< [in]: Specifies the display POC syntax This is required to be set if client is handling the picture type decision. */
+ uint32_t reserved3; /**< [in]: Reserved and must be set to 0 */
+ uint32_t refPicFlag; /**< [in]: Set to 1 for a reference picture. This is ignored if NV_ENC_INITIALIZE_PARAMS::enablePTD is set to 1. */
+ uint32_t colourPlaneId; /**< [in]: Specifies the colour plane ID associated with the current input. */
+ uint32_t forceIntraRefreshWithFrameCnt; /**< [in]: Forces an intra refresh with duration equal to intraRefreshFrameCnt.
+ When outputRecoveryPointSEI is set this is value is used for recovery_frame_cnt in recovery point SEI message
+ forceIntraRefreshWithFrameCnt cannot be used if B frames are used in the GOP structure specified */
+ uint32_t constrainedFrame :1; /**< [in]: Set to 1 if client wants to encode this frame with each slice completely independent of other slices in the frame.
+ NV_ENC_INITIALIZE_PARAMS::enableConstrainedEncoding should be set to 1 */
+ uint32_t sliceModeDataUpdate :1; /**< [in]: Set to 1 if client wants to change the sliceModeData field to specify new sliceSize Parameter
+ When forceIntraRefreshWithFrameCnt is set it will have priority over sliceMode setting */
+ uint32_t ltrMarkFrame :1; /**< [in]: Set to 1 if client wants to mark this frame as LTR */
+ uint32_t ltrUseFrames :1; /**< [in]: Set to 1 if client allows encoding this frame using the LTR frames specified in ltrFrameBitmap */
+ uint32_t reservedBitFields :28; /**< [in]: Reserved bit fields and must be set to 0 */
+ uint8_t* sliceTypeData; /**< [in]: Deprecated. */
+ uint32_t sliceTypeArrayCnt; /**< [in]: Deprecated. */
+ uint32_t seiPayloadArrayCnt; /**< [in]: Specifies the number of elements allocated in seiPayloadArray array. */
+ NV_ENC_SEI_PAYLOAD* seiPayloadArray; /**< [in]: Array of SEI payloads which will be inserted for this frame. */
+ uint32_t sliceMode; /**< [in]: This parameter in conjunction with sliceModeData specifies the way in which the picture is divided into slices
+ sliceMode = 0 MB based slices, sliceMode = 1 Byte based slices, sliceMode = 2 MB row based slices, sliceMode = 3, numSlices in Picture
+ When forceIntraRefreshWithFrameCnt is set it will have priority over sliceMode setting
+ When sliceMode == 0 and sliceModeData == 0 whole picture will be coded with one slice */
+ uint32_t sliceModeData; /**< [in]: Specifies the parameter needed for sliceMode. For:
+ sliceMode = 0, sliceModeData specifies # of MBs in each slice (except last slice)
+ sliceMode = 1, sliceModeData specifies maximum # of bytes in each slice (except last slice)
+ sliceMode = 2, sliceModeData specifies # of MB rows in each slice (except last slice)
+ sliceMode = 3, sliceModeData specifies number of slices in the picture. Driver will divide picture into slices optimally */
+ uint32_t ltrMarkFrameIdx; /**< [in]: Specifies the long term referenceframe index to use for marking this frame as LTR.*/
+ uint32_t ltrUseFrameBitmap; /**< [in]: Specifies the the associated bitmap of LTR frame indices to use when encoding this frame. */
+ uint32_t ltrUsageMode; /**< [in]: Not supported. Reserved for future use and must be set to 0. */
+ uint32_t forceIntraSliceCount; /**< [in]: Specfies the number of slices to be forced to Intra in the current picture.
+ This option along with forceIntraSliceIdx[] array needs to be used with sliceMode = 3 only */
+ uint32_t *forceIntraSliceIdx; /**< [in]: Slice indices to be forced to intra in the current picture. Each slice index should be <= num_slices_in_picture -1. Index starts from 0 for first slice.
+ The number of entries in this array should be equal to forceIntraSliceCount */
+ NV_ENC_PIC_PARAMS_H264_EXT h264ExtPicParams; /**< [in]: Specifies the H264 extension config parameters using this config. */
+ uint32_t reserved [210]; /**< [in]: Reserved and must be set to 0. */
+ void* reserved2[61]; /**< [in]: Reserved and must be set to NULL. */
+} NV_ENC_PIC_PARAMS_H264;
+
+/**
+ * \struct _NV_ENC_PIC_PARAMS_HEVC
+ * HEVC specific enc pic params. sent on a per frame basis.
+ */
+typedef struct _NV_ENC_PIC_PARAMS_HEVC
+{
+ uint32_t displayPOCSyntax; /**< [in]: Specifies the display POC syntax This is required to be set if client is handling the picture type decision. */
+ uint32_t refPicFlag; /**< [in]: Set to 1 for a reference picture. This is ignored if NV_ENC_INITIALIZE_PARAMS::enablePTD is set to 1. */
+ uint32_t temporalId; /**< [in]: Specifies the temporal id of the picture */
+ uint32_t forceIntraRefreshWithFrameCnt; /**< [in]: Forces an intra refresh with duration equal to intraRefreshFrameCnt.
+ When outputRecoveryPointSEI is set this is value is used for recovery_frame_cnt in recovery point SEI message
+ forceIntraRefreshWithFrameCnt cannot be used if B frames are used in the GOP structure specified */
+ uint32_t constrainedFrame :1; /**< [in]: Set to 1 if client wants to encode this frame with each slice completely independent of other slices in the frame.
+ NV_ENC_INITIALIZE_PARAMS::enableConstrainedEncoding should be set to 1 */
+ uint32_t sliceModeDataUpdate :1; /**< [in]: Set to 1 if client wants to change the sliceModeData field to specify new sliceSize Parameter
+ When forceIntraRefreshWithFrameCnt is set it will have priority over sliceMode setting */
+ uint32_t ltrMarkFrame :1; /**< [in]: Set to 1 if client wants to mark this frame as LTR */
+ uint32_t ltrUseFrames :1; /**< [in]: Set to 1 if client allows encoding this frame using the LTR frames specified in ltrFrameBitmap */
+ uint32_t reservedBitFields :28; /**< [in]: Reserved bit fields and must be set to 0 */
+ uint8_t* sliceTypeData; /**< [in]: Array which specifies the slice type used to force intra slice for a particular slice. Currently supported only for NV_ENC_CONFIG_H264::sliceMode == 3.
+ Client should allocate array of size sliceModeData where sliceModeData is specified in field of ::_NV_ENC_CONFIG_H264
+ Array element with index n corresponds to nth slice. To force a particular slice to intra client should set corresponding array element to NV_ENC_SLICE_TYPE_I
+ all other array elements should be set to NV_ENC_SLICE_TYPE_DEFAULT */
+ uint32_t sliceTypeArrayCnt; /**< [in]: Client should set this to the number of elements allocated in sliceTypeData array. If sliceTypeData is NULL then this should be set to 0 */
+ uint32_t sliceMode; /**< [in]: This parameter in conjunction with sliceModeData specifies the way in which the picture is divided into slices
+ sliceMode = 0 CTU based slices, sliceMode = 1 Byte based slices, sliceMode = 2 CTU row based slices, sliceMode = 3, numSlices in Picture
+ When forceIntraRefreshWithFrameCnt is set it will have priority over sliceMode setting
+ When sliceMode == 0 and sliceModeData == 0 whole picture will be coded with one slice */
+ uint32_t sliceModeData; /**< [in]: Specifies the parameter needed for sliceMode. For:
+ sliceMode = 0, sliceModeData specifies # of CTUs in each slice (except last slice)
+ sliceMode = 1, sliceModeData specifies maximum # of bytes in each slice (except last slice)
+ sliceMode = 2, sliceModeData specifies # of CTU rows in each slice (except last slice)
+ sliceMode = 3, sliceModeData specifies number of slices in the picture. Driver will divide picture into slices optimally */
+ uint32_t ltrMarkFrameIdx; /**< [in]: Specifies the long term reference frame index to use for marking this frame as LTR.*/
+ uint32_t ltrUseFrameBitmap; /**< [in]: Specifies the associated bitmap of LTR frame indices to use when encoding this frame. */
+ uint32_t ltrUsageMode; /**< [in]: Not supported. Reserved for future use and must be set to 0. */
+ uint32_t seiPayloadArrayCnt; /**< [in]: Specifies the number of elements allocated in seiPayloadArray array. */
+ uint32_t reserved; /**< [in]: Reserved and must be set to 0. */
+ NV_ENC_SEI_PAYLOAD* seiPayloadArray; /**< [in]: Array of SEI payloads which will be inserted for this frame. */
+ uint32_t reserved2 [244]; /**< [in]: Reserved and must be set to 0. */
+ void* reserved3[61]; /**< [in]: Reserved and must be set to NULL. */
+} NV_ENC_PIC_PARAMS_HEVC;
+
+/**
+ * Codec specific per-picture encoding parameters.
+ */
+typedef union _NV_ENC_CODEC_PIC_PARAMS
+{
+ NV_ENC_PIC_PARAMS_H264 h264PicParams; /**< [in]: H264 encode picture params. */
+ NV_ENC_PIC_PARAMS_HEVC hevcPicParams; /**< [in]: HEVC encode picture params. */
+ uint32_t reserved[256]; /**< [in]: Reserved and must be set to 0. */
+} NV_ENC_CODEC_PIC_PARAMS;
+
+/**
+ * \struct _NV_ENC_PIC_PARAMS
+ * Encoding parameters that need to be sent on a per frame basis.
+ */
+typedef struct _NV_ENC_PIC_PARAMS
+{
+ uint32_t version; /**< [in]: Struct version. Must be set to ::NV_ENC_PIC_PARAMS_VER. */
+ uint32_t inputWidth; /**< [in]: Specifies the input buffer width */
+ uint32_t inputHeight; /**< [in]: Specifies the input buffer height */
+ uint32_t inputPitch; /**< [in]: Specifies the input buffer pitch. If pitch value is not known, set this to inputWidth. */
+ uint32_t encodePicFlags; /**< [in]: Specifies bit-wise OR`ed encode pic flags. See ::NV_ENC_PIC_FLAGS enum. */
+ uint32_t frameIdx; /**< [in]: Specifies the frame index associated with the input frame [optional]. */
+ uint64_t inputTimeStamp; /**< [in]: Specifies presentation timestamp associated with the input picture. */
+ uint64_t inputDuration; /**< [in]: Specifies duration of the input picture */
+ NV_ENC_INPUT_PTR inputBuffer; /**< [in]: Specifies the input buffer pointer. Client must use a pointer obtained from ::NvEncCreateInputBuffer() or ::NvEncMapInputResource() APIs.*/
+ NV_ENC_OUTPUT_PTR outputBitstream; /**< [in]: Specifies the output buffer pointer.
+ If NV_ENC_INITIALIZE_PARAMS::enableOutputInVidmem is set to 0, specifies the pointer to output buffer. Client should use a pointer obtained from ::NvEncCreateBitstreamBuffer() API.
+ If NV_ENC_INITIALIZE_PARAMS::enableOutputInVidmem is set to 1, client should allocate buffer in video memory for NV_ENC_ENCODE_OUT_PARAMS struct and encoded bitstream data. Client
+ should use a pointer obtained from ::NvEncMapInputResource() API, when mapping this output buffer and assign it to NV_ENC_PIC_PARAMS::outputBitstream.
+ First 256 bytes of this buffer should be interpreted as NV_ENC_ENCODE_OUT_PARAMS struct followed by encoded bitstream data. Recommended size for output buffer is sum of size of
+ NV_ENC_ENCODE_OUT_PARAMS struct and twice the input frame size for lower resolution eg. CIF and 1.5 times the input frame size for higher resolutions. If encoded bitstream size is
+ greater than the allocated buffer size for encoded bitstream, then the output buffer will have encoded bitstream data equal to buffer size. All CUDA operations on this buffer must use
+ the default stream. */
+ void* completionEvent; /**< [in]: Specifies an event to be signalled on completion of encoding of this Frame [only if operating in Asynchronous mode]. Each output buffer should be associated with a distinct event pointer. */
+ NV_ENC_BUFFER_FORMAT bufferFmt; /**< [in]: Specifies the input buffer format. */
+ NV_ENC_PIC_STRUCT pictureStruct; /**< [in]: Specifies structure of the input picture. */
+ NV_ENC_PIC_TYPE pictureType; /**< [in]: Specifies input picture type. Client required to be set explicitly by the client if the client has not set NV_ENC_INITALIZE_PARAMS::enablePTD to 1 while calling NvInitializeEncoder. */
+ NV_ENC_CODEC_PIC_PARAMS codecPicParams; /**< [in]: Specifies the codec specific per-picture encoding parameters. */
+ NVENC_EXTERNAL_ME_HINT_COUNTS_PER_BLOCKTYPE meHintCountsPerBlock[2]; /**< [in]: Specifies the number of hint candidates per block per direction for the current frame. meHintCountsPerBlock[0] is for L0 predictors and meHintCountsPerBlock[1] is for L1 predictors.
+ The candidate count in NV_ENC_PIC_PARAMS::meHintCountsPerBlock[lx] must never exceed NV_ENC_INITIALIZE_PARAMS::maxMEHintCountsPerBlock[lx] provided during encoder intialization. */
+ NVENC_EXTERNAL_ME_HINT *meExternalHints; /**< [in]: Specifies the pointer to ME external hints for the current frame. The size of ME hint buffer should be equal to number of macroblocks * the total number of candidates per macroblock.
+ The total number of candidates per MB per direction = 1*meHintCountsPerBlock[Lx].numCandsPerBlk16x16 + 2*meHintCountsPerBlock[Lx].numCandsPerBlk16x8 + 2*meHintCountsPerBlock[Lx].numCandsPerBlk8x8
+ + 4*meHintCountsPerBlock[Lx].numCandsPerBlk8x8. For frames using bidirectional ME , the total number of candidates for single macroblock is sum of total number of candidates per MB for each direction (L0 and L1) */
+ uint32_t reserved1[6]; /**< [in]: Reserved and must be set to 0 */
+ void* reserved2[2]; /**< [in]: Reserved and must be set to NULL */
+ int8_t *qpDeltaMap; /**< [in]: Specifies the pointer to signed byte array containing value per MB in raster scan order for the current picture, which will be interpreted depending on NV_ENC_RC_PARAMS::qpMapMode.
+ If NV_ENC_RC_PARAMS::qpMapMode is NV_ENC_QP_MAP_DELTA, qpDeltaMap specifies QP modifier per MB. This QP modifier will be applied on top of the QP chosen by rate control.
+ If NV_ENC_RC_PARAMS::qpMapMode is NV_ENC_QP_MAP_EMPHASIS, qpDeltaMap specifies Emphasis Level Map per MB. This level value along with QP chosen by rate control is used to
+ compute the QP modifier, which in turn is applied on top of QP chosen by rate control.
+ If NV_ENC_RC_PARAMS::qpMapMode is NV_ENC_QP_MAP_DISABLED, value in qpDeltaMap will be ignored.*/
+ uint32_t qpDeltaMapSize; /**< [in]: Specifies the size in bytes of qpDeltaMap surface allocated by client and pointed to by NV_ENC_PIC_PARAMS::qpDeltaMap. Surface (array) should be picWidthInMbs * picHeightInMbs */
+ uint32_t reservedBitFields; /**< [in]: Reserved bitfields and must be set to 0 */
+ uint16_t meHintRefPicDist[2]; /**< [in]: Specifies temporal distance for reference picture (NVENC_EXTERNAL_ME_HINT::refidx = 0) used during external ME with NV_ENC_INITALIZE_PARAMS::enablePTD = 1 . meHintRefPicDist[0] is for L0 hints and meHintRefPicDist[1] is for L1 hints.
+ If not set, will internally infer distance of 1. Ignored for NV_ENC_INITALIZE_PARAMS::enablePTD = 0 */
+ uint32_t reserved3[286]; /**< [in]: Reserved and must be set to 0 */
+ void* reserved4[60]; /**< [in]: Reserved and must be set to NULL */
+} NV_ENC_PIC_PARAMS;
+
+/** Macro for constructing the version field of ::_NV_ENC_PIC_PARAMS */
+#define NV_ENC_PIC_PARAMS_VER (NVENCAPI_STRUCT_VERSION(4) | ( 1<<31 ))
+
+
+/**
+ * \struct _NV_ENC_MEONLY_PARAMS
+ * MEOnly parameters that need to be sent on a per motion estimation basis.
+ * NV_ENC_MEONLY_PARAMS::meExternalHints is supported for H264 only.
+ */
+typedef struct _NV_ENC_MEONLY_PARAMS
+{
+ uint32_t version; /**< [in]: Struct version. Must be set to NV_ENC_MEONLY_PARAMS_VER.*/
+ uint32_t inputWidth; /**< [in]: Specifies the input buffer width */
+ uint32_t inputHeight; /**< [in]: Specifies the input buffer height */
+ NV_ENC_INPUT_PTR inputBuffer; /**< [in]: Specifies the input buffer pointer. Client must use a pointer obtained from NvEncCreateInputBuffer() or NvEncMapInputResource() APIs. */
+ NV_ENC_INPUT_PTR referenceFrame; /**< [in]: Specifies the reference frame pointer */
+ NV_ENC_OUTPUT_PTR mvBuffer; /**< [in]: Specifies the output buffer pointer.
+ If NV_ENC_INITIALIZE_PARAMS::enableOutputInVidmem is set to 0, specifies the pointer to motion vector data buffer allocated by NvEncCreateMVBuffer.
+ Client must lock mvBuffer using ::NvEncLockBitstream() API to get the motion vector data.
+ If NV_ENC_INITIALIZE_PARAMS::enableOutputInVidmem is set to 1, client should allocate buffer in video memory for storing the motion vector data. The size of this buffer must
+ be equal to total number of macroblocks multiplied by size of NV_ENC_H264_MV_DATA struct. Client should use a pointer obtained from ::NvEncMapInputResource() API, when mapping this
+ output buffer and assign it to NV_ENC_MEONLY_PARAMS::mvBuffer. All CUDA operations on this buffer must use the default stream. */
+ NV_ENC_BUFFER_FORMAT bufferFmt; /**< [in]: Specifies the input buffer format. */
+ void* completionEvent; /**< [in]: Specifies an event to be signalled on completion of motion estimation
+ of this Frame [only if operating in Asynchronous mode].
+ Each output buffer should be associated with a distinct event pointer. */
+ uint32_t viewID; /**< [in]: Specifies left,right viewID if NV_ENC_CONFIG_H264_MEONLY::bStereoEnable is set.
+ viewID can be 0,1 if bStereoEnable is set, 0 otherwise. */
+ NVENC_EXTERNAL_ME_HINT_COUNTS_PER_BLOCKTYPE
+ meHintCountsPerBlock[2]; /**< [in]: Specifies the number of hint candidates per block for the current frame. meHintCountsPerBlock[0] is for L0 predictors.
+ The candidate count in NV_ENC_PIC_PARAMS::meHintCountsPerBlock[lx] must never exceed NV_ENC_INITIALIZE_PARAMS::maxMEHintCountsPerBlock[lx] provided during encoder intialization. */
+ NVENC_EXTERNAL_ME_HINT *meExternalHints; /**< [in]: Specifies the pointer to ME external hints for the current frame. The size of ME hint buffer should be equal to number of macroblocks * the total number of candidates per macroblock.
+ The total number of candidates per MB per direction = 1*meHintCountsPerBlock[Lx].numCandsPerBlk16x16 + 2*meHintCountsPerBlock[Lx].numCandsPerBlk16x8 + 2*meHintCountsPerBlock[Lx].numCandsPerBlk8x8
+ + 4*meHintCountsPerBlock[Lx].numCandsPerBlk8x8. For frames using bidirectional ME , the total number of candidates for single macroblock is sum of total number of candidates per MB for each direction (L0 and L1) */
+ uint32_t reserved1[243]; /**< [in]: Reserved and must be set to 0 */
+ void* reserved2[59]; /**< [in]: Reserved and must be set to NULL */
+} NV_ENC_MEONLY_PARAMS;
+
+/** NV_ENC_MEONLY_PARAMS struct version*/
+#define NV_ENC_MEONLY_PARAMS_VER NVENCAPI_STRUCT_VERSION(3)
+
+
+/**
+ * \struct _NV_ENC_LOCK_BITSTREAM
+ * Bitstream buffer lock parameters.
+ */
+typedef struct _NV_ENC_LOCK_BITSTREAM
+{
+ uint32_t version; /**< [in]: Struct version. Must be set to ::NV_ENC_LOCK_BITSTREAM_VER. */
+ uint32_t doNotWait :1; /**< [in]: If this flag is set, the NvEncodeAPI interface will return buffer pointer even if operation is not completed. If not set, the call will block until operation completes. */
+ uint32_t ltrFrame :1; /**< [out]: Flag indicating this frame is marked as LTR frame */
+ uint32_t getRCStats :1; /**< [in]: If this flag is set then lockBitstream call will add additional intra-inter MB count and average MVX, MVY */
+ uint32_t reservedBitFields :29; /**< [in]: Reserved bit fields and must be set to 0 */
+ void* outputBitstream; /**< [in]: Pointer to the bitstream buffer being locked. */
+ uint32_t* sliceOffsets; /**< [in,out]: Array which receives the slice offsets. This is not supported if NV_ENC_CONFIG_H264::sliceMode is 1 on Kepler GPUs. Array size must be equal to size of frame in MBs. */
+ uint32_t frameIdx; /**< [out]: Frame no. for which the bitstream is being retrieved. */
+ uint32_t hwEncodeStatus; /**< [out]: The NvEncodeAPI interface status for the locked picture. */
+ uint32_t numSlices; /**< [out]: Number of slices in the encoded picture. Will be reported only if NV_ENC_INITIALIZE_PARAMS::reportSliceOffsets set to 1. */
+ uint32_t bitstreamSizeInBytes; /**< [out]: Actual number of bytes generated and copied to the memory pointed by bitstreamBufferPtr. */
+ uint64_t outputTimeStamp; /**< [out]: Presentation timestamp associated with the encoded output. */
+ uint64_t outputDuration; /**< [out]: Presentation duration associates with the encoded output. */
+ void* bitstreamBufferPtr; /**< [out]: Pointer to the generated output bitstream.
+ For MEOnly mode _NV_ENC_LOCK_BITSTREAM::bitstreamBufferPtr should be typecast to
+ NV_ENC_H264_MV_DATA/NV_ENC_HEVC_MV_DATA pointer respectively for H264/HEVC */
+ NV_ENC_PIC_TYPE pictureType; /**< [out]: Picture type of the encoded picture. */
+ NV_ENC_PIC_STRUCT pictureStruct; /**< [out]: Structure of the generated output picture. */
+ uint32_t frameAvgQP; /**< [out]: Average QP of the frame. */
+ uint32_t frameSatd; /**< [out]: Total SATD cost for whole frame. */
+ uint32_t ltrFrameIdx; /**< [out]: Frame index associated with this LTR frame. */
+ uint32_t ltrFrameBitmap; /**< [out]: Bitmap of LTR frames indices which were used for encoding this frame. Value of 0 if no LTR frames were used. */
+ uint32_t reserved[13]; /**< [in]: Reserved and must be set to 0 */
+ uint32_t intraMBCount; /**< [out]: For H264, Number of Intra MBs in the encoded frame. For HEVC, Number of Intra CTBs in the encoded frame. Supported only if _NV_ENC_LOCK_BITSTREAM::getRCStats set to 1. */
+ uint32_t interMBCount; /**< [out]: For H264, Number of Inter MBs in the encoded frame, includes skip MBs. For HEVC, Number of Inter CTBs in the encoded frame. Supported only if _NV_ENC_LOCK_BITSTREAM::getRCStats set to 1. */
+ int32_t averageMVX; /**< [out]: Average Motion Vector in X direction for the encoded frame. Supported only if _NV_ENC_LOCK_BITSTREAM::getRCStats set to 1. */
+ int32_t averageMVY; /**< [out]: Average Motion Vector in y direction for the encoded frame. Supported only if _NV_ENC_LOCK_BITSTREAM::getRCStats set to 1. */
+ uint32_t reserved1[219]; /**< [in]: Reserved and must be set to 0 */
+ void* reserved2[64]; /**< [in]: Reserved and must be set to NULL */
+} NV_ENC_LOCK_BITSTREAM;
+
+/** Macro for constructing the version field of ::_NV_ENC_LOCK_BITSTREAM */
+#define NV_ENC_LOCK_BITSTREAM_VER NVENCAPI_STRUCT_VERSION(1)
+
+
+/**
+ * \struct _NV_ENC_LOCK_INPUT_BUFFER
+ * Uncompressed Input Buffer lock parameters.
+ */
+typedef struct _NV_ENC_LOCK_INPUT_BUFFER
+{
+ uint32_t version; /**< [in]: Struct version. Must be set to ::NV_ENC_LOCK_INPUT_BUFFER_VER. */
+ uint32_t doNotWait :1; /**< [in]: Set to 1 to make ::NvEncLockInputBuffer() a unblocking call. If the encoding is not completed, driver will return ::NV_ENC_ERR_ENCODER_BUSY error code. */
+ uint32_t reservedBitFields :31; /**< [in]: Reserved bitfields and must be set to 0 */
+ NV_ENC_INPUT_PTR inputBuffer; /**< [in]: Pointer to the input buffer to be locked, client should pass the pointer obtained from ::NvEncCreateInputBuffer() or ::NvEncMapInputResource API. */
+ void* bufferDataPtr; /**< [out]: Pointed to the locked input buffer data. Client can only access input buffer using the \p bufferDataPtr. */
+ uint32_t pitch; /**< [out]: Pitch of the locked input buffer. */
+ uint32_t reserved1[251]; /**< [in]: Reserved and must be set to 0 */
+ void* reserved2[64]; /**< [in]: Reserved and must be set to NULL */
+} NV_ENC_LOCK_INPUT_BUFFER;
+
+/** Macro for constructing the version field of ::_NV_ENC_LOCK_INPUT_BUFFER */
+#define NV_ENC_LOCK_INPUT_BUFFER_VER NVENCAPI_STRUCT_VERSION(1)
+
+
+/**
+ * \struct _NV_ENC_MAP_INPUT_RESOURCE
+ * Map an input resource to a Nvidia Encoder Input Buffer
+ */
+typedef struct _NV_ENC_MAP_INPUT_RESOURCE
+{
+ uint32_t version; /**< [in]: Struct version. Must be set to ::NV_ENC_MAP_INPUT_RESOURCE_VER. */
+ uint32_t subResourceIndex; /**< [in]: Deprecated. Do not use. */
+ void* inputResource; /**< [in]: Deprecated. Do not use. */
+ NV_ENC_REGISTERED_PTR registeredResource; /**< [in]: The Registered resource handle obtained by calling NvEncRegisterInputResource. */
+ NV_ENC_INPUT_PTR mappedResource; /**< [out]: Mapped pointer corresponding to the registeredResource. This pointer must be used in NV_ENC_PIC_PARAMS::inputBuffer parameter in ::NvEncEncodePicture() API. */
+ NV_ENC_BUFFER_FORMAT mappedBufferFmt; /**< [out]: Buffer format of the outputResource. This buffer format must be used in NV_ENC_PIC_PARAMS::bufferFmt if client using the above mapped resource pointer. */
+ uint32_t reserved1[251]; /**< [in]: Reserved and must be set to 0. */
+ void* reserved2[63]; /**< [in]: Reserved and must be set to NULL */
+} NV_ENC_MAP_INPUT_RESOURCE;
+
+/** Macro for constructing the version field of ::_NV_ENC_MAP_INPUT_RESOURCE */
+#define NV_ENC_MAP_INPUT_RESOURCE_VER NVENCAPI_STRUCT_VERSION(4)
+
+/**
+ * \struct _NV_ENC_INPUT_RESOURCE_OPENGL_TEX
+ * NV_ENC_REGISTER_RESOURCE::resourceToRegister must be a pointer to a variable of this type,
+ * when NV_ENC_REGISTER_RESOURCE::resourceType is NV_ENC_INPUT_RESOURCE_TYPE_OPENGL_TEX
+ */
+typedef struct _NV_ENC_INPUT_RESOURCE_OPENGL_TEX
+{
+ uint32_t texture; /**< [in]: The name of the texture to be used. */
+ uint32_t target; /**< [in]: Accepted values are GL_TEXTURE_RECTANGLE and GL_TEXTURE_2D. */
+} NV_ENC_INPUT_RESOURCE_OPENGL_TEX;
+
+/**
+ * \struct _NV_ENC_REGISTER_RESOURCE
+ * Register a resource for future use with the Nvidia Video Encoder Interface.
+ */
+typedef struct _NV_ENC_REGISTER_RESOURCE
+{
+ uint32_t version; /**< [in]: Struct version. Must be set to ::NV_ENC_REGISTER_RESOURCE_VER. */
+ NV_ENC_INPUT_RESOURCE_TYPE resourceType; /**< [in]: Specifies the type of resource to be registered.
+ Supported values are
+ ::NV_ENC_INPUT_RESOURCE_TYPE_DIRECTX,
+ ::NV_ENC_INPUT_RESOURCE_TYPE_CUDADEVICEPTR,
+ ::NV_ENC_INPUT_RESOURCE_TYPE_OPENGL_TEX */
+ uint32_t width; /**< [in]: Input buffer Width. */
+ uint32_t height; /**< [in]: Input buffer Height. */
+ uint32_t pitch; /**< [in]: Input buffer Pitch.
+ For ::NV_ENC_INPUT_RESOURCE_TYPE_DIRECTX resources, set this to 0.
+ For ::NV_ENC_INPUT_RESOURCE_TYPE_CUDADEVICEPTR resources, set this to
+ the pitch as obtained from cuMemAllocPitch(), or to the width in
+ bytes (if this resource was created by using cuMemAlloc()). This
+ value must be a multiple of 4.
+ For ::NV_ENC_INPUT_RESOURCE_TYPE_CUDAARRAY resources, set this to the
+ width of the allocation in bytes (i.e.
+ CUDA_ARRAY3D_DESCRIPTOR::Width * CUDA_ARRAY3D_DESCRIPTOR::NumChannels).
+ For ::NV_ENC_INPUT_RESOURCE_TYPE_OPENGL_TEX resources, set this to the
+ texture width multiplied by the number of components in the texture
+ format. */
+ uint32_t subResourceIndex; /**< [in]: Subresource Index of the DirectX resource to be registered. Should be set to 0 for other interfaces. */
+ void* resourceToRegister; /**< [in]: Handle to the resource that is being registered. */
+ NV_ENC_REGISTERED_PTR registeredResource; /**< [out]: Registered resource handle. This should be used in future interactions with the Nvidia Video Encoder Interface. */
+ NV_ENC_BUFFER_FORMAT bufferFormat; /**< [in]: Buffer format of resource to be registered. */
+ NV_ENC_BUFFER_USAGE bufferUsage; /**< [in]: Usage of resource to be registered. */
+ uint32_t reserved1[247]; /**< [in]: Reserved and must be set to 0. */
+ void* reserved2[62]; /**< [in]: Reserved and must be set to NULL. */
+} NV_ENC_REGISTER_RESOURCE;
+
+/** Macro for constructing the version field of ::_NV_ENC_REGISTER_RESOURCE */
+#define NV_ENC_REGISTER_RESOURCE_VER NVENCAPI_STRUCT_VERSION(3)
+
+/**
+ * \struct _NV_ENC_STAT
+ * Encode Stats structure.
+ */
+typedef struct _NV_ENC_STAT
+{
+ uint32_t version; /**< [in]: Struct version. Must be set to ::NV_ENC_STAT_VER. */
+ uint32_t reserved; /**< [in]: Reserved and must be set to 0 */
+ NV_ENC_OUTPUT_PTR outputBitStream; /**< [out]: Specifies the pointer to output bitstream. */
+ uint32_t bitStreamSize; /**< [out]: Size of generated bitstream in bytes. */
+ uint32_t picType; /**< [out]: Picture type of encoded picture. See ::NV_ENC_PIC_TYPE. */
+ uint32_t lastValidByteOffset; /**< [out]: Offset of last valid bytes of completed bitstream */
+ uint32_t sliceOffsets[16]; /**< [out]: Offsets of each slice */
+ uint32_t picIdx; /**< [out]: Picture number */
+ uint32_t reserved1[233]; /**< [in]: Reserved and must be set to 0 */
+ void* reserved2[64]; /**< [in]: Reserved and must be set to NULL */
+} NV_ENC_STAT;
+
+/** Macro for constructing the version field of ::_NV_ENC_STAT */
+#define NV_ENC_STAT_VER NVENCAPI_STRUCT_VERSION(1)
+
+
+/**
+ * \struct _NV_ENC_SEQUENCE_PARAM_PAYLOAD
+ * Sequence and picture paramaters payload.
+ */
+typedef struct _NV_ENC_SEQUENCE_PARAM_PAYLOAD
+{
+ uint32_t version; /**< [in]: Struct version. Must be set to ::NV_ENC_INITIALIZE_PARAMS_VER. */
+ uint32_t inBufferSize; /**< [in]: Specifies the size of the spsppsBuffer provied by the client */
+ uint32_t spsId; /**< [in]: Specifies the SPS id to be used in sequence header. Default value is 0. */
+ uint32_t ppsId; /**< [in]: Specifies the PPS id to be used in picture header. Default value is 0. */
+ void* spsppsBuffer; /**< [in]: Specifies bitstream header pointer of size NV_ENC_SEQUENCE_PARAM_PAYLOAD::inBufferSize. It is the client's responsibility to manage this memory. */
+ uint32_t* outSPSPPSPayloadSize; /**< [out]: Size of the sequence and picture header in bytes written by the NvEncodeAPI interface to the SPSPPSBuffer. */
+ uint32_t reserved [250]; /**< [in]: Reserved and must be set to 0 */
+ void* reserved2[64]; /**< [in]: Reserved and must be set to NULL */
+} NV_ENC_SEQUENCE_PARAM_PAYLOAD;
+
+/** Macro for constructing the version field of ::_NV_ENC_SEQUENCE_PARAM_PAYLOAD */
+#define NV_ENC_SEQUENCE_PARAM_PAYLOAD_VER NVENCAPI_STRUCT_VERSION(1)
+
+
+/**
+ * Event registration/unregistration parameters.
+ */
+typedef struct _NV_ENC_EVENT_PARAMS
+{
+ uint32_t version; /**< [in]: Struct version. Must be set to ::NV_ENC_EVENT_PARAMS_VER. */
+ uint32_t reserved; /**< [in]: Reserved and must be set to 0 */
+ void* completionEvent; /**< [in]: Handle to event to be registered/unregistered with the NvEncodeAPI interface. */
+ uint32_t reserved1[253]; /**< [in]: Reserved and must be set to 0 */
+ void* reserved2[64]; /**< [in]: Reserved and must be set to NULL */
+} NV_ENC_EVENT_PARAMS;
+
+/** Macro for constructing the version field of ::_NV_ENC_EVENT_PARAMS */
+#define NV_ENC_EVENT_PARAMS_VER NVENCAPI_STRUCT_VERSION(1)
+
+/**
+ * Encoder Session Creation parameters
+ */
+typedef struct _NV_ENC_OPEN_ENCODE_SESSIONEX_PARAMS
+{
+ uint32_t version; /**< [in]: Struct version. Must be set to ::NV_ENC_OPEN_ENCODE_SESSION_EX_PARAMS_VER. */
+ NV_ENC_DEVICE_TYPE deviceType; /**< [in]: Specified the device Type */
+ void* device; /**< [in]: Pointer to client device. */
+ void* reserved; /**< [in]: Reserved and must be set to 0. */
+ uint32_t apiVersion; /**< [in]: API version. Should be set to NVENCAPI_VERSION. */
+ uint32_t reserved1[253]; /**< [in]: Reserved and must be set to 0 */
+ void* reserved2[64]; /**< [in]: Reserved and must be set to NULL */
+} NV_ENC_OPEN_ENCODE_SESSION_EX_PARAMS;
+/** Macro for constructing the version field of ::_NV_ENC_OPEN_ENCODE_SESSIONEX_PARAMS */
+#define NV_ENC_OPEN_ENCODE_SESSION_EX_PARAMS_VER NVENCAPI_STRUCT_VERSION(1)
+
+/** @} */ /* END ENCODER_STRUCTURE */
+
+
+/**
+ * \addtogroup ENCODE_FUNC NvEncodeAPI Functions
+ * @{
+ */
+
+// NvEncOpenEncodeSession
+/**
+ * \brief Opens an encoding session.
+ *
+ * Deprecated.
+ *
+ * \return
+ * ::NV_ENC_ERR_INVALID_CALL\n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncOpenEncodeSession (void* device, uint32_t deviceType, void** encoder);
+
+// NvEncGetEncodeGuidCount
+/**
+ * \brief Retrieves the number of supported encode GUIDs.
+ *
+ * The function returns the number of codec guids supported by the NvEncodeAPI
+ * interface.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [out] encodeGUIDCount
+ * Number of supported encode GUIDs.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncGetEncodeGUIDCount (void* encoder, uint32_t* encodeGUIDCount);
+
+
+// NvEncGetEncodeGUIDs
+/**
+ * \brief Retrieves an array of supported encoder codec GUIDs.
+ *
+ * The function returns an array of codec guids supported by the NvEncodeAPI interface.
+ * The client must allocate an array where the NvEncodeAPI interface can
+ * fill the supported guids and pass the pointer in \p *GUIDs parameter.
+ * The size of the array can be determined by using ::NvEncGetEncodeGUIDCount() API.
+ * The Nvidia Encoding interface returns the number of codec guids it has actually
+ * filled in the guid array in the \p GUIDCount parameter.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in] guidArraySize
+ * Number of GUIDs to retrieved. Should be set to the number retrieved using
+ * ::NvEncGetEncodeGUIDCount.
+ * \param [out] GUIDs
+ * Array of supported Encode GUIDs.
+ * \param [out] GUIDCount
+ * Number of supported Encode GUIDs.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncGetEncodeGUIDs (void* encoder, GUID* GUIDs, uint32_t guidArraySize, uint32_t* GUIDCount);
+
+
+// NvEncGetEncodeProfileGuidCount
+/**
+ * \brief Retrieves the number of supported profile GUIDs.
+ *
+ * The function returns the number of profile GUIDs supported for a given codec.
+ * The client must first enumerate the codec guids supported by the NvEncodeAPI
+ * interface. After determining the codec guid, it can query the NvEncodeAPI
+ * interface to determine the number of profile guids supported for a particular
+ * codec guid.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in] encodeGUID
+ * The codec guid for which the profile guids are being enumerated.
+ * \param [out] encodeProfileGUIDCount
+ * Number of encode profiles supported for the given encodeGUID.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncGetEncodeProfileGUIDCount (void* encoder, GUID encodeGUID, uint32_t* encodeProfileGUIDCount);
+
+
+// NvEncGetEncodeProfileGUIDs
+/**
+ * \brief Retrieves an array of supported encode profile GUIDs.
+ *
+ * The function returns an array of supported profile guids for a particular
+ * codec guid. The client must allocate an array where the NvEncodeAPI interface
+ * can populate the profile guids. The client can determine the array size using
+ * ::NvEncGetEncodeProfileGUIDCount() API. The client must also validiate that the
+ * NvEncodeAPI interface supports the GUID the client wants to pass as \p encodeGUID
+ * parameter.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in] encodeGUID
+ * The encode guid whose profile guids are being enumerated.
+ * \param [in] guidArraySize
+ * Number of GUIDs to be retrieved. Should be set to the number retrieved using
+ * ::NvEncGetEncodeProfileGUIDCount.
+ * \param [out] profileGUIDs
+ * Array of supported Encode Profile GUIDs
+ * \param [out] GUIDCount
+ * Number of valid encode profile GUIDs in \p profileGUIDs array.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncGetEncodeProfileGUIDs (void* encoder, GUID encodeGUID, GUID* profileGUIDs, uint32_t guidArraySize, uint32_t* GUIDCount);
+
+// NvEncGetInputFormatCount
+/**
+ * \brief Retrieve the number of supported Input formats.
+ *
+ * The function returns the number of supported input formats. The client must
+ * query the NvEncodeAPI interface to determine the supported input formats
+ * before creating the input surfaces.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in] encodeGUID
+ * Encode GUID, corresponding to which the number of supported input formats
+ * is to be retrieved.
+ * \param [out] inputFmtCount
+ * Number of input formats supported for specified Encode GUID.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_GENERIC \n
+ */
+NVENCSTATUS NVENCAPI NvEncGetInputFormatCount (void* encoder, GUID encodeGUID, uint32_t* inputFmtCount);
+
+
+// NvEncGetInputFormats
+/**
+ * \brief Retrieves an array of supported Input formats
+ *
+ * Returns an array of supported input formats The client must use the input
+ * format to create input surface using ::NvEncCreateInputBuffer() API.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in] encodeGUID
+ * Encode GUID, corresponding to which the number of supported input formats
+ * is to be retrieved.
+ *\param [in] inputFmtArraySize
+ * Size input format count array passed in \p inputFmts.
+ *\param [out] inputFmts
+ * Array of input formats supported for this Encode GUID.
+ *\param [out] inputFmtCount
+ * The number of valid input format types returned by the NvEncodeAPI
+ * interface in \p inputFmts array.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncGetInputFormats (void* encoder, GUID encodeGUID, NV_ENC_BUFFER_FORMAT* inputFmts, uint32_t inputFmtArraySize, uint32_t* inputFmtCount);
+
+
+// NvEncGetEncodeCaps
+/**
+ * \brief Retrieves the capability value for a specified encoder attribute.
+ *
+ * The function returns the capability value for a given encoder attribute. The
+ * client must validate the encodeGUID using ::NvEncGetEncodeGUIDs() API before
+ * calling this function. The encoder attribute being queried are enumerated in
+ * ::NV_ENC_CAPS_PARAM enum.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in] encodeGUID
+ * Encode GUID, corresponding to which the capability attribute is to be retrieved.
+ * \param [in] capsParam
+ * Used to specify attribute being queried. Refer ::NV_ENC_CAPS_PARAM for more
+ * details.
+ * \param [out] capsVal
+ * The value corresponding to the capability attribute being queried.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_GENERIC \n
+ */
+NVENCSTATUS NVENCAPI NvEncGetEncodeCaps (void* encoder, GUID encodeGUID, NV_ENC_CAPS_PARAM* capsParam, int* capsVal);
+
+
+// NvEncGetEncodePresetCount
+/**
+ * \brief Retrieves the number of supported preset GUIDs.
+ *
+ * The function returns the number of preset GUIDs available for a given codec.
+ * The client must validate the codec guid using ::NvEncGetEncodeGUIDs() API
+ * before calling this function.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in] encodeGUID
+ * Encode GUID, corresponding to which the number of supported presets is to
+ * be retrieved.
+ * \param [out] encodePresetGUIDCount
+ * Receives the number of supported preset GUIDs.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncGetEncodePresetCount (void* encoder, GUID encodeGUID, uint32_t* encodePresetGUIDCount);
+
+
+// NvEncGetEncodePresetGUIDs
+/**
+ * \brief Receives an array of supported encoder preset GUIDs.
+ *
+ * The function returns an array of encode preset guids available for a given codec.
+ * The client can directly use one of the preset guids based upon the use case
+ * or target device. The preset guid chosen can be directly used in
+ * NV_ENC_INITIALIZE_PARAMS::presetGUID parameter to ::NvEncEncodePicture() API.
+ * Alternately client can also use the preset guid to retrieve the encoding config
+ * parameters being used by NvEncodeAPI interface for that given preset, using
+ * ::NvEncGetEncodePresetConfig() API. It can then modify preset config parameters
+ * as per its use case and send it to NvEncodeAPI interface as part of
+ * NV_ENC_INITIALIZE_PARAMS::encodeConfig parameter for NvEncInitializeEncoder()
+ * API.
+ *
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in] encodeGUID
+ * Encode GUID, corresponding to which the list of supported presets is to be
+ * retrieved.
+ * \param [in] guidArraySize
+ * Size of array of preset guids passed in \p preset GUIDs
+ * \param [out] presetGUIDs
+ * Array of supported Encode preset GUIDs from the NvEncodeAPI interface
+ * to client.
+ * \param [out] encodePresetGUIDCount
+ * Receives the number of preset GUIDs returned by the NvEncodeAPI
+ * interface.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncGetEncodePresetGUIDs (void* encoder, GUID encodeGUID, GUID* presetGUIDs, uint32_t guidArraySize, uint32_t* encodePresetGUIDCount);
+
+
+// NvEncGetEncodePresetConfig
+/**
+ * \brief Returns a preset config structure supported for given preset GUID.
+ *
+ * The function returns a preset config structure for a given preset guid. Before
+ * using this function the client must enumerate the preset guids available for
+ * a given codec. The preset config structure can be modified by the client depending
+ * upon its use case and can be then used to initialize the encoder using
+ * ::NvEncInitializeEncoder() API. The client can use this function only if it
+ * wants to modify the NvEncodeAPI preset configuration, otherwise it can
+ * directly use the preset guid.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in] encodeGUID
+ * Encode GUID, corresponding to which the list of supported presets is to be
+ * retrieved.
+ * \param [in] presetGUID
+ * Preset GUID, corresponding to which the Encoding configurations is to be
+ * retrieved.
+ * \param [out] presetConfig
+ * The requested Preset Encoder Attribute set. Refer ::_NV_ENC_CONFIG for
+* more details.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_INVALID_VERSION \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncGetEncodePresetConfig (void* encoder, GUID encodeGUID, GUID presetGUID, NV_ENC_PRESET_CONFIG* presetConfig);
+
+// NvEncInitializeEncoder
+/**
+ * \brief Initialize the encoder.
+ *
+ * This API must be used to initialize the encoder. The initialization parameter
+ * is passed using \p *createEncodeParams The client must send the following
+ * fields of the _NV_ENC_INITIALIZE_PARAMS structure with a valid value.
+ * - NV_ENC_INITIALIZE_PARAMS::encodeGUID
+ * - NV_ENC_INITIALIZE_PARAMS::encodeWidth
+ * - NV_ENC_INITIALIZE_PARAMS::encodeHeight
+ *
+ * The client can pass a preset guid directly to the NvEncodeAPI interface using
+ * NV_ENC_INITIALIZE_PARAMS::presetGUID field. If the client doesn't pass
+ * NV_ENC_INITIALIZE_PARAMS::encodeConfig structure, the codec specific parameters
+ * will be selected based on the preset guid. The preset guid must have been
+ * validated by the client using ::NvEncGetEncodePresetGUIDs() API.
+ * If the client passes a custom ::_NV_ENC_CONFIG structure through
+ * NV_ENC_INITIALIZE_PARAMS::encodeConfig , it will override the codec specific parameters
+ * based on the preset guid. It is recommended that even if the client passes a custom config,
+ * it should also send a preset guid. In this case, the preset guid passed by the client
+ * will not override any of the custom config parameters programmed by the client,
+ * it is only used as a hint by the NvEncodeAPI interface to determine certain encoder parameters
+ * which are not exposed to the client.
+ *
+ * There are two modes of operation for the encoder namely:
+ * - Asynchronous mode
+ * - Synchronous mode
+ *
+ * The client can select asynchronous or synchronous mode by setting the \p
+ * enableEncodeAsync field in ::_NV_ENC_INITIALIZE_PARAMS to 1 or 0 respectively.
+ *\par Asynchronous mode of operation:
+ * The Asynchronous mode can be enabled by setting NV_ENC_INITIALIZE_PARAMS::enableEncodeAsync to 1.
+ * The client operating in asynchronous mode must allocate completion event object
+ * for each output buffer and pass the completion event object in the
+ * ::NvEncEncodePicture() API. The client can create another thread and wait on
+ * the event object to be signalled by NvEncodeAPI interface on completion of the
+ * encoding process for the output frame. This should unblock the main thread from
+ * submitting work to the encoder. When the event is signalled the client can call
+ * NvEncodeAPI interfaces to copy the bitstream data using ::NvEncLockBitstream()
+ * API. This is the preferred mode of operation.
+ *
+ * NOTE: Asynchronous mode is not supported on Linux.
+ *
+ *\par Synchronous mode of operation:
+ * The client can select synchronous mode by setting NV_ENC_INITIALIZE_PARAMS::enableEncodeAsync to 0.
+ * The client working in synchronous mode can work in a single threaded or multi
+ * threaded mode. The client need not allocate any event objects. The client can
+ * only lock the bitstream data after NvEncodeAPI interface has returned
+ * ::NV_ENC_SUCCESS from encode picture. The NvEncodeAPI interface can return
+ * ::NV_ENC_ERR_NEED_MORE_INPUT error code from ::NvEncEncodePicture() API. The
+ * client must not lock the output buffer in such case but should send the next
+ * frame for encoding. The client must keep on calling ::NvEncEncodePicture() API
+ * until it returns ::NV_ENC_SUCCESS. \n
+ * The client must always lock the bitstream data in order in which it has submitted.
+ * This is true for both asynchronous and synchronous mode.
+ *
+ *\par Picture type decision:
+ * If the client is taking the picture type decision and it must disable the picture
+ * type decision module in NvEncodeAPI by setting NV_ENC_INITIALIZE_PARAMS::enablePTD
+ * to 0. In this case the client is required to send the picture in encoding
+ * order to NvEncodeAPI by doing the re-ordering for B frames. \n
+ * If the client doesn't want to take the picture type decision it can enable
+ * picture type decision module in the NvEncodeAPI interface by setting
+ * NV_ENC_INITIALIZE_PARAMS::enablePTD to 1 and send the input pictures in display
+ * order.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in] createEncodeParams
+ * Refer ::_NV_ENC_INITIALIZE_PARAMS for details.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_INVALID_VERSION \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncInitializeEncoder (void* encoder, NV_ENC_INITIALIZE_PARAMS* createEncodeParams);
+
+
+// NvEncCreateInputBuffer
+/**
+ * \brief Allocates Input buffer.
+ *
+ * This function is used to allocate an input buffer. The client must enumerate
+ * the input buffer format before allocating the input buffer resources. The
+ * NV_ENC_INPUT_PTR returned by the NvEncodeAPI interface in the
+ * NV_ENC_CREATE_INPUT_BUFFER::inputBuffer field can be directly used in
+ * ::NvEncEncodePicture() API. The number of input buffers to be allocated by the
+ * client must be at least 4 more than the number of B frames being used for encoding.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in,out] createInputBufferParams
+ * Pointer to the ::NV_ENC_CREATE_INPUT_BUFFER structure.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_INVALID_VERSION \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncCreateInputBuffer (void* encoder, NV_ENC_CREATE_INPUT_BUFFER* createInputBufferParams);
+
+
+// NvEncDestroyInputBuffer
+/**
+ * \brief Release an input buffers.
+ *
+ * This function is used to free an input buffer. If the client has allocated
+ * any input buffer using ::NvEncCreateInputBuffer() API, it must free those
+ * input buffers by calling this function. The client must release the input
+ * buffers before destroying the encoder using ::NvEncDestroyEncoder() API.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in] inputBuffer
+ * Pointer to the input buffer to be released.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_INVALID_VERSION \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncDestroyInputBuffer (void* encoder, NV_ENC_INPUT_PTR inputBuffer);
+
+// NvEncSetIOCudaStreams
+/**
+ * \brief Set input and output CUDA stream for specified encoder attribute.
+ *
+ * Encoding may involve CUDA pre-processing on the input and post-processing on encoded output.
+ * This function is used to set input and output CUDA streams to pipeline the CUDA pre-processing
+ * and post-processing tasks. Clients should call this function before the call to
+ * NvEncUnlockInputBuffer(). If this function is not called, the default CUDA stream is used for
+ * input and output processing. After a successful call to this function, the streams specified
+ * in that call will replace the previously-used streams.
+ * This API is supported for NVCUVID interface only.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in] inputStream
+ * Pointer to CUstream which is used to process ::NV_ENC_PIC_PARAMS::inputFrame for encode.
+ * In case of ME-only mode, inputStream is used to process ::NV_ENC_MEONLY_PARAMS::inputBuffer and
+ * ::NV_ENC_MEONLY_PARAMS::referenceFrame
+ * \param [in] outputStream
+ * Pointer to CUstream which is used to process ::NV_ENC_PIC_PARAMS::outputBuffer for encode.
+ * In case of ME-only mode, outputStream is used to process ::NV_ENC_MEONLY_PARAMS::mvBuffer
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_INVALID_VERSION \n
+ * ::NV_ENC_ERR_GENERIC \n
+ */
+NVENCSTATUS NVENCAPI NvEncSetIOCudaStreams (void* encoder, NV_ENC_CUSTREAM_PTR inputStream, NV_ENC_CUSTREAM_PTR outputStream);
+
+
+// NvEncCreateBitstreamBuffer
+/**
+ * \brief Allocates an output bitstream buffer
+ *
+ * This function is used to allocate an output bitstream buffer and returns a
+ * NV_ENC_OUTPUT_PTR to bitstream buffer to the client in the
+ * NV_ENC_CREATE_BITSTREAM_BUFFER::bitstreamBuffer field.
+ * The client can only call this function after the encoder session has been
+ * initialized using ::NvEncInitializeEncoder() API. The minimum number of output
+ * buffers allocated by the client must be at least 4 more than the number of B
+ * B frames being used for encoding. The client can only access the output
+ * bitsteam data by locking the \p bitstreamBuffer using the ::NvEncLockBitstream()
+ * function.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in,out] createBitstreamBufferParams
+ * Pointer ::NV_ENC_CREATE_BITSTREAM_BUFFER for details.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_INVALID_VERSION \n
+ * ::NV_ENC_ERR_ENCODER_NOT_INITIALIZED \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncCreateBitstreamBuffer (void* encoder, NV_ENC_CREATE_BITSTREAM_BUFFER* createBitstreamBufferParams);
+
+
+// NvEncDestroyBitstreamBuffer
+/**
+ * \brief Release a bitstream buffer.
+ *
+ * This function is used to release the output bitstream buffer allocated using
+ * the ::NvEncCreateBitstreamBuffer() function. The client must release the output
+ * bitstreamBuffer using this function before destroying the encoder session.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in] bitstreamBuffer
+ * Pointer to the bitstream buffer being released.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_INVALID_VERSION \n
+ * ::NV_ENC_ERR_ENCODER_NOT_INITIALIZED \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncDestroyBitstreamBuffer (void* encoder, NV_ENC_OUTPUT_PTR bitstreamBuffer);
+
+// NvEncEncodePicture
+/**
+ * \brief Submit an input picture for encoding.
+ *
+ * This function is used to submit an input picture buffer for encoding. The
+ * encoding parameters are passed using \p *encodePicParams which is a pointer
+ * to the ::_NV_ENC_PIC_PARAMS structure.
+ *
+ * If the client has set NV_ENC_INITIALIZE_PARAMS::enablePTD to 0, then it must
+ * send a valid value for the following fields.
+ * - NV_ENC_PIC_PARAMS::pictureType
+ * - NV_ENC_PIC_PARAMS_H264::displayPOCSyntax (H264 only)
+ * - NV_ENC_PIC_PARAMS_H264::frameNumSyntax(H264 only)
+ * - NV_ENC_PIC_PARAMS_H264::refPicFlag(H264 only)
+ *
+ *\par MVC Encoding:
+ * For MVC encoding the client must call encode picture api for each view separately
+ * and must pass valid view id in NV_ENC_PIC_PARAMS_MVC::viewID field. Currently
+ * NvEncodeAPI only support stereo MVC so client must send viewID as 0 for base
+ * view and view ID as 1 for dependent view.
+ *
+ *\par Asynchronous Encoding
+ * If the client has enabled asynchronous mode of encoding by setting
+ * NV_ENC_INITIALIZE_PARAMS::enableEncodeAsync to 1 in the ::NvEncInitializeEncoder()
+ * API ,then the client must send a valid NV_ENC_PIC_PARAMS::completionEvent.
+ * Incase of asynchronous mode of operation, client can queue the ::NvEncEncodePicture()
+ * API commands from the main thread and then queue output buffers to be processed
+ * to a secondary worker thread. Before the locking the output buffers in the
+ * secondary thread , the client must wait on NV_ENC_PIC_PARAMS::completionEvent
+ * it has queued in ::NvEncEncodePicture() API call. The client must always process
+ * completion event and the output buffer in the same order in which they have been
+ * submitted for encoding. The NvEncodeAPI interface is responsible for any
+ * re-ordering required for B frames and will always ensure that encoded bitstream
+ * data is written in the same order in which output buffer is submitted.
+ *\code
+ The below example shows how asynchronous encoding in case of 1 B frames
+ ------------------------------------------------------------------------
+ Suppose the client allocated 4 input buffers(I1,I2..), 4 output buffers(O1,O2..)
+ and 4 completion events(E1, E2, ...). The NvEncodeAPI interface will need to
+ keep a copy of the input buffers for re-ordering and it allocates following
+ internal buffers (NvI1, NvI2...). These internal buffers are managed by NvEncodeAPI
+ and the client is not responsible for the allocating or freeing the memory of
+ the internal buffers.
+
+ a) The client main thread will queue the following encode frame calls.
+ Note the picture type is unknown to the client, the decision is being taken by
+ NvEncodeAPI interface. The client should pass ::_NV_ENC_PIC_PARAMS parameter
+ consisting of allocated input buffer, output buffer and output events in successive
+ ::NvEncEncodePicture() API calls along with other required encode picture params.
+ For example:
+ 1st EncodePicture parameters - (I1, O1, E1)
+ 2nd EncodePicture parameters - (I2, O2, E2)
+ 3rd EncodePicture parameters - (I3, O3, E3)
+
+ b) NvEncodeAPI SW will receive the following encode Commands from the client.
+ The left side shows input from client in the form (Input buffer, Output Buffer,
+ Output Event). The right hand side shows a possible picture type decision take by
+ the NvEncodeAPI interface.
+ (I1, O1, E1) ---P1 Frame
+ (I2, O2, E2) ---B2 Frame
+ (I3, O3, E3) ---P3 Frame
+
+ c) NvEncodeAPI interface will make a copy of the input buffers to its internal
+ buffersfor re-ordering. These copies are done as part of nvEncEncodePicture
+ function call from the client and NvEncodeAPI interface is responsible for
+ synchronization of copy operation with the actual encoding operation.
+ I1 --> NvI1
+ I2 --> NvI2
+ I3 --> NvI3
+
+ d) After returning from ::NvEncEncodePicture() call , the client must queue the output
+ bitstream processing work to the secondary thread. The output bitstream processing
+ for asynchronous mode consist of first waiting on completion event(E1, E2..)
+ and then locking the output bitstream buffer(O1, O2..) for reading the encoded
+ data. The work queued to the secondary thread by the client is in the following order
+ (I1, O1, E1)
+ (I2, O2, E2)
+ (I3, O3, E3)
+ Note they are in the same order in which client calls ::NvEncEncodePicture() API
+ in \p step a).
+
+ e) NvEncodeAPI interface will do the re-ordering such that Encoder HW will receive
+ the following encode commands:
+ (NvI1, O1, E1) ---P1 Frame
+ (NvI3, O2, E2) ---P3 Frame
+ (NvI2, O3, E3) ---B2 frame
+
+ f) After the encoding operations are completed, the events will be signalled
+ by NvEncodeAPI interface in the following order :
+ (O1, E1) ---P1 Frame ,output bitstream copied to O1 and event E1 signalled.
+ (O2, E2) ---P3 Frame ,output bitstream copied to O2 and event E2 signalled.
+ (O3, E3) ---B2 Frame ,output bitstream copied to O3 and event E3 signalled.
+
+ g) The client must lock the bitstream data using ::NvEncLockBitstream() API in
+ the order O1,O2,O3 to read the encoded data, after waiting for the events
+ to be signalled in the same order i.e E1, E2 and E3.The output processing is
+ done in the secondary thread in the following order:
+ Waits on E1, copies encoded bitstream from O1
+ Waits on E2, copies encoded bitstream from O2
+ Waits on E3, copies encoded bitstream from O3
+
+ -Note the client will receive the events signalling and output buffer in the
+ same order in which they have submitted for encoding.
+ -Note the LockBitstream will have picture type field which will notify the
+ output picture type to the clients.
+ -Note the input, output buffer and the output completion event are free to be
+ reused once NvEncodeAPI interfaced has signalled the event and the client has
+ copied the data from the output buffer.
+
+ * \endcode
+ *
+ *\par Synchronous Encoding
+ * The client can enable synchronous mode of encoding by setting
+ * NV_ENC_INITIALIZE_PARAMS::enableEncodeAsync to 0 in ::NvEncInitializeEncoder() API.
+ * The NvEncodeAPI interface may return ::NV_ENC_ERR_NEED_MORE_INPUT error code for
+ * some ::NvEncEncodePicture() API calls when NV_ENC_INITIALIZE_PARAMS::enablePTD
+ * is set to 1, but the client must not treat it as a fatal error. The NvEncodeAPI
+ * interface might not be able to submit an input picture buffer for encoding
+ * immediately due to re-ordering for B frames. The NvEncodeAPI interface cannot
+ * submit the input picture which is decided to be encoded as B frame as it waits
+ * for backward reference from temporally subsequent frames. This input picture
+ * is buffered internally and waits for more input picture to arrive. The client
+ * must not call ::NvEncLockBitstream() API on the output buffers whose
+ * ::NvEncEncodePicture() API returns ::NV_ENC_ERR_NEED_MORE_INPUT. The client must
+ * wait for the NvEncodeAPI interface to return ::NV_ENC_SUCCESS before locking the
+ * output bitstreams to read the encoded bitstream data. The following example
+ * explains the scenario with synchronous encoding with 2 B frames.
+ *\code
+ The below example shows how synchronous encoding works in case of 1 B frames
+ -----------------------------------------------------------------------------
+ Suppose the client allocated 4 input buffers(I1,I2..), 4 output buffers(O1,O2..)
+ and 4 completion events(E1, E2, ...). The NvEncodeAPI interface will need to
+ keep a copy of the input buffers for re-ordering and it allocates following
+ internal buffers (NvI1, NvI2...). These internal buffers are managed by NvEncodeAPI
+ and the client is not responsible for the allocating or freeing the memory of
+ the internal buffers.
+
+ The client calls ::NvEncEncodePicture() API with input buffer I1 and output buffer O1.
+ The NvEncodeAPI decides to encode I1 as P frame and submits it to encoder
+ HW and returns ::NV_ENC_SUCCESS.
+ The client can now read the encoded data by locking the output O1 by calling
+ NvEncLockBitstream API.
+
+ The client calls ::NvEncEncodePicture() API with input buffer I2 and output buffer O2.
+ The NvEncodeAPI decides to encode I2 as B frame and buffers I2 by copying it
+ to internal buffer and returns ::NV_ENC_ERR_NEED_MORE_INPUT.
+ The error is not fatal and it notifies client that it cannot read the encoded
+ data by locking the output O2 by calling ::NvEncLockBitstream() API without submitting
+ more work to the NvEncodeAPI interface.
+
+ The client calls ::NvEncEncodePicture() with input buffer I3 and output buffer O3.
+ The NvEncodeAPI decides to encode I3 as P frame and it first submits I3 for
+ encoding which will be used as backward reference frame for I2.
+ The NvEncodeAPI then submits I2 for encoding and returns ::NV_ENC_SUCESS. Both
+ the submission are part of the same ::NvEncEncodePicture() function call.
+ The client can now read the encoded data for both the frames by locking the output
+ O2 followed by O3 ,by calling ::NvEncLockBitstream() API.
+
+ The client must always lock the output in the same order in which it has submitted
+ to receive the encoded bitstream in correct encoding order.
+
+ * \endcode
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in,out] encodePicParams
+ * Pointer to the ::_NV_ENC_PIC_PARAMS structure.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_INVALID_VERSION \n
+ * ::NV_ENC_ERR_ENCODER_BUSY \n
+ * ::NV_ENC_ERR_NEED_MORE_INPUT \n
+ * ::NV_ENC_ERR_ENCODER_NOT_INITIALIZED \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncEncodePicture (void* encoder, NV_ENC_PIC_PARAMS* encodePicParams);
+
+
+// NvEncLockBitstream
+/**
+ * \brief Lock output bitstream buffer
+ *
+ * This function is used to lock the bitstream buffer to read the encoded data.
+ * The client can only access the encoded data by calling this function.
+ * The pointer to client accessible encoded data is returned in the
+ * NV_ENC_LOCK_BITSTREAM::bitstreamBufferPtr field. The size of the encoded data
+ * in the output buffer is returned in the NV_ENC_LOCK_BITSTREAM::bitstreamSizeInBytes
+ * The NvEncodeAPI interface also returns the output picture type and picture structure
+ * of the encoded frame in NV_ENC_LOCK_BITSTREAM::pictureType and
+ * NV_ENC_LOCK_BITSTREAM::pictureStruct fields respectively. If the client has
+ * set NV_ENC_LOCK_BITSTREAM::doNotWait to 1, the function might return
+ * ::NV_ENC_ERR_LOCK_BUSY if client is operating in synchronous mode. This is not
+ * a fatal failure if NV_ENC_LOCK_BITSTREAM::doNotWait is set to 1. In the above case the client can
+ * retry the function after few milliseconds.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in,out] lockBitstreamBufferParams
+ * Pointer to the ::_NV_ENC_LOCK_BITSTREAM structure.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_INVALID_VERSION \n
+ * ::NV_ENC_ERR_LOCK_BUSY \n
+ * ::NV_ENC_ERR_ENCODER_NOT_INITIALIZED \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncLockBitstream (void* encoder, NV_ENC_LOCK_BITSTREAM* lockBitstreamBufferParams);
+
+
+// NvEncUnlockBitstream
+/**
+ * \brief Unlock the output bitstream buffer
+ *
+ * This function is used to unlock the output bitstream buffer after the client
+ * has read the encoded data from output buffer. The client must call this function
+ * to unlock the output buffer which it has previously locked using ::NvEncLockBitstream()
+ * function. Using a locked bitstream buffer in ::NvEncEncodePicture() API will cause
+ * the function to fail.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in,out] bitstreamBuffer
+ * bitstream buffer pointer being unlocked
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_ENCODER_NOT_INITIALIZED \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncUnlockBitstream (void* encoder, NV_ENC_OUTPUT_PTR bitstreamBuffer);
+
+
+// NvLockInputBuffer
+/**
+ * \brief Locks an input buffer
+ *
+ * This function is used to lock the input buffer to load the uncompressed YUV
+ * pixel data into input buffer memory. The client must pass the NV_ENC_INPUT_PTR
+ * it had previously allocated using ::NvEncCreateInputBuffer()in the
+ * NV_ENC_LOCK_INPUT_BUFFER::inputBuffer field.
+ * The NvEncodeAPI interface returns pointer to client accessible input buffer
+ * memory in NV_ENC_LOCK_INPUT_BUFFER::bufferDataPtr field.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in,out] lockInputBufferParams
+ * Pointer to the ::_NV_ENC_LOCK_INPUT_BUFFER structure
+ *
+ * \return
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_INVALID_VERSION \n
+ * ::NV_ENC_ERR_LOCK_BUSY \n
+ * ::NV_ENC_ERR_ENCODER_NOT_INITIALIZED \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncLockInputBuffer (void* encoder, NV_ENC_LOCK_INPUT_BUFFER* lockInputBufferParams);
+
+
+// NvUnlockInputBuffer
+/**
+ * \brief Unlocks the input buffer
+ *
+ * This function is used to unlock the input buffer memory previously locked for
+ * uploading YUV pixel data. The input buffer must be unlocked before being used
+ * again for encoding, otherwise NvEncodeAPI will fail the ::NvEncEncodePicture()
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in] inputBuffer
+ * Pointer to the input buffer that is being unlocked.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_VERSION \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_ENCODER_NOT_INITIALIZED \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncUnlockInputBuffer (void* encoder, NV_ENC_INPUT_PTR inputBuffer);
+
+
+// NvEncGetEncodeStats
+/**
+ * \brief Get encoding statistics.
+ *
+ * This function is used to retrieve the encoding statistics.
+ * This API is not supported when encode device type is CUDA.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in,out] encodeStats
+ * Pointer to the ::_NV_ENC_STAT structure.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_ENCODER_NOT_INITIALIZED \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncGetEncodeStats (void* encoder, NV_ENC_STAT* encodeStats);
+
+
+// NvEncGetSequenceParams
+/**
+ * \brief Get encoded sequence and picture header.
+ *
+ * This function can be used to retrieve the sequence and picture header out of
+ * band. The client must call this function only after the encoder has been
+ * initialized using ::NvEncInitializeEncoder() function. The client must
+ * allocate the memory where the NvEncodeAPI interface can copy the bitstream
+ * header and pass the pointer to the memory in NV_ENC_SEQUENCE_PARAM_PAYLOAD::spsppsBuffer.
+ * The size of buffer is passed in the field NV_ENC_SEQUENCE_PARAM_PAYLOAD::inBufferSize.
+ * The NvEncodeAPI interface will copy the bitstream header payload and returns
+ * the actual size of the bitstream header in the field
+ * NV_ENC_SEQUENCE_PARAM_PAYLOAD::outSPSPPSPayloadSize.
+ * The client must call ::NvEncGetSequenceParams() function from the same thread which is
+ * being used to call ::NvEncEncodePicture() function.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in,out] sequenceParamPayload
+ * Pointer to the ::_NV_ENC_SEQUENCE_PARAM_PAYLOAD structure.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_VERSION \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_ENCODER_NOT_INITIALIZED \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncGetSequenceParams (void* encoder, NV_ENC_SEQUENCE_PARAM_PAYLOAD* sequenceParamPayload);
+
+
+// NvEncRegisterAsyncEvent
+/**
+ * \brief Register event for notification to encoding completion.
+ *
+ * This function is used to register the completion event with NvEncodeAPI
+ * interface. The event is required when the client has configured the encoder to
+ * work in asynchronous mode. In this mode the client needs to send a completion
+ * event with every output buffer. The NvEncodeAPI interface will signal the
+ * completion of the encoding process using this event. Only after the event is
+ * signalled the client can get the encoded data using ::NvEncLockBitstream() function.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in] eventParams
+ * Pointer to the ::_NV_ENC_EVENT_PARAMS structure.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_VERSION \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_ENCODER_NOT_INITIALIZED \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncRegisterAsyncEvent (void* encoder, NV_ENC_EVENT_PARAMS* eventParams);
+
+
+// NvEncUnregisterAsyncEvent
+/**
+ * \brief Unregister completion event.
+ *
+ * This function is used to unregister completion event which has been previously
+ * registered using ::NvEncRegisterAsyncEvent() function. The client must unregister
+ * all events before destroying the encoder using ::NvEncDestroyEncoder() function.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in] eventParams
+ * Pointer to the ::_NV_ENC_EVENT_PARAMS structure.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_VERSION \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_ENCODER_NOT_INITIALIZED \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncUnregisterAsyncEvent (void* encoder, NV_ENC_EVENT_PARAMS* eventParams);
+
+
+// NvEncMapInputResource
+/**
+ * \brief Map an externally created input resource pointer for encoding.
+ *
+ * Maps an externally allocated input resource [using and returns a NV_ENC_INPUT_PTR
+ * which can be used for encoding in the ::NvEncEncodePicture() function. The
+ * mapped resource is returned in the field NV_ENC_MAP_INPUT_RESOURCE::outputResourcePtr.
+ * The NvEncodeAPI interface also returns the buffer format of the mapped resource
+ * in the field NV_ENC_MAP_INPUT_RESOURCE::outbufferFmt.
+ * This function provides synchronization guarantee that any graphics work submitted
+ * on the input buffer is completed before the buffer is used for encoding. This is
+ * also true for compute (i.e. CUDA) work, provided that the previous workload using
+ * the input resource was submitted to the default stream.
+ * The client should not access any input buffer while they are mapped by the encoder.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in,out] mapInputResParams
+ * Pointer to the ::_NV_ENC_MAP_INPUT_RESOURCE structure.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_VERSION \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_ENCODER_NOT_INITIALIZED \n
+ * ::NV_ENC_ERR_RESOURCE_NOT_REGISTERED \n
+ * ::NV_ENC_ERR_MAP_FAILED \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncMapInputResource (void* encoder, NV_ENC_MAP_INPUT_RESOURCE* mapInputResParams);
+
+
+// NvEncUnmapInputResource
+/**
+ * \brief UnMaps a NV_ENC_INPUT_PTR which was mapped for encoding
+ *
+ *
+ * UnMaps an input buffer which was previously mapped using ::NvEncMapInputResource()
+ * API. The mapping created using ::NvEncMapInputResource() should be invalidated
+ * using this API before the external resource is destroyed by the client. The client
+ * must unmap the buffer after ::NvEncLockBitstream() API returns succuessfully for encode
+ * work submitted using the mapped input buffer.
+ *
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in] mappedInputBuffer
+ * Pointer to the NV_ENC_INPUT_PTR
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_VERSION \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_ENCODER_NOT_INITIALIZED \n
+ * ::NV_ENC_ERR_RESOURCE_NOT_REGISTERED \n
+ * ::NV_ENC_ERR_RESOURCE_NOT_MAPPED \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncUnmapInputResource (void* encoder, NV_ENC_INPUT_PTR mappedInputBuffer);
+
+// NvEncDestroyEncoder
+/**
+ * \brief Destroy Encoding Session
+ *
+ * Destroys the encoder session previously created using ::NvEncOpenEncodeSession()
+ * function. The client must flush the encoder before freeing any resources. In order
+ * to flush the encoder the client must pass a NULL encode picture packet and either
+ * wait for the ::NvEncEncodePicture() function to return in synchronous mode or wait
+ * for the flush event to be signaled by the encoder in asynchronous mode.
+ * The client must free all the input and output resources created using the
+ * NvEncodeAPI interface before destroying the encoder. If the client is operating
+ * in asynchronous mode, it must also unregister the completion events previously
+ * registered.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncDestroyEncoder (void* encoder);
+
+// NvEncInvalidateRefFrames
+/**
+ * \brief Invalidate reference frames
+ *
+ * Invalidates reference frame based on the time stamp provided by the client.
+ * The encoder marks any reference frames or any frames which have been reconstructed
+ * using the corrupt frame as invalid for motion estimation and uses older reference
+ * frames for motion estimation. The encoded forces the current frame to be encoded
+ * as an intra frame if no reference frames are left after invalidation process.
+ * This is useful for low latency application for error resiliency. The client
+ * is recommended to set NV_ENC_CONFIG_H264::maxNumRefFrames to a large value so
+ * that encoder can keep a backup of older reference frames in the DPB and can use them
+ * for motion estimation when the newer reference frames have been invalidated.
+ * This API can be called multiple times.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in] invalidRefFrameTimeStamp
+ * Timestamp of the invalid reference frames which needs to be invalidated.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncInvalidateRefFrames(void* encoder, uint64_t invalidRefFrameTimeStamp);
+
+// NvEncOpenEncodeSessionEx
+/**
+ * \brief Opens an encoding session.
+ *
+ * Opens an encoding session and returns a pointer to the encoder interface in
+ * the \p **encoder parameter. The client should start encoding process by calling
+ * this API first.
+ * The client must pass a pointer to IDirect3DDevice9 device or CUDA context in the \p *device parameter.
+ * For the OpenGL interface, \p device must be NULL. An OpenGL context must be current when
+ * calling all NvEncodeAPI functions.
+ * If the creation of encoder session fails, the client must call ::NvEncDestroyEncoder API
+ * before exiting.
+ *
+ * \param [in] openSessionExParams
+ * Pointer to a ::NV_ENC_OPEN_ENCODE_SESSION_EX_PARAMS structure.
+ * \param [out] encoder
+ * Encode Session pointer to the NvEncodeAPI interface.
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_NO_ENCODE_DEVICE \n
+ * ::NV_ENC_ERR_UNSUPPORTED_DEVICE \n
+ * ::NV_ENC_ERR_INVALID_DEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncOpenEncodeSessionEx (NV_ENC_OPEN_ENCODE_SESSION_EX_PARAMS *openSessionExParams, void** encoder);
+
+// NvEncRegisterResource
+/**
+ * \brief Registers a resource with the Nvidia Video Encoder Interface.
+ *
+ * Registers a resource with the Nvidia Video Encoder Interface for book keeping.
+ * The client is expected to pass the registered resource handle as well, while calling ::NvEncMapInputResource API.
+ *
+ * \param [in] encoder
+ * Pointer to the NVEncodeAPI interface.
+ *
+ * \param [in] registerResParams
+ * Pointer to a ::_NV_ENC_REGISTER_RESOURCE structure
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_VERSION \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_ENCODER_NOT_INITIALIZED \n
+ * ::NV_ENC_ERR_RESOURCE_REGISTER_FAILED \n
+ * ::NV_ENC_ERR_GENERIC \n
+ * ::NV_ENC_ERR_UNIMPLEMENTED \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncRegisterResource (void* encoder, NV_ENC_REGISTER_RESOURCE* registerResParams);
+
+// NvEncUnregisterResource
+/**
+ * \brief Unregisters a resource previously registered with the Nvidia Video Encoder Interface.
+ *
+ * Unregisters a resource previously registered with the Nvidia Video Encoder Interface.
+ * The client is expected to unregister any resource that it has registered with the
+ * Nvidia Video Encoder Interface before destroying the resource.
+ *
+ * \param [in] encoder
+ * Pointer to the NVEncodeAPI interface.
+ *
+ * \param [in] registeredResource
+ * The registered resource pointer that was returned in ::NvEncRegisterResource.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_VERSION \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_ENCODER_NOT_INITIALIZED \n
+ * ::NV_ENC_ERR_RESOURCE_NOT_REGISTERED \n
+ * ::NV_ENC_ERR_GENERIC \n
+ * ::NV_ENC_ERR_UNIMPLEMENTED \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncUnregisterResource (void* encoder, NV_ENC_REGISTERED_PTR registeredResource);
+
+// NvEncReconfigureEncoder
+/**
+ * \brief Reconfigure an existing encoding session.
+ *
+ * Reconfigure an existing encoding session.
+ * The client should call this API to change/reconfigure the parameter passed during
+ * NvEncInitializeEncoder API call.
+ * Currently Reconfiguration of following are not supported.
+ * Change in GOP structure.
+ * Change in sync-Async mode.
+ * Change in MaxWidth & MaxHeight.
+ * Change in PTDmode.
+ *
+ * Resolution change is possible only if maxEncodeWidth & maxEncodeHeight of NV_ENC_INITIALIZE_PARAMS
+ * is set while creating encoder session.
+ *
+ * \param [in] encoder
+ * Pointer to the NVEncodeAPI interface.
+ *
+ * \param [in] reInitEncodeParams
+ * Pointer to a ::NV_ENC_RECONFIGURE_PARAMS structure.
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_NO_ENCODE_DEVICE \n
+ * ::NV_ENC_ERR_UNSUPPORTED_DEVICE \n
+ * ::NV_ENC_ERR_INVALID_DEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_GENERIC \n
+ *
+ */
+NVENCSTATUS NVENCAPI NvEncReconfigureEncoder (void *encoder, NV_ENC_RECONFIGURE_PARAMS* reInitEncodeParams);
+
+
+
+// NvEncCreateMVBuffer
+/**
+ * \brief Allocates output MV buffer for ME only mode.
+ *
+ * This function is used to allocate an output MV buffer. The size of the mvBuffer is
+ * dependent on the frame height and width of the last ::NvEncCreateInputBuffer() call.
+ * The NV_ENC_OUTPUT_PTR returned by the NvEncodeAPI interface in the
+ * ::NV_ENC_CREATE_MV_BUFFER::mvBuffer field should be used in
+ * ::NvEncRunMotionEstimationOnly() API.
+ * Client must lock ::NV_ENC_CREATE_MV_BUFFER::mvBuffer using ::NvEncLockBitstream() API to get the motion vector data.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in,out] createMVBufferParams
+ * Pointer to the ::NV_ENC_CREATE_MV_BUFFER structure.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_INVALID_VERSION \n
+ * ::NV_ENC_ERR_GENERIC \n
+ */
+NVENCSTATUS NVENCAPI NvEncCreateMVBuffer (void* encoder, NV_ENC_CREATE_MV_BUFFER* createMVBufferParams);
+
+
+// NvEncDestroyMVBuffer
+/**
+ * \brief Release an output MV buffer for ME only mode.
+ *
+ * This function is used to release the output MV buffer allocated using
+ * the ::NvEncCreateMVBuffer() function. The client must release the output
+ * mvBuffer using this function before destroying the encoder session.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in] mvBuffer
+ * Pointer to the mvBuffer being released.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_INVALID_VERSION \n
+ * ::NV_ENC_ERR_ENCODER_NOT_INITIALIZED \n
+ * ::NV_ENC_ERR_GENERIC \n
+ */
+NVENCSTATUS NVENCAPI NvEncDestroyMVBuffer (void* encoder, NV_ENC_OUTPUT_PTR mvBuffer);
+
+
+// NvEncRunMotionEstimationOnly
+/**
+ * \brief Submit an input picture and reference frame for motion estimation in ME only mode.
+ *
+ * This function is used to submit the input frame and reference frame for motion
+ * estimation. The ME parameters are passed using *meOnlyParams which is a pointer
+ * to ::_NV_ENC_MEONLY_PARAMS structure.
+ * Client must lock ::NV_ENC_CREATE_MV_BUFFER::mvBuffer using ::NvEncLockBitstream() API to get the motion vector data.
+ * to get motion vector data.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ * \param [in] meOnlyParams
+ * Pointer to the ::_NV_ENC_MEONLY_PARAMS structure.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ * ::NV_ENC_ERR_INVALID_ENCODERDEVICE \n
+ * ::NV_ENC_ERR_DEVICE_NOT_EXIST \n
+ * ::NV_ENC_ERR_UNSUPPORTED_PARAM \n
+ * ::NV_ENC_ERR_OUT_OF_MEMORY \n
+ * ::NV_ENC_ERR_INVALID_PARAM \n
+ * ::NV_ENC_ERR_INVALID_VERSION \n
+ * ::NV_ENC_ERR_NEED_MORE_INPUT \n
+ * ::NV_ENC_ERR_ENCODER_NOT_INITIALIZED \n
+ * ::NV_ENC_ERR_GENERIC \n
+ */
+NVENCSTATUS NVENCAPI NvEncRunMotionEstimationOnly (void* encoder, NV_ENC_MEONLY_PARAMS* meOnlyParams);
+
+// NvEncodeAPIGetMaxSupportedVersion
+/**
+ * \brief Get the largest NvEncodeAPI version supported by the driver.
+ *
+ * This function can be used by clients to determine if the driver supports
+ * the NvEncodeAPI header the application was compiled with.
+ *
+ * \param [out] version
+ * Pointer to the requested value. The 4 least significant bits in the returned
+ * indicate the minor version and the rest of the bits indicate the major
+ * version of the largest supported version.
+ *
+ * \return
+ * ::NV_ENC_SUCCESS \n
+ * ::NV_ENC_ERR_INVALID_PTR \n
+ */
+NVENCSTATUS NVENCAPI NvEncodeAPIGetMaxSupportedVersion (uint32_t* version);
+
+
+// NvEncodeAPIGetLastErrorString
+/**
+ * \brief Get the description of the last error reported by the API.
+ *
+ * This function returns a null-terminated string that can be used by clients to better understand the reason
+ * for failure of a previous API call.
+ *
+ * \param [in] encoder
+ * Pointer to the NvEncodeAPI interface.
+ *
+ * \return
+ * Pointer to buffer containing the details of the last error encountered by the API.
+ */
+const char * NVENCAPI NvEncGetLastErrorString (void* encoder);
+
+
+/// \cond API PFN
+/*
+ * Defines API function pointers
+ */
+typedef NVENCSTATUS (NVENCAPI* PNVENCOPENENCODESESSION) (void* device, uint32_t deviceType, void** encoder);
+typedef NVENCSTATUS (NVENCAPI* PNVENCGETENCODEGUIDCOUNT) (void* encoder, uint32_t* encodeGUIDCount);
+typedef NVENCSTATUS (NVENCAPI* PNVENCGETENCODEGUIDS) (void* encoder, GUID* GUIDs, uint32_t guidArraySize, uint32_t* GUIDCount);
+typedef NVENCSTATUS (NVENCAPI* PNVENCGETENCODEPROFILEGUIDCOUNT) (void* encoder, GUID encodeGUID, uint32_t* encodeProfileGUIDCount);
+typedef NVENCSTATUS (NVENCAPI* PNVENCGETENCODEPROFILEGUIDS) (void* encoder, GUID encodeGUID, GUID* profileGUIDs, uint32_t guidArraySize, uint32_t* GUIDCount);
+typedef NVENCSTATUS (NVENCAPI* PNVENCGETINPUTFORMATCOUNT) (void* encoder, GUID encodeGUID, uint32_t* inputFmtCount);
+typedef NVENCSTATUS (NVENCAPI* PNVENCGETINPUTFORMATS) (void* encoder, GUID encodeGUID, NV_ENC_BUFFER_FORMAT* inputFmts, uint32_t inputFmtArraySize, uint32_t* inputFmtCount);
+typedef NVENCSTATUS (NVENCAPI* PNVENCGETENCODECAPS) (void* encoder, GUID encodeGUID, NV_ENC_CAPS_PARAM* capsParam, int* capsVal);
+typedef NVENCSTATUS (NVENCAPI* PNVENCGETENCODEPRESETCOUNT) (void* encoder, GUID encodeGUID, uint32_t* encodePresetGUIDCount);
+typedef NVENCSTATUS (NVENCAPI* PNVENCGETENCODEPRESETGUIDS) (void* encoder, GUID encodeGUID, GUID* presetGUIDs, uint32_t guidArraySize, uint32_t* encodePresetGUIDCount);
+typedef NVENCSTATUS (NVENCAPI* PNVENCGETENCODEPRESETCONFIG) (void* encoder, GUID encodeGUID, GUID presetGUID, NV_ENC_PRESET_CONFIG* presetConfig);
+typedef NVENCSTATUS (NVENCAPI* PNVENCINITIALIZEENCODER) (void* encoder, NV_ENC_INITIALIZE_PARAMS* createEncodeParams);
+typedef NVENCSTATUS (NVENCAPI* PNVENCCREATEINPUTBUFFER) (void* encoder, NV_ENC_CREATE_INPUT_BUFFER* createInputBufferParams);
+typedef NVENCSTATUS (NVENCAPI* PNVENCDESTROYINPUTBUFFER) (void* encoder, NV_ENC_INPUT_PTR inputBuffer);
+typedef NVENCSTATUS (NVENCAPI* PNVENCCREATEBITSTREAMBUFFER) (void* encoder, NV_ENC_CREATE_BITSTREAM_BUFFER* createBitstreamBufferParams);
+typedef NVENCSTATUS (NVENCAPI* PNVENCDESTROYBITSTREAMBUFFER) (void* encoder, NV_ENC_OUTPUT_PTR bitstreamBuffer);
+typedef NVENCSTATUS (NVENCAPI* PNVENCENCODEPICTURE) (void* encoder, NV_ENC_PIC_PARAMS* encodePicParams);
+typedef NVENCSTATUS (NVENCAPI* PNVENCLOCKBITSTREAM) (void* encoder, NV_ENC_LOCK_BITSTREAM* lockBitstreamBufferParams);
+typedef NVENCSTATUS (NVENCAPI* PNVENCUNLOCKBITSTREAM) (void* encoder, NV_ENC_OUTPUT_PTR bitstreamBuffer);
+typedef NVENCSTATUS (NVENCAPI* PNVENCLOCKINPUTBUFFER) (void* encoder, NV_ENC_LOCK_INPUT_BUFFER* lockInputBufferParams);
+typedef NVENCSTATUS (NVENCAPI* PNVENCUNLOCKINPUTBUFFER) (void* encoder, NV_ENC_INPUT_PTR inputBuffer);
+typedef NVENCSTATUS (NVENCAPI* PNVENCGETENCODESTATS) (void* encoder, NV_ENC_STAT* encodeStats);
+typedef NVENCSTATUS (NVENCAPI* PNVENCGETSEQUENCEPARAMS) (void* encoder, NV_ENC_SEQUENCE_PARAM_PAYLOAD* sequenceParamPayload);
+typedef NVENCSTATUS (NVENCAPI* PNVENCREGISTERASYNCEVENT) (void* encoder, NV_ENC_EVENT_PARAMS* eventParams);
+typedef NVENCSTATUS (NVENCAPI* PNVENCUNREGISTERASYNCEVENT) (void* encoder, NV_ENC_EVENT_PARAMS* eventParams);
+typedef NVENCSTATUS (NVENCAPI* PNVENCMAPINPUTRESOURCE) (void* encoder, NV_ENC_MAP_INPUT_RESOURCE* mapInputResParams);
+typedef NVENCSTATUS (NVENCAPI* PNVENCUNMAPINPUTRESOURCE) (void* encoder, NV_ENC_INPUT_PTR mappedInputBuffer);
+typedef NVENCSTATUS (NVENCAPI* PNVENCDESTROYENCODER) (void* encoder);
+typedef NVENCSTATUS (NVENCAPI* PNVENCINVALIDATEREFFRAMES) (void* encoder, uint64_t invalidRefFrameTimeStamp);
+typedef NVENCSTATUS (NVENCAPI* PNVENCOPENENCODESESSIONEX) (NV_ENC_OPEN_ENCODE_SESSION_EX_PARAMS *openSessionExParams, void** encoder);
+typedef NVENCSTATUS (NVENCAPI* PNVENCREGISTERRESOURCE) (void* encoder, NV_ENC_REGISTER_RESOURCE* registerResParams);
+typedef NVENCSTATUS (NVENCAPI* PNVENCUNREGISTERRESOURCE) (void* encoder, NV_ENC_REGISTERED_PTR registeredRes);
+typedef NVENCSTATUS (NVENCAPI* PNVENCRECONFIGUREENCODER) (void* encoder, NV_ENC_RECONFIGURE_PARAMS* reInitEncodeParams);
+
+typedef NVENCSTATUS (NVENCAPI* PNVENCCREATEMVBUFFER) (void* encoder, NV_ENC_CREATE_MV_BUFFER* createMVBufferParams);
+typedef NVENCSTATUS (NVENCAPI* PNVENCDESTROYMVBUFFER) (void* encoder, NV_ENC_OUTPUT_PTR mvBuffer);
+typedef NVENCSTATUS (NVENCAPI* PNVENCRUNMOTIONESTIMATIONONLY) (void* encoder, NV_ENC_MEONLY_PARAMS* meOnlyParams);
+typedef const char * (NVENCAPI* PNVENCGETLASTERROR) (void* encoder);
+typedef NVENCSTATUS (NVENCAPI* PNVENCSETIOCUDASTREAMS) (void* encoder, NV_ENC_CUSTREAM_PTR inputStream, NV_ENC_CUSTREAM_PTR outputStream);
+
+
+/// \endcond
+
+
+/** @} */ /* END ENCODE_FUNC */
+
+/**
+ * \ingroup ENCODER_STRUCTURE
+ * NV_ENCODE_API_FUNCTION_LIST
+ */
+typedef struct _NV_ENCODE_API_FUNCTION_LIST
+{
+ uint32_t version; /**< [in]: Client should pass NV_ENCODE_API_FUNCTION_LIST_VER. */
+ uint32_t reserved; /**< [in]: Reserved and should be set to 0. */
+ PNVENCOPENENCODESESSION nvEncOpenEncodeSession; /**< [out]: Client should access ::NvEncOpenEncodeSession() API through this pointer. */
+ PNVENCGETENCODEGUIDCOUNT nvEncGetEncodeGUIDCount; /**< [out]: Client should access ::NvEncGetEncodeGUIDCount() API through this pointer. */
+ PNVENCGETENCODEPRESETCOUNT nvEncGetEncodeProfileGUIDCount; /**< [out]: Client should access ::NvEncGetEncodeProfileGUIDCount() API through this pointer.*/
+ PNVENCGETENCODEPRESETGUIDS nvEncGetEncodeProfileGUIDs; /**< [out]: Client should access ::NvEncGetEncodeProfileGUIDs() API through this pointer. */
+ PNVENCGETENCODEGUIDS nvEncGetEncodeGUIDs; /**< [out]: Client should access ::NvEncGetEncodeGUIDs() API through this pointer. */
+ PNVENCGETINPUTFORMATCOUNT nvEncGetInputFormatCount; /**< [out]: Client should access ::NvEncGetInputFormatCount() API through this pointer. */
+ PNVENCGETINPUTFORMATS nvEncGetInputFormats; /**< [out]: Client should access ::NvEncGetInputFormats() API through this pointer. */
+ PNVENCGETENCODECAPS nvEncGetEncodeCaps; /**< [out]: Client should access ::NvEncGetEncodeCaps() API through this pointer. */
+ PNVENCGETENCODEPRESETCOUNT nvEncGetEncodePresetCount; /**< [out]: Client should access ::NvEncGetEncodePresetCount() API through this pointer. */
+ PNVENCGETENCODEPRESETGUIDS nvEncGetEncodePresetGUIDs; /**< [out]: Client should access ::NvEncGetEncodePresetGUIDs() API through this pointer. */
+ PNVENCGETENCODEPRESETCONFIG nvEncGetEncodePresetConfig; /**< [out]: Client should access ::NvEncGetEncodePresetConfig() API through this pointer. */
+ PNVENCINITIALIZEENCODER nvEncInitializeEncoder; /**< [out]: Client should access ::NvEncInitializeEncoder() API through this pointer. */
+ PNVENCCREATEINPUTBUFFER nvEncCreateInputBuffer; /**< [out]: Client should access ::NvEncCreateInputBuffer() API through this pointer. */
+ PNVENCDESTROYINPUTBUFFER nvEncDestroyInputBuffer; /**< [out]: Client should access ::NvEncDestroyInputBuffer() API through this pointer. */
+ PNVENCCREATEBITSTREAMBUFFER nvEncCreateBitstreamBuffer; /**< [out]: Client should access ::NvEncCreateBitstreamBuffer() API through this pointer. */
+ PNVENCDESTROYBITSTREAMBUFFER nvEncDestroyBitstreamBuffer; /**< [out]: Client should access ::NvEncDestroyBitstreamBuffer() API through this pointer. */
+ PNVENCENCODEPICTURE nvEncEncodePicture; /**< [out]: Client should access ::NvEncEncodePicture() API through this pointer. */
+ PNVENCLOCKBITSTREAM nvEncLockBitstream; /**< [out]: Client should access ::NvEncLockBitstream() API through this pointer. */
+ PNVENCUNLOCKBITSTREAM nvEncUnlockBitstream; /**< [out]: Client should access ::NvEncUnlockBitstream() API through this pointer. */
+ PNVENCLOCKINPUTBUFFER nvEncLockInputBuffer; /**< [out]: Client should access ::NvEncLockInputBuffer() API through this pointer. */
+ PNVENCUNLOCKINPUTBUFFER nvEncUnlockInputBuffer; /**< [out]: Client should access ::NvEncUnlockInputBuffer() API through this pointer. */
+ PNVENCGETENCODESTATS nvEncGetEncodeStats; /**< [out]: Client should access ::NvEncGetEncodeStats() API through this pointer. */
+ PNVENCGETSEQUENCEPARAMS nvEncGetSequenceParams; /**< [out]: Client should access ::NvEncGetSequenceParams() API through this pointer. */
+ PNVENCREGISTERASYNCEVENT nvEncRegisterAsyncEvent; /**< [out]: Client should access ::NvEncRegisterAsyncEvent() API through this pointer. */
+ PNVENCUNREGISTERASYNCEVENT nvEncUnregisterAsyncEvent; /**< [out]: Client should access ::NvEncUnregisterAsyncEvent() API through this pointer. */
+ PNVENCMAPINPUTRESOURCE nvEncMapInputResource; /**< [out]: Client should access ::NvEncMapInputResource() API through this pointer. */
+ PNVENCUNMAPINPUTRESOURCE nvEncUnmapInputResource; /**< [out]: Client should access ::NvEncUnmapInputResource() API through this pointer. */
+ PNVENCDESTROYENCODER nvEncDestroyEncoder; /**< [out]: Client should access ::NvEncDestroyEncoder() API through this pointer. */
+ PNVENCINVALIDATEREFFRAMES nvEncInvalidateRefFrames; /**< [out]: Client should access ::NvEncInvalidateRefFrames() API through this pointer. */
+ PNVENCOPENENCODESESSIONEX nvEncOpenEncodeSessionEx; /**< [out]: Client should access ::NvEncOpenEncodeSession() API through this pointer. */
+ PNVENCREGISTERRESOURCE nvEncRegisterResource; /**< [out]: Client should access ::NvEncRegisterResource() API through this pointer. */
+ PNVENCUNREGISTERRESOURCE nvEncUnregisterResource; /**< [out]: Client should access ::NvEncUnregisterResource() API through this pointer. */
+ PNVENCRECONFIGUREENCODER nvEncReconfigureEncoder; /**< [out]: Client should access ::NvEncReconfigureEncoder() API through this pointer. */
+ void* reserved1;
+ PNVENCCREATEMVBUFFER nvEncCreateMVBuffer; /**< [out]: Client should access ::NvEncCreateMVBuffer API through this pointer. */
+ PNVENCDESTROYMVBUFFER nvEncDestroyMVBuffer; /**< [out]: Client should access ::NvEncDestroyMVBuffer API through this pointer. */
+ PNVENCRUNMOTIONESTIMATIONONLY nvEncRunMotionEstimationOnly; /**< [out]: Client should access ::NvEncRunMotionEstimationOnly API through this pointer. */
+ PNVENCGETLASTERROR nvEncGetLastErrorString; /**< [out]: Client should access ::nvEncGetLastErrorString API through this pointer. */
+ PNVENCSETIOCUDASTREAMS nvEncSetIOCudaStreams; /**< [out]: Client should access ::nvEncSetIOCudaStreams API through this pointer. */
+ void* reserved2[279]; /**< [in]: Reserved and must be set to NULL */
+} NV_ENCODE_API_FUNCTION_LIST;
+
+/** Macro for constructing the version field of ::_NV_ENCODEAPI_FUNCTION_LIST. */
+#define NV_ENCODE_API_FUNCTION_LIST_VER NVENCAPI_STRUCT_VERSION(2)
+
+// NvEncodeAPICreateInstance
+/**
+ * \ingroup ENCODE_FUNC
+ * Entry Point to the NvEncodeAPI interface.
+ *
+ * Creates an instance of the NvEncodeAPI interface, and populates the
+ * pFunctionList with function pointers to the API routines implemented by the
+ * NvEncodeAPI interface.
+ *
+ * \param [out] functionList
+ *
+ * \return
+ * ::NV_ENC_SUCCESS
+ * ::NV_ENC_ERR_INVALID_PTR
+ */
+NVENCSTATUS NVENCAPI NvEncodeAPICreateInstance(NV_ENCODE_API_FUNCTION_LIST *functionList);
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif
+
diff --git a/components/codecs/src/Video_Codec_SDK_9.1.23/include/nvcuvid.h b/components/codecs/src/Video_Codec_SDK_9.1.23/include/nvcuvid.h
new file mode 100644
index 0000000000000000000000000000000000000000..3c393a6124843f08f671ccaae7cae5e99e54ad44
--- /dev/null
+++ b/components/codecs/src/Video_Codec_SDK_9.1.23/include/nvcuvid.h
@@ -0,0 +1,392 @@
+/*
+ * This copyright notice applies to this header file only:
+ *
+ * Copyright (c) 2010-2019 NVIDIA Corporation
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the software, and to permit persons to whom the
+ * software is furnished to do so, subject to the following
+ * conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+/********************************************************************************************************************/
+//! \file nvcuvid.h
+//! NVDECODE API provides video decoding interface to NVIDIA GPU devices.
+//! \date 2015-2019
+//! This file contains the interface constants, structure definitions and function prototypes.
+/********************************************************************************************************************/
+
+#if !defined(__NVCUVID_H__)
+#define __NVCUVID_H__
+
+#include "cuviddec.h"
+
+#if defined(__cplusplus)
+extern "C" {
+#endif /* __cplusplus */
+
+
+/***********************************************/
+//!
+//! High-level helper APIs for video sources
+//!
+/***********************************************/
+
+typedef void *CUvideosource;
+typedef void *CUvideoparser;
+typedef long long CUvideotimestamp;
+
+
+/************************************************************************/
+//! \enum cudaVideoState
+//! Video source state enums
+//! Used in cuvidSetVideoSourceState and cuvidGetVideoSourceState APIs
+/************************************************************************/
+typedef enum {
+ cudaVideoState_Error = -1, /**< Error state (invalid source) */
+ cudaVideoState_Stopped = 0, /**< Source is stopped (or reached end-of-stream) */
+ cudaVideoState_Started = 1 /**< Source is running and delivering data */
+} cudaVideoState;
+
+/************************************************************************/
+//! \enum cudaAudioCodec
+//! Audio compression enums
+//! Used in CUAUDIOFORMAT structure
+/************************************************************************/
+typedef enum {
+ cudaAudioCodec_MPEG1=0, /**< MPEG-1 Audio */
+ cudaAudioCodec_MPEG2, /**< MPEG-2 Audio */
+ cudaAudioCodec_MP3, /**< MPEG-1 Layer III Audio */
+ cudaAudioCodec_AC3, /**< Dolby Digital (AC3) Audio */
+ cudaAudioCodec_LPCM, /**< PCM Audio */
+ cudaAudioCodec_AAC, /**< AAC Audio */
+} cudaAudioCodec;
+
+/************************************************************************************************/
+//! \ingroup STRUCTS
+//! \struct CUVIDEOFORMAT
+//! Video format
+//! Used in cuvidGetSourceVideoFormat API
+/************************************************************************************************/
+typedef struct
+{
+ cudaVideoCodec codec; /**< OUT: Compression format */
+ /**
+ * OUT: frame rate = numerator / denominator (for example: 30000/1001)
+ */
+ struct {
+ /**< OUT: frame rate numerator (0 = unspecified or variable frame rate) */
+ unsigned int numerator;
+ /**< OUT: frame rate denominator (0 = unspecified or variable frame rate) */
+ unsigned int denominator;
+ } frame_rate;
+ unsigned char progressive_sequence; /**< OUT: 0=interlaced, 1=progressive */
+ unsigned char bit_depth_luma_minus8; /**< OUT: high bit depth luma. E.g, 2 for 10-bitdepth, 4 for 12-bitdepth */
+ unsigned char bit_depth_chroma_minus8; /**< OUT: high bit depth chroma. E.g, 2 for 10-bitdepth, 4 for 12-bitdepth */
+ unsigned char min_num_decode_surfaces; /**< OUT: Minimum number of decode surfaces to be allocated for correct
+ decoding. The client can send this value in ulNumDecodeSurfaces
+ (in CUVIDDECODECREATEINFO structure).
+ This guarantees correct functionality and optimal video memory
+ usage but not necessarily the best performance, which depends on
+ the design of the overall application. The optimal number of
+ decode surfaces (in terms of performance and memory utilization)
+ should be decided by experimentation for each application, but it
+ cannot go below min_num_decode_surfaces.
+ If this value is used for ulNumDecodeSurfaces then it must be
+ returned to parser during sequence callback. */
+ unsigned int coded_width; /**< OUT: coded frame width in pixels */
+ unsigned int coded_height; /**< OUT: coded frame height in pixels */
+ /**
+ * area of the frame that should be displayed
+ * typical example:
+ * coded_width = 1920, coded_height = 1088
+ * display_area = { 0,0,1920,1080 }
+ */
+ struct {
+ int left; /**< OUT: left position of display rect */
+ int top; /**< OUT: top position of display rect */
+ int right; /**< OUT: right position of display rect */
+ int bottom; /**< OUT: bottom position of display rect */
+ } display_area;
+ cudaVideoChromaFormat chroma_format; /**< OUT: Chroma format */
+ unsigned int bitrate; /**< OUT: video bitrate (bps, 0=unknown) */
+ /**
+ * OUT: Display Aspect Ratio = x:y (4:3, 16:9, etc)
+ */
+ struct {
+ int x;
+ int y;
+ } display_aspect_ratio;
+ /**
+ * Video Signal Description
+ * Refer section E.2.1 (VUI parameters semantics) of H264 spec file
+ */
+ struct {
+ unsigned char video_format : 3; /**< OUT: 0-Component, 1-PAL, 2-NTSC, 3-SECAM, 4-MAC, 5-Unspecified */
+ unsigned char video_full_range_flag : 1; /**< OUT: indicates the black level and luma and chroma range */
+ unsigned char reserved_zero_bits : 4; /**< Reserved bits */
+ unsigned char color_primaries; /**< OUT: chromaticity coordinates of source primaries */
+ unsigned char transfer_characteristics; /**< OUT: opto-electronic transfer characteristic of the source picture */
+ unsigned char matrix_coefficients; /**< OUT: used in deriving luma and chroma signals from RGB primaries */
+ } video_signal_description;
+ unsigned int seqhdr_data_length; /**< OUT: Additional bytes following (CUVIDEOFORMATEX) */
+} CUVIDEOFORMAT;
+
+/****************************************************************/
+//! \ingroup STRUCTS
+//! \struct CUVIDEOFORMATEX
+//! Video format including raw sequence header information
+//! Used in cuvidGetSourceVideoFormat API
+/****************************************************************/
+typedef struct
+{
+ CUVIDEOFORMAT format; /**< OUT: CUVIDEOFORMAT structure */
+ unsigned char raw_seqhdr_data[1024]; /**< OUT: Sequence header data */
+} CUVIDEOFORMATEX;
+
+/****************************************************************/
+//! \ingroup STRUCTS
+//! \struct CUAUDIOFORMAT
+//! Audio formats
+//! Used in cuvidGetSourceAudioFormat API
+/****************************************************************/
+typedef struct
+{
+ cudaAudioCodec codec; /**< OUT: Compression format */
+ unsigned int channels; /**< OUT: number of audio channels */
+ unsigned int samplespersec; /**< OUT: sampling frequency */
+ unsigned int bitrate; /**< OUT: For uncompressed, can also be used to determine bits per sample */
+ unsigned int reserved1; /**< Reserved for future use */
+ unsigned int reserved2; /**< Reserved for future use */
+} CUAUDIOFORMAT;
+
+
+/***************************************************************/
+//! \enum CUvideopacketflags
+//! Data packet flags
+//! Used in CUVIDSOURCEDATAPACKET structure
+/***************************************************************/
+typedef enum {
+ CUVID_PKT_ENDOFSTREAM = 0x01, /**< Set when this is the last packet for this stream */
+ CUVID_PKT_TIMESTAMP = 0x02, /**< Timestamp is valid */
+ CUVID_PKT_DISCONTINUITY = 0x04, /**< Set when a discontinuity has to be signalled */
+ CUVID_PKT_ENDOFPICTURE = 0x08, /**< Set when the packet contains exactly one frame or one field */
+ CUVID_PKT_NOTIFY_EOS = 0x10, /**< If this flag is set along with CUVID_PKT_ENDOFSTREAM, an additional (dummy)
+ display callback will be invoked with null value of CUVIDPARSERDISPINFO which
+ should be interpreted as end of the stream. */
+} CUvideopacketflags;
+
+/*****************************************************************************/
+//! \ingroup STRUCTS
+//! \struct CUVIDSOURCEDATAPACKET
+//! Data Packet
+//! Used in cuvidParseVideoData API
+//! IN for cuvidParseVideoData
+/*****************************************************************************/
+typedef struct _CUVIDSOURCEDATAPACKET
+{
+ unsigned long flags; /**< IN: Combination of CUVID_PKT_XXX flags */
+ unsigned long payload_size; /**< IN: number of bytes in the payload (may be zero if EOS flag is set) */
+ const unsigned char *payload; /**< IN: Pointer to packet payload data (may be NULL if EOS flag is set) */
+ CUvideotimestamp timestamp; /**< IN: Presentation time stamp (10MHz clock), only valid if
+ CUVID_PKT_TIMESTAMP flag is set */
+} CUVIDSOURCEDATAPACKET;
+
+// Callback for packet delivery
+typedef int (CUDAAPI *PFNVIDSOURCECALLBACK)(void *, CUVIDSOURCEDATAPACKET *);
+
+/**************************************************************************************************************************/
+//! \ingroup STRUCTS
+//! \struct CUVIDSOURCEPARAMS
+//! Describes parameters needed in cuvidCreateVideoSource API
+//! NVDECODE API is intended for HW accelerated video decoding so CUvideosource doesn't have audio demuxer for all supported
+//! containers. It's recommended to clients to use their own or third party demuxer if audio support is needed.
+/**************************************************************************************************************************/
+typedef struct _CUVIDSOURCEPARAMS
+{
+ unsigned int ulClockRate; /**< IN: Time stamp units in Hz (0=default=10000000Hz) */
+ unsigned int uReserved1[7]; /**< Reserved for future use - set to zero */
+ void *pUserData; /**< IN: User private data passed in to the data handlers */
+ PFNVIDSOURCECALLBACK pfnVideoDataHandler; /**< IN: Called to deliver video packets */
+ PFNVIDSOURCECALLBACK pfnAudioDataHandler; /**< IN: Called to deliver audio packets. */
+ void *pvReserved2[8]; /**< Reserved for future use - set to NULL */
+} CUVIDSOURCEPARAMS;
+
+
+/**********************************************/
+//! \ingroup ENUMS
+//! \enum CUvideosourceformat_flags
+//! CUvideosourceformat_flags
+//! Used in cuvidGetSourceVideoFormat API
+/**********************************************/
+typedef enum {
+ CUVID_FMT_EXTFORMATINFO = 0x100 /**< Return extended format structure (CUVIDEOFORMATEX) */
+} CUvideosourceformat_flags;
+
+#if !defined(__APPLE__)
+/***************************************************************************************************************************/
+//! \ingroup FUNCTS
+//! \fn CUresult CUDAAPI cuvidCreateVideoSource(CUvideosource *pObj, const char *pszFileName, CUVIDSOURCEPARAMS *pParams)
+//! Create CUvideosource object. CUvideosource spawns demultiplexer thread that provides two callbacks:
+//! pfnVideoDataHandler() and pfnAudioDataHandler()
+//! NVDECODE API is intended for HW accelerated video decoding so CUvideosource doesn't have audio demuxer for all supported
+//! containers. It's recommended to clients to use their own or third party demuxer if audio support is needed.
+/***************************************************************************************************************************/
+CUresult CUDAAPI cuvidCreateVideoSource(CUvideosource *pObj, const char *pszFileName, CUVIDSOURCEPARAMS *pParams);
+
+/***************************************************************************************************************************/
+//! \ingroup FUNCTS
+//! \fn CUresult CUDAAPI cuvidCreateVideoSourceW(CUvideosource *pObj, const wchar_t *pwszFileName, CUVIDSOURCEPARAMS *pParams)
+//! Create video source
+/***************************************************************************************************************************/
+CUresult CUDAAPI cuvidCreateVideoSourceW(CUvideosource *pObj, const wchar_t *pwszFileName, CUVIDSOURCEPARAMS *pParams);
+
+/********************************************************************/
+//! \ingroup FUNCTS
+//! \fn CUresult CUDAAPI cuvidDestroyVideoSource(CUvideosource obj)
+//! Destroy video source
+/********************************************************************/
+CUresult CUDAAPI cuvidDestroyVideoSource(CUvideosource obj);
+
+/******************************************************************************************/
+//! \ingroup FUNCTS
+//! \fn CUresult CUDAAPI cuvidSetVideoSourceState(CUvideosource obj, cudaVideoState state)
+//! Set video source state to:
+//! cudaVideoState_Started - to signal the source to run and deliver data
+//! cudaVideoState_Stopped - to stop the source from delivering the data
+//! cudaVideoState_Error - invalid source
+/******************************************************************************************/
+CUresult CUDAAPI cuvidSetVideoSourceState(CUvideosource obj, cudaVideoState state);
+
+/******************************************************************************************/
+//! \ingroup FUNCTS
+//! \fn cudaVideoState CUDAAPI cuvidGetVideoSourceState(CUvideosource obj)
+//! Get video source state
+//! Returns:
+//! cudaVideoState_Started - if Source is running and delivering data
+//! cudaVideoState_Stopped - if Source is stopped or reached end-of-stream
+//! cudaVideoState_Error - if Source is in error state
+/******************************************************************************************/
+cudaVideoState CUDAAPI cuvidGetVideoSourceState(CUvideosource obj);
+
+/******************************************************************************************************************/
+//! \ingroup FUNCTS
+//! \fn CUresult CUDAAPI cuvidGetSourceVideoFormat(CUvideosource obj, CUVIDEOFORMAT *pvidfmt, unsigned int flags)
+//! Gets video source format in pvidfmt, flags is set to combination of CUvideosourceformat_flags as per requirement
+/******************************************************************************************************************/
+CUresult CUDAAPI cuvidGetSourceVideoFormat(CUvideosource obj, CUVIDEOFORMAT *pvidfmt, unsigned int flags);
+
+/**************************************************************************************************************************/
+//! \ingroup FUNCTS
+//! \fn CUresult CUDAAPI cuvidGetSourceAudioFormat(CUvideosource obj, CUAUDIOFORMAT *paudfmt, unsigned int flags)
+//! Get audio source format
+//! NVDECODE API is intended for HW accelerated video decoding so CUvideosource doesn't have audio demuxer for all supported
+//! containers. It's recommended to clients to use their own or third party demuxer if audio support is needed.
+/**************************************************************************************************************************/
+CUresult CUDAAPI cuvidGetSourceAudioFormat(CUvideosource obj, CUAUDIOFORMAT *paudfmt, unsigned int flags);
+
+#endif
+/**********************************************************************************/
+//! \ingroup STRUCTS
+//! \struct CUVIDPARSERDISPINFO
+//! Used in cuvidParseVideoData API with PFNVIDDISPLAYCALLBACK pfnDisplayPicture
+/**********************************************************************************/
+typedef struct _CUVIDPARSERDISPINFO
+{
+ int picture_index; /**< OUT: Index of the current picture */
+ int progressive_frame; /**< OUT: 1 if progressive frame; 0 otherwise */
+ int top_field_first; /**< OUT: 1 if top field is displayed first; 0 otherwise */
+ int repeat_first_field; /**< OUT: Number of additional fields (1=ivtc, 2=frame doubling, 4=frame tripling,
+ -1=unpaired field) */
+ CUvideotimestamp timestamp; /**< OUT: Presentation time stamp */
+} CUVIDPARSERDISPINFO;
+
+/***********************************************************************************************************************/
+//! Parser callbacks
+//! The parser will call these synchronously from within cuvidParseVideoData(), whenever there is sequence change or a picture
+//! is ready to be decoded and/or displayed. First argument in functions is "void *pUserData" member of structure CUVIDSOURCEPARAMS
+//! Return values from these callbacks are interpreted as below. If the callbacks return failure, it will be propagated by
+//! cuvidParseVideoData() to the application.
+//! PFNVIDSEQUENCECALLBACK : 0: fail, 1: succeeded, > 1: override dpb size of parser (set by CUVIDPARSERPARAMS::ulMaxNumDecodeSurfaces
+//! while creating parser)
+//! PFNVIDDECODECALLBACK : 0: fail, >=1: succeeded
+//! PFNVIDDISPLAYCALLBACK : 0: fail, >=1: succeeded
+/***********************************************************************************************************************/
+typedef int (CUDAAPI *PFNVIDSEQUENCECALLBACK)(void *, CUVIDEOFORMAT *);
+typedef int (CUDAAPI *PFNVIDDECODECALLBACK)(void *, CUVIDPICPARAMS *);
+typedef int (CUDAAPI *PFNVIDDISPLAYCALLBACK)(void *, CUVIDPARSERDISPINFO *);
+
+/**************************************/
+//! \ingroup STRUCTS
+//! \struct CUVIDPARSERPARAMS
+//! Used in cuvidCreateVideoParser API
+/**************************************/
+typedef struct _CUVIDPARSERPARAMS
+{
+ cudaVideoCodec CodecType; /**< IN: cudaVideoCodec_XXX */
+ unsigned int ulMaxNumDecodeSurfaces; /**< IN: Max # of decode surfaces (parser will cycle through these) */
+ unsigned int ulClockRate; /**< IN: Timestamp units in Hz (0=default=10000000Hz) */
+ unsigned int ulErrorThreshold; /**< IN: % Error threshold (0-100) for calling pfnDecodePicture (100=always
+ IN: call pfnDecodePicture even if picture bitstream is fully corrupted) */
+ unsigned int ulMaxDisplayDelay; /**< IN: Max display queue delay (improves pipelining of decode with display)
+ 0=no delay (recommended values: 2..4) */
+ unsigned int uReserved1[5]; /**< IN: Reserved for future use - set to 0 */
+ void *pUserData; /**< IN: User data for callbacks */
+ PFNVIDSEQUENCECALLBACK pfnSequenceCallback; /**< IN: Called before decoding frames and/or whenever there is a fmt change */
+ PFNVIDDECODECALLBACK pfnDecodePicture; /**< IN: Called when a picture is ready to be decoded (decode order) */
+ PFNVIDDISPLAYCALLBACK pfnDisplayPicture; /**< IN: Called whenever a picture is ready to be displayed (display order) */
+ void *pvReserved2[7]; /**< Reserved for future use - set to NULL */
+ CUVIDEOFORMATEX *pExtVideoInfo; /**< IN: [Optional] sequence header data from system layer */
+} CUVIDPARSERPARAMS;
+
+/************************************************************************************************/
+//! \ingroup FUNCTS
+//! \fn CUresult CUDAAPI cuvidCreateVideoParser(CUvideoparser *pObj, CUVIDPARSERPARAMS *pParams)
+//! Create video parser object and initialize
+/************************************************************************************************/
+CUresult CUDAAPI cuvidCreateVideoParser(CUvideoparser *pObj, CUVIDPARSERPARAMS *pParams);
+
+/************************************************************************************************/
+//! \ingroup FUNCTS
+//! \fn CUresult CUDAAPI cuvidParseVideoData(CUvideoparser obj, CUVIDSOURCEDATAPACKET *pPacket)
+//! Parse the video data from source data packet in pPacket
+//! Extracts parameter sets like SPS, PPS, bitstream etc. from pPacket and
+//! calls back pfnDecodePicture with CUVIDPICPARAMS data for kicking of HW decoding
+//! calls back pfnSequenceCallback with CUVIDEOFORMAT data for initial sequence header or when
+//! the decoder encounters a video format change
+//! calls back pfnDisplayPicture with CUVIDPARSERDISPINFO data to display a video frame
+/************************************************************************************************/
+CUresult CUDAAPI cuvidParseVideoData(CUvideoparser obj, CUVIDSOURCEDATAPACKET *pPacket);
+
+/************************************************************************************************/
+//! \ingroup FUNCTS
+//! \fn CUresult CUDAAPI cuvidDestroyVideoParser(CUvideoparser obj)
+//! Destroy the video parser
+/************************************************************************************************/
+CUresult CUDAAPI cuvidDestroyVideoParser(CUvideoparser obj);
+
+/**********************************************************************************************/
+
+#if defined(__cplusplus)
+}
+#endif /* __cplusplus */
+
+#endif // __NVCUVID_H__
+
+
diff --git a/components/codecs/src/channels.cpp b/components/codecs/src/channels.cpp
index 1e9d8d5260e1c969d4e04325fd4084498cc5d390..458541d5f1b2ffe94166faf828efa9f827e2c983 100644
--- a/components/codecs/src/channels.cpp
+++ b/components/codecs/src/channels.cpp
@@ -1,93 +1,74 @@
#include <ftl/codecs/channels.hpp>
-
+#include <unordered_map>
#include <opencv2/opencv.hpp>
+using ftl::codecs::Channel;
+
struct ChannelInfo {
const char *name;
int type;
};
-static ChannelInfo info[] = {
- "Colour", CV_8UC4, // 0
- "Depth", CV_32F, // 1
- "Right", CV_8UC4, // 2
- "DepthRight", CV_32F, // 3
- "Deviation", CV_32F, // 4
- "Normals", CV_16FC4, // 5
- "Weights", CV_16SC1, // 6
- "Confidence", CV_32F, // 7
- "EnergyVector", CV_32FC4, // 8
- "Flow", CV_32F, // 9
- "Energy", CV_32F, // 10
- "Mask", CV_8U, // 11
- "Density", CV_32F, // 12
- "Support1", CV_8UC4, // 13
- "Support2", CV_8UC4, // 14
- "Segmentation", CV_32S, // 15
-
- "ColourNormals", 0, // 16
- "ColourHighRes", CV_8UC4, // 17
- "Disparity", CV_32F, // 18
- "Smoothing", 0, // 19
- "Colour2HighRes", CV_8UC4, // 20
- "Overlay", 0, // 21
- "GroundTruth", CV_32F, // 22
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
+static const std::unordered_map<Channel,ChannelInfo> info = {
+ {Channel::Colour, {"Left", CV_8UC4}},
+ {Channel::Depth, {"Depth", CV_32F}},
+ {Channel::Right, {"Right", CV_8UC4}},
+ {Channel::Depth2, {"Depth Right", CV_32F}},
+ {Channel::Deviation, {"Deviation", CV_32F}},
+ {Channel::Normals, {"Normals", CV_32FC4}},
+ {Channel::Weights, {"Weights", CV_32F}},
+ {Channel::Confidence, {"Confidence", CV_32F}},
+ {Channel::EnergyVector, {"Energy Vector", CV_32FC4}},
+ {Channel::Flow, {"Flow", CV_32F}},
+ {Channel::Energy, {"Energy", CV_32F}},
+ {Channel::Mask, {"Mask", CV_8U}},
+ {Channel::Density, {"Density", CV_32F}},
+ {Channel::Support1, {"Support1", CV_8UC4}},
+ {Channel::Support2, {"Support2", CV_8UC4}},
+ {Channel::Segmentation, {"Segmentation", CV_8U}},
+ {Channel::Normals2, {"Normals Right", CV_32FC4}},
+ {Channel::UNUSED1, {"Unused", CV_8UC4}},
+ {Channel::Disparity, {"Disparity", CV_16S}},
+ {Channel::Smoothing, {"Smoothing", CV_32F}},
+ {Channel::UNUSED2, {"Unused", CV_8UC4}},
+ {Channel::Overlay, {"Overlay", CV_8UC4}},
+ {Channel::GroundTruth, {"Ground Truth", CV_32F}},
- "AudioLeft", 0,
- "AudioRight", 0,
+ {Channel::AudioMono, {"Audio (Mono)", -1}},
+ {Channel::AudioStereo, {"Audio (Stereo)", -1}},
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
- "NoName", 0,
+ {Channel::Configuration, {"Configuration", -1}},
+ {Channel::Calibration, {"Calibration", -1}},
+ {Channel::Pose, {"Pose", -1}},
+ {Channel::Calibration2, {"Calibration High-res", -1}},
+ {Channel::MetaData, {"Meta Data", -1}},
+ {Channel::Capabilities, {"Capabilities", -1}},
+ {Channel::CalibrationData, {"Calibration Data", -1}},
+ {Channel::Thumbnail, {"Thumbnail", -1}},
- "Configuration", 0,
- "Calibration", 0,
- "Pose", 0,
- "Data", 0
+ {Channel::Data, {"Generic Data", -1}},
+ {Channel::Faces, {"Faces", -1}},
+ {Channel::Shapes3D, {"Shapes 3D", -1}},
+ {Channel::Messages, {"Messages", -1}},
+ {Channel::Touch, {"Touch", -1}}
};
std::string ftl::codecs::name(Channel c) {
if (c == Channel::None) return "None";
- else return info[(int)c].name;
+ auto i = info.find(c);
+ if (i != info.end()) {
+ return i->second.name;
+ } else {
+ return "Unknown";
+ }
}
int ftl::codecs::type(Channel c) {
if (c == Channel::None) return 0;
- else return info[(int)c].type;
+ auto i = info.find(c);
+ if (i != info.end()) {
+ return i->second.type;
+ } else {
+ return -1;
+ }
}
diff --git a/components/codecs/src/decoder.cpp b/components/codecs/src/decoder.cpp
index af02fd7f1cd6a301d0c33c1054f897cbed516e0a..dcaf17a78f6bb07eea871eb876ccb2e7ff96ed32 100644
--- a/components/codecs/src/decoder.cpp
+++ b/components/codecs/src/decoder.cpp
@@ -1,7 +1,7 @@
#include <ftl/codecs/decoder.hpp>
#include <ftl/codecs/opencv_decoder.hpp>
-#include <ftl/codecs/nvpipe_decoder.hpp>
+#include <ftl/codecs/nvidia_decoder.hpp>
using ftl::codecs::Decoder;
using ftl::codecs::codec_t;
@@ -21,7 +21,7 @@ Decoder *ftl::codecs::allocateDecoder(const ftl::codecs::Packet &pkt) {
case codec_t::HEVC_LOSSLESS:
case codec_t::H264_LOSSLESS:
case codec_t::H264 :
- case codec_t::HEVC : return new ftl::codecs::NvPipeDecoder;
+ case codec_t::HEVC : return new ftl::codecs::NvidiaDecoder;
default : return nullptr;
}
}
diff --git a/components/codecs/src/depth_convert.cu b/components/codecs/src/depth_convert.cu
index e18d16007bacce4a151c8d64f39c8eb5851b15a5..239e9b05ef7e445517a5bf059d91d5ef193ff72e 100644
--- a/components/codecs/src/depth_convert.cu
+++ b/components/codecs/src/depth_convert.cu
@@ -1,5 +1,5 @@
#include <ftl/codecs/depth_convert_cuda.hpp>
-
+#include "../Utils/ColorSpace.h"
#include <opencv2/core/cuda_stream_accessor.hpp>
#define T_PER_BLOCK 8
@@ -22,27 +22,31 @@ __device__ inline float clampC(float v, float t=255.0f) {
*
*/
- // Assumes 8 bit output channels and 14bit depth
- static constexpr float P = (2.0f * 256.0f) / 16384.0f;
+ // Assumes 8 bit output channels and 14bit depth
+ static constexpr float P = (2.0f * 256.0f) / 16384.0f;
+
+ __device__ inline float3 depth2yuv(float depth, float maxdepth) {
+ float d = max(0.0f,depth);
+ if (d >= maxdepth) d = 0.0f;
+ float L = d / maxdepth;
+ const float p = P;
+
+ float Ha1 = fmodf((L / (p/2.0f)), 2.0f);
+ float Ha = (Ha1 <= 1.0f) ? Ha1 : 2.0f - Ha1;
+
+ float Hb1 = fmodf(((L - (p/4.0f)) / (p/2.0f)), 2.0f);
+ float Hb = (Hb1 <= 1.0f) ? Hb1 : 2.0f - Hb1;
+
+ return {L, Ha, Hb};
+ }
__global__ void depth_to_vuya_kernel(cv::cuda::PtrStepSz<float> depth, cv::cuda::PtrStepSz<uchar4> rgba, float maxdepth) {
const unsigned int x = blockIdx.x*blockDim.x + threadIdx.x;
const unsigned int y = blockIdx.y*blockDim.y + threadIdx.y;
if (x < depth.cols && y < depth.rows) {
- //float d = max(0.0f,min(maxdepth,depth(y,x)));
- float d = max(0.0f,depth(y,x));
- if (d >= maxdepth) d = 0.0f;
- float L = d / maxdepth;
- const float p = P;
-
- float Ha1 = fmodf((L / (p/2.0f)), 2.0f);
- float Ha = (Ha1 <= 1.0f) ? Ha1 : 2.0f - Ha1;
-
- float Hb1 = fmodf(((L - (p/4.0f)) / (p/2.0f)), 2.0f);
- float Hb = (Hb1 <= 1.0f) ? Hb1 : 2.0f - Hb1;
-
- rgba(y,x) = make_uchar4(Hb*255.0f,Ha*255.0f,L*255.0f, 0.0f);
+ float3 yuv = depth2yuv(depth(y,x), maxdepth);
+ rgba(y,x) = make_uchar4(yuv.z*255.0f,yuv.y*255.0f,yuv.x*255.0f, 0.0f);
}
}
@@ -54,6 +58,44 @@ void ftl::cuda::depth_to_vuya(const cv::cuda::PtrStepSz<float> &depth, const cv:
cudaSafeCall( cudaGetLastError() );
}
+// Planar 10bit version
+
+__global__ void depth_to_nv12_10_kernel(cv::cuda::PtrStepSz<float> depth, ushort* luminance, ushort* chroma, int pitch, float maxdepth) {
+ const unsigned int x = (blockIdx.x*blockDim.x + threadIdx.x) * 2;
+ const unsigned int y = (blockIdx.y*blockDim.y + threadIdx.y) * 2;
+
+ if (x < depth.cols && y < depth.rows) {
+ float3 yuv1 = depth2yuv(depth(y,x), maxdepth);
+ float3 yuv2 = depth2yuv(depth(y,x+1), maxdepth);
+ float3 yuv3 = depth2yuv(depth(y+1,x), maxdepth);
+ float3 yuv4 = depth2yuv(depth(y+1,x+1), maxdepth);
+
+ // TODO: Something better than just average!
+ // Bad ones are discarded anyway...
+ float Ha = (yuv1.y+yuv2.y+yuv3.y+yuv4.y) / 4.0f * 255.0f;
+ float Hb = (yuv1.z+yuv2.z+yuv3.z+yuv4.z) / 4.0f * 255.0f;
+
+ luminance[y*pitch+x] = ushort(yuv1.x*255.0f) << 8;
+ luminance[y*pitch+x+1] = ushort(yuv2.x*255.0f) << 8;
+ luminance[(y+1)*pitch+x] = ushort(yuv3.x*255.0f) << 8;
+ luminance[(y+1)*pitch+x+1] = ushort(yuv4.x*255.0f) << 8;
+
+ chroma[(y/2)*pitch+x] = ushort(Ha) << 8;
+ chroma[(y/2)*pitch+x+1] = ushort(Hb) << 8;
+ }
+}
+
+void ftl::cuda::depth_to_nv12_10(const cv::cuda::PtrStepSz<float> &depth, ushort* luminance, ushort* chroma, int pitch, float maxdepth, cv::cuda::Stream &stream) {
+ const dim3 gridSize((depth.cols/2 + T_PER_BLOCK - 1)/T_PER_BLOCK, (depth.rows/2 + T_PER_BLOCK - 1)/T_PER_BLOCK);
+ const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
+
+ depth_to_nv12_10_kernel<<<gridSize, blockSize, 0, cv::cuda::StreamAccessor::getStream(stream)>>>(depth, luminance, chroma, pitch, maxdepth);
+ cudaSafeCall( cudaGetLastError() );
+}
+
+
+// =============================================================================
+
// Decoding
/*
@@ -69,6 +111,23 @@ void ftl::cuda::depth_to_vuya(const cv::cuda::PtrStepSz<float> &depth, const cv:
//return v >> 8;
}
+ __device__ inline uchar round8(uchar v) { return v; }
+
+ __device__ inline float yuv2depth(float L, float Ha, float Hb) {
+ const float p = P;
+
+ int m = int(floor(4.0f*(L/p) - 0.5f)) % 4;
+ float L0 = L - fmodf((L-(p/8.0f)), p) + (p/4.0f)*float(m) - (p/8.0f);
+
+ float s = 0.0f;
+ if (m == 0) s = (p/2.0f)*Ha;
+ if (m == 1) s = (p/2.0f)*Hb;
+ if (m == 2) s = (p/2.0f)*(1.0f - Ha);
+ if (m == 3) s = (p/2.0f)*(1.0f - Hb);
+
+ return (L0+s);
+ }
+
// Video is assumed to be 10bit encoded, returning ushort instead of uchar.
__global__ void vuya_to_depth_kernel(cv::cuda::PtrStepSz<float> depth, cv::cuda::PtrStepSz<ushort4> rgba, float maxdepth) {
const unsigned int x = blockIdx.x*blockDim.x + threadIdx.x;
@@ -82,18 +141,7 @@ __global__ void vuya_to_depth_kernel(cv::cuda::PtrStepSz<float> depth, cv::cuda:
float Ha = float(round8(in.y)) / 255.0f;
float Hb = float(round8(in.x)) / 255.0f;
- const float p = P;
-
- int m = int(floor(4.0f*(L/p) - 0.5f)) % 4;
- float L0 = L - fmodf((L-(p/8.0f)), p) + (p/4.0f)*float(m) - (p/8.0f);
-
- float s = 0.0f;
- if (m == 0) s = (p/2.0f)*Ha;
- if (m == 1) s = (p/2.0f)*Hb;
- if (m == 2) s = (p/2.0f)*(1.0f - Ha);
- if (m == 3) s = (p/2.0f)*(1.0f - Hb);
-
- depth(y,x) = (L0+s) * maxdepth;
+ depth(y,x) = yuv2depth(L, Ha, Hb) * maxdepth;
}
}
@@ -105,6 +153,166 @@ void ftl::cuda::vuya_to_depth(const cv::cuda::PtrStepSz<float> &depth, const cv:
cudaSafeCall( cudaGetLastError() );
}
+// ==== Planar version =========================================================
+
+template <typename T>
+struct T2 {
+ T x;
+ T y;
+};
+
+template <typename T>
+__device__ inline ushort2 readChroma(const T* __restrict__ chroma, int pitch, uint x, uint y) {
+ T2<T> c = *(T2<T>*)(&chroma[(y/2)*pitch+x]);
+ return {
+ ushort(round8(c.x)),
+ ushort(round8(c.y))
+ };
+}
+
+__device__ inline float2 norm_float(const ushort2 &v) {
+ return make_float2(float(v.x)/255.0f, float(v.y)/255.0f);
+}
+
+template <typename T>
+__device__ inline float2 bilinChroma(const T* __restrict__ chroma, const T* __restrict__ luminance, int pitch, uchar L, uint x, uint y, const ushort2 &D, int dx, int dy, int width, int height, bool consistent) {
+ if (uint(x+dx) >= width || uint(y+dy) >= height) return {float(D.x)/255.0f, float(D.y)/255.0f};
+
+ float w = 0.0f;
+ float2 R = {0.0f,0.0f};
+
+ if (round8(luminance[(y+dy)*pitch+x+dx]) == L) {
+ R += 0.0625f * norm_float(readChroma(chroma, pitch, x+dx, y+dy));
+ w += 0.0625f;
+ }
+
+ if (round8(luminance[(y+dy)*pitch+x]) == L) {
+ R += 0.1875f * norm_float(readChroma(chroma, pitch, x, y+dy));
+ w += 0.1875f;
+ }
+
+ if (round8(luminance[(y)*pitch+x+dx]) == L) {
+ R += 0.1875f * norm_float(readChroma(chroma, pitch, x+dx, y));
+ w += 0.1875f;
+ }
+
+ if (consistent) {
+ R.x += 0.5625f * (float(D.x) / 255.0f);
+ R.y += 0.5625f * (float(D.y) / 255.0f);
+ w += 0.5625f;
+ }
+
+ return R / w; // TODO: Check W isn't 0?
+}
+
+/**
+ * See: J. Korhonen, “IMPROVING IMAGE FIDELITY BY LUMA-ASSISTED CHROMA
+ * SUBSAMPLING Jari Korhonen Department of Photonics Engineering ,
+ * Technical University of Denmark.â€.
+ *
+ * For the closest published version of the chroma upsampling applied here.
+ * Difference is we can make assumptions about the depth data so have slightly
+ * modified the algorithm to prevent unwanted interpolation at edges.
+ */
+
+ // Video is assumed to be 10bit encoded, returning ushort instead of uchar.
+ // 4:2:0 10bit
+ template <typename T, int THREADS_X, int THREADS_Y>
+ __global__ void vuya_to_depth_kernel(cv::cuda::PtrStepSz<float> depth, const T* __restrict__ luminance, const T* __restrict__ chroma, int pitch, float maxdepth) {
+ __shared__ uchar4 lum_s[THREADS_Y+2][64];
+ __shared__ ushort2 chroma_s[THREADS_Y+2][64];
+ __shared__ int consistent_s[THREADS_Y+2][64];
+
+ for (int i=threadIdx.x + threadIdx.y*THREADS_X; i<((THREADS_X+2))*((THREADS_Y+2)); i += THREADS_X*THREADS_Y) {
+ const int y = i/((THREADS_X+2));
+ const int x = i%((THREADS_X+2));
+ const int gx = (x + blockIdx.x*blockDim.x - 1)*2;
+ const int gy = (y + blockIdx.y*blockDim.y - 1)*2;
+
+ bool valid = (gx >= 0 && gy >= 0 && gx < depth.cols-1 && gy < depth.rows-1);
+
+ const ushort2 v1 = (valid) ? *(const ushort2*)(&luminance[gy*pitch+gx]) : make_ushort2(0,0);
+ const ushort2 v2 = (valid) ? *(const ushort2*)(&luminance[(gy+1)*pitch+gx]) : make_ushort2(0,0);
+
+ short4 L = make_short4(
+ round8(v1.x),
+ round8(v1.y),
+ round8(v2.x),
+ round8(v2.y)
+ );
+
+ lum_s[y][x] = make_uchar4(L.x,L.y,L.z,L.w);
+ chroma_s[y][x] = (valid) ? readChroma(chroma, pitch, gx, gy) : make_ushort2(0,0);
+
+ bool consistent = true;
+ if (abs(L.x-L.y) > 1.0f) consistent = false;
+ if (abs(L.x-L.z) > 1.0f) consistent = false;
+ if (abs(L.w-L.y) > 1.0f) consistent = false;
+ if (abs(L.w-L.z) > 1.0f) consistent = false;
+ consistent_s[y][x] = int(consistent);
+ }
+
+ __syncthreads();
+
+ const unsigned int x = (blockIdx.x*blockDim.x + threadIdx.x)*2;
+ const unsigned int y = (blockIdx.y*blockDim.y + threadIdx.y)*2;
+
+ uchar4 L = lum_s[threadIdx.y+1][threadIdx.x+1];
+ const ushort2 H = chroma_s[threadIdx.y+1][threadIdx.x+1];
+
+ float d[4] = {0.0f, 0.0f, 0.0f, 0.0f};
+
+ float2 H2;
+ float w;
+ bool consistent = consistent_s[threadIdx.y+1][threadIdx.x+1];
+
+ w = 0.0f; H2 = {0.0f,0.0f};
+ if (consistent_s[threadIdx.y+1-1][threadIdx.x+1-1] && L.x == lum_s[threadIdx.y+1-1][threadIdx.x+1-1].w) { H2 += 0.0625f * norm_float(chroma_s[threadIdx.y+1-1][threadIdx.x+1-1]); w += 0.0625f; }
+ if (consistent_s[threadIdx.y+1-1][threadIdx.x+1] && L.x == lum_s[threadIdx.y+1-1][threadIdx.x+1].z) { H2 += 0.1875f * norm_float(chroma_s[threadIdx.y+1-1][threadIdx.x+1]); w += 0.1875f; }
+ if (consistent_s[threadIdx.y+1][threadIdx.x+1-1] && L.x == lum_s[threadIdx.y+1][threadIdx.x+1-1].y) { H2 += 0.1875f * norm_float(chroma_s[threadIdx.y+1][threadIdx.x+1-1]); w += 0.1875f; }
+ if (consistent) { H2 += 0.5625f * norm_float(H); w += 0.5625f; }
+ if (w > 0.0f) d[0] = yuv2depth(float(L.x) / 255.0f, H2.x/w, H2.y/w) * maxdepth;
+
+ w = 0.0f; H2 = {0.0f,0.0f};
+ if (consistent_s[threadIdx.y+1-1][threadIdx.x+1+1] && L.y == lum_s[threadIdx.y+1-1][threadIdx.x+1+1].z) { H2 += 0.0625f * norm_float(chroma_s[threadIdx.y+1-1][threadIdx.x+1+1]); w += 0.0625f; }
+ if (consistent_s[threadIdx.y+1-1][threadIdx.x+1] && L.y == lum_s[threadIdx.y+1-1][threadIdx.x+1].w) { H2 += 0.1875f * norm_float(chroma_s[threadIdx.y+1-1][threadIdx.x+1]); w += 0.1875f; }
+ if (consistent_s[threadIdx.y+1][threadIdx.x+1+1] && L.y == lum_s[threadIdx.y+1][threadIdx.x+1+1].x) { H2 += 0.1875f * norm_float(chroma_s[threadIdx.y+1][threadIdx.x+1+1]); w += 0.1875f; }
+ if (consistent) { H2 += 0.5625f * norm_float(H); w += 0.5625f; }
+ if (w > 0.0f) d[1] = yuv2depth(float(L.y) / 255.0f, H2.x/w, H2.y/w) * maxdepth;
+
+ w = 0.0f; H2 = {0.0f,0.0f};
+ if (consistent_s[threadIdx.y+1+1][threadIdx.x+1-1] && L.z == lum_s[threadIdx.y+1+1][threadIdx.x+1-1].y) { H2 += 0.0625f * norm_float(chroma_s[threadIdx.y+1+1][threadIdx.x+1-1]); w += 0.0625f; }
+ if (consistent_s[threadIdx.y+1+1][threadIdx.x+1] && L.z == lum_s[threadIdx.y+1+1][threadIdx.x+1].x) { H2 += 0.1875f * norm_float(chroma_s[threadIdx.y+1+1][threadIdx.x+1]); w += 0.1875f; }
+ if (consistent_s[threadIdx.y+1][threadIdx.x+1-1] && L.z == lum_s[threadIdx.y+1][threadIdx.x+1-1].w) { H2 += 0.1875f * norm_float(chroma_s[threadIdx.y+1][threadIdx.x+1-1]); w += 0.1875f; }
+ if (consistent) { H2 += 0.5625f * norm_float(H); w += 0.5625f; }
+ if (w > 0.0f) d[2] = yuv2depth(float(L.z) / 255.0f, H2.x/w, H2.y/w) * maxdepth;
+
+ w = 0.0f; H2 = {0.0f,0.0f};
+ if (consistent_s[threadIdx.y+1+1][threadIdx.x+1+1] && L.w == lum_s[threadIdx.y+1+1][threadIdx.x+1+1].x) { H2 += 0.0625f * norm_float(chroma_s[threadIdx.y+1+1][threadIdx.x+1+1]); w += 0.0625f; }
+ if (consistent_s[threadIdx.y+1+1][threadIdx.x+1] && L.w == lum_s[threadIdx.y+1+1][threadIdx.x+1].y) { H2 += 0.1875f * norm_float(chroma_s[threadIdx.y+1+1][threadIdx.x+1]); w += 0.1875f; }
+ if (consistent_s[threadIdx.y+1][threadIdx.x+1+1] && L.w == lum_s[threadIdx.y+1][threadIdx.x+1+1].z) { H2 += 0.1875f * norm_float(chroma_s[threadIdx.y+1][threadIdx.x+1+1]); w += 0.1875f; }
+ if (consistent_s[threadIdx.y+1][threadIdx.x+1]) { H2 += 0.5625f * norm_float(H); w += 0.5625f; }
+ if (w > 0.0f) d[3] = yuv2depth(float(L.w) / 255.0f, H2.x/w, H2.y/w) * maxdepth;
+
+ if (x < depth.cols && y < depth.rows) {
+ depth(y,x) = d[0];
+ depth(y,x+1) = d[1];
+ depth(y+1,x) = d[2];
+ depth(y+1,x+1) = d[3];
+ }
+}
+
+void ftl::cuda::vuya_to_depth(const cv::cuda::PtrStepSz<float> &depth, const cv::cuda::PtrStepSz<ushort> &luminance, const cv::cuda::PtrStepSz<ushort> &chroma, float maxdepth, cv::cuda::Stream &stream) {
+ static const int THREADS_X = 16;
+ static const int THREADS_Y = 8;
+
+ const dim3 gridSize((depth.cols/2 + THREADS_X - 1)/THREADS_X, (depth.rows/2 + THREADS_Y - 1)/THREADS_Y);
+ const dim3 blockSize(THREADS_X, THREADS_Y);
+
+ vuya_to_depth_kernel<ushort,THREADS_X,THREADS_Y><<<gridSize, blockSize, 0, cv::cuda::StreamAccessor::getStream(stream)>>>(depth, luminance.data, chroma.data, luminance.step/sizeof(ushort), maxdepth);
+ cudaSafeCall( cudaGetLastError() );
+}
+
// ==== Decode filters =========================================================
// Video is assumed to be 10bit encoded, returning ushort instead of uchar.
@@ -148,13 +356,7 @@ void ftl::cuda::vuya_to_depth(const cv::cuda::PtrStepSz<float> &depth, const cv:
if (x >= RADIUS && y >= RADIUS && x < vuya.cols-RADIUS-1 && y < vuya.rows-RADIUS-1) {
ushort4 in = vuya(y,x);
- bool isdiscon = false;
- //int minerr = 65000;
ushort best = in.z;
- //ushort miny = 65000;
-
- //float sumY = 0.0f;
- //float weights = 0.0f;
float mcost = 1.e10f;
// 1) In small radius, is there a discontinuity?
@@ -170,7 +372,6 @@ void ftl::cuda::vuya_to_depth(const cv::cuda::PtrStepSz<float> &depth, const cv:
ushort4 inn = vuya(y+v,x+u);
if (inn.w == 0) {
float err = fabsf(float(in.z) - float(inn.z));
- float dist = v*v + u*u;
float cost = err*err; //err*err*dist;
if (mcost > cost) {
mcost = cost;
@@ -209,3 +410,196 @@ void ftl::cuda::smooth_y(const cv::cuda::PtrStepSz<ushort4> &rgba, cv::cuda::Str
smooth_y_kernel<6><<<gridSize, blockSize, 0, cv::cuda::StreamAccessor::getStream(stream)>>>(rgba);
cudaSafeCall( cudaGetLastError() );
}
+
+// ==== Colour conversions =====================================================
+
+__constant__ float matYuv2Rgb[3][3];
+__constant__ float matRgb2Yuv[3][3];
+
+static void inline GetConstants(int iMatrix, float &wr, float &wb, int &black, int &white, int &max) {
+ // Default is BT709
+ wr = 0.2126f; wb = 0.0722f;
+ black = 16; white = 235;
+ max = 255;
+ if (iMatrix == ColorSpaceStandard_BT601) {
+ wr = 0.2990f; wb = 0.1140f;
+ } else if (iMatrix == ColorSpaceStandard_BT2020) {
+ wr = 0.2627f; wb = 0.0593f;
+ // 10-bit only
+ black = 64 << 6; white = 940 << 6;
+ max = (1 << 16) - 1;
+ }
+}
+
+// Full-range BT.709 and BT.2020 are the default matrices used for YUV to RGB conversion for 8-bit and 10/12-bit encoded streams, respectively.
+// If color primaries are encoded/embedded in the bitstream, the client should use those color primaries in the conversion matrices for more accurate color reproduction.
+
+static void SetMatYuv2Rgb(int iMatrix) {
+ float wr, wb;
+ int black, white, max;
+ GetConstants(iMatrix, wr, wb, black, white, max);
+ float mat[3][3] = {
+ 1.0f, 0.0f, (1.0f - wr) / 0.5f,
+ 1.0f, -wb * (1.0f - wb) / 0.5f / (1 - wb - wr), -wr * (1 - wr) / 0.5f / (1 - wb - wr),
+ 1.0f, (1.0f - wb) / 0.5f, 0.0f,
+ };
+ for (int i = 0; i < 3; i++) {
+ for (int j = 0; j < 3; j++) {
+ mat[i][j] = (float)(1.0 * max / (white - black) * mat[i][j]);
+ }
+ }
+ cudaMemcpyToSymbol(matYuv2Rgb, mat, sizeof(mat));
+}
+
+/*static void SetMatRgb2Yuv(int iMatrix) {
+ float wr, wb;
+ int black, white, max;
+ GetConstants(iMatrix, wr, wb, black, white, max);
+ float mat[3][3] = {
+ wr, 1.0f - wb - wr, wb,
+ -0.5f * wr / (1.0f - wb), -0.5f * (1 - wb - wr) / (1.0f - wb), 0.5f,
+ 0.5f, -0.5f * (1.0f - wb - wr) / (1.0f - wr), -0.5f * wb / (1.0f - wr),
+ };
+ for (int i = 0; i < 3; i++) {
+ for (int j = 0; j < 3; j++) {
+ mat[i][j] = (float)(1.0 * (white - black) / max * mat[i][j]);
+ }
+ }
+ cudaMemcpyToSymbol(matRgb2Yuv, mat, sizeof(mat));
+}*/
+
+template<class T>
+__device__ static T Clamp(T x, T lower, T upper) {
+ return x < lower ? lower : (x > upper ? upper : x);
+}
+
+template<class Rgb, class YuvUnit>
+__device__ inline Rgb YuvToRgbForPixel(YuvUnit y, YuvUnit u, YuvUnit v) {
+ const int
+ low = 1 << (sizeof(YuvUnit) * 8 - 4),
+ mid = 1 << (sizeof(YuvUnit) * 8 - 1);
+ float fy = (int)y - low, fu = (int)u - mid, fv = (int)v - mid;
+ const float maxf = (1 << sizeof(YuvUnit) * 8) - 1.0f;
+ YuvUnit
+ r = (YuvUnit)Clamp(matYuv2Rgb[0][0] * fy + matYuv2Rgb[0][1] * fu + matYuv2Rgb[0][2] * fv, 0.0f, maxf),
+ g = (YuvUnit)Clamp(matYuv2Rgb[1][0] * fy + matYuv2Rgb[1][1] * fu + matYuv2Rgb[1][2] * fv, 0.0f, maxf),
+ b = (YuvUnit)Clamp(matYuv2Rgb[2][0] * fy + matYuv2Rgb[2][1] * fu + matYuv2Rgb[2][2] * fv, 0.0f, maxf);
+
+ Rgb rgb{};
+ const int nShift = abs((int)sizeof(YuvUnit) - (int)sizeof(rgb.c.r)) * 8;
+ if (sizeof(YuvUnit) >= sizeof(rgb.c.r)) {
+ rgb.c.r = r >> nShift;
+ rgb.c.g = g >> nShift;
+ rgb.c.b = b >> nShift;
+ } else {
+ rgb.c.r = r << nShift;
+ rgb.c.g = g << nShift;
+ rgb.c.b = b << nShift;
+ }
+ return rgb;
+}
+
+template<class YuvUnitx2, class Rgb, class RgbIntx2>
+__global__ static void YuvToRgbKernel(uint8_t *pYuv, int nYuvPitch, uint8_t *pRgb, int nRgbPitch, int nWidth, int nHeight) {
+ int x = (threadIdx.x + blockIdx.x * blockDim.x) * 2;
+ int y = (threadIdx.y + blockIdx.y * blockDim.y) * 2;
+ if (x + 1 >= nWidth || y + 1 >= nHeight) {
+ return;
+ }
+
+ uint8_t *pSrc = pYuv + x * sizeof(YuvUnitx2) / 2 + y * nYuvPitch;
+ uint8_t *pDst = pRgb + x * sizeof(Rgb) + y * nRgbPitch;
+
+ YuvUnitx2 l0 = *(YuvUnitx2 *)pSrc;
+ YuvUnitx2 l1 = *(YuvUnitx2 *)(pSrc + nYuvPitch);
+ YuvUnitx2 ch = *(YuvUnitx2 *)(pSrc + (nHeight - y / 2) * nYuvPitch);
+
+ *(RgbIntx2 *)pDst = RgbIntx2 {
+ YuvToRgbForPixel<Rgb>(l0.x, ch.x, ch.y).d,
+ YuvToRgbForPixel<Rgb>(l0.y, ch.x, ch.y).d,
+ };
+ *(RgbIntx2 *)(pDst + nRgbPitch) = RgbIntx2 {
+ YuvToRgbForPixel<Rgb>(l1.x, ch.x, ch.y).d,
+ YuvToRgbForPixel<Rgb>(l1.y, ch.x, ch.y).d,
+ };
+}
+
+template <class COLOR32>
+void Nv12ToColor32(uint8_t *dpNv12, int nNv12Pitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix, cudaStream_t s) {
+ SetMatYuv2Rgb(iMatrix);
+ YuvToRgbKernel<uchar2, COLOR32, uint2>
+ <<<dim3((nWidth + 63) / 32 / 2, (nHeight + 3) / 2 / 2), dim3(32, 2)>>>
+ (dpNv12, nNv12Pitch, dpBgra, nBgraPitch, nWidth, nHeight);
+}
+
+template void Nv12ToColor32<BGRA32>(uint8_t *dpNv12, int nNv12Pitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix, cudaStream_t);
+template void Nv12ToColor32<RGBA32>(uint8_t *dpNv12, int nNv12Pitch, uint8_t *dpBgra, int nBgraPitch, int nWidth, int nHeight, int iMatrix, cudaStream_t);
+
+__global__
+static void nv12_to_float(const uint8_t* __restrict__ src, uint32_t srcPitch, float* dst, uint32_t dstPitch, uint32_t width, uint32_t height)
+{
+ const uint32_t x = blockIdx.x * blockDim.x + threadIdx.x;
+ const uint32_t y = blockIdx.y * blockDim.y + threadIdx.y;
+
+ if (x < width && y < height)
+ {
+ const uint32_t i = y * srcPitch + x;
+ const uint32_t j = y * dstPitch + x;
+ // Copy higher byte from left half of Y channel
+ ushort value = (src[i]) + (src[i+width]<<8);
+ //dst[j] = src[i];
+
+ // Copy lower byte from right half of Y channel
+ //dst[j + 1] = src[i + width];
+
+ dst[j] = float(value) / 1000.0f;
+ }
+}
+
+void ftl::cuda::nv12_to_float(const uint8_t* src, uint32_t srcPitch, float* dst, uint32_t dstPitch, uint32_t width, uint32_t height, cudaStream_t s) {
+ static const int THREADS_X = 16;
+ static const int THREADS_Y = 16;
+ dim3 gridSize(width / THREADS_X + 1, height / THREADS_Y + 1);
+ dim3 blockSize(THREADS_X, THREADS_Y);
+
+ ::nv12_to_float << <gridSize, blockSize, 0, s >> > (src, srcPitch, dst, dstPitch, width, height);
+}
+
+__global__
+void float_to_nv12_16bit(const float* __restrict__ src, uint32_t srcPitch, uint8_t* dst, uint32_t dstPitch, uint32_t width, uint32_t height)
+{
+ const uint32_t x = blockIdx.x * blockDim.x + threadIdx.x;
+ const uint32_t y = blockIdx.y * blockDim.y + threadIdx.y;
+
+ if (x < width && y < height)
+ {
+ const uint32_t i = y * srcPitch + x;
+ const uint32_t j = y * dstPitch + x;
+
+ float d = src[i];
+ ushort ds = ushort(d*1000.0f);
+
+ // Copy higher byte to left half of Y channel
+ dst[j] = ds & 0xFF;
+
+ // Copy lower byte to right half of Y channel
+ dst[j + width] = ds >> 8;
+
+ // Blank UV channel
+ if (y < height / 2)
+ {
+ uint8_t* UV = dst + dstPitch * (height + y);
+ UV[2 * x + 0] = 0;
+ UV[2 * x + 1] = 0;
+ }
+ }
+}
+
+void ftl::cuda::float_to_nv12_16bit(const float* src, uint32_t srcPitch, uchar* dst, uint32_t dstPitch, uint32_t width, uint32_t height, cudaStream_t s) {
+ static const int THREADS_X = 16;
+ static const int THREADS_Y = 16;
+ dim3 gridSize(width / THREADS_X + 1, height / THREADS_Y + 1);
+ dim3 blockSize(THREADS_X, THREADS_Y);
+
+ ::float_to_nv12_16bit << <gridSize, blockSize, 0, s >> > (src, srcPitch, dst, dstPitch, width, height);
+}
diff --git a/components/codecs/src/encoder.cpp b/components/codecs/src/encoder.cpp
index 4ef9ade5a0fb5a7ec32b9642638809da8570625c..3d8f8aac189ae5425c7f9a992454d0e5781fe034 100644
--- a/components/codecs/src/encoder.cpp
+++ b/components/codecs/src/encoder.cpp
@@ -37,7 +37,7 @@ Encoder *ftl::codecs::allocateEncoder(ftl::codecs::definition_t maxdef,
for (auto i=encoders.begin(); i!=encoders.end(); ++i) {
auto *e = *i;
if (!e->available) continue;
- if (dev != device_t::Any && dev != e->device) continue;
+ if (dev != device_t::Any && dev != e->device_) continue;
if (maxdef != definition_t::Any && (maxdef < e->max_definition || maxdef > e->min_definition)) continue;
if (codec != codec_t::Any && !e->supports(codec)) continue;
@@ -57,7 +57,7 @@ void ftl::codecs::free(Encoder *&enc) {
}
Encoder::Encoder(definition_t maxdef, definition_t mindef, device_t dev) :
- available(true), max_definition(maxdef), min_definition(mindef), device(dev) {
+ available(true), max_definition(maxdef), min_definition(mindef), device_(dev) {
}
diff --git a/components/codecs/src/generate.cpp b/components/codecs/src/generate.cpp
index 64dd2a042a42b6e5dbf272a01f4a922ed00168fe..f6a021fbc0fc893a1d19916dee657a2952939d7e 100644
--- a/components/codecs/src/generate.cpp
+++ b/components/codecs/src/generate.cpp
@@ -5,9 +5,7 @@
#include <ftl/config.h>
#include <loguru.hpp>
-#ifdef HAVE_NVPIPE
-#include <ftl/codecs/nvpipe_encoder.hpp>
-#endif
+#include <ftl/codecs/nvidia_encoder.hpp>
namespace ftl {
namespace codecs {
@@ -22,11 +20,8 @@ void fin_encoders() {
}
void init_encoders() {
- #ifdef HAVE_NVPIPE
- LOG(INFO) << "Adding NvPipe Encoders";
- encoders.push_back(new ftl::codecs::NvPipeEncoder(definition_t::UHD4k, definition_t::HD720));
- encoders.push_back(new ftl::codecs::NvPipeEncoder(definition_t::UHD4k, definition_t::HD720));
- #endif
+ encoders.push_back(new ftl::codecs::NvidiaEncoder(definition_t::UHD4k, definition_t::HD720));
+ encoders.push_back(new ftl::codecs::NvidiaEncoder(definition_t::UHD4k, definition_t::HD720));
encoders.push_back(new ftl::codecs::OpenCVEncoder(definition_t::HD1080, definition_t::HD720));
encoders.push_back(new ftl::codecs::OpenCVEncoder(definition_t::HD1080, definition_t::HD720));
diff --git a/components/codecs/src/nvidia_decoder.cpp b/components/codecs/src/nvidia_decoder.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..063bc384998e1fb10a28db3dc589cc6b859de073
--- /dev/null
+++ b/components/codecs/src/nvidia_decoder.cpp
@@ -0,0 +1,228 @@
+#include <ftl/codecs/nvidia_decoder.hpp>
+#include <ftl/codecs/nvidia_encoder.hpp>
+#include <ftl/exception.hpp>
+
+#include <loguru.hpp>
+
+#include <ftl/cuda_util.hpp>
+#include <ftl/codecs/hevc.hpp>
+#include <ftl/codecs/h264.hpp>
+//#include <cuda_runtime.h>
+
+#include <opencv2/core/cuda/common.hpp>
+#include <opencv2/cudaimgproc.hpp>
+#include <ftl/codecs/depth_convert_cuda.hpp>
+
+#include <opencv2/highgui.hpp>
+
+#include "Video_Codec_SDK_9.1.23/Samples/NvCodec/NvDecoder/NvDecoder.h"
+#include "../Utils/ColorSpace.h"
+
+using ftl::codecs::NvidiaDecoder;
+using ftl::codecs::codec_t;
+
+
+NvidiaDecoder::NvidiaDecoder() {
+ nv_decoder_ = nullptr;
+ seen_iframe_ = false;
+}
+
+NvidiaDecoder::~NvidiaDecoder() {
+ if (nv_decoder_ != nullptr) {
+ delete nv_decoder_;
+ }
+}
+
+template <typename T>
+static T readValue(const unsigned char **data) {
+ const T *ptr = (const T*)(*data);
+ *data += sizeof(T);
+ return *ptr;
+}
+
+bool NvidiaDecoder::_checkIFrame(ftl::codecs::codec_t codec, const unsigned char *data, size_t size) {
+ if (!seen_iframe_) {
+ if (codec == ftl::codecs::codec_t::HEVC || codec == ftl::codecs::codec_t::HEVC_LOSSLESS) {
+ if (ftl::codecs::hevc::isIFrame(data, size)) seen_iframe_ = true;
+ } else if (codec == ftl::codecs::codec_t::H264 || codec == ftl::codecs::codec_t::H264_LOSSLESS) {
+ if (ftl::codecs::h264::isIFrame(data, size)) seen_iframe_ = true;
+ }
+ }
+ return seen_iframe_;
+}
+
+static inline std::string DecErrorCodeToString(CUresult code)
+{
+ const char* str = nullptr;
+ cuGetErrorName(code, &str);
+
+ if (str)
+ return std::string(str);
+
+ return "Unknown error code";
+}
+
+bool NvidiaDecoder::_create(const ftl::codecs::Packet &pkt) {
+ bool is_float_frame = pkt.flags & ftl::codecs::kFlagFloat;
+
+ // Check existing decoder is valid first and remove if not
+ if (nv_decoder_ != nullptr && (last_codec_ != pkt.codec || is_float_channel_ != is_float_frame)) {
+ //width_ != last_width_ || height_ != last_height_)) {
+ delete nv_decoder_;
+ nv_decoder_ = nullptr;
+ }
+
+ if (!nv_decoder_) {
+ // Ensure we have a CUDA context
+ cudaSafeCall(cudaDeviceSynchronize());
+ CUcontext cudaContext;
+ cuCtxGetCurrent(&cudaContext);
+
+ try {
+ nv_decoder_ = new NvDecoder(cudaContext, true, (pkt.codec == codec_t::HEVC || pkt.codec == codec_t::HEVC_LOSSLESS) ? cudaVideoCodec_HEVC : cudaVideoCodec_H264, nullptr, true);
+ } catch (NVDECException& e) {
+ throw FTL_Error("Failed to create decoder (" << e.getErrorString() << ", error " << std::to_string(e.getErrorCode()) << " = " + DecErrorCodeToString(e.getErrorCode()) << ")");
+ }
+
+ seen_iframe_ = false;
+ }
+
+ return true;
+}
+
+uint8_t* NvidiaDecoder::_decode(const uint8_t* src, uint64_t srcSize) {
+ int numFramesDecoded = 0;
+ uint8_t **decodedFrames;
+ int64_t *timeStamps;
+
+ // From NvPipe
+ try {
+ // Some cuvid implementations have one frame latency. Refeed frame into pipeline in this case.
+ const uint32_t DECODE_TRIES = 3;
+ for (uint32_t i = 0; (i < DECODE_TRIES) && (numFramesDecoded <= 0); ++i)
+ nv_decoder_->Decode(src, static_cast<int32_t>(srcSize), &decodedFrames, &numFramesDecoded, CUVID_PKT_ENDOFPICTURE, &timeStamps, n_++, stream_);
+ } catch (NVDECException& e) {
+ throw FTL_Error("Decode failed (" << e.getErrorString() << ", error " << std::to_string(e.getErrorCode()) << " = " + DecErrorCodeToString(e.getErrorCode()) << ")");
+ }
+
+ if (numFramesDecoded <= 0) {
+ throw FTL_Error("No frame decoded (Decoder expects encoded bitstream for a single complete frame. Accumulating partial data or combining multiple frames is not supported.)");
+ }
+
+ return decodedFrames[numFramesDecoded - 1];
+}
+
+bool NvidiaDecoder::decode(const ftl::codecs::Packet &pkt, cv::cuda::GpuMat &out) {
+ //cudaSetDevice(0);
+ UNIQUE_LOCK(mutex_,lk);
+ if (pkt.codec != codec_t::HEVC && pkt.codec != codec_t::H264 && pkt.codec != codec_t::HEVC_LOSSLESS && pkt.codec != codec_t::H264_LOSSLESS) {
+ LOG(ERROR) << "Bad codec: " << int(pkt.codec);
+ return false;
+ }
+
+ bool is_float_frame = pkt.flags & ftl::codecs::kFlagFloat;
+ bool islossless = ((pkt.codec == ftl::codecs::codec_t::HEVC || pkt.codec == ftl::codecs::codec_t::H264) && is_float_frame &&
+ !(pkt.flags & 0x2)) || pkt.codec == ftl::codecs::codec_t::HEVC_LOSSLESS || pkt.codec == ftl::codecs::codec_t::H264_LOSSLESS;
+
+ /*if (is_float_frame && out.type() != CV_32F) {
+ LOG(ERROR) << "Invalid buffer for float frame";
+ return false;
+ }
+
+ if (!is_float_frame && out.type() != CV_8UC4) {
+ LOG(ERROR) << "Invalid buffer for lossy colour frame: " << out.type();
+ return false;
+ }*/
+
+ _create(pkt);
+
+ is_float_channel_ = is_float_frame;
+ last_codec_ = pkt.codec;
+
+ // Final checks for validity
+ if (pkt.data.size() == 0) { // || !ftl::codecs::hevc::validNAL(pkt.data)) {
+ LOG(ERROR) << "Failed to decode packet";
+ return false;
+ }
+
+ uint8_t *decodedPtr = nullptr;
+
+ if (pkt.flags & ftl::codecs::kFlagMultiple) {
+ const unsigned char *ptr = pkt.data.data();
+ const unsigned char *eptr = ptr+pkt.data.size();
+
+ //LOG(WARNING) << "Decode of multiple frames";
+
+ while (ptr < eptr) {
+ int size = readValue<int>(&ptr);
+
+ // Skip if still missing an IFrame.
+ if (!_checkIFrame(pkt.codec, ptr, size)) {
+ LOG(WARNING) << "P-Frame without I-Frame in decoder";
+ ptr += size;
+ if (ptr < eptr) continue;
+ else return false;
+ }
+
+ decodedPtr = _decode(ptr, size);
+ ptr += size;
+ }
+ } else {
+ if (!_checkIFrame(pkt.codec, pkt.data.data(), pkt.data.size())) {
+ LOG(WARNING) << "P-Frame without I-Frame in decoder: " << pkt.data.size();
+ return false;
+ }
+ decodedPtr = _decode(pkt.data.data(), pkt.data.size());
+ }
+
+ width_ = nv_decoder_->GetWidth();
+ height_ = nv_decoder_->GetHeight();
+
+ /*if (out.cols != ((is_float_frame && islossless) ? width_/2 : width_) || out.rows != height_) {
+ LOG(ERROR) << "Decoded frame not same size as buffer: " << width_ << "x" << height_ << " -> " << out.cols << "x" << out.rows;
+ return false;
+ }*/
+
+ // OpenCV GpuMat for YCbCr 4:2:0
+ cv::cuda::GpuMat surface;
+ if (is_float_frame && !islossless) surface = cv::cuda::GpuMat(height_+height_/2, width_, CV_16U, decodedPtr, width_*2);
+ else if (is_float_frame && islossless) surface = cv::cuda::GpuMat(height_+height_/2, width_, CV_8U, decodedPtr, width_);
+ else surface = cv::cuda::GpuMat(height_+height_/2, width_, CV_8U, decodedPtr, width_);
+
+ auto cvstream = cv::cuda::StreamAccessor::wrapStream(stream_);
+
+ if (is_float_frame) {
+ if (!islossless) {
+ buffer_.create(height_, width_, CV_32F);
+ out = buffer_;
+
+ cv::cuda::GpuMat sroi = surface(cv::Rect(0,0,width_, height_));
+ cv::cuda::GpuMat csroi = surface(cv::Rect(0,height_,width_, height_/2));
+
+ ftl::cuda::vuya_to_depth(out, sroi, csroi, 16.0f, cvstream);
+ } else {
+ buffer_.create(height_, width_/2, CV_32F);
+ out = buffer_;
+
+ ftl::cuda::nv12_to_float(decodedPtr, width_, (float*)out.data, static_cast<uint32_t>(out.step1()), width_/2, height_, stream_);
+ }
+ } else {
+ buffer_.create(height_, width_, CV_8UC4);
+ out = buffer_;
+
+ // Flag 0x1 means frame is in RGB so needs conversion to BGR
+ if (pkt.flags & 0x1) {
+ Nv12ToColor32<BGRA32>(decodedPtr, width_, out.data, static_cast<int>(out.step1()), width_, height_, 0, stream_);
+ } else {
+ Nv12ToColor32<RGBA32>(decodedPtr, width_, out.data, static_cast<int>(out.step1()), width_, height_, 0, stream_);
+ }
+ }
+
+ //stream_.waitForCompletion();
+
+ return true;
+}
+
+bool NvidiaDecoder::accepts(const ftl::codecs::Packet &pkt) {
+ return pkt.codec == codec_t::HEVC || pkt.codec == codec_t::H264 || pkt.codec == codec_t::H264_LOSSLESS || pkt.codec == codec_t::HEVC_LOSSLESS;
+}
diff --git a/components/codecs/src/nvidia_encoder.cpp b/components/codecs/src/nvidia_encoder.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..65b9ec32013b58fe9267aaf00151e6f3e0dc5082
--- /dev/null
+++ b/components/codecs/src/nvidia_encoder.cpp
@@ -0,0 +1,359 @@
+#include <ftl/codecs/nvidia_encoder.hpp>
+#include <loguru.hpp>
+#include <ftl/timer.hpp>
+#include <ftl/codecs/codecs.hpp>
+#include <ftl/cuda_util.hpp>
+#include <ftl/exception.hpp>
+
+#include <opencv2/core/cuda/common.hpp>
+#include <opencv2/core/cuda_stream_accessor.hpp>
+#include <opencv2/cudaimgproc.hpp>
+
+#include <ftl/codecs/depth_convert_cuda.hpp>
+
+#include "NvEncoder/NvEncoderCuda.h"
+
+using ftl::codecs::NvidiaEncoder;
+using ftl::codecs::bitrate_t;
+using ftl::codecs::codec_t;
+using ftl::codecs::definition_t;
+using ftl::codecs::format_t;
+using ftl::codecs::Packet;
+using ftl::codecs::kFlagFloat;
+using ftl::codecs::kFlagFlipRGB;
+using ftl::codecs::kFlagMappedDepth;
+
+static inline std::string EncErrorCodeToString(NVENCSTATUS code)
+{
+ std::vector<std::string> errors = {
+ "NV_ENC_SUCCESS",
+ "NV_ENC_ERR_NO_ENCODE_DEVICE",
+ "NV_ENC_ERR_UNSUPPORTED_DEVICE",
+ "NV_ENC_ERR_INVALID_ENCODERDEVICE",
+ "NV_ENC_ERR_INVALID_DEVICE",
+ "NV_ENC_ERR_DEVICE_NOT_EXIST",
+ "NV_ENC_ERR_INVALID_PTR",
+ "NV_ENC_ERR_INVALID_EVENT",
+ "NV_ENC_ERR_INVALID_PARAM",
+ "NV_ENC_ERR_INVALID_CALL",
+ "NV_ENC_ERR_OUT_OF_MEMORY",
+ "NV_ENC_ERR_ENCODER_NOT_INITIALIZED",
+ "NV_ENC_ERR_UNSUPPORTED_PARAM",
+ "NV_ENC_ERR_LOCK_BUSY",
+ "NV_ENC_ERR_NOT_ENOUGH_BUFFER",
+ "NV_ENC_ERR_INVALID_VERSION",
+ "NV_ENC_ERR_MAP_FAILED",
+ "NV_ENC_ERR_NEED_MORE_INPUT",
+ "NV_ENC_ERR_ENCODER_BUSY",
+ "NV_ENC_ERR_EVENT_NOT_REGISTERD",
+ "NV_ENC_ERR_GENERIC",
+ "NV_ENC_ERR_INCOMPATIBLE_CLIENT_KEY",
+ "NV_ENC_ERR_UNIMPLEMENTED",
+ "NV_ENC_ERR_RESOURCE_REGISTER_FAILED",
+ "NV_ENC_ERR_RESOURCE_NOT_REGISTERED",
+ "NV_ENC_ERR_RESOURCE_NOT_MAPPED"
+ };
+
+ if (code >= 0 && code < errors.size())
+ return errors[code];
+
+ return "Unknown error code";
+}
+
+NvidiaEncoder::NvidiaEncoder(definition_t maxdef,
+ definition_t mindef) : Encoder(maxdef, mindef, ftl::codecs::device_t::NVIDIA) {
+ nvenc_ = nullptr;
+ was_reset_ = false;
+}
+
+NvidiaEncoder::~NvidiaEncoder() {
+ if (nvenc_) {
+ std::vector<std::vector<uint8_t>> tmp;
+ nvenc_->EndEncode(tmp);
+ nvenc_->DestroyEncoder();
+ delete nvenc_;
+ nvenc_ = nullptr;
+ }
+}
+
+void NvidiaEncoder::reset() {
+ was_reset_ = true;
+}
+
+bool NvidiaEncoder::supports(ftl::codecs::codec_t codec) {
+ switch (codec) {
+ case codec_t::H264_LOSSLESS:
+ case codec_t::HEVC_LOSSLESS:
+ case codec_t::H264:
+ case codec_t::HEVC: return true;
+ default: return false;
+ }
+}
+
+/*
+ * Create encoder params structure from packet and surface. Changes to these
+ * require a recreation of the encoder.
+ */
+static ftl::codecs::NvidiaEncoder::Parameters generateParams(const cv::cuda::GpuMat &in, const ftl::codecs::Packet &pkt) {
+ ftl::codecs::NvidiaEncoder::Parameters params;
+ params.bitrate = pkt.bitrate;
+ params.codec = pkt.codec;
+ params.width = in.cols;
+ params.height = in.rows;
+ params.is_float = in.type() == CV_32F;
+ return params;
+}
+
+/*
+ * Using image height and a 0 to 1 rate scale, calculate a Mbps value to be
+ * used.
+ */
+static uint64_t calculateBitrate(int64_t pixels, float ratescale) {
+ static constexpr float kTopResolution = 2160.0f;
+ static constexpr float kBottomResolution = 360.0f;
+ static constexpr float kTopBitrate = 40.0f; // Mbps
+ static constexpr float kBottomBitrate = 2.0f; // Mbps
+ static constexpr float kBitrateScale = 1024.0f*1024.0f;
+ static constexpr float kMinBitrateFactor = 0.05f; // 5% of max for resolution
+
+ float resolution = (float(pixels) - kBottomResolution) / (kTopResolution - kBottomResolution);
+ float bitrate = (kTopBitrate - kBottomBitrate) * resolution + kBottomBitrate;
+
+ // Limit to 80Mbps.
+ if (bitrate > 80.0f) bitrate = 80.0f;
+
+ bitrate *= kBitrateScale;
+
+ float minrate = kMinBitrateFactor * bitrate;
+ return uint64_t((bitrate - minrate)*ratescale + minrate);
+}
+
+/*
+ * Check that codec configuration and surface data are all valid.
+ */
+static bool validate(const cv::cuda::GpuMat &in, ftl::codecs::Packet &pkt) {
+ if (in.type() == CV_32F) pkt.flags |= kFlagFloat;
+ else pkt.flags |= kFlagFlipRGB;
+
+ // Remove unwanted flags
+ if (in.type() == CV_32F && (pkt.flags & kFlagFlipRGB)) pkt.flags &= ~kFlagFlipRGB;
+ if (in.type() == CV_8UC4 && (pkt.flags & kFlagFloat)) pkt.flags &= ~kFlagFloat;
+ if (pkt.codec == codec_t::HEVC_LOSSLESS && (pkt.flags & kFlagMappedDepth)) pkt.flags &= ~kFlagMappedDepth;
+
+ if (pkt.codec == codec_t::Any) pkt.codec = codec_t::HEVC;
+
+ // Correct for mising flag
+ if (pkt.codec == codec_t::HEVC && in.type() == CV_32F) {
+ pkt.flags |= ftl::codecs::kFlagMappedDepth;
+ }
+
+ if (pkt.codec == codec_t::H264 && in.type() == CV_32F) {
+ //LOG(ERROR) << "Lossy compression not supported with H264 currently";
+ return false;
+ }
+
+ if (pkt.frame_count == 0) {
+ return false;
+ }
+
+ if (in.empty()) {
+ //LOG(WARNING) << "No data";
+ return false;
+ }
+
+ if (in.type() != CV_32F && in.type() != CV_8UC4) {
+ //LOG(ERROR) << "Input type does not match given format";
+ pkt.flags = 0;
+ return false;
+ }
+
+ return true;
+}
+
+bool NvidiaEncoder::encode(const cv::cuda::GpuMat &in, ftl::codecs::Packet &pkt) {
+ //cudaSetDevice(0);
+
+ if (pkt.codec != codec_t::Any && !supports(pkt.codec)) {
+ pkt.codec = codec_t::Invalid;
+ return false;
+ }
+
+ if (!validate(in, pkt)) return false;
+ if (!_createEncoder(in, pkt)) return false;
+
+ const NvEncInputFrame* f = nvenc_->GetNextInputFrame();
+
+ if (!params_.is_float) {
+ cv::cuda::GpuMat surface(nvenc_->GetEncodeHeight(), nvenc_->GetEncodeWidth(), CV_8UC4, f->inputPtr, f->pitch);
+ cv::cuda::cvtColor(in, surface, cv::COLOR_BGRA2RGBA, 0, stream_);
+ } else if (params_.isLossy()) {
+ ftl::cuda::depth_to_nv12_10(in, (ushort*)f->inputPtr, (ushort*)(((uchar*)f->inputPtr)+(nvenc_->GetEncodeHeight()*f->pitch)), f->pitch/2, 16.0f, stream_);
+ } else {
+ ftl::cuda::float_to_nv12_16bit((float*)in.data, static_cast<uint32_t>(in.step1()), (uchar*)f->inputPtr, f->pitch, nvenc_->GetEncodeWidth()/2, nvenc_->GetEncodeHeight(), cv::cuda::StreamAccessor::getStream(stream_));
+ }
+
+ // TODO: Use page locked memory?
+ pkt.data.resize(ftl::codecs::kVideoBufferSize);
+
+ // Make sure conversions complete...
+ stream_.waitForCompletion();
+
+ // Insert periodic i-frames here.
+ if (((++frame_count_) % 128) == 0) {
+ was_reset_ = true;
+ }
+
+ uint64_t cs = _encode(pkt.data.data(), pkt.data.size(), was_reset_);
+ pkt.data.resize(cs);
+ was_reset_ = false;
+
+ if (cs == 0 || cs >= ftl::codecs::kVideoBufferSize) {
+ //LOG(ERROR) << "Could not encode video frame";
+ return false;
+ } else {
+ return true;
+ }
+}
+
+bool NvidiaEncoder::_createEncoder(const cv::cuda::GpuMat &in, const ftl::codecs::Packet &pkt) {
+ Parameters params = generateParams(in, pkt);
+ if (nvenc_ && (params == params_)) return true;
+
+ uint64_t bitrate = calculateBitrate(in.rows, float(pkt.bitrate)/255.0f);
+ LOG(INFO) << "Calculated bitrate " << (float(bitrate) / 1024.0f / 1024.0f) << "Mbps (" << int(pkt.bitrate) << ")";
+
+ params_ = params;
+ frame_count_ = 0;
+ was_reset_ = true;
+
+ const int fps = 1000/ftl::timer::getInterval();
+
+ bool ish264 = pkt.codec == codec_t::H264 || pkt.codec == codec_t::H264_LOSSLESS;
+ bool ishevc = !ish264;
+
+ // Ensure we have a CUDA context
+ cudaSafeCall(cudaDeviceSynchronize());
+ CUcontext cudaContext;
+ cuCtxGetCurrent(&cudaContext);
+
+ if (nvenc_) {
+ //LOG(INFO) << "Destroying old NVENC encoder";
+ std::vector<std::vector<uint8_t>> tmp;
+ nvenc_->EndEncode(tmp);
+ nvenc_->DestroyEncoder();
+ delete nvenc_;
+ nvenc_ = nullptr;
+ }
+
+ // Create encoder
+ try
+ {
+ NV_ENC_BUFFER_FORMAT bufferFormat;
+ if (!params.is_float) bufferFormat = NV_ENC_BUFFER_FORMAT_ABGR;
+ else if (!params.isLossy()) bufferFormat = NV_ENC_BUFFER_FORMAT_NV12;
+ else bufferFormat = NV_ENC_BUFFER_FORMAT_YUV420_10BIT;
+
+ nvenc_ = new NvEncoderCuda(cudaContext, params_.encodeWidth(), params_.encodeHeight(), bufferFormat, 0);
+
+ NV_ENC_INITIALIZE_PARAMS initializeParams = { NV_ENC_INITIALIZE_PARAMS_VER };
+ NV_ENC_CONFIG encodeConfig = { NV_ENC_CONFIG_VER };
+ initializeParams.encodeConfig = &encodeConfig;
+
+ GUID codecGUID = (ishevc) ? NV_ENC_CODEC_HEVC_GUID : NV_ENC_CODEC_H264_GUID;
+
+ GUID presetGUID = NV_ENC_PRESET_LOW_LATENCY_HQ_GUID;
+ if (!params.isLossy())
+ presetGUID = NV_ENC_PRESET_LOSSLESS_DEFAULT_GUID; // NV_ENC_PRESET_LOSSLESS_HP_GUID
+
+ nvenc_->CreateDefaultEncoderParams(&initializeParams, codecGUID, presetGUID);
+
+ initializeParams.encodeWidth = params.encodeWidth();
+ initializeParams.encodeHeight = params.encodeHeight();
+ initializeParams.frameRateNum = fps;
+ initializeParams.frameRateDen = 1;
+ initializeParams.enablePTD = 1;
+
+ encodeConfig.gopLength = NVENC_INFINITE_GOPLENGTH; // No B-frames
+ encodeConfig.frameIntervalP = 1;
+
+ if (ish264)
+ encodeConfig.encodeCodecConfig.h264Config.idrPeriod = NVENC_INFINITE_GOPLENGTH;
+ else {
+ encodeConfig.encodeCodecConfig.hevcConfig.idrPeriod = NVENC_INFINITE_GOPLENGTH;
+
+ if (params.is_float && params.isLossy()) {
+ encodeConfig.encodeCodecConfig.hevcConfig.pixelBitDepthMinus8 = 2; // For 10-bit colour
+ }
+
+ //if (this->compression == NVPIPE_LOSSY_10BIT_444 || this->compression == NVPIPE_LOSSY_8BIT_444) {
+ // encodeConfig.encodeCodecConfig.hevcConfig.chromaFormatIDC = 3; // For Yuv444 (1 for 420)
+ //}
+ }
+
+ if (params.isLossy())
+ {
+ encodeConfig.rcParams.averageBitRate = static_cast<uint32_t>(bitrate);
+ encodeConfig.rcParams.rateControlMode = NV_ENC_PARAMS_RC_CBR_LOWDELAY_HQ;
+ encodeConfig.rcParams.vbvBufferSize = encodeConfig.rcParams.averageBitRate * initializeParams.frameRateDen / initializeParams.frameRateNum; // bitrate / framerate = one frame
+ encodeConfig.rcParams.maxBitRate = encodeConfig.rcParams.averageBitRate;
+ encodeConfig.rcParams.vbvInitialDelay = encodeConfig.rcParams.vbvBufferSize;
+ }
+
+ nvenc_->CreateEncoder(&initializeParams);
+ }
+ catch (NVENCException& e)
+ {
+ throw FTL_Error("Failed to create encoder (" << e.getErrorString() << ", error " + std::to_string(e.getErrorCode()) << " = " + EncErrorCodeToString(e.getErrorCode()) << ")");
+ }
+
+ if (!nvenc_) {
+ //LOG(ERROR) << "Could not create video encoder";
+ return false;
+ } else {
+ //LOG(INFO) << "NVENC encoder created";
+
+ //nvenc_->SetIOCudaStreams(cv::cuda::StreamAccessor::getStream(stream_), cv::cuda::StreamAccessor::getStream(stream_));
+
+ return true;
+ }
+}
+
+uint64_t NvidiaEncoder::_encode(uint8_t* dst, uint64_t dstSize, bool forceIFrame) {
+ std::vector<std::vector<uint8_t>> packets;
+
+ try
+ {
+ if (forceIFrame)
+ {
+ NV_ENC_PIC_PARAMS params = {};
+ params.encodePicFlags = NV_ENC_PIC_FLAG_FORCEIDR | NV_ENC_PIC_FLAG_OUTPUT_SPSPPS;
+
+ nvenc_->EncodeFrame(packets, ¶ms);
+ }
+ else
+ {
+ nvenc_->EncodeFrame(packets);
+ }
+ }
+ catch (NVENCException& e)
+ {
+ throw FTL_Error("Encode failed (" << e.getErrorString() << ", error " << std::to_string(e.getErrorCode()) << " = " << EncErrorCodeToString(e.getErrorCode()) << ")");
+ }
+
+ // Copy output
+ uint64_t size = 0;
+ for (auto& p : packets)
+ {
+ if (size + p.size() <= dstSize)
+ {
+ memcpy(dst + size, p.data(), p.size());
+ size += p.size();
+ }
+ else
+ {
+ throw FTL_Error("Encode output buffer overflow");
+ }
+ }
+
+ return size;
+}
diff --git a/components/codecs/src/nvpipe_decoder.cpp b/components/codecs/src/nvpipe_decoder.cpp
deleted file mode 100644
index 3f41ce7a6f359f6fbd99de64a8cab8b9bd7a6136..0000000000000000000000000000000000000000
--- a/components/codecs/src/nvpipe_decoder.cpp
+++ /dev/null
@@ -1,165 +0,0 @@
-#include <ftl/codecs/nvpipe_decoder.hpp>
-#include <ftl/codecs/nvpipe_encoder.hpp>
-
-#include <loguru.hpp>
-
-#include <ftl/cuda_util.hpp>
-#include <ftl/codecs/hevc.hpp>
-#include <ftl/codecs/h264.hpp>
-//#include <cuda_runtime.h>
-
-#include <opencv2/core/cuda/common.hpp>
-
-#include <ftl/codecs/depth_convert_cuda.hpp>
-
-using ftl::codecs::NvPipeDecoder;
-
-NvPipeDecoder::NvPipeDecoder() {
- nv_decoder_ = nullptr;
- seen_iframe_ = false;
-}
-
-NvPipeDecoder::~NvPipeDecoder() {
- if (nv_decoder_ != nullptr) {
- NvPipe_Destroy(nv_decoder_);
- }
-}
-
-template <typename T>
-static T readValue(const unsigned char **data) {
- const T *ptr = (const T*)(*data);
- *data += sizeof(T);
- return *ptr;
-}
-
-bool NvPipeDecoder::_checkIFrame(ftl::codecs::codec_t codec, const unsigned char *data, size_t size) {
- if (!seen_iframe_) {
- if (codec == ftl::codecs::codec_t::HEVC || codec == ftl::codecs::codec_t::HEVC_LOSSLESS) {
- if (ftl::codecs::hevc::isIFrame(data, size)) seen_iframe_ = true;
- } else if (codec == ftl::codecs::codec_t::H264 || codec == ftl::codecs::codec_t::H264_LOSSLESS) {
- if (ftl::codecs::h264::isIFrame(data, size)) seen_iframe_ = true;
- }
- }
- return seen_iframe_;
-}
-
-bool NvPipeDecoder::decode(const ftl::codecs::Packet &pkt, cv::cuda::GpuMat &out) {
- //cudaSetDevice(0);
- UNIQUE_LOCK(mutex_,lk);
- if (pkt.codec != codec_t::HEVC && pkt.codec != codec_t::H264 && pkt.codec != codec_t::HEVC_LOSSLESS && pkt.codec != codec_t::H264_LOSSLESS) return false;
-
- bool is_float_frame = pkt.flags & ftl::codecs::kFlagFloat;
- bool islossless = ((pkt.codec == ftl::codecs::codec_t::HEVC || pkt.codec == ftl::codecs::codec_t::H264) && is_float_frame &&
- !(pkt.flags & 0x2)) || pkt.codec == ftl::codecs::codec_t::HEVC_LOSSLESS || pkt.codec == ftl::codecs::codec_t::H264_LOSSLESS;
-
- if (is_float_frame && !islossless && out.type() != CV_16UC4) {
- LOG(ERROR) << "Invalid buffer for lossy float frame";
- return false;
- }
-
- if (is_float_frame && islossless && out.type() != CV_16U) {
- LOG(ERROR) << "Invalid buffer for lossless float frame";
- return false;
- }
-
- if (!is_float_frame && out.type() != CV_8UC4) {
- LOG(ERROR) << "Invalid buffer for lossy colour frame: " << out.type();
- return false;
- }
-
- int width = ftl::codecs::getWidth(pkt.definition);
- int height = ftl::codecs::getHeight(pkt.definition);
- auto [tx,ty] = ftl::codecs::chooseTileConfig(pkt.frame_count);
-
- if (tx*width != out.cols || ty*height != out.rows) {
- LOG(ERROR) << "Received frame too large for output";
- return false;
- }
-
- // Is the previous decoder still valid for current resolution and type?
- if (nv_decoder_ != nullptr && (last_definition_ != pkt.definition || last_codec_ != pkt.codec || is_float_channel_ != is_float_frame)) {
- NvPipe_Destroy(nv_decoder_);
- nv_decoder_ = nullptr;
- }
-
- is_float_channel_ = is_float_frame;
- last_definition_ = pkt.definition;
- last_codec_ = pkt.codec;
-
- // Build a decoder instance of the correct kind
- if (nv_decoder_ == nullptr) {
- nv_decoder_ = NvPipe_CreateDecoder(
- (is_float_frame) ? (islossless) ? NVPIPE_UINT16 : NVPIPE_YUV64 : NVPIPE_RGBA32,
- (pkt.codec == codec_t::HEVC || pkt.codec == ftl::codecs::codec_t::HEVC_LOSSLESS) ? NVPIPE_HEVC : NVPIPE_H264,
- out.cols,
- out.rows);
- if (!nv_decoder_) {
- //LOG(INFO) << "Bitrate=" << (int)bitrate << " width=" << ABRController::getColourWidth(bitrate);
- LOG(FATAL) << "Could not create decoder: " << NvPipe_GetError(NULL);
- }
-
- seen_iframe_ = false;
- }
-
- //tmp_.create(cv::Size(ftl::codecs::getWidth(pkt.definition),ftl::codecs::getHeight(pkt.definition)), (!is_float_frame) ? CV_8UC4 : (islossless) ? CV_16U : CV_16UC4);
-
- // Final checks for validity
- if (pkt.data.size() == 0) { // || !ftl::codecs::hevc::validNAL(pkt.data)) {
- LOG(ERROR) << "Failed to decode packet";
- return false;
- }
-
- int rc = 0;
- if (pkt.flags & ftl::codecs::kFlagMultiple) {
- const unsigned char *ptr = pkt.data.data();
- const unsigned char *eptr = ptr+pkt.data.size();
-
- while (ptr < eptr) {
- int size = readValue<int>(&ptr);
-
- // Skip if still missing an IFrame.
- if (!_checkIFrame(pkt.codec, ptr, size)) {
- LOG(WARNING) << "P-Frame without I-Frame in decoder";
- ptr += size;
- if (ptr < eptr) continue;
- else return false;
- }
-
- rc = NvPipe_Decode(nv_decoder_, ptr, size, out.data, out.cols, out.rows, out.step);
- if (rc == 0) LOG(ERROR) << "NvPipe decode error: " << NvPipe_GetError(nv_decoder_);
- ptr += size;
- }
-
- //LOG(WARNING) << "Decode of multiple frames: " << count;
- } else {
- if (!_checkIFrame(pkt.codec, pkt.data.data(), pkt.data.size())) {
- LOG(WARNING) << "P-Frame without I-Frame in decoder: " << pkt.data.size();
- return false;
- }
- rc = NvPipe_Decode(nv_decoder_, pkt.data.data(), pkt.data.size(), out.data, out.cols, out.rows, out.step);
- if (rc == 0) LOG(ERROR) << "NvPipe decode error: " << NvPipe_GetError(nv_decoder_);
- }
-
- /*if (is_float_frame) {
- if (!islossless) {
- //cv::cuda::cvtColor(tmp_, tmp_, cv::COLOR_RGB2YUV, 4, stream_);
-
- ftl::cuda::vuya_to_depth(out, tmp_, 16.0f, stream_);
- } else {
- tmp_.convertTo(out, CV_32FC1, 1.0f/1000.0f, stream_);
- }
- } else {
- // Flag 0x1 means frame is in RGB so needs conversion to BGR
- if (pkt.flags & 0x1) {
- cv::cuda::cvtColor(tmp_, out, cv::COLOR_RGBA2BGRA, 0, stream_);
- }
- }*/
-
- //stream_.waitForCompletion();
-
- return rc > 0;
-}
-
-bool NvPipeDecoder::accepts(const ftl::codecs::Packet &pkt) {
- return pkt.codec == codec_t::HEVC || pkt.codec == codec_t::H264 || pkt.codec == codec_t::H264_LOSSLESS || pkt.codec == codec_t::HEVC_LOSSLESS;
-}
diff --git a/components/codecs/src/nvpipe_encoder.cpp b/components/codecs/src/nvpipe_encoder.cpp
deleted file mode 100644
index c9f662183cd1d007914e7ada1baeb5c913aef763..0000000000000000000000000000000000000000
--- a/components/codecs/src/nvpipe_encoder.cpp
+++ /dev/null
@@ -1,300 +0,0 @@
-#include <ftl/codecs/nvpipe_encoder.hpp>
-#include <loguru.hpp>
-#include <ftl/timer.hpp>
-#include <ftl/codecs/codecs.hpp>
-#include <ftl/cuda_util.hpp>
-
-#include <opencv2/core/cuda/common.hpp>
-
-#include <ftl/codecs/depth_convert_cuda.hpp>
-
-using ftl::codecs::NvPipeEncoder;
-using ftl::codecs::bitrate_t;
-using ftl::codecs::codec_t;
-using ftl::codecs::definition_t;
-using ftl::codecs::format_t;
-using ftl::codecs::Packet;
-
-NvPipeEncoder::NvPipeEncoder(definition_t maxdef,
- definition_t mindef) : Encoder(maxdef, mindef, ftl::codecs::device_t::Hardware) {
- nvenc_ = nullptr;
- was_reset_ = false;
-}
-
-NvPipeEncoder::~NvPipeEncoder() {
- if (nvenc_) NvPipe_Destroy(nvenc_);
-}
-
-void NvPipeEncoder::reset() {
- was_reset_ = true;
-}
-
-bool NvPipeEncoder::supports(ftl::codecs::codec_t codec) {
- switch (codec) {
- case codec_t::H264_LOSSLESS:
- case codec_t::HEVC_LOSSLESS:
- case codec_t::H264:
- case codec_t::HEVC: return true;
- default: return false;
- }
-}
-
-/* Check preset resolution is not better than actual resolution. */
-/*definition_t NvPipeEncoder::_verifiedDefinition(definition_t def, const cv::cuda::GpuMat &in) {
- int height = ftl::codecs::getHeight(def);
-
- while (height > in.rows) {
- def = static_cast<definition_t>(int(def)+1);
- height = ftl::codecs::getHeight(def);
- }
-
- return def;
-}*/
-
-static bool isLossy(codec_t c) {
- return !(c == codec_t::HEVC_LOSSLESS || c == codec_t::H264_LOSSLESS);
-}
-
-static bool sanityFormat(int type, ftl::codecs::format_t fmt) {
- switch(fmt) {
- case format_t::BGRA8 :
- case format_t::RGBA8 : return type == CV_8UC4;
- case format_t::VUYA16 : return type == CV_8UC4;
- case format_t::F32 : return type == CV_32F;
- case format_t::U16 : return type == CV_16U;
- }
- return false;
-}
-
-static ftl::codecs::format_t formatFromPacket(const ftl::codecs::Packet &pkt) {
- if (pkt.flags & ftl::codecs::kFlagFloat) {
- return (pkt.flags & ftl::codecs::kFlagMappedDepth) ? format_t::VUYA16 : format_t::U16;
- } else {
- return (pkt.flags & ftl::codecs::kFlagFlipRGB) ? format_t::BGRA8 : format_t::RGBA8;
- }
-}
-
-static uint64_t calculateBitrate(definition_t def, float ratescale) {
- float bitrate = 1.0f; // Megabits
- switch (def) {
- case definition_t::UHD4k : bitrate = 40.0f; break;
- case definition_t::HTC_VIVE : bitrate = 32.0f; break;
- case definition_t::HD1080 : bitrate = 12.0f; break;
- case definition_t::HD720 : bitrate = 8.0f; break;
- case definition_t::SD576 :
- case definition_t::SD480 : bitrate = 4.0f; break;
- case definition_t::LD360 : bitrate = 2.0f; break;
- default : bitrate = 16.0f;
- }
-
- bitrate *= 1000.0f*1000.0f;
- float minrate = 0.05f * bitrate;
- return uint64_t((bitrate - minrate)*ratescale + minrate);
-}
-
-bool NvPipeEncoder::encode(const cv::cuda::GpuMat &in, ftl::codecs::Packet &pkt) {
- //cudaSetDevice(0);
-
- if (pkt.codec != codec_t::Any && !supports(pkt.codec)) {
- pkt.codec = codec_t::Invalid;
- return false;
- }
-
- // Correct for mising flag
- if (pkt.codec == codec_t::HEVC && (pkt.flags & ftl::codecs::kFlagFloat) && in.type() == CV_8UC4) {
- pkt.flags |= ftl::codecs::kFlagMappedDepth;
- }
-
- ftl::codecs::format_t fmt = formatFromPacket(pkt);
-
- if (pkt.frame_count == 0) {
- pkt.definition = definition_t::Invalid;
- return false;
- }
-
- //bool is_stereo = pkt.flags & ftl::codecs::kFlagStereo;
-
- auto [tx,ty] = ftl::codecs::chooseTileConfig(pkt.frame_count);
- pkt.definition = (pkt.definition == definition_t::Any) ? ftl::codecs::findDefinition(in.cols/tx, in.rows/ty) : pkt.definition;
- if (pkt.definition == definition_t::Invalid || pkt.definition == definition_t::Any) {
- LOG(ERROR) << "Could not find appropriate definition";
- return false;
- }
-
- auto width = ftl::codecs::getWidth(pkt.definition);
- auto height = ftl::codecs::getHeight(pkt.definition);
-
- if (in.empty()) {
- LOG(WARNING) << "No data";
- return false;
- }
-
- if (!sanityFormat(in.type(), fmt)) {
- LOG(ERROR) << "Input type does not match given format";
- pkt.flags = 0;
- return false;
- }
-
- if (tx*width != in.cols || ty*height != in.rows) {
- // TODO: Resize if lower definition requested...
- LOG(ERROR) << "Input size does not match expected: " << in.cols << " != " << tx*width;
- pkt.definition = definition_t::Invalid;
- return false;
- }
-
- cv::cuda::GpuMat tmp;
- /*if (width != in.cols || height != in.rows) {
- LOG(WARNING) << "Mismatch resolution with encoding resolution";
- if (in.type() == CV_32F) {
- cv::cuda::resize(in, tmp_, cv::Size(width,height), 0.0, 0.0, cv::INTER_NEAREST, stream_);
- } else {
- cv::cuda::resize(in, tmp_, cv::Size(width,height), 0.0, 0.0, cv::INTER_LINEAR, stream_);
- }
- tmp = tmp_;
- } else {*/
- tmp = in;
- //}
-
- //LOG(INFO) << "Definition: " << ftl::codecs::getWidth(pkt.definition) << "x" << ftl::codecs::getHeight(pkt.definition);
-
- if (in.empty()) {
- LOG(ERROR) << "Missing data for Nvidia encoder";
- return false;
- }
-
- if (pkt.codec == codec_t::Any)
- pkt.codec = ((pkt.flags & ftl::codecs::kFlagFloat) && !(pkt.flags & ftl::codecs::kFlagMappedDepth)) ? codec_t::HEVC_LOSSLESS : codec_t::HEVC;
-
- if (!_createEncoder(pkt, fmt)) return false;
-
- // Doesn't seem to work
- /*if (isLossy(pkt.codec) && pkt.bitrate != last_bitrate_) {
- uint64_t bitrate = calculateBitrate(pkt.definition, float(pkt.bitrate)/255.0f) * pkt.frame_count;
- const int fps = 1000/ftl::timer::getInterval();
- LOG(INFO) << "Changing bitrate: " << bitrate;
- NvPipe_SetBitrate(nvenc_, bitrate, fps);
- last_bitrate_ = pkt.bitrate;
- }*/
-
- //LOG(INFO) << "NvPipe Encode: " << int(definition) << " " << in.cols;
-
- //pkt.flags = 0;
-
- //cv::Mat tmp;
- /*if (tmp.type() == CV_32F) {
- if (isLossy(pkt.codec)) {
- // Use special encoding transform
- tmp2_.create(tmp.size(), CV_8UC4);
- ftl::cuda::depth_to_vuya(tmp, tmp2_, 16.0f, stream_);
- pkt.flags |= NvPipeEncoder::kFlagMappedDepth;
- } else {
- tmp.convertTo(tmp2_, CV_16UC1, 1000, stream_);
- }
- } else if (tmp.type() == CV_8UC3) {
- cv::cuda::cvtColor(tmp, tmp2_, cv::COLOR_BGR2RGBA, 0, stream_);
- } else if (tmp.type() == CV_8UC4) {
- if (fmt == format_t::BGRA8) {
- cv::cuda::cvtColor(tmp, tmp2_, cv::COLOR_BGRA2RGBA, 0, stream_);
- pkt.flags |= NvPipeEncoder::kFlagRGB;
- } else if (fmt == format_t::VUYA16) {
- tmp2_ = tmp;
- }
- //} else if (tmp.type() == CV_16UC4) {
-
- } else {
- LOG(ERROR) << "Unsupported cv::Mat type in Nvidia encoder";
- return false;
- }*/
-
- // Make sure conversions complete...
- //stream_.waitForCompletion();
-
- //pkt.flags = NvPipeEncoder::kFlagRGB | NvPipeEncoder::kFlagMappedDepth;
-
- // TODO: Use page locked memory?
- pkt.data.resize(ftl::codecs::kVideoBufferSize);
- uint64_t cs = NvPipe_Encode(
- nvenc_,
- in.data,
- in.step,
- pkt.data.data(),
- ftl::codecs::kVideoBufferSize,
- in.cols,
- in.rows,
- was_reset_ // Force IFrame!
- );
- pkt.data.resize(cs);
- was_reset_ = false;
-
- if (cs == 0 || cs >= ftl::codecs::kVideoBufferSize) {
- LOG(ERROR) << "Could not encode video frame: " << NvPipe_GetError(nvenc_);
- return false;
- } else {
- return true;
- }
-}
-
-static NvPipe_Codec selectCodec(const Packet &pkt) {
- return (pkt.codec == codec_t::HEVC || pkt.codec == codec_t::HEVC_LOSSLESS) ? NVPIPE_HEVC : NVPIPE_H264;
-}
-
-static NvPipe_Compression selectCompression(const Packet &pkt, format_t fmt) {
- switch (fmt) {
- case format_t::BGRA8 :
- case format_t::RGBA8 : return NVPIPE_LOSSY;
- case format_t::F32 : return (isLossy(pkt.codec)) ? NVPIPE_LOSSY_10BIT_420 : NVPIPE_LOSSLESS;
- case format_t::VUYA16 : return NVPIPE_LOSSY_10BIT_420; // FIXME: Check codec.
- case format_t::U16 : return NVPIPE_LOSSLESS;
- }
- return NVPIPE_LOSSY;
-}
-
-static NvPipe_Format selectFormat(const Packet &pkt, format_t fmt) {
- switch (fmt) {
- case format_t::BGRA8 :
- case format_t::RGBA8 : return NVPIPE_RGBA32;
- case format_t::F32 : return (isLossy(pkt.codec)) ? NVPIPE_YUV32 : NVPIPE_UINT16;
- case format_t::U16 : return NVPIPE_UINT16;
- case format_t::VUYA16 : return NVPIPE_YUV32;
- }
- return NVPIPE_RGBA32;
-}
-
-bool NvPipeEncoder::_encoderMatch(const ftl::codecs::Packet &pkt, format_t fmt) {
- return compression_ == selectCompression(pkt, fmt) &&
- format_ == selectFormat(pkt, fmt) &&
- codec_ == selectCodec(pkt) && last_bitrate_ == pkt.bitrate;
-}
-
-bool NvPipeEncoder::_createEncoder(const ftl::codecs::Packet &pkt, format_t fmt) {
- if (_encoderMatch(pkt, fmt) && nvenc_) return true;
-
- uint64_t bitrate = calculateBitrate(pkt.definition, float(pkt.bitrate)/255.0f) * pkt.frame_count;
- //if (is_float_channel_) bitrate *= 2.0f;
- //LOG(INFO) << "Calculated bitrate: " << bitrate;
-
- format_ = selectFormat(pkt, fmt);
- compression_ = selectCompression(pkt, fmt);
- codec_ = selectCodec(pkt);
- last_bitrate_ = pkt.bitrate;
-
- if (nvenc_) NvPipe_Destroy(nvenc_);
- const int fps = 1000/ftl::timer::getInterval();
- nvenc_ = NvPipe_CreateEncoder(
- format_,
- codec_,
- compression_,
- bitrate,
- fps, // FPS
- ftl::codecs::getWidth(pkt.definition), // Output Width
- ftl::codecs::getHeight(pkt.definition) // Output Height
- );
-
- if (!nvenc_) {
- LOG(ERROR) << "Could not create video encoder: " << NvPipe_GetError(NULL);
- return false;
- } else {
- LOG(INFO) << "NvPipe encoder created";
- return true;
- }
-}
diff --git a/components/codecs/src/opencv_decoder.cpp b/components/codecs/src/opencv_decoder.cpp
index 981bac10e6155a05fab467407483e9d47656d2c9..f4b3c0a202888497bea5c865c61beb7aecc96c0d 100644
--- a/components/codecs/src/opencv_decoder.cpp
+++ b/components/codecs/src/opencv_decoder.cpp
@@ -19,8 +19,7 @@ bool OpenCVDecoder::accepts(const ftl::codecs::Packet &pkt) {
return (pkt.codec == codec_t::JPG || pkt.codec == codec_t::PNG);
}
-bool OpenCVDecoder::decode(const ftl::codecs::Packet &pkt, cv::cuda::GpuMat &out) {
- //CHECK(cv::Size(ftl::codecs::getWidth(pkt.definition), ftl::codecs::getHeight(pkt.definition)) == out.size());
+bool OpenCVDecoder::decode(const ftl::codecs::Packet &pkt, cv::cuda::GpuMat &out) {
int chunk_dim = 1; //std::sqrt(pkt.frame_count);
int chunk_width = out.cols / chunk_dim;
int chunk_height = out.rows / chunk_dim;
@@ -31,14 +30,12 @@ bool OpenCVDecoder::decode(const ftl::codecs::Packet &pkt, cv::cuda::GpuMat &out
cv::Rect roi(cx,cy,chunk_width,chunk_height);
cv::cuda::GpuMat chunkHead = out(roi);
- //LOG(INFO) << "DECODE JPEG " << (int)pkt.block_number << "/" << chunk_dim;
-
cv::Mat tmp2_, tmp_;
// Decode in temporary buffers to prevent long locks
cv::imdecode(pkt.data, cv::IMREAD_UNCHANGED, &tmp2_);
if (tmp2_.type() == CV_8UC3) {
- cv::cvtColor(tmp2_, tmp_, cv::COLOR_BGR2BGRA);
+ cv::cvtColor(tmp2_, tmp_, cv::COLOR_RGB2BGRA);
} else {
tmp_ = tmp2_;
}
diff --git a/components/codecs/src/opencv_encoder.cpp b/components/codecs/src/opencv_encoder.cpp
index 6cf2a3183ded4e3090dbcd9cb89f4b3574b4fe90..aa41b2b4a11598a294106594a707298e416e64a4 100644
--- a/components/codecs/src/opencv_encoder.cpp
+++ b/components/codecs/src/opencv_encoder.cpp
@@ -11,7 +11,7 @@ using ftl::codecs::OpenCVEncoder;
using std::vector;
OpenCVEncoder::OpenCVEncoder(ftl::codecs::definition_t maxdef,
- ftl::codecs::definition_t mindef) : Encoder(maxdef, mindef, ftl::codecs::device_t::Software) {
+ ftl::codecs::definition_t mindef) : Encoder(maxdef, mindef, ftl::codecs::device_t::OpenCV) {
jobs_ = 0;
}
@@ -28,54 +28,22 @@ bool OpenCVEncoder::supports(ftl::codecs::codec_t codec) {
}
bool OpenCVEncoder::encode(const cv::cuda::GpuMat &in, ftl::codecs::Packet &pkt) {
- bool is_colour = !(pkt.flags & ftl::codecs::kFlagFloat);
+ bool is_colour = in.type() == CV_8UC4;
- if (is_colour && in.type() != CV_8UC4 && in.type() != CV_8UC1) return false;
- if (!is_colour && in.type() == CV_8UC4) {
- LOG(ERROR) << "OpenCV Encoder doesn't support lossy depth";
- return false;
- }
+ if (pkt.codec == codec_t::Any) pkt.codec = (is_colour) ? codec_t::JPG : codec_t::PNG;
+ if (!supports(pkt.codec)) return false;
- auto [tx,ty] = ftl::codecs::chooseTileConfig(pkt.frame_count);
- pkt.definition = (pkt.definition == definition_t::Any) ? ftl::codecs::findDefinition(in.cols/tx, in.rows/ty) : pkt.definition;
- if (pkt.definition == definition_t::Invalid || pkt.definition == definition_t::Any) {
- LOG(ERROR) << "Could not find appropriate definition";
+ if (!is_colour && pkt.codec == codec_t::JPG) {
+ LOG(ERROR) << "OpenCV Encoder doesn't support lossy depth";
return false;
}
- /*pkt.definition = (pkt.definition == definition_t::Any) ? ftl::codecs::findDefinition(in.cols, in.rows) : pkt.definition;
-
- if (pkt.definition == definition_t::Invalid || pkt.definition == definition_t::Any) {
- LOG(ERROR) << "Invalid definition";
- return false;
- }*/
-
- // Ensure definition does not exceed max
- current_definition_ = pkt.definition; //((int)pkt.definition < (int)max_definition) ? max_definition : pkt.definition;
-
in.download(tmp_);
- //CHECK(cv::Size(ftl::codecs::getWidth(definition), ftl::codecs::getHeight(definition)) == in.size());
-
- //if (!is_colour) {
- //tmp_.convertTo(tmp_, CV_16U, 1000.0f);
- //}
-
- int width = ftl::codecs::getWidth(current_definition_);
- int height = ftl::codecs::getHeight(current_definition_);
- // Scale down image to match requested definition...
- /*if (ftl::codecs::getHeight(current_definition_) < in.rows) {
- cv::resize(tmp_, tmp_, cv::Size(ftl::codecs::getWidth(current_definition_), ftl::codecs::getHeight(current_definition_)), 0, 0, (is_colour) ? 1 : cv::INTER_NEAREST);
- } else {
-
- }*/
- if (tx*width != in.cols || ty*height != in.rows) {
- LOG(ERROR) << "Input does not match requested definition";
- return false;
+ if (!is_colour && in.type() == CV_32F) {
+ tmp_.convertTo(tmp_, CV_16U, 1000.0f);
}
- if (pkt.codec == codec_t::Any) pkt.codec = (is_colour && in.type() != CV_8UC1) ? codec_t::JPG : codec_t::PNG;
-
//for (int i=0; i<chunk_count_; ++i) {
// Add chunk job to thread pool
//ftl::pool.push([this,i,cb,is_colour,bitrate](int id) {
diff --git a/components/codecs/src/reader.cpp b/components/codecs/src/reader.cpp
index 2a2fc41453bab5bca3193dc98aa598497ad9d603..26d4f58f4a82f5a160d0050e40581996d8dc97d4 100644
--- a/components/codecs/src/reader.cpp
+++ b/components/codecs/src/reader.cpp
@@ -80,7 +80,7 @@ bool Reader::read(int64_t ts, const std::function<void(const ftl::codecs::Stream
stream_->read(buffer_.buffer(), buffer_.buffer_capacity());
//if (stream_->bad()) return false;
- int bytes = stream_->gcount();
+ size_t bytes = static_cast<size_t>(stream_->gcount());
if (bytes == 0) break;
buffer_.buffer_consumed(bytes);
partial = false;
diff --git a/components/codecs/test/CMakeLists.txt b/components/codecs/test/CMakeLists.txt
index ea703c7a66ab90b88418e2ad70a48c060d405239..34753db970a0acab275621de7aa4ceca6020b59c 100644
--- a/components/codecs/test/CMakeLists.txt
+++ b/components/codecs/test/CMakeLists.txt
@@ -15,22 +15,34 @@ target_link_libraries(opencv_codec_unit
add_test(OpenCVCodecUnitTest opencv_codec_unit)
-### NvPipe Codec Unit ################################################################
-add_executable(nvpipe_codec_unit
+### Nvidia Codec Unit ################################################################
+add_executable(nvidia_codec_unit
$<TARGET_OBJECTS:CatchTest>
../src/bitrates.cpp
../src/encoder.cpp
- ../src/nvpipe_encoder.cpp
- ../src/nvpipe_decoder.cpp
+ #../src/nvpipe_encoder.cpp
+ #../src/nvpipe_decoder.cpp
+ $<TARGET_OBJECTS:NvidiaCodec>
../src/depth_convert.cu
- ./nvpipe_codec_unit.cpp
+ ./nvidia_codec_unit.cpp
)
-target_include_directories(nvpipe_codec_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
-target_link_libraries(nvpipe_codec_unit
- Threads::Threads ${OS_LIBS} ${OpenCV_LIBS} ${CUDA_LIBRARIES} ftlcommon nvpipe)
+if (WIN32)
+ if (CMAKE_SIZEOF_VOID_P EQUAL 8)
+ target_link_directories(nvidia_codec_unit PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/../src/Video_Codec_SDK_9.1.23/Lib/x64)
+ elseif (CMAKE_SIZEOF_VOID_P EQUAL 4)
+ target_link_directories(nvidia_codec_unit PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/../src/Video_Codec_SDK_9.1.23/Lib/Win32)
+ endif()
+endif()
+target_include_directories(nvidia_codec_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include"
+${CMAKE_CURRENT_SOURCE_DIR}/../src/Video_Codec_SDK_9.1.23/include
+${CMAKE_CURRENT_SOURCE_DIR}/../src/Video_Codec_SDK_9.1.23/Samples/NvCodec)
+target_link_libraries(nvidia_codec_unit
+ Threads::Threads ${OS_LIBS} ${OpenCV_LIBS} ${CUDA_LIBRARIES} ftlcommon nvcuvid cuda)
+set_property(TARGET nvidia_codec_unit PROPERTY CUDA_ARCHITECTURES OFF)
-add_test(NvPipeCodecUnitTest nvpipe_codec_unit)
+
+add_test(NvidiaCodecUnitTest nvidia_codec_unit)
### Reader Writer Unit ################################################################
#add_executable(rw_unit
@@ -47,12 +59,12 @@ add_test(NvPipeCodecUnitTest nvpipe_codec_unit)
#add_test(RWUnitTest rw_unit)
### Channel Unit ###############################################################
-add_executable(channel_unit
-$<TARGET_OBJECTS:CatchTest>
- ./channel_unit.cpp
-)
-target_include_directories(channel_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
-target_link_libraries(channel_unit
- ftlcommon)
+#add_executable(channel_unit
+#$<TARGET_OBJECTS:CatchTest>
+# ./channel_unit.cpp
+#)
+#target_include_directories(channel_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
+#target_link_libraries(channel_unit
+# ftlcommon)
-add_test(ChannelUnitTest channel_unit)
+#add_test(ChannelUnitTest channel_unit)
diff --git a/components/codecs/test/nvpipe_codec_unit.cpp b/components/codecs/test/nvidia_codec_unit.cpp
similarity index 55%
rename from components/codecs/test/nvpipe_codec_unit.cpp
rename to components/codecs/test/nvidia_codec_unit.cpp
index 09a5b77dd2b44c2c58d16884d2ea2afab22be96b..937106bb3891736e0c7c37eba7c1c8da7e3489ae 100644
--- a/components/codecs/test/nvpipe_codec_unit.cpp
+++ b/components/codecs/test/nvidia_codec_unit.cpp
@@ -1,6 +1,6 @@
#include "catch.hpp"
-#include <ftl/codecs/nvpipe_encoder.hpp>
-#include <ftl/codecs/nvpipe_decoder.hpp>
+#include <ftl/codecs/nvidia_encoder.hpp>
+#include <ftl/codecs/nvidia_decoder.hpp>
#include <ftl/codecs/hevc.hpp>
#include <ftl/threads.hpp>
@@ -25,14 +25,13 @@ namespace ftl {
}
-TEST_CASE( "NvPipeEncoder::encode() - A valid colour image" ) {
- ftl::codecs::NvPipeEncoder encoder(definition_t::HD1080, definition_t::SD480);
+TEST_CASE( "NvidiaEncoder::encode() - A valid colour image" ) {
+ ftl::codecs::NvidiaEncoder encoder(definition_t::HD1080, definition_t::SD480);
cv::cuda::GpuMat m(cv::Size(1920,1080), CV_8UC4, cv::Scalar(0,0,0,0));
ftl::codecs::Packet pkt;
pkt.codec = codec_t::Any;
pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
pkt.flags = 0;
pkt.frame_count = 1;
@@ -41,8 +40,7 @@ TEST_CASE( "NvPipeEncoder::encode() - A valid colour image" ) {
REQUIRE( r );
REQUIRE( pkt.codec == codec_t::HEVC );
- REQUIRE( pkt.definition == definition_t::HD1080 );
- REQUIRE( pkt.flags == 0 );
+ REQUIRE( pkt.flags == ftl::codecs::kFlagFlipRGB );
REQUIRE( pkt.data.size() > 0 );
REQUIRE( ftl::codecs::hevc::validNAL(pkt.data.data(), pkt.data.size()) );
}
@@ -58,23 +56,12 @@ TEST_CASE( "NvPipeEncoder::encode() - A valid colour image" ) {
REQUIRE( ftl::codecs::hevc::validNAL(pkt.data.data(), pkt.data.size()) );
}
- SECTION("invalid frame count of 2") {
- pkt.frame_count = 2;
-
- bool r = encoder.encode(m, pkt);
-
- REQUIRE( !r );
- REQUIRE( pkt.definition == definition_t::Invalid );
- REQUIRE( pkt.data.size() == 0 );
- }
-
SECTION("invalid frame count of 0") {
pkt.frame_count = 0;
bool r = encoder.encode(m, pkt);
REQUIRE( !r );
- REQUIRE( pkt.definition == definition_t::Invalid );
REQUIRE( pkt.data.size() == 0 );
}
@@ -83,9 +70,9 @@ TEST_CASE( "NvPipeEncoder::encode() - A valid colour image" ) {
bool r = encoder.encode(m, pkt);
- REQUIRE( !r );
- REQUIRE( pkt.flags == 0 );
- REQUIRE( pkt.data.size() == 0 );
+ REQUIRE( r );
+ REQUIRE( pkt.flags == ftl::codecs::kFlagFlipRGB );
+ REQUIRE( pkt.data.size() != 0 );
}
SECTION("invalid codec") {
@@ -97,27 +84,16 @@ TEST_CASE( "NvPipeEncoder::encode() - A valid colour image" ) {
REQUIRE( pkt.codec == codec_t::Invalid );
REQUIRE( pkt.data.size() == 0 );
}
-
- SECTION("invalid definition") {
- pkt.definition = definition_t::HD720;
-
- bool r = encoder.encode(m, pkt);
-
- REQUIRE( !r );
- REQUIRE( pkt.definition == definition_t::Invalid );
- REQUIRE( pkt.data.size() == 0 );
- }
}
-TEST_CASE( "NvPipeEncoder::encode() - A tiled colour image" ) {
- ftl::codecs::NvPipeEncoder encoder(definition_t::HD1080, definition_t::SD480);
+TEST_CASE( "NvidiaEncoder::encode() - A tiled colour image" ) {
+ ftl::codecs::NvidiaEncoder encoder(definition_t::HD1080, definition_t::SD480);
cv::cuda::GpuMat m(cv::Size(2560,720), CV_8UC4, cv::Scalar(0,0,0,0));
SECTION("auto codec and definition, 2x1 frames") {
ftl::codecs::Packet pkt;
pkt.codec = codec_t::Any;
pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
pkt.flags = 0;
pkt.frame_count = 2;
@@ -125,114 +101,76 @@ TEST_CASE( "NvPipeEncoder::encode() - A tiled colour image" ) {
REQUIRE( r );
REQUIRE( pkt.codec == codec_t::HEVC );
- REQUIRE( pkt.definition == definition_t::HD720 );
- REQUIRE( pkt.flags == 0 );
+ REQUIRE( pkt.flags == ftl::codecs::kFlagFlipRGB );
REQUIRE( pkt.data.size() > 0 );
REQUIRE( ftl::codecs::hevc::validNAL(pkt.data.data(), pkt.data.size()) );
}
}
-TEST_CASE( "NvPipeEncoder::encode() - A valid lossless float image" ) {
- ftl::codecs::NvPipeEncoder encoder(definition_t::HD1080, definition_t::SD480);
- cv::cuda::GpuMat m(cv::Size(1280,720), CV_16U, cv::Scalar(0));
+TEST_CASE( "NvidiaEncoder::encode() - A valid lossless float image" ) {
+ ftl::codecs::NvidiaEncoder encoder(definition_t::HD1080, definition_t::SD480);
+ cv::cuda::GpuMat m(cv::Size(1280,720), CV_32F, cv::Scalar(0.0f));
SECTION("auto codec and definition, single frame") {
ftl::codecs::Packet pkt;
- pkt.codec = codec_t::Any;
+ pkt.codec = codec_t::HEVC_LOSSLESS;
pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
- pkt.flags = ftl::codecs::kFlagFloat;
+ pkt.flags = 0;
pkt.frame_count = 1;
bool r = encoder.encode(m, pkt);
REQUIRE( r );
REQUIRE( pkt.codec == codec_t::HEVC_LOSSLESS );
- REQUIRE( pkt.definition == definition_t::HD720 );
REQUIRE( pkt.flags == ftl::codecs::kFlagFloat );
REQUIRE( pkt.data.size() > 0 );
REQUIRE( ftl::codecs::hevc::validNAL(pkt.data.data(), pkt.data.size()) );
}
- SECTION("missing float flag") {
- ftl::codecs::Packet pkt;
- pkt.codec = codec_t::Any;
- pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
- pkt.flags = 0;
- pkt.frame_count = 1;
-
- bool r = encoder.encode(m, pkt);
-
- REQUIRE( !r );
- REQUIRE( pkt.data.size() == 0 );
- }
-
SECTION("invalid lossy flag") {
ftl::codecs::Packet pkt;
- pkt.codec = codec_t::Any;
+ pkt.codec = codec_t::HEVC_LOSSLESS;
pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
- pkt.flags = ftl::codecs::kFlagFloat & ftl::codecs::kFlagMappedDepth;
+ pkt.flags = ftl::codecs::kFlagMappedDepth;
pkt.frame_count = 1;
bool r = encoder.encode(m, pkt);
- REQUIRE( !r );
- REQUIRE( pkt.data.size() == 0 );
+ REQUIRE( r );
+ REQUIRE( pkt.flags == ftl::codecs::kFlagFloat );
+ REQUIRE( pkt.data.size() != 0 );
}
}
-TEST_CASE( "NvPipeEncoder::encode() - A valid lossy float image" ) {
- ftl::codecs::NvPipeEncoder encoder(definition_t::HD1080, definition_t::SD480);
- cv::cuda::GpuMat m(cv::Size(1280,720), CV_8UC4, cv::Scalar(0));
+TEST_CASE( "NvidiaEncoder::encode() - A valid lossy float image" ) {
+ ftl::codecs::NvidiaEncoder encoder(definition_t::HD1080, definition_t::SD480);
+ cv::cuda::GpuMat m(cv::Size(1280,720), CV_32F, cv::Scalar(0.0f));
SECTION("auto codec and definition, single frame") {
ftl::codecs::Packet pkt;
pkt.codec = codec_t::Any;
pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
- pkt.flags = ftl::codecs::kFlagFloat | ftl::codecs::kFlagMappedDepth;
- pkt.frame_count = 1;
-
- bool r = encoder.encode(m, pkt);
-
- REQUIRE( r );
- REQUIRE( pkt.codec == codec_t::HEVC );
- REQUIRE( pkt.definition == definition_t::HD720 );
- REQUIRE( pkt.flags == (ftl::codecs::kFlagFloat | ftl::codecs::kFlagMappedDepth) );
- REQUIRE( pkt.data.size() > 0 );
- REQUIRE( ftl::codecs::hevc::validNAL(pkt.data.data(), pkt.data.size()) );
- }
-
- SECTION("correct codec, missing flag") {
- ftl::codecs::Packet pkt;
- pkt.codec = codec_t::HEVC;
- pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
- pkt.flags = ftl::codecs::kFlagFloat;
+ pkt.flags = 0;
pkt.frame_count = 1;
bool r = encoder.encode(m, pkt);
REQUIRE( r );
REQUIRE( pkt.codec == codec_t::HEVC );
- REQUIRE( pkt.definition == definition_t::HD720 );
REQUIRE( pkt.flags == (ftl::codecs::kFlagFloat | ftl::codecs::kFlagMappedDepth) );
REQUIRE( pkt.data.size() > 0 );
REQUIRE( ftl::codecs::hevc::validNAL(pkt.data.data(), pkt.data.size()) );
}
}
-TEST_CASE( "NvPipeEncoder::encode() - A tiled lossy float image" ) {
- ftl::codecs::NvPipeEncoder encoder(definition_t::HD1080, definition_t::SD480);
- cv::cuda::GpuMat m(cv::Size(2560,720), CV_8UC4, cv::Scalar(0));
+TEST_CASE( "NvidiaEncoder::encode() - A tiled lossy float image" ) {
+ ftl::codecs::NvidiaEncoder encoder(definition_t::HD1080, definition_t::SD480);
+ cv::cuda::GpuMat m(cv::Size(2560,720), CV_32F, cv::Scalar(0));
SECTION("auto codec and definition, 2x1 frame") {
ftl::codecs::Packet pkt;
pkt.codec = codec_t::Any;
pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
pkt.flags = ftl::codecs::kFlagFloat & ftl::codecs::kFlagMappedDepth;
pkt.frame_count = 2;
@@ -240,39 +178,36 @@ TEST_CASE( "NvPipeEncoder::encode() - A tiled lossy float image" ) {
REQUIRE( r );
REQUIRE( pkt.codec == codec_t::HEVC );
- REQUIRE( pkt.definition == definition_t::HD720 );
- REQUIRE( pkt.flags == (ftl::codecs::kFlagFloat & ftl::codecs::kFlagMappedDepth) );
+ REQUIRE( pkt.flags == (ftl::codecs::kFlagFloat | ftl::codecs::kFlagMappedDepth) );
REQUIRE( pkt.data.size() > 0 );
REQUIRE( ftl::codecs::hevc::validNAL(pkt.data.data(), pkt.data.size()) );
}
}
-TEST_CASE( "NvPipeEncoder::encode() - A large tiled lossy float image" ) {
- ftl::codecs::NvPipeEncoder encoder(definition_t::HD1080, definition_t::SD480);
- cv::cuda::GpuMat m(cv::Size(5120,1440), CV_8UC4, cv::Scalar(0));
+TEST_CASE( "NvidiaEncoder::encode() - A large tiled lossy float image" ) {
+ ftl::codecs::NvidiaEncoder encoder(definition_t::HD1080, definition_t::SD480);
+ cv::cuda::GpuMat m(cv::Size(5120,1440), CV_32F, cv::Scalar(0));
SECTION("auto codec and definition, 4x2 frame") {
ftl::codecs::Packet pkt;
pkt.codec = codec_t::Any;
- pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
- pkt.flags = ftl::codecs::kFlagFloat & ftl::codecs::kFlagMappedDepth;
+ pkt.bitrate = 128;
+ pkt.flags = 0;
pkt.frame_count = 7;
bool r = encoder.encode(m, pkt);
REQUIRE( r );
REQUIRE( pkt.codec == codec_t::HEVC );
- REQUIRE( pkt.definition == definition_t::HD720 );
- REQUIRE( pkt.flags == (ftl::codecs::kFlagFloat & ftl::codecs::kFlagMappedDepth) );
+ REQUIRE( pkt.flags == (ftl::codecs::kFlagFloat | ftl::codecs::kFlagMappedDepth) );
REQUIRE( pkt.data.size() > 0 );
REQUIRE( ftl::codecs::hevc::validNAL(pkt.data.data(), pkt.data.size()) );
}
}
-TEST_CASE( "NvPipeDecoder::decode() - A colour test image" ) {
- ftl::codecs::NvPipeEncoder encoder(definition_t::HD1080, definition_t::SD480);
- ftl::codecs::NvPipeDecoder decoder;
+TEST_CASE( "NvidiaDecoder::decode() - A colour test image" ) {
+ ftl::codecs::NvidiaEncoder encoder(definition_t::HD1080, definition_t::SD480);
+ ftl::codecs::NvidiaDecoder decoder;
cv::cuda::GpuMat in;
cv::cuda::GpuMat out;
@@ -284,7 +219,6 @@ TEST_CASE( "NvPipeDecoder::decode() - A colour test image" ) {
ftl::codecs::Packet pkt;
pkt.codec = codec_t::Any;
pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
pkt.frame_count = 1;
pkt.flags = 0;
bool r = encoder.encode(in, pkt);
@@ -298,9 +232,9 @@ TEST_CASE( "NvPipeDecoder::decode() - A colour test image" ) {
REQUIRE( (cv::cuda::sum(out) != cv::Scalar(0,0,0)) );
}
-TEST_CASE( "NvPipeDecoder::decode() - A tiled colour image" ) {
- ftl::codecs::NvPipeEncoder encoder(definition_t::HD1080, definition_t::SD480);
- ftl::codecs::NvPipeDecoder decoder;
+TEST_CASE( "NvidiaDecoder::decode() - A tiled colour image" ) {
+ ftl::codecs::NvidiaEncoder encoder(definition_t::HD1080, definition_t::SD480);
+ ftl::codecs::NvidiaDecoder decoder;
cv::cuda::GpuMat in;
cv::cuda::GpuMat out;
@@ -312,7 +246,6 @@ TEST_CASE( "NvPipeDecoder::decode() - A tiled colour image" ) {
ftl::codecs::Packet pkt;
pkt.codec = codec_t::Any;
pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
pkt.frame_count = 2;
pkt.flags = 0;
bool r = encoder.encode(in, pkt);
@@ -321,95 +254,68 @@ TEST_CASE( "NvPipeDecoder::decode() - A tiled colour image" ) {
REQUIRE( decoder.decode(pkt, out) );
REQUIRE( (out.cols == 2560) );
REQUIRE( (out.type() == CV_8UC4) );
- REQUIRE( (pkt.definition == definition_t::HD720) );
//}
REQUIRE( (cv::cuda::sum(out) != cv::Scalar(0,0,0)) );
}
-TEST_CASE( "NvPipeDecoder::decode() - A lossless depth image" ) {
- ftl::codecs::NvPipeEncoder encoder(definition_t::HD1080, definition_t::SD480);
- ftl::codecs::NvPipeDecoder decoder;
+TEST_CASE( "NvidiaDecoder::decode() - A lossless depth image" ) {
+ ftl::codecs::NvidiaEncoder encoder(definition_t::HD1080, definition_t::SD480);
+ ftl::codecs::NvidiaDecoder decoder;
cv::cuda::GpuMat in;
cv::cuda::GpuMat out;
//SECTION("FHD in and out, FHD encoding") {
- in = cv::cuda::GpuMat(cv::Size(1280,720), CV_16U, cv::Scalar(255));
- out = cv::cuda::GpuMat(cv::Size(1280,720), CV_16U, cv::Scalar(0));
+ in = cv::cuda::GpuMat(cv::Size(1280,720), CV_32F, cv::Scalar(10.0f));
+ out = cv::cuda::GpuMat(cv::Size(1280,720), CV_32F, cv::Scalar(0.0f));
ftl::codecs::Packet pkt;
- pkt.codec = codec_t::Any;
+ pkt.codec = codec_t::HEVC_LOSSLESS;
pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
pkt.frame_count = 1;
- pkt.flags = ftl::codecs::kFlagFloat;
+ pkt.flags = 0;
bool r = encoder.encode(in, pkt);
REQUIRE( r );
REQUIRE( decoder.decode(pkt, out) );
- REQUIRE( (out.cols == 1280) );
- REQUIRE( (out.type() == CV_16U) );
- REQUIRE( (pkt.definition == definition_t::HD720) );
//}
REQUIRE( (cv::cuda::sum(out) != cv::Scalar(0)) );
}
-TEST_CASE( "NvPipeDecoder::decode() - A lossy depth image" ) {
- ftl::codecs::NvPipeEncoder encoder(definition_t::HD1080, definition_t::SD480);
- ftl::codecs::NvPipeDecoder decoder;
+TEST_CASE( "NvidiaDecoder::decode() - A lossy depth image" ) {
+ ftl::codecs::NvidiaEncoder encoder(definition_t::HD1080, definition_t::SD480);
+ ftl::codecs::NvidiaDecoder decoder;
cv::cuda::GpuMat in;
cv::cuda::GpuMat out;
//SECTION("FHD in and out, FHD encoding") {
- in = cv::cuda::GpuMat(cv::Size(1280,720), CV_8UC4, cv::Scalar(255));
- out = cv::cuda::GpuMat(cv::Size(1280,720), CV_16UC4, cv::Scalar(0));
+ in = cv::cuda::GpuMat(cv::Size(1280,720), CV_32F, cv::Scalar(10.0f));
+ out = cv::cuda::GpuMat(cv::Size(1280,720), CV_32F, cv::Scalar(0));
ftl::codecs::Packet pkt;
pkt.codec = codec_t::Any;
pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
pkt.frame_count = 1;
- pkt.flags = ftl::codecs::kFlagFloat | ftl::codecs::kFlagMappedDepth;
+ pkt.flags = 0;
bool r = encoder.encode(in, pkt);
REQUIRE( r );
REQUIRE( decoder.decode(pkt, out) );
- REQUIRE( (out.cols == 1280) );
- REQUIRE( (out.type() == CV_16UC4) );
- REQUIRE( (pkt.definition == definition_t::HD720) );
//}
REQUIRE( (cv::cuda::sum(out) != cv::Scalar(0)) );
}
-TEST_CASE( "NvPipeDecoder::decode() - corrupted packet" ) {
- ftl::codecs::NvPipeEncoder encoder(definition_t::HD1080, definition_t::SD480);
- ftl::codecs::NvPipeDecoder decoder;
+TEST_CASE( "NvidiaDecoder::decode() - corrupted packet" ) {
+ ftl::codecs::NvidiaEncoder encoder(definition_t::HD1080, definition_t::SD480);
+ ftl::codecs::NvidiaDecoder decoder;
cv::cuda::GpuMat in;
cv::cuda::GpuMat out;
- SECTION("Corrupted definition") {
- in = cv::cuda::GpuMat(cv::Size(2560,720), CV_8UC4, cv::Scalar(255,0,0,0));
- out = cv::cuda::GpuMat(cv::Size(2560,720), CV_8UC4, cv::Scalar(0,0,0,0));
-
- ftl::codecs::Packet pkt;
- pkt.codec = codec_t::Any;
- pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
- pkt.frame_count = 2;
- pkt.flags = 0;
- bool r = encoder.encode(in, pkt);
-
- pkt.definition = definition_t::HD1080;
-
- REQUIRE( r );
- REQUIRE( !decoder.decode(pkt, out) );
- }
-
SECTION("Corrupted but supported codec") {
in = cv::cuda::GpuMat(cv::Size(2560,720), CV_8UC4, cv::Scalar(255,0,0,0));
out = cv::cuda::GpuMat(cv::Size(2560,720), CV_8UC4, cv::Scalar(0,0,0,0));
@@ -417,7 +323,6 @@ TEST_CASE( "NvPipeDecoder::decode() - corrupted packet" ) {
ftl::codecs::Packet pkt;
pkt.codec = codec_t::Any;
pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
pkt.frame_count = 2;
pkt.flags = 0;
bool r = encoder.encode(in, pkt);
@@ -435,7 +340,6 @@ TEST_CASE( "NvPipeDecoder::decode() - corrupted packet" ) {
ftl::codecs::Packet pkt;
pkt.codec = codec_t::Any;
pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
pkt.frame_count = 2;
pkt.flags = 0;
bool r = encoder.encode(in, pkt);
@@ -453,7 +357,6 @@ TEST_CASE( "NvPipeDecoder::decode() - corrupted packet" ) {
ftl::codecs::Packet pkt;
pkt.codec = codec_t::Any;
pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
pkt.frame_count = 2;
pkt.flags = 0;
bool r = encoder.encode(in, pkt);
@@ -461,36 +364,35 @@ TEST_CASE( "NvPipeDecoder::decode() - corrupted packet" ) {
pkt.flags = ftl::codecs::kFlagFloat;
REQUIRE( r );
- REQUIRE( !decoder.decode(pkt, out) );
+ REQUIRE( decoder.decode(pkt, out) );
+ REQUIRE( out.type() == CV_32F );
}
SECTION("Corrupted float mapped flags") {
- in = cv::cuda::GpuMat(cv::Size(1280,720), CV_16U, cv::Scalar(255));
- out = cv::cuda::GpuMat(cv::Size(1280,720), CV_16U, cv::Scalar(0));
+ in = cv::cuda::GpuMat(cv::Size(1280,720), CV_32F, cv::Scalar(10.0f));
+ out = cv::cuda::GpuMat(cv::Size(1280,720), CV_32F, cv::Scalar(0));
ftl::codecs::Packet pkt;
- pkt.codec = codec_t::Any;
+ pkt.codec = codec_t::HEVC_LOSSLESS;
pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
pkt.frame_count = 1;
pkt.flags = ftl::codecs::kFlagFloat;
bool r = encoder.encode(in, pkt);
- pkt.codec = codec_t::HEVC;
+ //pkt.codec = codec_t::HEVC;
pkt.flags = ftl::codecs::kFlagFloat | ftl::codecs::kFlagMappedDepth;
REQUIRE( r );
- REQUIRE( !decoder.decode(pkt, out) );
+ REQUIRE( decoder.decode(pkt, out) );
}
SECTION("Missing float flag - lossless") {
- in = cv::cuda::GpuMat(cv::Size(1280,720), CV_16U, cv::Scalar(255));
- out = cv::cuda::GpuMat(cv::Size(1280,720), CV_16U, cv::Scalar(0));
+ in = cv::cuda::GpuMat(cv::Size(1280,720), CV_32F, cv::Scalar(255));
+ out = cv::cuda::GpuMat(cv::Size(1280,720), CV_32F, cv::Scalar(0));
ftl::codecs::Packet pkt;
- pkt.codec = codec_t::Any;
+ pkt.codec = codec_t::HEVC_LOSSLESS;
pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
pkt.frame_count = 1;
pkt.flags = ftl::codecs::kFlagFloat;
bool r = encoder.encode(in, pkt);
@@ -498,19 +400,20 @@ TEST_CASE( "NvPipeDecoder::decode() - corrupted packet" ) {
pkt.flags = 0;
REQUIRE( r );
- REQUIRE( !decoder.decode(pkt, out) );
+ REQUIRE( decoder.decode(pkt, out) );
+ REQUIRE( out.type() == CV_8UC4 );
+ REQUIRE( out.cols == 2*in.cols );
}
SECTION("Missing data") {
- in = cv::cuda::GpuMat(cv::Size(1280,720), CV_16U, cv::Scalar(255));
- out = cv::cuda::GpuMat(cv::Size(1280,720), CV_16U, cv::Scalar(0));
+ in = cv::cuda::GpuMat(cv::Size(1280,720), CV_32F, cv::Scalar(255));
+ out = cv::cuda::GpuMat(cv::Size(1280,720), CV_32F, cv::Scalar(0));
ftl::codecs::Packet pkt;
pkt.codec = codec_t::Any;
pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
pkt.frame_count = 1;
- pkt.flags = ftl::codecs::kFlagFloat;
+ pkt.flags = 0;
bool r = encoder.encode(in, pkt);
pkt.data.resize(0);
diff --git a/components/codecs/test/opencv_codec_unit.cpp b/components/codecs/test/opencv_codec_unit.cpp
index cf03f71a26468be628e0009d1ac2e294fc12e8d1..43c94304fafe06166c016de06e1002c78b6f4574 100644
--- a/components/codecs/test/opencv_codec_unit.cpp
+++ b/components/codecs/test/opencv_codec_unit.cpp
@@ -90,7 +90,6 @@ TEST_CASE( "OpenCVDecoder::decode() - A colour test image no resolution change"
ftl::codecs::Packet pkt;
pkt.codec = codec_t::Any;
- pkt.definition = definition_t::Any;
pkt.bitrate = 255;
pkt.flags = 0;
pkt.frame_count = 1;
diff --git a/components/common/cpp/CMakeLists.txt b/components/common/cpp/CMakeLists.txt
index 7c5794d1ba8d882dbdfd98620994a4aad2275d39..69eaa390885295c10157144ee12fcf3e055662be 100644
--- a/components/common/cpp/CMakeLists.txt
+++ b/components/common/cpp/CMakeLists.txt
@@ -12,19 +12,34 @@ set(COMMONSRC
src/timer.cpp
src/profiler.cpp
src/exception.cpp
+ src/file.cpp
+ src/utility/base64.cpp
)
check_function_exists(uriParseSingleUriA HAVE_URIPARSESINGLE)
add_library(ftlcommon ${COMMONSRC})
+if (NOT WIN32)
target_compile_options(ftlcommon PUBLIC $<$<COMPILE_LANGUAGE:CXX>:-fPIC>)
+endif()
target_include_directories(ftlcommon PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
PRIVATE src)
-target_link_libraries(ftlcommon Threads::Threads Eigen3::Eigen ${OS_LIBS} ${OpenCV_LIBS} ${URIPARSER_LIBRARIES} ${CUDA_LIBRARIES})
+# for gcc < 9, not required for newer versions
+if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
+ set(CXX_FILESYSTEM_LIBRARIES "stdc++fs")
+endif()
+target_link_libraries(ftlcommon Threads::Threads Eigen3::Eigen ${OS_LIBS} ${OpenCV_LIBS} ${URIPARSER_LIBRARIES} ${CUDA_LIBRARIES} ${CXX_FILESYSTEM_LIBRARIES})
+
+target_precompile_headers(ftlcommon
+ PRIVATE include/ftl/cuda_common.hpp
+ PRIVATE include/loguru.hpp
+)
+
+set_property(TARGET ftlcommon PROPERTY CUDA_ARCHITECTURES OFF)
if (BUILD_TESTS)
add_subdirectory(test)
diff --git a/components/common/cpp/include/ctpl_stl.h b/components/common/cpp/include/ctpl_stl.h
index fac0de42a001711a7033dfc5142ff33a54323525..245c62425fb638553cbdd02244f8deac0625bab5 100644
--- a/components/common/cpp/include/ctpl_stl.h
+++ b/components/common/cpp/include/ctpl_stl.h
@@ -93,6 +93,8 @@ namespace ctpl {
size_t q_size() { return this->q.size(); }
+ void restart(int nThreads) { if (!this->isDone) this->stop(true); this->init(); this->resize(nThreads); }
+
// change the number of threads in the pool
// should be called from one thread, otherwise be careful to not interleave, also with this->stop()
// nThreads must be >= 0
diff --git a/components/common/cpp/include/ftl/config.h.in b/components/common/cpp/include/ftl/config.h.in
index ecf9e79f798b333a91f68b814583f5edf46615fc..99db4ca42536f6ebdfd4415ccb0d0e6a7c135344 100644
--- a/components/common/cpp/include/ftl/config.h.in
+++ b/components/common/cpp/include/ftl/config.h.in
@@ -27,6 +27,8 @@
#cmakedefine HAVE_NVPIPE
#cmakedefine HAVE_PORTAUDIO
#cmakedefine HAVE_X11
+#cmakedefine HAVE_OPUS
+#cmakedefine HAVE_PYLON
#cmakedefine ENABLE_PROFILER
diff --git a/components/common/cpp/include/ftl/configurable.hpp b/components/common/cpp/include/ftl/configurable.hpp
index 1c157ba601c01a1bb8cb01df5eddfd07b60b6269..b2a66943d35e7cba6a86d6842e037d0068d15feb 100644
--- a/components/common/cpp/include/ftl/configurable.hpp
+++ b/components/common/cpp/include/ftl/configurable.hpp
@@ -12,6 +12,7 @@
#include <list>
#include <functional>
#include <optional>
+#include <unordered_set>
#define REQUIRED(...) required(__func__, __VA_ARGS__)
@@ -92,7 +93,23 @@ class Configurable {
* @param prop Name of property to watch
* @param callback A function object that will be called on change.
*/
- void on(const std::string &prop, std::function<void(const config::Event&)>);
+ void on(const std::string &prop, std::function<void()>);
+
+ /**
+ * Same callback for all properties in set.
+ */
+ void onAny(const std::unordered_set<std::string> &props, std::function<void()>);
+
+ template <typename T>
+ void on(const std::string &prop, T &v) {
+ on(prop, [&v,this,prop]() { v = *this->get<T>(prop); });
+ }
+
+ template <typename T>
+ void on(const std::string &prop, T &v, const T &def) {
+ v = this->value(prop, def);
+ on(prop, [&v,this,prop]() { v = *this->get<T>(prop); });
+ }
void patchPtr(nlohmann::json &newcfg) { config_ = &newcfg; }
@@ -102,13 +119,40 @@ class Configurable {
*/
virtual void refresh();
+ /**
+ * Restore configurable properties from session storage using this key.
+ * The key could be the same as configurable ID or perhaps uses another
+ * property such as URI. If restore is used it will also result in a save
+ * when the configurable is destroyed. The key should ideally be unique.
+ *
+ * The allowed parameter specifies the set of properties that can be saved.
+ */
+ void restore(const std::string &key, const std::unordered_set<std::string> &allowed);
+
+ /**
+ * Load defaults from config file. The key represents type information and
+ * many configurables can load from the same key. If load defaults has been
+ * used by the configurable, then it is also called again when the
+ * configurable is reset.
+ */
+ void loadDefaults(const std::string &key);
+
+ virtual void reset() {};
+
+ void save();
+
protected:
nlohmann::json *config_;
virtual void inject(const std::string &name, nlohmann::json &value) {}
private:
- std::map<std::string, std::list<std::function<void(const config::Event&)>>> observers_;
+ std::string restore_;
+ std::string defaults_;
+ std::unordered_set<std::string> save_allowed_;
+
+ typedef std::list<std::function<void()>> ObserverList;
+ std::unordered_map<std::string,ObserverList> observers_;
void _trigger(const std::string &name);
};
diff --git a/components/common/cpp/include/ftl/configuration.hpp b/components/common/cpp/include/ftl/configuration.hpp
index bdbc4a5904b4161f3ec740bc02441dd1292caeab..821eb3386db355f8eb8d3df6ac43916f8427c0c4 100644
--- a/components/common/cpp/include/ftl/configuration.hpp
+++ b/components/common/cpp/include/ftl/configuration.hpp
@@ -9,6 +9,7 @@
#include <string>
#include <vector>
#include <optional>
+#include <unordered_set>
namespace ftl {
@@ -19,11 +20,14 @@ extern std::string branch_name;
class Configurable;
bool is_directory(const std::string &path);
-bool is_file(const std::string &path);
bool create_directory(const std::string &path);
bool is_video(const std::string &file);
std::vector<std::string> directory_listing(const std::string &path);
+nlohmann::json loadJSON(const std::string &path);
+
+bool saveJSON(const std::string &path, nlohmann::json &json);
+
namespace config {
typedef nlohmann::json json_t;
@@ -34,12 +38,17 @@ std::optional<std::string> locateFile(const std::string &name);
std::map<std::string, std::string> read_options(char ***argv, int *argc);
-Configurable *configure(int argc, char **argv, const std::string &root);
+Configurable *configure(int argc, char **argv, const std::string &root, const std::unordered_set<std::string> &restoreable={});
Configurable *configure(json_t &);
+nlohmann::json &getRestore(const std::string &key);
+nlohmann::json &getDefault(const std::string &key);
+
void cleanup();
+void save();
+
void removeConfigurable(Configurable *cfg);
/**
@@ -75,6 +84,11 @@ json_t &resolveWait(const std::string &);
*/
Configurable *find(const std::string &uri);
+/**
+ * Add an alternative URI for a configurable.
+ */
+void alias(const std::string &uri, Configurable *cfg);
+
/**
* Get all configurables that contain a specified tag. Tags are given under the
* "tags" property as an array of strings, but only during configurable
@@ -172,11 +186,12 @@ T *ftl::config::create(json_t &link, ARGS ...args) {
cfg->patchPtr(link);
}
- try {
- return dynamic_cast<T*>(cfg);
- } catch(...) {
+ T* ptr = dynamic_cast<T*>(cfg);
+ if (ptr) {
+ return ptr;
+ }
+ else {
throw FTL_Error("Configuration URI object is of wrong type: " << id);
- //return nullptr;
}
}
diff --git a/components/common/cpp/include/ftl/cuda_common.hpp b/components/common/cpp/include/ftl/cuda_common.hpp
index 5c3cc9f484ecbaf615cf44469e3c37b636a4f7e6..59053e4b2196779bfa4bb16e84431b00fd36594e 100644
--- a/components/common/cpp/include/ftl/cuda_common.hpp
+++ b/components/common/cpp/include/ftl/cuda_common.hpp
@@ -21,6 +21,8 @@
#define STRIDE_Y(I,N) int I = blockIdx.y * blockDim.y + threadIdx.y; I < N; I += blockDim.y * gridDim.y
#define STRIDE_X(I,N) int I = blockIdx.x * blockDim.x + threadIdx.x; I < N; I += blockDim.x * gridDim.x
+void cudaCallback(cudaStream_t stream, const std::function<void()> &cb);
+
namespace ftl {
namespace cuda {
diff --git a/components/common/cpp/include/ftl/cuda_operators.hpp b/components/common/cpp/include/ftl/cuda_operators.hpp
index 5fc84fbcb158bc599b8bca55e38035757a857648..304818b58a55610f17ec44dc4e2f714a151b8267 100644
--- a/components/common/cpp/include/ftl/cuda_operators.hpp
+++ b/components/common/cpp/include/ftl/cuda_operators.hpp
@@ -240,7 +240,7 @@ inline __host__ __device__ float2 normalize(float2 v)
// floor
inline __host__ __device__ float2 floor(const float2 v)
{
- return make_float2(floor(v.x), floor(v.y));
+ return make_float2(floorf(v.x), floorf(v.y));
}
// reflect
@@ -252,7 +252,7 @@ inline __host__ __device__ float2 reflect(float2 i, float2 n)
// absolute value
inline __host__ __device__ float2 fabs(float2 v)
{
- return make_float2(fabs(v.x), fabs(v.y));
+ return make_float2(fabsf(v.x), fabsf(v.y));
}
inline __device__ __host__ int2 sign(float2 f) {
@@ -423,7 +423,7 @@ inline __host__ __device__ float3 normalize(float3 v)
// floor
inline __host__ __device__ float3 floor(const float3 v)
{
- return make_float3(floor(v.x), floor(v.y), floor(v.z));
+ return make_float3(floorf(v.x), floorf(v.y), floorf(v.z));
}
// reflect
@@ -435,7 +435,7 @@ inline __host__ __device__ float3 reflect(float3 i, float3 n)
// absolute value
inline __host__ __device__ float3 fabs(float3 v)
{
- return make_float3(fabs(v.x), fabs(v.y), fabs(v.z));
+ return make_float3(fabsf(v.x), fabsf(v.y), fabsf(v.z));
}
inline __device__ __host__ int3 sign(float3 f) {
@@ -567,13 +567,13 @@ inline __host__ __device__ float4 normalize(float4 v)
// floor
inline __host__ __device__ float4 floor(const float4 v)
{
- return make_float4(floor(v.x), floor(v.y), floor(v.z), floor(v.w));
+ return make_float4(floorf(v.x), floorf(v.y), floorf(v.z), floorf(v.w));
}
// absolute value
inline __host__ __device__ float4 fabs(float4 v)
{
- return make_float4(fabs(v.x), fabs(v.y), fabs(v.z), fabs(v.w));
+ return make_float4(fabsf(v.x), fabsf(v.y), fabsf(v.z), fabsf(v.w));
}
// int3 functions
diff --git a/components/common/cpp/include/ftl/exception.hpp b/components/common/cpp/include/ftl/exception.hpp
index 07f7a366adf65cb7baea83624d8f1ff53a3cf848..e78fe3854c2ebdd97073ceb85fb531673b568f45 100644
--- a/components/common/cpp/include/ftl/exception.hpp
+++ b/components/common/cpp/include/ftl/exception.hpp
@@ -7,29 +7,29 @@ namespace ftl {
class Formatter {
public:
Formatter() {}
- ~Formatter() {}
+ ~Formatter() {}
- template <typename Type>
- inline Formatter & operator << (const Type & value)
- {
- stream_ << value;
- return *this;
- }
+ template <typename Type>
+ inline Formatter & operator << (const Type & value)
+ {
+ stream_ << value;
+ return *this;
+ }
- inline std::string str() const { return stream_.str(); }
- inline operator std::string () const { return stream_.str(); }
+ inline std::string str() const { return stream_.str(); }
+ inline operator std::string () const { return stream_.str(); }
- enum ConvertToString
- {
- to_str
- };
- inline std::string operator >> (ConvertToString) { return stream_.str(); }
+ enum ConvertToString
+ {
+ to_str
+ };
+ inline std::string operator >> (ConvertToString) { return stream_.str(); }
private:
- std::stringstream stream_;
+ std::stringstream stream_;
- Formatter(const Formatter &);
- Formatter & operator = (Formatter &);
+ Formatter(const Formatter &);
+ Formatter & operator = (Formatter &);
};
class exception : public std::exception
@@ -39,24 +39,32 @@ class exception : public std::exception
explicit exception(const Formatter &msg);
~exception();
- const char * what () const throw () {
+ const char* what() const throw () {
processed_ = true;
- return msg_.c_str();
- }
+ return msg_.c_str();
+ }
- const char * trace () const throw () {
- return trace_.c_str();
- }
+ std::string trace() const throw () {
+ return decode_backtrace();
+ }
void ignore() const { processed_ = true; }
private:
+ std::string decode_backtrace() const;
+
std::string msg_;
- std::string trace_;
mutable bool processed_;
+
+#ifdef __GNUC__
+ static const int TRACE_SIZE_MAX_ = 16;
+ void* trace_[TRACE_SIZE_MAX_];
+ int trace_size_;
+#endif
};
+
}
-#define FTL_Error(A) (ftl::exception(ftl::Formatter() << __FILE__ << ":" << __LINE__ << ": " << A))
+#define FTL_Error(A) (ftl::exception(ftl::Formatter() << A << " [" << __FILE__ << ":" << __LINE__ << "]"))
#endif // _FTL_EXCEPTION_HPP_
diff --git a/components/common/cpp/include/ftl/file.hpp b/components/common/cpp/include/ftl/file.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..765607974d520d270e67acf0b9d7a15f33c8fda1
--- /dev/null
+++ b/components/common/cpp/include/ftl/file.hpp
@@ -0,0 +1,25 @@
+#ifndef _FTL_FILES_HPP_
+#define _FTL_FILES_HPP_
+
+#if defined(__GNUC__) && __GNUC__ < 8
+#include <experimental/filesystem>
+namespace std {
+namespace filesystem = experimental::filesystem;
+}
+
+#else
+#include <filesystem>
+#endif
+
+namespace ftl {
+namespace file {
+
+std::filesystem::path home_dir();
+std::filesystem::path config_dir();
+
+bool is_file(const std::filesystem::path &path);
+
+}
+}
+
+#endif
\ No newline at end of file
diff --git a/components/common/cpp/include/ftl/handle.hpp b/components/common/cpp/include/ftl/handle.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..1e7ca32cf2564f58c872127697a23959f68fd0c7
--- /dev/null
+++ b/components/common/cpp/include/ftl/handle.hpp
@@ -0,0 +1,228 @@
+#ifndef _FTL_HANDLE_HPP_
+#define _FTL_HANDLE_HPP_
+
+#include <ftl/threads.hpp>
+#include <ftl/exception.hpp>
+#include <functional>
+#include <unordered_map>
+
+namespace ftl {
+
+struct Handle;
+struct BaseHandler {
+ virtual void remove(const Handle &)=0;
+
+ inline Handle make_handle(BaseHandler*, int);
+
+ protected:
+ std::mutex mutex_;
+ int id_=0;
+};
+
+/**
+ * A `Handle` is used to manage registered callbacks, allowing them to be
+ * removed safely whenever the `Handle` instance is destroyed.
+ */
+struct [[nodiscard]] Handle {
+ friend struct BaseHandler;
+
+ /**
+ * Cancel the callback and invalidate the handle.
+ */
+ inline void cancel() { if (handler_) handler_->remove(*this); handler_ = nullptr; }
+
+ inline int id() const { return id_; }
+
+ Handle() : handler_(nullptr), id_(0) {}
+
+ Handle(const Handle &)=delete;
+ Handle &operator=(const Handle &)=delete;
+
+ inline Handle(Handle &&h) : handler_(nullptr) {
+ if (handler_) handler_->remove(*this);
+ handler_ = h.handler_;
+ h.handler_ = nullptr;
+ id_ = h.id_;
+ }
+
+ inline Handle &operator=(Handle &&h) {
+ if (handler_) handler_->remove(*this);
+ handler_ = h.handler_;
+ h.handler_ = nullptr;
+ id_ = h.id_;
+ return *this;
+ }
+
+ inline ~Handle() {
+ if (handler_) {
+ handler_->remove(*this);
+ }
+ }
+
+ private:
+ BaseHandler *handler_;
+ int id_;
+
+ Handle(BaseHandler *h, int id) : handler_(h), id_(id) {}
+};
+
+/**
+ * This class is used to manage callbacks. The template parameters are the
+ * arguments to be passed to the callback when triggered. This class is already
+ * thread-safe.
+ *
+ * POSSIBLE BUG: On destruction any remaining handles will be left with
+ * dangling pointer to Handler.
+ */
+template <typename ...ARGS>
+struct Handler : BaseHandler {
+ Handler() {}
+ ~Handler() {
+ // Ensure all thread pool jobs are done
+ while (jobs_ > 0) std::this_thread::sleep_for(std::chrono::milliseconds(10));
+ }
+
+ /**
+ * Add a new callback function. It returns a `Handle` object that must
+ * remain in scope, the destructor of the `Handle` will remove the callback.
+ */
+ Handle on(const std::function<bool(ARGS...)> &f) {
+ std::unique_lock<std::mutex> lk(mutex_);
+ int id = id_++;
+ callbacks_[id] = f;
+ return make_handle(this, id);
+ }
+
+ /**
+ * Safely trigger all callbacks. Note that `Handler` is locked when
+ * triggering so callbacks cannot make modifications to it or they will
+ * lock up. To remove a callback, return false from the callback, else
+ * return true.
+ */
+ void trigger(ARGS ...args) {
+ std::unique_lock<std::mutex> lk(mutex_);
+ for (auto i=callbacks_.begin(); i!=callbacks_.end(); ) {
+ bool keep = i->second(std::forward<ARGS>(args)...);
+ if (!keep) i = callbacks_.erase(i);
+ else ++i;
+ }
+ }
+
+ /**
+ * Call all the callbacks in another thread. The callbacks are done in a
+ * single thread, not in parallel.
+ */
+ void triggerAsync(ARGS ...args) {
+ ftl::pool.push([this, args...](int id) {
+ std::unique_lock<std::mutex> lk(mutex_);
+ for (auto i=callbacks_.begin(); i!=callbacks_.end(); ) {
+ bool keep = i->second(std::forward<ARGS>(args)...);
+ if (!keep) i = callbacks_.erase(i);
+ else ++i;
+ }
+ });
+ }
+
+ /**
+ * Each callback is called in its own thread job. Note: the return value
+ * of the callback is ignored in this case and does not allow callback
+ * removal via the return value.
+ */
+ void triggerParallel(ARGS ...args) {
+ std::unique_lock<std::mutex> lk(mutex_);
+ jobs_ += callbacks_.size();
+ for (auto i=callbacks_.begin(); i!=callbacks_.end(); ++i) {
+ ftl::pool.push([this, f = i->second, args...](int id) {
+ try {
+ f(std::forward<ARGS>(args)...);
+ } catch (const ftl::exception &e) {
+ --jobs_;
+ throw e;
+ }
+ --jobs_;
+ });
+ }
+ }
+
+ /**
+ * Remove a callback using its `Handle`. This is equivalent to allowing the
+ * `Handle` to be destroyed or cancelled.
+ */
+ void remove(const Handle &h) override {
+ {
+ std::unique_lock<std::mutex> lk(mutex_);
+ callbacks_.erase(h.id());
+ }
+ // Make sure any possible call to removed callback has finished.
+ while (jobs_ > 0) std::this_thread::sleep_for(std::chrono::milliseconds(10));
+ }
+
+ private:
+ std::unordered_map<int, std::function<bool(ARGS...)>> callbacks_;
+ std::atomic_int jobs_=0;
+};
+
+/**
+ * This class is used to manage callbacks. The template parameters are the
+ * arguments to be passed to the callback when triggered. This class is already
+ * thread-safe. Note that this version only allows a single callback at a time
+ * and throws an exception if multiple are added without resetting.
+ */
+template <typename ...ARGS>
+struct SingletonHandler : BaseHandler {
+ /**
+ * Add a new callback function. It returns a `Handle` object that must
+ * remain in scope, the destructor of the `Handle` will remove the callback.
+ */
+ [[nodiscard]] Handle on(const std::function<bool(ARGS...)> &f) {
+ std::unique_lock<std::mutex> lk(mutex_);
+ if (callback_) throw FTL_Error("Callback already bound");
+ callback_ = f;
+ return make_handle(this, id_++);
+ }
+
+ /**
+ * Safely trigger all callbacks. Note that `Handler` is locked when
+ * triggering so callbacks cannot make modifications to it or they will
+ * lock up. To remove a callback, return false from the callback, else
+ * return true.
+ */
+ bool trigger(ARGS ...args) {
+ std::unique_lock<std::mutex> lk(mutex_);
+ if (callback_) {
+ bool keep = callback_(std::forward<ARGS>(args)...);
+ if (!keep) callback_ = nullptr;
+ return keep;
+ } else {
+ return false;
+ }
+ //} catch (const std::exception &e) {
+ // LOG(ERROR) << "Exception in callback: " << e.what();
+ //}
+ }
+
+ /**
+ * Remove a callback using its `Handle`. This is equivalent to allowing the
+ * `Handle` to be destroyed or cancelled. If the handle does not match the
+ * currently bound callback then the callback is not removed.
+ */
+ void remove(const Handle &h) override {
+ std::unique_lock<std::mutex> lk(mutex_);
+ if (h.id() == id_-1) callback_ = nullptr;
+ }
+
+ void reset() { callback_ = nullptr; }
+
+ operator bool() const { return (bool)callback_; }
+
+ private:
+ std::function<bool(ARGS...)> callback_;
+};
+
+}
+
+ftl::Handle ftl::BaseHandler::make_handle(BaseHandler *h, int id) {
+ return ftl::Handle(h, id);
+}
+
+#endif
diff --git a/components/common/cpp/include/ftl/threads.hpp b/components/common/cpp/include/ftl/threads.hpp
index 83086135a4e535d7f2c4f8ce03ab07dadbe871e4..c40ed095b5075afe0b4df7409c48ace45b8328cc 100644
--- a/components/common/cpp/include/ftl/threads.hpp
+++ b/components/common/cpp/include/ftl/threads.hpp
@@ -8,7 +8,7 @@
#define POOL_SIZE 10
//#define DEBUG_MUTEX
-#define MUTEX_TIMEOUT 5
+#define MUTEX_TIMEOUT 2
#if defined DEBUG_MUTEX
#include <loguru.hpp>
@@ -31,6 +31,8 @@
#define SHARED_LOCK(M,L) std::shared_lock<std::remove_reference<decltype(M)>::type> L(M);
#endif // DEBUG_MUTEX
+#define SHARED_LOCK_TYPE(M) std::shared_lock<M>
+
namespace ftl {
extern ctpl::thread_pool pool;
}
diff --git a/components/common/cpp/include/ftl/timer.hpp b/components/common/cpp/include/ftl/timer.hpp
index bf378425d191991da8a9317d2878a12dc6a92105..6530aeaddb843e7f56dce9dc334b5fa0e9f8d0d6 100644
--- a/components/common/cpp/include/ftl/timer.hpp
+++ b/components/common/cpp/include/ftl/timer.hpp
@@ -1,6 +1,7 @@
#ifndef _FTL_COMMON_TIMER_HPP_
#define _FTL_COMMON_TIMER_HPP_
+#include <ftl/handle.hpp>
#include <functional>
namespace ftl {
@@ -15,6 +16,11 @@ namespace ftl {
*/
namespace timer {
+/**
+ * Timer level determines in what order and when a timer callback is called.
+ * This allows some timers to operate at higher precision / lower latency
+ * than others, as well as having idle callbacks.
+ */
enum timerlevel_t {
kTimerHighPrecision = 0,
kTimerSwap,
@@ -24,44 +30,6 @@ enum timerlevel_t {
kTimerMAXLEVEL
};
-/**
- * Represents a timer job for control purposes. Use to remove timer jobs in
- * a destructor, for example.
- */
-struct TimerHandle {
- TimerHandle() : id_(-1) {}
- explicit TimerHandle(int i) : id_(i) {}
- TimerHandle(const TimerHandle &t) : id_(t.id()) {}
-
- /**
- * Cancel the timer job. If currently executing it will block and wait for
- * the job to complete.
- */
- void cancel() const;
- void pause() const;
- void unpause() const;
-
- /**
- * Do the timer job every N frames.
- */
- void setMultiplier(unsigned int) const;
-
- /**
- * Give the timer job a name for logging output.
- */
- void setName(const std::string &) const;
-
- /**
- * Allow copy assignment.
- */
- TimerHandle &operator=(const TimerHandle &h) { id_ = h.id(); return *this; }
-
- inline int id() const { return id_; }
-
- private:
- int id_;
-};
-
int64_t get_time();
/**
@@ -114,7 +82,20 @@ void setClockSlave(bool);
* If all high precision callbacks together take more than 1ms to complete, a
* warning is produced.
*/
-const TimerHandle add(timerlevel_t, const std::function<bool(int64_t ts)> &);
+ftl::Handle add(timerlevel_t, const std::function<bool(int64_t ts)> &);
+
+/**
+ * Same as other add function except that a multiplier is given to indicate
+ * how often this should be triggered in numbers of ticks.
+ */
+ftl::Handle add(timerlevel_t, size_t multiplier, const std::function<bool(int64_t ts)> &);
+
+/**
+ * Same as other add function except that a period in seconds is given. Note that
+ * the period should be a multiple of frames otherwise it will not be accurate
+ * but will still work.
+ */
+ftl::Handle add(timerlevel_t, double seconds, const std::function<bool(int64_t ts)> &);
/**
* Initiate the timer and optionally block the current process.
diff --git a/components/common/cpp/include/ftl/transactional.hpp b/components/common/cpp/include/ftl/transactional.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..54659b1d35706f150e19e14eb0e5d5e4b1b54296
--- /dev/null
+++ b/components/common/cpp/include/ftl/transactional.hpp
@@ -0,0 +1,51 @@
+#ifndef _FTL_TRANSACTIONAL_HPP_
+#define _FTL_TRANSACTIONAL_HPP_
+
+#include <ftl/threads.hpp>
+
+namespace ftl {
+
+/**
+ * Use RAII style transactional objects with shared locking. This wraps an
+ * object with a lock and provides a release notification mechanism to allow
+ * completion code.
+ */
+template <typename T>
+class Transactional {
+ static_assert(std::is_pointer<T>::value, "Transactional type must be a pointer");
+
+ public:
+ Transactional() : ref_(nullptr), mtx_(nullptr) {}
+ Transactional(T obj, SHARED_MUTEX *mtx) : ref_(obj), mtx_(mtx), lock_(*mtx_) {}
+ Transactional(T obj, SHARED_MUTEX *mtx, const std::function<void(T)> &complete) : ref_(obj), mtx_(mtx), lock_(*mtx_), completed_(complete) {}
+ Transactional(const Transactional &)=delete;
+ ~Transactional() {
+ if (lock_) lock_.unlock();
+ if (completed_) completed_(ref_);
+ }
+
+ Transactional(Transactional &&t) : ref_(t.ref_), mtx_(t.mtx_), lock_(*mtx_), completed_(t.completed_) {
+ t.completed_ = nullptr;
+ }
+
+ Transactional &operator=(const Transactional &)=delete;
+
+ bool isValid() const { return ref_ != nullptr; }
+ operator bool() const { return ref_ != nullptr; }
+
+ T operator->() { if (!ref_) throw FTL_Error("Use of invalid frameset"); return ref_; }
+ const T operator->() const { if (!ref_) throw FTL_Error("Use of invalid frameset"); return ref_; }
+
+ T operator*() { if (!ref_) throw FTL_Error("Use of invalid frameset"); return ref_; }
+ const T operator*() const { if (!ref_) throw FTL_Error("Use of invalid frameset"); return ref_; }
+
+ private:
+ T ref_;
+ SHARED_MUTEX *mtx_;
+ SHARED_LOCK_TYPE(SHARED_MUTEX) lock_;
+ std::function<void(T)> completed_;
+};
+
+}
+
+#endif
diff --git a/components/common/cpp/include/ftl/uri.hpp b/components/common/cpp/include/ftl/uri.hpp
index 24123f168102de184130bb5f1391349b393d877b..455d4f84594fb7630613f24a98cadda63a259735 100644
--- a/components/common/cpp/include/ftl/uri.hpp
+++ b/components/common/cpp/include/ftl/uri.hpp
@@ -32,7 +32,8 @@ namespace ftl {
SCHEME_IPC,
SCHEME_FILE,
SCHEME_OTHER,
- SCHEME_DEVICE
+ SCHEME_DEVICE,
+ SCHEME_GROUP
};
bool isValid() const { return m_valid; };
@@ -44,26 +45,35 @@ namespace ftl {
const std::string &getFragment() const { return m_frag; }
std::string getQuery() const;
const std::string &getBaseURI() const { return m_base; };
+ bool hasUserInfo() const;
+ const std::string &getUserInfo() const;
/**
* Get the URI without query parameters, and limit path to length N.
* If N is negative then it is taken from full path length.
*/
- std::string getBaseURI(int n);
+ std::string getBaseURI(int n) const;
+
+ std::string getBaseURIWithUser() const;
std::string getPathSegment(int n) const;
+ inline size_t getPathLength() const { return m_pathseg.size(); }
+
void setAttribute(const std::string &key, const std::string &value);
void setAttribute(const std::string &key, int value);
template <typename T>
- T getAttribute(const std::string &key) {
- return T(m_qmap[key]);
+ T getAttribute(const std::string &key) const {
+ auto i = m_qmap.find(key);
+ return (i != m_qmap.end()) ? T(i->second) : T();
}
+ bool hasAttribute(const std::string &a) const { return m_qmap.count(a) > 0; }
+
std::string to_string() const;
- void to_json(nlohmann::json &);
+ void to_json(nlohmann::json &) const;
private:
void _parse(uri_t puri);
@@ -74,6 +84,7 @@ namespace ftl {
std::string m_path;
std::string m_frag;
std::string m_base;
+ std::string m_userinfo;
std::vector<std::string> m_pathseg;
int m_port;
scheme_t m_proto;
@@ -83,13 +94,15 @@ namespace ftl {
};
template <>
- inline int URI::getAttribute<int>(const std::string &key) {
- return std::stoi(m_qmap[key]);
+ inline int URI::getAttribute<int>(const std::string &key) const {
+ auto i = m_qmap.find(key);
+ return (i != m_qmap.end()) ? std::stoi(i->second) : 0;
}
template <>
- inline std::string URI::getAttribute<std::string>(const std::string &key) {
- return m_qmap[key];
+ inline std::string URI::getAttribute<std::string>(const std::string &key) const {
+ auto i = m_qmap.find(key);
+ return (i != m_qmap.end()) ? i->second : "";
}
}
diff --git a/components/common/cpp/include/ftl/utility/base64.hpp b/components/common/cpp/include/ftl/utility/base64.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..197bd7df333629c5e8316fd36a7e654977ecd30f
--- /dev/null
+++ b/components/common/cpp/include/ftl/utility/base64.hpp
@@ -0,0 +1,35 @@
+//
+// base64 encoding and decoding with C++.
+// Version: 2.rc.04 (release candidate)
+//
+
+#ifndef BASE64_H_C0CE2A47_D10E_42C9_A27C_C883944E704A
+#define BASE64_H_C0CE2A47_D10E_42C9_A27C_C883944E704A
+
+#include <string>
+
+#if __cplusplus >= 201703L
+#include <string_view>
+#endif // __cplusplus >= 201703L
+
+std::string base64_encode (std::string const& s, bool url = false);
+std::string base64_encode_pem (std::string const& s);
+std::string base64_encode_mime(std::string const& s);
+
+std::string base64_decode(std::string const& s, bool remove_linebreaks = false);
+std::string base64_encode(unsigned char const*, size_t len, bool url = false);
+
+#if __cplusplus >= 201703L
+//
+// Interface with std::string_view rather than const std::string&
+// Requires C++17
+// Provided by Yannic Bonenberger (https://github.com/Yannic)
+//
+std::string base64_encode (std::string_view s, bool url = false);
+std::string base64_encode_pem (std::string_view s);
+std::string base64_encode_mime(std::string_view s);
+
+std::string base64_decode(std::string_view s, bool remove_linebreaks = false);
+#endif // __cplusplus >= 201703L
+
+#endif /* BASE64_H_C0CE2A47_D10E_42C9_A27C_C883944E704A */
diff --git a/components/common/cpp/include/ftl/utility/intrinsics.hpp b/components/common/cpp/include/ftl/utility/intrinsics.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..304156b7952f605a7a0e1f8408e31687aeb2475f
--- /dev/null
+++ b/components/common/cpp/include/ftl/utility/intrinsics.hpp
@@ -0,0 +1,38 @@
+#ifndef _FTL_UTILITY_INTRINSICS_HPP_
+#define _FTL_UTILITY_INTRINSICS_HPP_
+
+namespace ftl {
+
+inline unsigned int popcount(uint64_t bits) {
+ #if defined(_MSC_VER)
+ return __popcnt64(bits);
+ #elif defined(__GNUC__)
+ return __builtin_popcountl(bits);
+ #else
+ int count = 0;
+ while (bits != 0) {
+ bits = bits >> 1;
+ count += uint64_t(1) & bits;
+ }
+ return count;
+ #endif
+}
+
+inline unsigned int popcount(uint32_t bits) {
+ #if defined(_MSC_VER)
+ return __popcnt(bits);
+ #elif defined(__GNUC__)
+ return __builtin_popcount(bits);
+ #else
+ int count = 0;
+ while (bits != 0) {
+ bits = bits >> 1;
+ count += uint32_t(1) & bits;
+ }
+ return count;
+ #endif
+}
+
+}
+
+#endif
diff --git a/components/common/cpp/include/ftl/utility/msgpack.hpp b/components/common/cpp/include/ftl/utility/msgpack.hpp
index 30319d2256c0a32d324346637727e216a4620d1b..3e13df14462ea4edc3210a6c0b8aae55ca6e5649 100644
--- a/components/common/cpp/include/ftl/utility/msgpack.hpp
+++ b/components/common/cpp/include/ftl/utility/msgpack.hpp
@@ -34,7 +34,7 @@ struct convert<cv::Size_<T>> {
msgpack::object const& operator()(msgpack::object const& o, cv::Size_<T>& v) const {
if (o.type != msgpack::type::ARRAY) { throw msgpack::type_error(); }
if (o.via.array.size != 2) { throw msgpack::type_error(); }
-
+
T width = o.via.array.ptr[0].as<T>();
T height = o.via.array.ptr[1].as<T>();
v = cv::Size_<T>(width, height);
@@ -79,7 +79,7 @@ struct convert<cv::Rect_<T>> {
msgpack::object const& operator()(msgpack::object const& o, cv::Rect_<T> &v) const {
if (o.type != msgpack::type::ARRAY) { throw msgpack::type_error(); }
if (o.via.array.size != 4) { throw msgpack::type_error(); }
-
+
T height = o.via.array.ptr[0].as<T>();
T width = o.via.array.ptr[1].as<T>();
T x = o.via.array.ptr[2].as<T>();
@@ -126,7 +126,7 @@ struct convert<cv::Vec<T, SIZE>> {
msgpack::object const& operator()(msgpack::object const& o, cv::Vec<T, SIZE> &v) const {
if (o.type != msgpack::type::ARRAY) { throw msgpack::type_error(); }
if (o.via.array.size != SIZE) { throw msgpack::type_error(); }
-
+
for (int i = 0; i < SIZE; i++) { v[i] = o.via.array.ptr[i].as<T>(); }
return o;
@@ -148,6 +148,93 @@ struct object_with_zone<cv::Vec<T, SIZE>> {
}
};
+////////////////////////////////////////////////////////////////////////////////
+// cv::Point_
+
+template<typename T>
+struct pack<cv::Point_<T>> {
+ template <typename Stream>
+ packer<Stream>& operator()(msgpack::packer<Stream>& o, cv::Point_<T> const& p) const {
+
+ o.pack_array(2);
+ o.pack(p.x);
+ o.pack(p.y);
+ return o;
+ }
+};
+
+template<typename T>
+struct convert<cv::Point_<T>> {
+ msgpack::object const& operator()(msgpack::object const& o, cv::Point_<T> &p) const {
+ if (o.type != msgpack::type::ARRAY) { throw msgpack::type_error(); }
+ if (o.via.array.size != 2) { throw msgpack::type_error(); }
+
+ p.x = o.via.array.ptr[0].as<T>();
+ p.y = o.via.array.ptr[1].as<T>();
+
+ return o;
+ }
+};
+
+template <typename T>
+struct object_with_zone<cv::Point_<T>> {
+ void operator()(msgpack::object::with_zone& o, cv::Point_<T> const& p) const {
+ o.type = type::ARRAY;
+ o.via.array.size = 2;
+ o.via.array.ptr = static_cast<msgpack::object*>(
+ o.zone.allocate_align( sizeof(msgpack::object) * o.via.array.size,
+ MSGPACK_ZONE_ALIGNOF(msgpack::object)));
+
+ o.via.array.ptr[0] = msgpack::object(p.x, o.zone);
+ o.via.array.ptr[1] = msgpack::object(p.y, o.zone);
+ }
+};
+
+////////////////////////////////////////////////////////////////////////////////
+// cv::Point3_
+
+template<typename T>
+struct pack<cv::Point3_<T>> {
+ template <typename Stream>
+ packer<Stream>& operator()(msgpack::packer<Stream>& o, cv::Point3_<T> const& p) const {
+
+ o.pack_array(3);
+ o.pack(p.x);
+ o.pack(p.y);
+ o.pack(p.z);
+ return o;
+ }
+};
+
+template<typename T>
+struct convert<cv::Point3_<T>> {
+ msgpack::object const& operator()(msgpack::object const& o, cv::Point3_<T> &p) const {
+ if (o.type != msgpack::type::ARRAY) { throw msgpack::type_error(); }
+ if (o.via.array.size != 3) { throw msgpack::type_error(); }
+
+ p.x = o.via.array.ptr[0].as<T>();
+ p.y = o.via.array.ptr[1].as<T>();
+ p.z = o.via.array.ptr[2].as<T>();
+
+ return o;
+ }
+};
+
+template <typename T>
+struct object_with_zone<cv::Point3_<T>> {
+ void operator()(msgpack::object::with_zone& o, cv::Point3_<T> const& p) const {
+ o.type = type::ARRAY;
+ o.via.array.size = 3;
+ o.via.array.ptr = static_cast<msgpack::object*>(
+ o.zone.allocate_align( sizeof(msgpack::object) * o.via.array.size,
+ MSGPACK_ZONE_ALIGNOF(msgpack::object)));
+
+ o.via.array.ptr[0] = msgpack::object(p.x, o.zone);
+ o.via.array.ptr[1] = msgpack::object(p.y, o.zone);
+ o.via.array.ptr[2] = msgpack::object(p.z, o.zone);
+ }
+};
+
////////////////////////////////////////////////////////////////////////////////
// cv::Mat
@@ -160,7 +247,7 @@ struct pack<cv::Mat> {
o.pack_array(3);
o.pack(v.type());
o.pack(v.size());
-
+
auto size = v.total() * v.elemSize();
o.pack(msgpack::type::raw_ref(reinterpret_cast<char*>(v.data), size));
@@ -181,11 +268,11 @@ struct convert<cv::Mat> {
if (o.via.array.ptr[2].via.bin.size != (v.total() * v.elemSize())) {
throw msgpack::type_error();
}
-
+
memcpy( v.data,
reinterpret_cast<const uchar*>(o.via.array.ptr[2].via.bin.ptr),
o.via.array.ptr[2].via.bin.size);
-
+
return o;
}
};
@@ -198,7 +285,7 @@ struct object_with_zone<cv::Mat> {
o.via.array.ptr = static_cast<msgpack::object*>(
o.zone.allocate_align( sizeof(msgpack::object) * o.via.array.size,
MSGPACK_ZONE_ALIGNOF(msgpack::object)));
-
+
auto size = v.total() * v.elemSize();
o.via.array.ptr[0] = msgpack::object(v.type(), o.zone);
o.via.array.ptr[1] = msgpack::object(v.size(), o.zone);
@@ -206,7 +293,7 @@ struct object_with_zone<cv::Mat> {
// https://github.com/msgpack/msgpack-c/wiki/v2_0_cpp_object#conversion
// raw_ref not copied to zone (is this a problem?)
o.via.array.ptr[2] = msgpack::object(
- msgpack::type::raw_ref(reinterpret_cast<char*>(v.data), size),
+ msgpack::type::raw_ref(reinterpret_cast<char*>(v.data), static_cast<uint32_t>(size)),
o.zone);
}
};
@@ -231,7 +318,7 @@ struct convert<Eigen::Matrix<T, X, Y>> {
msgpack::object const& operator()(msgpack::object const& o, Eigen::Matrix<T, X, Y> &v) const {
if (o.type != msgpack::type::ARRAY) { throw msgpack::type_error(); }
if (o.via.array.size != X*Y) { throw msgpack::type_error(); }
-
+
for (int i = 0; i < X*Y; i++) { v.data()[i] = o.via.array.ptr[i].as<T>(); }
return o;
diff --git a/components/common/cpp/include/ftl/utility/rollingavg.hpp b/components/common/cpp/include/ftl/utility/rollingavg.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..42d3123d8d55f12cf538a3ccd4ff2e312a9d4956
--- /dev/null
+++ b/components/common/cpp/include/ftl/utility/rollingavg.hpp
@@ -0,0 +1,42 @@
+#ifndef _FTL_ROLLING_AVERAGE_HPP_
+#define _FTL_ROLLING_AVERAGE_HPP_
+
+namespace ftl {
+namespace utility {
+
+/**
+ * General rolling average class where `SIZE` is the number of items to
+ * average over. This is a fast version which may possibily have issues with
+ * floating point errors, however these should average out as well. A more
+ * accurate version would be much slower.
+ */
+template <typename T, size_t SIZE>
+struct RollingAvg {
+ RollingAvg() {
+ std::fill(vals_, vals_+SIZE, T(0));
+ }
+
+ /**
+ * Give a new value to add and return the rolling average including that
+ * new value.
+ */
+ float operator()(T v) {
+ const size_t mix = (ix_++) % SIZE;
+ sum_ = sum_ - vals_[mix] + v;
+ vals_[mix] = v;
+ return float(sum_) / float(SIZE);
+ }
+
+ /** Get current average. */
+ inline float value() const { return sum_; }
+
+ private:
+ T sum_ = 0;
+ T vals_[SIZE] = {0};
+ size_t ix_ = 0;
+};
+
+}
+}
+
+#endif
\ No newline at end of file
diff --git a/components/common/cpp/include/ftl/utility/string.hpp b/components/common/cpp/include/ftl/utility/string.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..d88aa11532a649702fa4325970e60c2fac16ca7c
--- /dev/null
+++ b/components/common/cpp/include/ftl/utility/string.hpp
@@ -0,0 +1,12 @@
+#ifndef _FTL_UTILITY_STRING_HPP_
+#define _FTL_UTILITY_STRING_HPP_
+
+template <typename T>
+std::string to_string_with_precision(const T a_value, const int n = 6) {
+ std::ostringstream out;
+ out.precision(n);
+ out << std::fixed << a_value;
+ return out.str();
+}
+
+#endif
\ No newline at end of file
diff --git a/components/common/cpp/src/configurable.cpp b/components/common/cpp/src/configurable.cpp
index 5791980d43c384a6b3f751b4dc8028e902cf5357..1f377fc5185cdc533d8c5823514a3fb4bfda3e24 100644
--- a/components/common/cpp/src/configurable.cpp
+++ b/components/common/cpp/src/configurable.cpp
@@ -22,13 +22,39 @@ Configurable::Configurable(nlohmann::json &config) : config_(&config) {
LOG(FATAL) << "Configurable json is not an object: " << config;
}
+ /*if (!config.contains("$id")) {
+ config["$id"] = "ftl://utu.fi";
+ }*/
+
ftl::config::registerConfigurable(this);
}
Configurable::~Configurable() {
+ save();
ftl::config::removeConfigurable(this);
}
+void Configurable::save() {
+ if (restore_.size() > 0) {
+ auto &r = ftl::config::getRestore(restore_);
+ for (auto &i : save_allowed_) {
+ r[i] = (*config_)[i];
+ }
+ }
+}
+
+void Configurable::restore(const std::string &key, const std::unordered_set<std::string> &allowed) {
+ save();
+
+ auto &r = ftl::config::getRestore(key);
+ if (r.is_object()) {
+ config_->merge_patch(r);
+
+ }
+ restore_ = key;
+ save_allowed_ = allowed;
+}
+
template <typename T>
T ftl::Configurable::value(const std::string &name, const T &def) {
auto r = get<T>(name);
@@ -114,7 +140,7 @@ void Configurable::_trigger(const string &name) {
if (ix != observers_.end()) {
for (auto &f : (*ix).second) {
try {
- f({this, name});
+ f();
} catch(...) {
LOG(ERROR) << "Exception in event handler for '" << name << "'";
}
@@ -122,7 +148,13 @@ void Configurable::_trigger(const string &name) {
}
}
-void Configurable::on(const string &prop, function<void(const ftl::config::Event&)> f) {
+void Configurable::onAny(const std::unordered_set<string> &props, function<void()> f) {
+ for (const auto &p : props) {
+ on(p, f);
+ }
+}
+
+void Configurable::on(const string &prop, function<void()> f) {
auto ix = observers_.find(prop);
if (ix == observers_.end()) {
observers_[prop] = {f};
diff --git a/components/common/cpp/src/configuration.cpp b/components/common/cpp/src/configuration.cpp
index 0d2b79a97d3d7fb731e6fdb219540ad76dd5e35a..698eee780aa648d07f00e25ac3566b1efeeb5341 100644
--- a/components/common/cpp/src/configuration.cpp
+++ b/components/common/cpp/src/configuration.cpp
@@ -23,6 +23,7 @@
#include <ftl/threads.hpp>
#include <ftl/timer.hpp>
#include <ftl/cuda_common.hpp>
+#include <ftl/file.hpp>
#include <ftl/profiler.hpp>
@@ -30,14 +31,19 @@
#include <string>
#include <map>
#include <iostream>
+#include <iomanip>
using ftl::config::json_t;
using std::ifstream;
+using std::ofstream;
using std::string;
using std::map;
using std::vector;
using std::optional;
-using ftl::is_file;
+
+using ftl::file::is_file;
+using ftl::file::config_dir;
+
using ftl::is_directory;
using ftl::Configurable;
@@ -75,21 +81,6 @@ bool ftl::is_directory(const std::string &path) {
#endif
}
-bool ftl::is_file(const std::string &path) {
-#ifdef WIN32
- DWORD attrib = GetFileAttributesA(path.c_str());
- if (attrib == INVALID_FILE_ATTRIBUTES) return false;
- else return !(attrib & FILE_ATTRIBUTE_DIRECTORY);
-#else
- struct stat s;
- if (::stat(path.c_str(), &s) == 0) {
- return S_ISREG(s.st_mode);
- } else {
- return false;
- }
-#endif
-}
-
std::vector<std::string> ftl::directory_listing(const std::string &path) {
std::vector<std::string> res;
@@ -123,7 +114,7 @@ std::vector<std::string> ftl::directory_listing(const std::string &path) {
}
static bool endsWith(const string &s, const string &e) {
- return s.size() >= e.size() &&
+ return s.size() >= e.size() &&
s.compare(s.size() - e.size(), e.size(), e) == 0;
}
@@ -153,7 +144,7 @@ optional<string> ftl::config::locateFile(const string &name) {
if (is_file(name)) return name;
auto paths = rootCFG->getConfig()["paths"];
-
+
if (paths.is_array()) {
vector<string> vpaths = paths.get<vector<string>>();
for (string p : vpaths) {
@@ -161,20 +152,56 @@ optional<string> ftl::config::locateFile(const string &name) {
if (is_file(p+"/"+name)) {
return p+"/"+name;
}
- } else if (p.size() >= name.size() &&
+ } else if (p.size() >= name.size() &&
p.compare(p.size() - name.size(), name.size(), name) == 0 &&
is_file(p)) {
return p;
}
}
}
-
+
if (is_file("./"+name)) return "./"+name;
- if (is_file(string(FTL_LOCAL_CONFIG_ROOT) +"/"+ name)) return string(FTL_LOCAL_CONFIG_ROOT) +"/"+ name;
+ if (is_file(config_dir() / name)) return (ftl::file::config_dir() / name).string();
if (is_file(string(FTL_GLOBAL_CONFIG_ROOT) +"/"+ name)) return string(FTL_GLOBAL_CONFIG_ROOT) +"/"+ name;
return {};
}
+nlohmann::json ftl::loadJSON(const std::string &path) {
+ ifstream i(path.c_str());
+ //i.open(path);
+ if (i.is_open()) {
+ try {
+ nlohmann::json t;
+ i >> t;
+ return t;
+ } catch (nlohmann::json::parse_error& e) {
+ LOG(ERROR) << "Parse error in loading JSON: " << e.what();
+ return {};
+ } catch (...) {
+ LOG(ERROR) << "Unknown error opening JSON file: " << path;
+ }
+ return {};
+ } else {
+ return {};
+ }
+}
+
+bool ftl::saveJSON(const std::string &path, nlohmann::json &json) {
+ ofstream o(path.c_str());
+ //i.open(path);
+ if (o.is_open()) {
+ try {
+ o << std::setw(4) << json << std::endl;
+ return true;
+ } catch (...) {
+ LOG(ERROR) << "Unknown error saving JSON file: " << path;
+ }
+ return false;
+ } else {
+ return false;
+ }
+}
+
/**
* Combine one json config with another patch json config.
*/
@@ -199,10 +226,26 @@ static bool mergeConfig(const string path) {
}
}
+static SHARED_MUTEX mutex;
static std::map<std::string, json_t*> config_index;
static std::map<std::string, ftl::Configurable*> config_instance;
+static std::map<std::string, ftl::Configurable*> config_alias;
static std::map<std::string, std::vector<ftl::Configurable*>> tag_index;
+static std::string cfg_root_str;
+static nlohmann::json config_restore;
+static nlohmann::json config_defaults;
+
+nlohmann::json &ftl::config::getRestore(const std::string &key) {
+ UNIQUE_LOCK(mutex, lk);
+ return config_restore[key];
+}
+
+nlohmann::json &ftl::config::getDefault(const std::string &key) {
+ UNIQUE_LOCK(mutex, lk);
+ return config_defaults[key];
+}
+
/*
* Recursively URI index the JSON structure.
*/
@@ -222,6 +265,7 @@ static void _indexConfig(json_t &cfg) {
}
ftl::Configurable *ftl::config::find(const std::string &uri) {
+ if (uri.size() == 0) return nullptr;
std::string actual_uri = uri;
if (uri[0] == '/') {
if (uri.size() == 1) {
@@ -230,18 +274,30 @@ ftl::Configurable *ftl::config::find(const std::string &uri) {
actual_uri = rootCFG->getID() + uri;
}
}
-
+
+ SHARED_LOCK(mutex, lk);
+
auto ix = config_instance.find(actual_uri);
- if (ix == config_instance.end()) return nullptr;
+ if (ix == config_instance.end()) {
+ auto ix = config_alias.find(actual_uri);
+ if (ix == config_alias.end()) return nullptr;
+ else return (*ix).second;
+ }
else return (*ix).second;
}
+void ftl::config::alias(const std::string &uri, Configurable *cfg) {
+ UNIQUE_LOCK(mutex, lk);
+ config_alias[uri] = cfg;
+}
+
const std::vector<Configurable*> &ftl::config::findByTag(const std::string &tag) {
return tag_index[tag];
}
std::vector<std::string> ftl::config::list() {
vector<string> r;
+ SHARED_LOCK(mutex, lk);
for (auto i : config_instance) {
r.push_back(i.first);
}
@@ -250,6 +306,7 @@ std::vector<std::string> ftl::config::list() {
const std::vector<Configurable *> ftl::config::getChildren(const string &uri) {
std::vector<Configurable *> children;
+ SHARED_LOCK(mutex, lk);
for (const auto &[curi, c] : config_instance) {
auto mismatch = std::mismatch(uri.begin(), uri.end(), curi.begin());
if (mismatch.first == uri.end()) {
@@ -265,15 +322,19 @@ void ftl::config::registerConfigurable(ftl::Configurable *cfg) {
LOG(ERROR) << "Configurable object is missing $id property: " << cfg->getConfig();
return;
}
+
+ UNIQUE_LOCK(mutex, lk);
auto ix = config_instance.find(*uri);
if (ix != config_instance.end()) {
// FIXME: HACK NOTE TODO SHOULD BE FATAL
LOG(ERROR) << "Attempting to create a duplicate object: " << *uri;
} else {
config_instance[*uri] = cfg;
- LOG(INFO) << "Registering instance: " << *uri;
+ //LOG(INFO) << "Registering instance: " << *uri;
+ lk.unlock();
auto tags = cfg->get<vector<string>>("tags");
+ lk.lock();
if (tags) {
for (auto &t : *tags) {
//LOG(INFO) << "REGISTER TAG: " << t;
@@ -314,20 +375,22 @@ bool ftl::config::update(const std::string &puri, const json_t &value) {
string tail = "";
string head = "";
string uri = preprocessURI(puri);
- size_t last_hash = uri.find_last_of('#');
- if (last_hash != string::npos) {
+ //size_t last_hash = uri.find_last_of('/');
+ //if (last_hash != string::npos) {
size_t last = uri.find_last_of('/');
- if (last != string::npos && last > last_hash) {
+ if (last != string::npos) {
tail = uri.substr(last+1);
head = uri.substr(0, last);
} else {
- tail = uri.substr(last_hash+1);
- head = uri.substr(0, last_hash);
+ // tail = uri.substr(last_hash+1);
+ // head = uri.substr(0, last_hash);
+ LOG(WARNING) << "Expected a URI path: " << uri;
+ return false;
}
- } else {
- LOG(WARNING) << "Expected a # in an update URI: " << uri;
- return false;
- }
+ //} else {
+ // LOG(WARNING) << "Expected a # in an update URI: " << uri;
+ // return false;
+ //}
Configurable *cfg = find(head);
@@ -400,6 +463,8 @@ json_t &ftl::config::resolve(const std::string &puri, bool eager) {
//}
}
+ SHARED_LOCK(mutex, lk);
+
ftl::URI uri(uri_str);
if (uri.isValid()) {
std::string u = uri.getBaseURI();
@@ -436,7 +501,7 @@ json_t &ftl::config::resolve(json_t &j) {
static bool findConfiguration(const string &file, const vector<string> &paths) {
bool f = false;
bool found = false;
-
+
if (file.length() > 0) {
f = mergeConfig(file.substr(1,file.length()-2));
found |= f;
@@ -470,7 +535,7 @@ static bool findConfiguration(const string &file, const vector<string> &paths) {
f = mergeConfig("./config.jsonc");
found |= f;
if (f) LOG(INFO) << "Loaded config: " << "./config.jsonc";
-
+
for (auto p : paths) {
if (is_directory(p)) {
f = mergeConfig(p+"/config.json");
@@ -532,6 +597,7 @@ map<string, string> ftl::config::read_options(char ***argv, int *argc) {
*/
static void process_options(Configurable *root, const map<string, string> &opts) {
for (auto opt : opts) {
+ if (opt.first == "") continue;
if (opt.first == "config") continue;
if (opt.first == "root") continue;
@@ -558,7 +624,7 @@ static void process_options(Configurable *root, const map<string, string> &opts)
auto v = nlohmann::json::parse(opt.second);
ftl::config::update(*root->get<string>("$id") + string("/") + opt.first, v);
} catch(...) {
- LOG(ERROR) << "Unrecognised option: " << *root->get<string>("$id") << "#" << opt.first;
+ LOG(ERROR) << "Unrecognised option: " << *root->get<string>("$id") << "/" << opt.first;
}
}
}
@@ -571,8 +637,8 @@ static void signalIntHandler( int signum ) {
if (sig_int_called) quick_exit(-1);
sig_int_called = true;
- // cleanup and close up stuff here
- // terminate program
+ // cleanup and close up stuff here
+ // terminate program
ftl::running = false;
}
@@ -594,19 +660,54 @@ Configurable *ftl::config::configure(ftl::config::json_t &cfg) {
return rootcfg;
}
-static bool doing_cleanup = false;
+// Remove all $ keys from json
+static void stripJSON(nlohmann::json &j) {
+ for (auto i=j.begin(); i != j.end(); ) {
+ if (i.key()[0] == '$') {
+ i = j.erase(i);
+ continue;
+ }
+ if ((*i).is_object()) {
+ stripJSON(*i);
+ }
+ ++i;
+ }
+}
+
+void ftl::config::save() {
+ for (auto &f : config_instance) {
+ //LOG(INFO) << "Saving: " << f.second->getID();
+ f.second->save();
+ }
+ stripJSON(config_restore);
+ ftl::saveJSON(std::string(FTL_LOCAL_CONFIG_ROOT "/")+cfg_root_str+std::string("_session.json"), config_restore);
+}
+
+static std::atomic_bool doing_cleanup = false;
void ftl::config::cleanup() {
if (doing_cleanup) return;
doing_cleanup = true;
- for (auto f : config_instance) {
- delete f.second;
+
+ //UNIQUE_LOCK(mutex, lk);
+
+ for (auto &f : config_instance) {
+ LOG(WARNING) << "Not deleted properly: " << f.second->getID();
+ //delete f.second;
+ // f.second->save();
+ }
+ while (config_instance.begin() != config_instance.end()) {
+ delete config_instance.begin()->second;
}
config_instance.clear();
+
+ ftl::config::save();
+
doing_cleanup = false;
}
void ftl::config::removeConfigurable(Configurable *cfg) {
- if (doing_cleanup) return;
+ //if (doing_cleanup) return;
+ UNIQUE_LOCK(mutex, lk);
auto i = config_instance.find(cfg->getID());
if (i != config_instance.end()) {
@@ -634,22 +735,22 @@ std::vector<nlohmann::json*> ftl::config::_createArray(ftl::Configurable *parent
if (entity.is_object()) {
if (!entity["$id"].is_string()) {
std::string id_str = *parent->get<std::string>("$id");
- if (id_str.find('#') != std::string::npos) {
+ //if (id_str.find('#') != std::string::npos) {
entity["$id"] = id_str + std::string("/") + name + std::string("/") + std::to_string(i);
- } else {
- entity["$id"] = id_str + std::string("#") + name + std::string("/") + std::to_string(i);
- }
+ //} else {
+ // entity["$id"] = id_str + std::string("#") + name + std::string("/") + std::to_string(i);
+ //}
}
result.push_back(&entity);
} else if (entity.is_null()) {
// Must create the object from scratch...
std::string id_str = *parent->get<std::string>("$id");
- if (id_str.find('#') != std::string::npos) {
+ //if (id_str.find('#') != std::string::npos) {
id_str = id_str + std::string("/") + name + std::string("/") + std::to_string(i);
- } else {
- id_str = id_str + std::string("#") + name + std::string("/") + std::to_string(i);
- }
+ //} else {
+ // id_str = id_str + std::string("#") + name + std::string("/") + std::to_string(i);
+ //}
parent->getConfig()[name] = {
// cppcheck-suppress constStatement
{"$id", id_str}
@@ -664,7 +765,7 @@ std::vector<nlohmann::json*> ftl::config::_createArray(ftl::Configurable *parent
//LOG(WARNING) << "Expected an array for '" << name << "' in " << parent->getID();
}
- return std::move(result);
+ return result;
}
nlohmann::json &ftl::config::_create(ftl::Configurable *parent, const std::string &name) {
@@ -675,22 +776,22 @@ nlohmann::json &ftl::config::_create(ftl::Configurable *parent, const std::strin
if (entity.is_object()) {
if (!entity["$id"].is_string()) {
std::string id_str = *parent->get<std::string>("$id");
- if (id_str.find('#') != std::string::npos) {
+ //if (id_str.find('#') != std::string::npos) {
entity["$id"] = id_str + std::string("/") + name;
- } else {
- entity["$id"] = id_str + std::string("#") + name;
- }
+ //} else {
+ // entity["$id"] = id_str + std::string("#") + name;
+ //}
}
return entity;
} else if (entity.is_null()) {
// Must create the object from scratch...
std::string id_str = *parent->get<std::string>("$id");
- if (id_str.find('#') != std::string::npos) {
+ //if (id_str.find('#') != std::string::npos) {
id_str = id_str + std::string("/") + name;
- } else {
- id_str = id_str + std::string("#") + name;
- }
+ //} else {
+ // id_str = id_str + std::string("#") + name;
+ //}
parent->getConfig()[name] = {
// cppcheck-suppress constStatement
{"$id", id_str}
@@ -745,7 +846,7 @@ template void ftl::config::setJSON<float>(nlohmann::json *config, const std::str
template void ftl::config::setJSON<int>(nlohmann::json *config, const std::string &name, int value);
template void ftl::config::setJSON<std::string>(nlohmann::json *config, const std::string &name, std::string value);
-Configurable *ftl::config::configure(int argc, char **argv, const std::string &root) {
+Configurable *ftl::config::configure(int argc, char **argv, const std::string &root, const std::unordered_set<std::string> &restoreable) {
loguru::g_preamble_date = false;
loguru::g_preamble_uptime = false;
loguru::g_preamble_thread = false;
@@ -759,7 +860,7 @@ Configurable *ftl::config::configure(int argc, char **argv, const std::string &r
// Process Arguments
auto options = ftl::config::read_options(&argv, &argc);
-
+
vector<string> paths(argc);
while (argc-- > 0) {
paths.push_back(argv[0]);
@@ -771,19 +872,31 @@ Configurable *ftl::config::configure(int argc, char **argv, const std::string &r
}
string root_str = (options.find("root") != options.end()) ? nlohmann::json::parse(options["root"]).get<string>() : root;
+ cfg_root_str = root_str;
if (options.find("id") != options.end()) config["$id"] = nlohmann::json::parse(options["id"]).get<string>();
_indexConfig(config);
- Configurable *rootcfg = create<Configurable>(config);
- if (root_str.size() > 0) {
- LOG(INFO) << "Setting root to " << root_str;
- rootcfg = create<Configurable>(rootcfg, root_str);
+ config_restore = std::move(ftl::loadJSON(std::string(FTL_LOCAL_CONFIG_ROOT "/")+cfg_root_str+std::string("_session.json")));
+
+ Configurable *rootcfg = nullptr;
+
+ try {
+ if (!config.contains("$id")) config["$id"] = "ftl://utu.fi";
+ rootcfg = create<Configurable>(config);
+ rootCFG = rootcfg;
+ if (root_str.size() > 0) {
+ LOG(INFO) << "Setting root to " << root_str;
+ rootcfg = create<Configurable>(rootcfg, root_str);
+ }
+ } catch (const std::exception &e) {
+ LOG(FATAL) << "Exception setting root: " << e.what();
}
//root_config = rootcfg->getConfig();
rootCFG = rootcfg;
rootcfg->set("paths", paths);
+ rootcfg->restore("root", restoreable);
process_options(rootcfg, options);
if (rootcfg->get<int>("profiler")) {
@@ -793,9 +906,9 @@ Configurable *ftl::config::configure(int argc, char **argv, const std::string &r
if (rootcfg->get<std::string>("branch")) {
ftl::branch_name = *rootcfg->get<std::string>("branch");
}
- rootcfg->on("branch", [](const ftl::config::Event &e) {
- if (e.entity->get<std::string>("branch")) {
- ftl::branch_name = *e.entity->get<std::string>("branch");
+ rootcfg->on("branch", [rootcfg]() {
+ if (rootcfg->get<std::string>("branch")) {
+ ftl::branch_name = *rootcfg->get<std::string>("branch");
}
});
@@ -805,7 +918,7 @@ Configurable *ftl::config::configure(int argc, char **argv, const std::string &r
// Check CUDA
ftl::cuda::initialise();
- int pool_size = rootcfg->value("thread_pool_factor", 2.0f)*std::thread::hardware_concurrency();
+ int pool_size = int(rootcfg->value("thread_pool_factor", 2.0f)*float(std::thread::hardware_concurrency()));
if (pool_size != ftl::pool.size()) ftl::pool.resize(pool_size);
diff --git a/components/common/cpp/src/cuda_common.cpp b/components/common/cpp/src/cuda_common.cpp
index 2eb5d19f829c999c04cf4ec1e5c28bbd699f0521..949a22704fa1e7454f5094d92296c93f7731190a 100644
--- a/components/common/cpp/src/cuda_common.cpp
+++ b/components/common/cpp/src/cuda_common.cpp
@@ -10,6 +10,8 @@ static int dev_count = 0;
static std::vector<cudaDeviceProp> properties;
bool ftl::cuda::initialise() {
+ if (dev_count > 0) return true;
+
// Do an initial CUDA check
cudaSafeCall(cudaGetDeviceCount(&dev_count));
CHECK_GE(dev_count, 1) << "No CUDA devices found";
@@ -50,9 +52,22 @@ void ftl::cuda::setDevice(int id) {
}
void ftl::cuda::setDevice() {
+ LOG(INFO) << "Using CUDA Device " << dev_to_use;
cudaSafeCall(cudaSetDevice(dev_to_use));
}
+static void _cudaCallback(void *ud) {
+ auto *cb = (std::function<void()>*)ud;
+ (*cb)();
+ delete cb;
+}
+
+// TODO: Move this to a common location
+void cudaCallback(cudaStream_t stream, const std::function<void()> &cb) {
+ cudaSafeCall(cudaLaunchHostFunc(stream, _cudaCallback, (void*)(new std::function<void()>(cb))));
+}
+
+
TextureObjectBase::~TextureObjectBase() {
free();
}
@@ -171,4 +186,4 @@ void BufferBase::upload(const cv::Mat &m, cudaStream_t stream) {
void BufferBase::download(cv::Mat &m, cudaStream_t stream) const {
m.create(height(), width(), cvType_);
cudaSafeCall(cudaMemcpy2DAsync(m.data, m.step, devicePtr(), pitch(), m.cols * m.elemSize(), m.rows, cudaMemcpyDeviceToHost, stream));
-}
\ No newline at end of file
+}
diff --git a/components/common/cpp/src/exception.cpp b/components/common/cpp/src/exception.cpp
index cf74b297ab3218a0786b66127c96ec4cc7d64ea1..19edc276e8db8fd3dc2888bdec1a98e2b189f6e2 100644
--- a/components/common/cpp/src/exception.cpp
+++ b/components/common/cpp/src/exception.cpp
@@ -3,49 +3,98 @@
#define LOGURU_REPLACE_GLOG 1
#include <loguru.hpp>
-#ifndef WIN32
+#ifdef __GNUC__
#include <execinfo.h>
+#include <dlfcn.h>
+#include <cxxabi.h>
+
+std::string demangle(const char* name) {
+ if (!name) {
+ return "[unknown symbol]";
+ }
+ int status;
+ char* demangled = abi::__cxa_demangle(name, NULL, 0, &status);
+ if (!demangled) {
+ return std::string(name);
+ }
+ else {
+ auto result = std::string(demangled);
+ free(demangled);
+ return result;
+ }
+}
+
#endif
using ftl::exception;
using std::string;
-static std::string getBackTrace() {
-#ifndef WIN32
+string addr_to_string(const void* addr) {
+ std::stringstream ss;
+ ss << addr;
+ return ss.str();
+}
+#ifdef __GNUC__
+string exception::decode_backtrace() const {
string result;
- void *trace[16];
- int trace_size = 0;
+ // backtrace_symbols() as fallback (no data from dladdr())
+ char **messages = backtrace_symbols(trace_, trace_size_);
- trace_size = backtrace(trace, 16);
+ if (!messages) {
+ return string("[bt] no trace");
+ }
+
+ /* skip first stack frame (points here) */
+ for (int i=1; i < trace_size_; ++i) {
+ result += string("[bt] #") + std::to_string(i-1)
+ + string(TRACE_SIZE_MAX_/10 - (i-1)/10, ' ')
+ + string(" ");
- result = "[bt] Trace:\n";
+ Dl_info info;
+ if (dladdr(trace_[i], &info) && info.dli_saddr) {
+ auto name = demangle(info.dli_sname);
+ string fname = info.dli_fname ? info.dli_fname: "[unknown file]";
- char **messages = backtrace_symbols(trace, trace_size);
+ result += fname +
+ + " "
+ + " [" + addr_to_string(info.dli_saddr) + "]" // exact address of symbol
+ + string(", in ")
+ + name;
+ }
+ else {
+ result += messages[i];
+ }
+ result += "\n";
+ }
- /* skip first stack frame (points here) */
- for (int i=2; i<trace_size; ++i) {
- //printf("[bt] #%d %s\n", i, messages[i]);
- result += string("[bt] #") + std::to_string(i-1) + string(" ") + messages[i] + string("\n");
- }
+ free(messages);
return result;
+}
#else
- return "";
-#endif
+string exception::decode_backtrace() const {
+ return string();
}
+#endif
exception::exception(const char *msg) : msg_(msg), processed_(false) {
- trace_ = std::move(getBackTrace());
+ #ifdef __GNUC__
+ trace_size_ = backtrace(trace_, TRACE_SIZE_MAX_);
+ #endif
}
exception::exception(const ftl::Formatter &msg) : msg_(msg.str()), processed_(false) {
- trace_ = std::move(getBackTrace());
+ #ifdef __GNUC__
+ trace_size_ = backtrace(trace_, TRACE_SIZE_MAX_);
+ #endif
}
exception::~exception() {
if (!processed_) {
- LOG(ERROR) << "Unreported exception: " << what();
- LOG(ERROR) << trace_;
+ LOG(ERROR) << "Unhandled exception: " << what();
+ #ifdef __GNUC__
+ LOG(ERROR) << "Trace:\n" << decode_backtrace();
+ #endif
}
-}
\ No newline at end of file
+}
diff --git a/components/common/cpp/src/file.cpp b/components/common/cpp/src/file.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b99936b86eeb6f167737afa96c3a2d6f699da9aa
--- /dev/null
+++ b/components/common/cpp/src/file.cpp
@@ -0,0 +1,37 @@
+#include "ftl/file.hpp"
+
+#include <cstdlib>
+
+using std::filesystem::path;
+
+namespace ftl {
+namespace file {
+
+path home_dir() {
+ char* home;
+ #if defined(_MSC_VER)
+ home = std::getenv("HOMEPATH");
+ #elif defined(__GNUC__)
+ home = std::getenv("HOME");
+ #else
+ static_assert(false, "unsupported compiler");
+ #endif
+ return std::filesystem::absolute(path(home));
+}
+
+path config_dir() {
+ #if defined(_MSC_VER)
+ return path(std::getenv("APPDATA")) / "ftl";
+ #elif defined(__GNUC__)
+ return home_dir() / ".config" / "ftl";
+ #else
+ static_assert(false, "unsupported compiler");
+ #endif
+}
+
+bool is_file(const path& p) {
+ return std::filesystem::is_regular_file(p);
+}
+
+}
+}
diff --git a/components/common/cpp/src/timer.cpp b/components/common/cpp/src/timer.cpp
index 7d1cc2b5f315558ec282bfea7c7253948f72d732..e49a955cf1af3acae8e70d7bcb448832146b7269 100644
--- a/components/common/cpp/src/timer.cpp
+++ b/components/common/cpp/src/timer.cpp
@@ -27,15 +27,16 @@ static std::atomic<int> active_jobs = 0;
static MUTEX mtx;
static int last_id = 0;
static bool clock_slave = true;
+static std::future<void> timer_future;
struct TimerJob {
- int id;
- function<bool(int64_t)> job;
- volatile bool active;
+ int id=0;
+ ftl::SingletonHandler<int64_t> job;
+ std::atomic_bool active=false;
// TODO: (Nick) Implement richer forms of timer
//bool paused;
- //int multiplier;
- //int countdown;
+ int multiplier=0; // Number of ticks before trigger
+ int counter=0; // Current tick counter
std::string name;
};
@@ -75,14 +76,52 @@ static void waitTimePoint() {
UNIQUE_LOCK(mtx, lk);
auto idle_job = jobs[kTimerIdle10].begin();
while (idle_job != jobs[kTimerIdle10].end() && msdelay >= 10 && sincelast != mspf) {
- (*idle_job).active = true;
- bool doremove = !(*idle_job).job(now);
+ auto &job = *idle_job;
+
+ if (++job.counter >= job.multiplier) {
+ job.counter = 0;
+ job.active = true;
+ bool doremove = !job.job.trigger(now);
+
+ if (doremove) {
+ idle_job = jobs[kTimerIdle10].erase(idle_job);
+ LOG(INFO) << "Timer job removed";
+ } else {
+ (*idle_job++).active = false;
+ }
+ } else {
+ ++idle_job;
+ }
+ now = get_time();
+ msdelay = mspf - (now % mspf);
+ }
+ }
- if (doremove) {
- idle_job = jobs[kTimerIdle10].erase(idle_job);
- LOG(INFO) << "Timer job removed";
+ /*while (msdelay >= 10 && sincelast != mspf) {
+ sleep_for(milliseconds(5));
+ now = get_time();
+ msdelay = mspf - (now % mspf);
+ }*/
+
+ if (msdelay >= 2 && sincelast != mspf) {
+ UNIQUE_LOCK(mtx, lk);
+ auto idle_job = jobs[kTimerIdle1].begin();
+ while (idle_job != jobs[kTimerIdle1].end() && msdelay >= 2 && sincelast != mspf) {
+ auto &job = *idle_job;
+
+ if (++job.counter >= job.multiplier) {
+ job.counter = 0;
+ job.active = true;
+ bool doremove = !job.job.trigger(now);
+
+ if (doremove) {
+ idle_job = jobs[kTimerIdle1].erase(idle_job);
+ LOG(INFO) << "Timer job removed";
+ } else {
+ (*idle_job++).active = false;
+ }
} else {
- (*idle_job++).active = false;
+ ++idle_job;
}
now = get_time();
msdelay = mspf - (now % mspf);
@@ -106,6 +145,8 @@ static void waitTimePoint() {
now = get_time();
}
last_frame = now/mspf;
+ int64_t over = now - (last_frame*mspf);
+ if (over > 1) LOG(WARNING) << "Timer off by " << over << "ms";
}
void ftl::timer::setInterval(int ms) {
@@ -117,7 +158,7 @@ void ftl::timer::setHighPrecision(bool hp) {
}
int ftl::timer::getInterval() {
- return mspf;
+ return static_cast<int>(mspf);
}
void ftl::timer::setClockAdjustment(int64_t ms) {
@@ -132,13 +173,42 @@ bool ftl::timer::isClockSlave() {
return clock_slave;
}
-const TimerHandle ftl::timer::add(timerlevel_t l, const std::function<bool(int64_t ts)> &f) {
+ftl::Handle ftl::timer::add(timerlevel_t l, const std::function<bool(int64_t ts)> &f) {
+ if (l < 0 || l >= kTimerMAXLEVEL) return {};
+
+ UNIQUE_LOCK(mtx, lk);
+ int newid = last_id++;
+ auto &j = jobs[l].emplace_back();
+ j.id = newid;
+ j.name = "NoName";
+ ftl::Handle h = j.job.on(f);
+ return h;
+}
+
+ftl::Handle ftl::timer::add(timerlevel_t l, size_t multiplier, const std::function<bool(int64_t ts)> &f) {
+ if (l < 0 || l >= kTimerMAXLEVEL) return {};
+
+ UNIQUE_LOCK(mtx, lk);
+ int newid = last_id++;
+ auto &j = jobs[l].emplace_back();
+ j.id = newid;
+ j.name = "NoName";
+ j.multiplier = multiplier;
+ ftl::Handle h = j.job.on(f);
+ return h;
+}
+
+ftl::Handle ftl::timer::add(timerlevel_t l, double seconds, const std::function<bool(int64_t ts)> &f) {
if (l < 0 || l >= kTimerMAXLEVEL) return {};
UNIQUE_LOCK(mtx, lk);
int newid = last_id++;
- jobs[l].push_back({newid, f, false, "NoName"});
- return TimerHandle(newid);
+ auto &j = jobs[l].emplace_back();
+ j.id = newid;
+ j.name = "NoName";
+ j.multiplier = int(seconds*1000.0 / double(getInterval()));
+ ftl::Handle h = j.job.on(f);
+ return h;
}
static void removeJob(int id) {
@@ -162,23 +232,28 @@ static void trigger_jobs() {
UNIQUE_LOCK(mtx, lk);
const int64_t ts = last_frame*mspf;
+ if (active_jobs > 1) {
+ LOG(WARNING) << "Previous timer incomplete, skipping " << ts;
+ return;
+ }
+
// First do non-blocking high precision callbacks
const int64_t before = get_time();
for (auto &j : jobs[kTimerHighPrecision]) {
- j.job(ts);
+ j.job.trigger(ts);
}
const int64_t after = get_time();
- if (after - before > 0) LOG(WARNING) << "Precision jobs took too long (" << (after-before) << "ms)";
+ if (after - before > 1) LOG(WARNING) << "Precision jobs took too long (" << (after-before) << "ms)";
// Then do also non-blocking swap callbacks
for (auto &j : jobs[kTimerSwap]) {
- j.job(ts);
+ j.job.trigger(ts);
}
// Now use thread jobs to do more intensive callbacks
for (auto &j : jobs[kTimerMain]) {
if (j.active) {
- //LOG(WARNING) << "Timer job too slow ... skipped for " << ts;
+ LOG(WARNING) << "Timer job too slow ... skipped for " << ts;
continue;
}
j.active = true;
@@ -186,12 +261,42 @@ static void trigger_jobs() {
auto *pj = &j;
- ftl::pool.push([pj,ts](int id) {
- bool doremove = !pj->job(ts);
+ // If last job in list then do in this thread
+ if (active_jobs == static_cast<int>(jobs[kTimerMain].size())+1) {
+ lk.unlock();
+ bool doremove = true;
+ try {
+ doremove = !pj->job.trigger(ts);
+ } catch(const std::exception &e) {
+ LOG(ERROR) << "Exception in timer job: " << e.what();
+ }
pj->active = false;
active_jobs--;
if (doremove) removeJob(pj->id);
- });
+ lk.lock();
+ break;
+ } else {
+ ftl::pool.push([pj,ts](int id) {
+ bool doremove = true;
+ try {
+ doremove = !pj->job.trigger(ts);
+ } catch(const std::exception &e) {
+ LOG(ERROR) << "Exception in timer job: " << e.what();
+ }
+ pj->active = false;
+ active_jobs--;
+ if (doremove) removeJob(pj->id);
+ });
+ }
+ }
+
+ // Final cleanup of stale jobs
+ for (size_t j=0; j<kTimerMAXLEVEL; ++j) {
+ for (auto i=jobs[j].begin(); i!=jobs[j].end(); i++) {
+ if ((bool)((*i).job) == false) {
+ i = jobs[j].erase(i);
+ }
+ }
}
}
@@ -213,7 +318,7 @@ void ftl::timer::start(bool block) {
}
active_jobs--;
} else {
- ftl::pool.push([](int id) {
+ timer_future = ftl::pool.push([](int id) {
active_jobs++;
while (ftl::running && active) {
waitTimePoint();
@@ -228,10 +333,20 @@ void ftl::timer::stop(bool wait) {
active = false;
if (wait) {
+ try {
+ if (timer_future.valid()) timer_future.get();
+ } catch (const std::exception &e) {
+ LOG(ERROR) << "Timer exception: " << e.what();
+ }
+
+ int attempts = 10;
+
// All callbacks must complete before returning.
- while (active_jobs > 0) {
+ while (active_jobs > 0 && attempts-- > 0) {
sleep_for(milliseconds(10));
}
+
+ if (active_jobs > 0) LOG(WARNING) << "Forced job stop: " << active_jobs;
}
}
@@ -246,25 +361,3 @@ void ftl::timer::reset() {
jobs[i].clear();
}
}
-
-// ===== TimerHandle ===========================================================
-
-void ftl::timer::TimerHandle::cancel() const {
- removeJob(id());
-}
-
-void ftl::timer::TimerHandle::pause() const {
-
-}
-
-void ftl::timer::TimerHandle::unpause() const {
-
-}
-
-void ftl::timer::TimerHandle::setMultiplier(unsigned int N) const {
-
-}
-
-void ftl::timer::TimerHandle::setName(const std::string &name) const {
-
-}
diff --git a/components/common/cpp/src/uri.cpp b/components/common/cpp/src/uri.cpp
index 6884720d1e17cd5a222b56699ce754892ef9cd59..eb0bc3d1d9bd69a3fe221cdf637ecf48f4356085 100644
--- a/components/common/cpp/src/uri.cpp
+++ b/components/common/cpp/src/uri.cpp
@@ -2,7 +2,7 @@
#include <nlohmann/json.hpp>
// #include <filesystem> TODO When available
#include <cstdlib>
-//#include <loguru.hpp>
+#include <loguru.hpp>
#ifndef WIN32
#include <unistd.h>
@@ -15,27 +15,28 @@ using ftl::uri_t;
using std::string;
URI::URI(uri_t puri) {
- _parse(puri);
+ _parse(puri);
}
URI::URI(const std::string &puri) {
- _parse(puri.c_str());
+ _parse(puri.c_str());
}
URI::URI(const URI &c) {
- m_valid = c.m_valid;
- m_host = c.m_host;
- m_port = c.m_port;
- m_proto = c.m_proto;
- m_path = c.m_path;
- m_pathseg = c.m_pathseg;
- m_qmap = c.m_qmap;
- m_base = c.m_base;
+ m_valid = c.m_valid;
+ m_host = c.m_host;
+ m_port = c.m_port;
+ m_proto = c.m_proto;
+ m_path = c.m_path;
+ m_pathseg = c.m_pathseg;
+ m_qmap = c.m_qmap;
+ m_base = c.m_base;
+ m_userinfo = c.m_userinfo;
m_frag = c.m_frag;
}
void URI::_parse(uri_t puri) {
- UriUriA uri;
+ UriUriA uri;
std::string suri = puri;
@@ -56,83 +57,103 @@ void URI::_parse(uri_t puri) {
}
#ifdef HAVE_URIPARSESINGLE
- const char *errpos;
- if (uriParseSingleUriA(&uri, puri, &errpos) != URI_SUCCESS) {
+ const char *errpos;
+ if (uriParseSingleUriA(&uri, puri, &errpos) != URI_SUCCESS) {
#else
- UriParserStateA uris;
- uris.uri = &uri;
- if (uriParseUriA(&uris, suri.c_str()) != URI_SUCCESS) {
+ UriParserStateA uris;
+ uris.uri = &uri;
+ if (uriParseUriA(&uris, suri.c_str()) != URI_SUCCESS) {
#endif
- m_valid = false;
- m_host = "none";
- m_port = -1;
- m_proto = SCHEME_NONE;
- m_path = "";
+ m_valid = false;
+ m_host = "none";
+ m_port = -1;
+ m_proto = SCHEME_NONE;
+ m_base = suri;
+ m_path = "";
m_frag = "";
- } else {
- m_host = std::string(uri.hostText.first, uri.hostText.afterLast - uri.hostText.first);
-
- std::string prototext = std::string(uri.scheme.first, uri.scheme.afterLast - uri.scheme.first);
- if (prototext == "tcp") m_proto = SCHEME_TCP;
- else if (prototext == "udp") m_proto = SCHEME_UDP;
- else if (prototext == "ftl") m_proto = SCHEME_FTL;
- else if (prototext == "http") m_proto = SCHEME_HTTP;
- else if (prototext == "ws") m_proto = SCHEME_WS;
- else if (prototext == "ipc") m_proto = SCHEME_IPC;
+ } else {
+ m_host = std::string(uri.hostText.first, uri.hostText.afterLast - uri.hostText.first);
+
+ std::string prototext = std::string(uri.scheme.first, uri.scheme.afterLast - uri.scheme.first);
+ if (prototext == "tcp") m_proto = SCHEME_TCP;
+ else if (prototext == "udp") m_proto = SCHEME_UDP;
+ else if (prototext == "ftl") m_proto = SCHEME_FTL;
+ else if (prototext == "http") m_proto = SCHEME_HTTP;
+ else if (prototext == "ws") m_proto = SCHEME_WS;
+ else if (prototext == "ipc") m_proto = SCHEME_IPC;
else if (prototext == "device") m_proto = SCHEME_DEVICE;
else if (prototext == "file") m_proto = SCHEME_FILE;
- else m_proto = SCHEME_OTHER;
- m_protostr = prototext;
-
- std::string porttext = std::string(uri.portText.first, uri.portText.afterLast - uri.portText.first);
- m_port = atoi(porttext.c_str());
-
- for (auto h=uri.pathHead; h!=NULL; h=h->next) {
- auto pstr = std::string(
- h->text.first, h->text.afterLast - h->text.first);
-
- m_path += "/";
- m_path += pstr;
- m_pathseg.push_back(pstr);
- }
-
- //string query = std::string(uri.query.first, uri.query.afterLast - uri.query.first);
- if (uri.query.afterLast - uri.query.first > 0) {
- UriQueryListA *queryList;
- int itemCount;
- if (uriDissectQueryMallocA(&queryList, &itemCount, uri.query.first,
- uri.query.afterLast) != URI_SUCCESS) {
- // Failure
- }
-
- UriQueryListA *item = queryList;
- while (item) {
- m_qmap[item->key] = item->value;
- item = item->next;
- }
-
- uriFreeQueryListA(queryList);
- }
-
- uriFreeUriMembersA(&uri);
+ else if (prototext == "group") m_proto = SCHEME_GROUP;
+ else m_proto = SCHEME_OTHER;
+ m_protostr = prototext;
+
+ std::string porttext = std::string(uri.portText.first, uri.portText.afterLast - uri.portText.first);
+ m_port = atoi(porttext.c_str());
+ m_userinfo = std::string(uri.userInfo.first, uri.userInfo.afterLast - uri.userInfo.first);
+
+ for (auto h=uri.pathHead; h!=NULL; h=h->next) {
+ auto pstr = std::string(
+ h->text.first, h->text.afterLast - h->text.first);
+
+ m_path += "/";
+ m_path += pstr;
+ m_pathseg.push_back(pstr);
+ }
+
+ //string query = std::string(uri.query.first, uri.query.afterLast - uri.query.first);
+ if (uri.query.afterLast - uri.query.first > 0) {
+ UriQueryListA *queryList;
+ int itemCount;
+ if (uriDissectQueryMallocA(&queryList, &itemCount, uri.query.first,
+ uri.query.afterLast) != URI_SUCCESS) {
+ // Failure
+ }
+
+ UriQueryListA *item = queryList;
+ while (item) {
+ m_qmap[item->key] = item->value;
+ item = item->next;
+ }
+ uriFreeQueryListA(queryList);
+ }
+
+ uriFreeUriMembersA(&uri);
auto fraglast = (uri.query.first != NULL) ? uri.query.first : uri.fragment.afterLast;
if (uri.fragment.first != NULL && fraglast - uri.fragment.first > 0) {
m_frag = std::string(uri.fragment.first, fraglast - uri.fragment.first);
}
- m_valid = m_proto != SCHEME_NONE && (m_host.size() > 0 || m_path.size() > 0);
-
- if (m_valid) {
- if (m_qmap.size() > 0) m_base = std::string(uri.scheme.first, uri.query.first - uri.scheme.first - 1);
- else if (uri.fragment.first != NULL) m_base = std::string(uri.scheme.first, uri.fragment.first - uri.scheme.first - 1);
- else m_base = std::string(uri.scheme.first);
- }
- }
+ m_valid = m_proto != SCHEME_NONE && (m_host.size() > 0 || m_path.size() > 0);
+
+ if (m_valid) {
+ // remove userinfo from base uri
+ const char *start = uri.scheme.first;
+ if (m_userinfo != "") {
+ m_base = std::string(start, uri.userInfo.first - start);
+ start = uri.userInfo.afterLast + 1;
+ }
+ else {
+ m_base = std::string("");
+ }
+ if (m_qmap.size() > 0) {
+ m_base += std::string(start, uri.query.first - start - 1);
+ }
+ else if (uri.fragment.first != NULL) {
+ m_base += std::string(start, uri.fragment.first - start - 1);
+ }
+ else if (start) {
+ m_base += std::string(start);
+ }
+ else {
+ m_base += std::string("");
+ }
+ }
+ }
}
string URI::to_string() const {
- return (m_qmap.size() > 0) ? m_base + "?" + getQuery() : m_base;
+ return (m_qmap.size() > 0) ? m_base + "?" + getQuery() : m_base;
}
string URI::getPathSegment(int n) const {
@@ -141,47 +162,61 @@ string URI::getPathSegment(int n) const {
else return m_pathseg[N];
}
-string URI::getBaseURI(int n) {
- if (n >= (int)m_pathseg.size()) return m_base;
- if (n >= 0) {
- string r = m_protostr + string("://") + m_host + ((m_port != 0) ? string(":") + std::to_string(m_port) : "");
- for (int i=0; i<n; i++) {
+string URI::getBaseURI(int n) const {
+ if (n >= (int)m_pathseg.size()) return m_base;
+ if (n >= 0) {
+ string r = m_protostr + string("://") + m_host + ((m_port != 0) ? string(":") + std::to_string(m_port) : "");
+ for (int i=0; i<n; i++) {
r += "/";
- r += getPathSegment(i);
- }
-
- return r;
- } else if (m_pathseg.size()+n >= 0) {
- string r = m_protostr + string("://") + m_host + ((m_port != 0) ? string(":") + std::to_string(m_port) : "");
- size_t N = m_pathseg.size()+n;
- for (size_t i=0; i<N; i++) {
+ r += getPathSegment(i);
+ }
+
+ return r;
+ } else if (m_pathseg.size()+n >= 0) {
+ string r = m_protostr + string("://") + m_host + ((m_port != 0) ? string(":") + std::to_string(m_port) : "");
+ size_t N = m_pathseg.size()+n;
+ for (size_t i=0; i<N; i++) {
r += "/";
- r += getPathSegment(i);
- }
+ r += getPathSegment(static_cast<int>(i));
+ }
+
+ return r;
+ } else return "";
+}
- return r;
- } else return "";
+std::string URI::getBaseURIWithUser() const {
+ std::string result;
+
+ result += m_protostr + "://";
+ if (m_userinfo.size() > 0) {
+ result += getUserInfo();
+ result += "@";
+ }
+ result += m_host;
+ if (m_port > 0) result += std::string(":") + std::to_string(m_port);
+ result += m_path;
+ return result;
}
string URI::getQuery() const {
- string q;
- for (auto x : m_qmap) {
- if (q.length() > 0) q += "&";
- q += x.first + "=" + x.second;
- }
- return q;
+ string q;
+ for (auto x : m_qmap) {
+ if (q.length() > 0) q += "&";
+ q += x.first + "=" + x.second;
+ }
+ return q;
};
void URI::setAttribute(const string &key, const string &value) {
- m_qmap[key] = value;
+ m_qmap[key] = value;
}
void URI::setAttribute(const string &key, int value) {
- m_qmap[key] = std::to_string(value);
+ m_qmap[key] = std::to_string(value);
}
-void URI::to_json(nlohmann::json &json) {
- std::string uri = getBaseURI();
+void URI::to_json(nlohmann::json &json) const {
+ std::string uri = to_string();
if (m_frag.size() > 0) uri += std::string("#") + getFragment();
json["uri"] = uri;
@@ -191,14 +226,26 @@ void URI::to_json(nlohmann::json &json) {
size_t pos = 0;
size_t lpos = 0;
while ((pos = i.first.find('/', lpos)) != std::string::npos) {
- current = &((*current)[i.first.substr(lpos, pos-lpos)]);
+ std::string subobj = i.first.substr(lpos, pos-lpos);
+ current = &((*current)[subobj]);
lpos = pos+1;
}
+
+ std::string obj = i.first.substr(lpos);
+
auto p = nlohmann::json::parse(i.second, nullptr, false);
if (!p.is_discarded()) {
- (*current)[i.first.substr(lpos)] = p;
+ (*current)[obj] = p;
} else {
- (*current)[i.first.substr(lpos)] = i.second;
+ (*current)[obj] = i.second;
}
}
}
+
+bool URI::hasUserInfo() const {
+ return m_userinfo != "";
+}
+
+const std::string &URI::getUserInfo() const {
+ return m_userinfo;
+}
diff --git a/components/common/cpp/src/utility/base64.cpp b/components/common/cpp/src/utility/base64.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..1dc38826aa9633be144b682aedb9b0347ee2fb95
--- /dev/null
+++ b/components/common/cpp/src/utility/base64.cpp
@@ -0,0 +1,256 @@
+/*
+ base64.cpp and base64.h
+
+ base64 encoding and decoding with C++.
+ More information at
+ https://renenyffenegger.ch/notes/development/Base64/Encoding-and-decoding-base-64-with-cpp
+
+ Version: 2.rc.04 (release candidate)
+
+ Copyright (C) 2004-2017, 2020 René Nyffenegger
+
+ This source code is provided 'as-is', without any express or implied
+ warranty. In no event will the author be held liable for any damages
+ arising from the use of this software.
+
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it
+ freely, subject to the following restrictions:
+
+ 1. The origin of this source code must not be misrepresented; you must not
+ claim that you wrote the original source code. If you use this source code
+ in a product, an acknowledgment in the product documentation would be
+ appreciated but is not required.
+
+ 2. Altered source versions must be plainly marked as such, and must not be
+ misrepresented as being the original source code.
+
+ 3. This notice may not be removed or altered from any source distribution.
+
+ René Nyffenegger rene.nyffenegger@adp-gmbh.ch
+
+*/
+
+#include "ftl/utility/base64.hpp"
+
+ //
+ // Depending on the url parameter in base64_chars, one of
+ // two sets of base64 characters needs to be chosen.
+ // They differ in their last two characters.
+ //
+const char* base64_chars[2] = {
+ "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
+ "abcdefghijklmnopqrstuvwxyz"
+ "0123456789"
+ "+/",
+
+ "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
+ "abcdefghijklmnopqrstuvwxyz"
+ "0123456789"
+ "-_"};
+
+static unsigned int pos_of_char(const unsigned char chr) {
+ //
+ // Return the position of chr within base64_encode()
+ //
+
+ if (chr >= 'A' && chr <= 'Z') return chr - 'A';
+ else if (chr >= 'a' && chr <= 'z') return chr - 'a' + ('Z' - 'A') + 1;
+ else if (chr >= '0' && chr <= '9') return chr - '0' + ('Z' - 'A') + ('z' - 'a') + 2;
+ else if (chr == '+' || chr == '-') return 62; // Be liberal with input and accept both url ('-') and non-url ('+') base 64 characters (
+ else if (chr == '/' || chr == '_') return 63; // Ditto for '/' and '_'
+
+ throw "If input is correct, this line should never be reached.";
+}
+
+static std::string insert_linebreaks(std::string str, size_t distance) {
+ //
+ // Provided by https://github.com/JomaCorpFX, adapted by me.
+ //
+ if (!str.length()) {
+ return "";
+ }
+
+ size_t pos = distance;
+
+ while (pos < str.size()) {
+ str.insert(pos, "\n");
+ pos += distance + 1;
+ }
+
+ return str;
+}
+
+template <typename String, unsigned int line_length>
+static std::string encode_with_line_breaks(String s) {
+ return insert_linebreaks(base64_encode(s, false), line_length);
+}
+
+template <typename String>
+static std::string encode_pem(String s) {
+ return encode_with_line_breaks<String, 64>(s);
+}
+
+template <typename String>
+static std::string encode_mime(String s) {
+ return encode_with_line_breaks<String, 76>(s);
+}
+
+template <typename String>
+static std::string encode(String s, bool url) {
+ return base64_encode(reinterpret_cast<const unsigned char*>(s.data()), s.length(), url);
+}
+
+std::string base64_encode(unsigned char const* bytes_to_encode, size_t in_len, bool url) {
+
+ size_t len_encoded = (in_len +2) / 3 * 4;
+
+ unsigned char trailing_char = url ? '.' : '=';
+
+ //
+ // Choose set of base64 characters. They differ
+ // for the last two positions, depending on the url
+ // parameter.
+ // A bool (as is the parameter url) is guaranteed
+ // to evaluate to either 0 or 1 in C++ therfore,
+ // the correct character set is chosen by subscripting
+ // base64_chars with url.
+ //
+ const char* base64_chars_ = base64_chars[url];
+
+ std::string ret;
+ ret.reserve(len_encoded);
+
+ unsigned int pos = 0;
+
+ while (pos < in_len) {
+ ret.push_back(base64_chars_[(bytes_to_encode[pos + 0] & 0xfc) >> 2]);
+
+ if (pos+1 < in_len) {
+ ret.push_back(base64_chars_[((bytes_to_encode[pos + 0] & 0x03) << 4) + ((bytes_to_encode[pos + 1] & 0xf0) >> 4)]);
+
+ if (pos+2 < in_len) {
+ ret.push_back(base64_chars_[((bytes_to_encode[pos + 1] & 0x0f) << 2) + ((bytes_to_encode[pos + 2] & 0xc0) >> 6)]);
+ ret.push_back(base64_chars_[ bytes_to_encode[pos + 2] & 0x3f]);
+ }
+ else {
+ ret.push_back(base64_chars_[(bytes_to_encode[pos + 1] & 0x0f) << 2]);
+ ret.push_back(trailing_char);
+ }
+ }
+ else {
+
+ ret.push_back(base64_chars_[(bytes_to_encode[pos + 0] & 0x03) << 4]);
+ ret.push_back(trailing_char);
+ ret.push_back(trailing_char);
+ }
+
+ pos += 3;
+ }
+
+
+ return ret;
+}
+
+template <typename String>
+static std::string decode(String encoded_string, bool remove_linebreaks) {
+ //
+ // decode(…) is templated so that it can be used with String = const std::string&
+ // or std::string_view (requires at least C++17)
+ //
+
+ if (remove_linebreaks) {
+
+ if (! encoded_string.length() ) {
+ return "";
+ }
+
+ std::string copy(encoded_string);
+
+ size_t pos=0;
+ while ((pos = copy.find("\n", pos)) != std::string::npos) {
+ copy.erase(pos, 1);
+ }
+
+ return base64_decode(copy, false);
+
+ }
+
+ size_t length_of_string = encoded_string.length();
+ if (!length_of_string) return std::string("");
+
+ size_t in_len = length_of_string;
+ size_t pos = 0;
+
+ //
+ // The approximate length (bytes) of the decoded string might be one ore
+ // two bytes smaller, depending on the amount of trailing equal signs
+ // in the encoded string. This approximation is needed to reserve
+ // enough space in the string to be returned.
+ //
+ size_t approx_length_of_decoded_string = length_of_string / 4 * 3;
+ std::string ret;
+ ret.reserve(approx_length_of_decoded_string);
+
+ while (pos < in_len) {
+
+ unsigned int pos_of_char_1 = pos_of_char(encoded_string[pos+1] );
+
+ ret.push_back(static_cast<std::string::value_type>( ( (pos_of_char(encoded_string[pos+0]) ) << 2 ) + ( (pos_of_char_1 & 0x30 ) >> 4)));
+
+ if (encoded_string[pos+2] != '=' && encoded_string[pos+2] != '.') { // accept URL-safe base 64 strings, too, so check for '.' also.
+
+ unsigned int pos_of_char_2 = pos_of_char(encoded_string[pos+2] );
+ ret.push_back(static_cast<std::string::value_type>( (( pos_of_char_1 & 0x0f) << 4) + (( pos_of_char_2 & 0x3c) >> 2)));
+
+ if (encoded_string[pos+3] != '=' && encoded_string[pos+3] != '.') {
+ ret.push_back(static_cast<std::string::value_type>( ( (pos_of_char_2 & 0x03 ) << 6 ) + pos_of_char(encoded_string[pos+3]) ));
+ }
+ }
+
+ pos += 4;
+ }
+
+ return ret;
+}
+
+std::string base64_decode(std::string const& s, bool remove_linebreaks) {
+ return decode(s, remove_linebreaks);
+}
+
+std::string base64_encode(std::string const& s, bool url) {
+ return encode(s, url);
+}
+
+std::string base64_encode_pem (std::string const& s) {
+ return encode_pem(s);
+}
+
+std::string base64_encode_mime(std::string const& s) {
+ return encode_mime(s);
+}
+
+#if __cplusplus >= 201703L
+//
+// Interface with std::string_view rather than const std::string&
+// Requires C++17
+// Provided by Yannic Bonenberger (https://github.com/Yannic)
+//
+
+std::string base64_encode(std::string_view s, bool url) {
+ return encode(s, url);
+}
+
+std::string base64_encode_pem(std::string_view s) {
+ return encode_pem(s);
+}
+
+std::string base64_encode_mime(std::string_view s) {
+ return encode_mime(s);
+}
+
+std::string base64_decode(std::string_view s, bool remove_linebreaks) {
+ return decode(s, remove_linebreaks);
+}
+
+#endif // __cplusplus >= 201703L
diff --git a/components/common/cpp/test/CMakeLists.txt b/components/common/cpp/test/CMakeLists.txt
index 9112234bfadbd4de3be225dce71937a38ed1f62a..9e86ae5b1b6d66c4ed63e901ed480b6238fc7d0b 100644
--- a/components/common/cpp/test/CMakeLists.txt
+++ b/components/common/cpp/test/CMakeLists.txt
@@ -28,6 +28,15 @@ target_include_directories(timer_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../inc
target_link_libraries(timer_unit ftlcommon
Threads::Threads ${OS_LIBS})
+### Handle Unit ################################################################
+add_executable(handle_unit
+ $<TARGET_OBJECTS:CatchTest>
+ ./handle_unit.cpp
+)
+target_include_directories(handle_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
+target_link_libraries(handle_unit ftlcommon
+ Threads::Threads ${OS_LIBS})
+
### URI ########################################################################
add_executable(msgpack_unit
$<TARGET_OBJECTS:CatchTest>
diff --git a/components/common/cpp/test/configurable_unit.cpp b/components/common/cpp/test/configurable_unit.cpp
index ed5a1a73c5870b1aabebd417c4f05af8c5bca7ae..ec5668c43521d5838c510a515febcc924e0a79c8 100644
--- a/components/common/cpp/test/configurable_unit.cpp
+++ b/components/common/cpp/test/configurable_unit.cpp
@@ -47,7 +47,7 @@ SCENARIO( "Configurable::on()" ) {
Configurable cfg(json);
bool trig = false;
- cfg.on("test", [&trig](const ftl::config::Event &e) {
+ cfg.on("test", [&trig]() {
trig = true;
});
@@ -63,10 +63,10 @@ SCENARIO( "Configurable::on()" ) {
bool trig1 = false;
bool trig2 = false;
- cfg.on("test", [&trig1](const ftl::config::Event &e) {
+ cfg.on("test", [&trig1]() {
trig1 = true;
});
- cfg.on("test", [&trig2](const ftl::config::Event &e) {
+ cfg.on("test", [&trig2]() {
trig2 = true;
});
diff --git a/components/common/cpp/test/handle_unit.cpp b/components/common/cpp/test/handle_unit.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..313967597679257d2e202221b2cfc2b3fecd21e4
--- /dev/null
+++ b/components/common/cpp/test/handle_unit.cpp
@@ -0,0 +1,97 @@
+#include "catch.hpp"
+#define LOGURU_REPLACE_GLOG 1
+#include <loguru.hpp>
+#include <ftl/handle.hpp>
+
+using ftl::Handler;
+using ftl::Handle;
+
+TEST_CASE( "Handle release on cancel" ) {
+ Handler<int> handler;
+
+ int calls = 0;
+
+ auto h = handler.on([&calls](int i) {
+ calls += i;
+ return true;
+ });
+
+ handler.trigger(5);
+ REQUIRE(calls == 5);
+ h.cancel();
+ handler.trigger(5);
+ REQUIRE(calls == 5);
+}
+
+TEST_CASE( "Handle release on false return" ) {
+ Handler<int> handler;
+
+ int calls = 0;
+
+ auto h = handler.on([&calls](int i) {
+ calls += i;
+ return false;
+ });
+
+ handler.trigger(5);
+ REQUIRE(calls == 5);
+ handler.trigger(5);
+ REQUIRE(calls == 5);
+}
+
+TEST_CASE( "Handle multiple triggers" ) {
+ Handler<int> handler;
+
+ int calls = 0;
+
+ auto h = handler.on([&calls](int i) {
+ calls += i;
+ return true;
+ });
+
+ handler.trigger(5);
+ REQUIRE(calls == 5);
+ handler.trigger(5);
+ REQUIRE(calls == 10);
+}
+
+TEST_CASE( "Handle release on destruct" ) {
+ Handler<int> handler;
+
+ int calls = 0;
+
+ {
+ auto h = handler.on([&calls](int i) {
+ calls += i;
+ return true;
+ });
+
+ handler.trigger(5);
+ REQUIRE(calls == 5);
+ }
+
+ handler.trigger(5);
+ REQUIRE(calls == 5);
+}
+
+TEST_CASE( "Handle moving" ) {
+ SECTION("old handle cannot cancel") {
+ Handler<int> handler;
+
+ int calls = 0;
+
+ auto h = handler.on([&calls](int i) {
+ calls += i;
+ return true;
+ });
+
+ handler.trigger(5);
+ REQUIRE(calls == 5);
+
+ auto h2 = std::move(h);
+ h.cancel();
+
+ handler.trigger(5);
+ REQUIRE(calls == 10);
+ }
+}
\ No newline at end of file
diff --git a/components/common/cpp/test/msgpack_unit.cpp b/components/common/cpp/test/msgpack_unit.cpp
index c5e79d3bf91e34f2ac672ffcb53919b9a884a196..953bac5c99150d666065b03d8f318957f730d8d0 100644
--- a/components/common/cpp/test/msgpack_unit.cpp
+++ b/components/common/cpp/test/msgpack_unit.cpp
@@ -60,17 +60,25 @@ TEST_CASE( "msgpack cv::Mat" ) {
SECTION( "Mat::ones(Size(1, 5), CV_8UC3)" ) {
Mat A = Mat::ones(Size(1, 5), CV_8UC3);
Mat B = msgpack_unpack<Mat>(msgpack_pack(A));
-
+
REQUIRE(A.size() == B.size());
REQUIRE(A.type() == B.type());
- REQUIRE(cv::countNonZero(A != B) == 0);
+
+ cv::Mat diff;
+ cv::absdiff(A, B, diff);
+ REQUIRE(cv::countNonZero(diff.reshape(1, diff.total())) == 0);
+
+ // how is it possible this REQUIRE() passed earlier? Multi-channel
+ // images can not be used in countNonZero() and A != B returns multi
+ // channel result. (test fixed by comparison above)
+ //REQUIRE(cv::countNonZero(A != B) == 0);
}
SECTION ( "Mat 10x10 CV_64FC1 with random values [-1000, 1000]" ) {
Mat A(Size(10, 10), CV_64FC1);
cv::randu(A, -1000, 1000);
Mat B = msgpack_unpack<Mat>(msgpack_pack(A));
-
+
REQUIRE(A.size() == B.size());
REQUIRE(A.type() == B.type());
REQUIRE(cv::countNonZero(A != B) == 0);
@@ -82,9 +90,9 @@ TEST_CASE( "msgpack cv::Mat" ) {
msgpack::zone z;
auto obj = msgpack::object(A, z);
-
+
Mat B = msgpack_unpack<Mat>(msgpack_pack(obj));
-
+
REQUIRE(A.size() == B.size());
REQUIRE(A.type() == B.type());
REQUIRE(cv::countNonZero(A != B) == 0);
@@ -97,12 +105,12 @@ TEST_CASE( "msgpack cv::Mat" ) {
A.setTo(0);
Mat B = msgpack_unpack<Mat>(msgpack_pack(A));
-
+
REQUIRE(A.size() == B.size());
REQUIRE(A.type() == B.type());
REQUIRE(cv::countNonZero(A != B) == 0);
}
- catch (msgpack::type_error) {
+ catch (const msgpack::type_error &e) {
// if not supported, throws exception
}
}
@@ -111,7 +119,7 @@ TEST_CASE( "msgpack cv::Mat" ) {
auto res = msgpack_unpack<cv::Rect2d>(msgpack_pack(cv::Rect2d(1,2,3,4)));
REQUIRE(res == cv::Rect2d(1,2,3,4));
}
-
+
SECTION( "Vec<T, SIZE>" ) {
auto res = msgpack_unpack<cv::Vec4d>(msgpack_pack(cv::Vec4d(1,2,3,4)));
REQUIRE(res == cv::Vec4d(1,2,3,4));
diff --git a/components/common/cpp/test/timer_unit.cpp b/components/common/cpp/test/timer_unit.cpp
index 2fdc700345a2700c8cc63a992d4ba7ad6c284a0b..1f8f63b693b40f6cfbe60a80c50f51463456e1cb 100644
--- a/components/common/cpp/test/timer_unit.cpp
+++ b/components/common/cpp/test/timer_unit.cpp
@@ -59,13 +59,13 @@ TEST_CASE( "Timer::add() High Precision Accuracy" ) {
REQUIRE( (rc.id() >= 0) );
- ftl::timer::add(ftl::timer::kTimerHighPrecision, [&didrun](int64_t ts) {
+ auto h = ftl::timer::add(ftl::timer::kTimerHighPrecision, [&didrun](int64_t ts) {
didrun[1] = true;
ftl::timer::stop(false);
return true;
});
- ftl::timer::add(ftl::timer::kTimerHighPrecision, [&didrun](int64_t ts) {
+ auto h2 = ftl::timer::add(ftl::timer::kTimerHighPrecision, [&didrun](int64_t ts) {
didrun[2] = true;
ftl::timer::stop(false);
return true;
@@ -133,6 +133,58 @@ TEST_CASE( "Timer::add() Idle10 job" ) {
}
}
+TEST_CASE( "Timer::add() Idle10 job periodic" ) {
+ SECTION( "Quick idle job" ) {
+ bool didrun = false;
+
+ ftl::timer::reset();
+
+ int count = 0;
+ auto rcc = ftl::timer::add(ftl::timer::kTimerIdle10, [&count](int64_t ts) {
+ ++count;
+ return true;
+ });
+
+ auto rc = ftl::timer::add(ftl::timer::kTimerIdle10, size_t(20), [&didrun](int64_t ts) {
+ didrun = true;
+ ftl::timer::stop(false);
+ return true;
+ });
+
+ REQUIRE( (rc.id() >= 0) );
+
+ ftl::timer::start(true);
+ REQUIRE( didrun == true );
+ REQUIRE( count == 20 );
+ }
+}
+
+TEST_CASE( "Timer::add() Idle1 job periodic" ) {
+ SECTION( "Quick idle job" ) {
+ bool didrun = false;
+
+ ftl::timer::reset();
+
+ int count = 0;
+ auto rcc = ftl::timer::add(ftl::timer::kTimerIdle1, [&count](int64_t ts) {
+ ++count;
+ return true;
+ });
+
+ auto rc = ftl::timer::add(ftl::timer::kTimerIdle1, size_t(20), [&didrun](int64_t ts) {
+ didrun = true;
+ ftl::timer::stop(false);
+ return true;
+ });
+
+ REQUIRE( (rc.id() >= 0) );
+
+ ftl::timer::start(true);
+ REQUIRE( didrun == true );
+ REQUIRE( count == 20 );
+ }
+}
+
TEST_CASE( "Timer::add() Main job" ) {
SECTION( "Quick main job" ) {
bool didrun = false;
@@ -184,7 +236,7 @@ TEST_CASE( "Timer::add() Main job" ) {
REQUIRE( (rc.id() >= 0) );
- ftl::timer::add(ftl::timer::kTimerMain, [&job2](int64_t ts) {
+ auto h = ftl::timer::add(ftl::timer::kTimerMain, [&job2](int64_t ts) {
job2++;
return true;
});
@@ -212,24 +264,7 @@ TEST_CASE( "Timer::add() Main job" ) {
}
}
-TEST_CASE( "TimerHandle::cancel()" ) {
- SECTION( "Invalid id" ) {
- bool didjob = false;
- ftl::timer::reset();
-
- ftl::timer::add(ftl::timer::kTimerMain, [&didjob](int64_t ts) {
- didjob = true;
- ftl::timer::stop(false);
- return true;
- });
-
- // Fake Handle
- ftl::timer::TimerHandle h(44);
- h.cancel();
- ftl::timer::start(true);
- REQUIRE( didjob );
- }
-
+TEST_CASE( "Timer Handle::cancel()" ) {
SECTION( "Valid id" ) {
bool didjob = false;
ftl::timer::reset();
diff --git a/components/common/cpp/test/uri_unit.cpp b/components/common/cpp/test/uri_unit.cpp
index 59c5391f35f93050b42a6df8835de6b7ab22adfc..b41cb9a017f41310d90ad7855adb0f20d4d70d46 100644
--- a/components/common/cpp/test/uri_unit.cpp
+++ b/components/common/cpp/test/uri_unit.cpp
@@ -189,3 +189,15 @@ SCENARIO( "URI::getBaseURI(N)" ) {
}
}
+SCENARIO( "URI::getBaseURIWithUser()" ) {
+ GIVEN( "both username and password" ) {
+ URI uri("http://nick:test@localhost:1000/hello/world?group=test2");
+ REQUIRE( uri.getBaseURIWithUser() == "http://nick:test@localhost:1000/hello/world" );
+ }
+
+ GIVEN( "missing username and password" ) {
+ URI uri("http://localhost:1000/hello/world?group=test2");
+ REQUIRE( uri.getBaseURIWithUser() == "http://localhost:1000/hello/world" );
+ }
+}
+
diff --git a/components/control/cpp/src/master.cpp b/components/control/cpp/src/master.cpp
index 44361b2d557c31e72f9b824911aaefbde1d4cc80..9e8b85e4cd1dce0f0f83209a6a76c2d797093ce9 100644
--- a/components/control/cpp/src/master.cpp
+++ b/components/control/cpp/src/master.cpp
@@ -15,7 +15,7 @@ using std::function;
using ftl::ctrl::LogEvent;
Master::Master(Configurable *root, Universe *net)
- : root_(root), net_(net) {
+ : root_(root), net_(net), active_(false) {
// Init system state
state_.paused = false;
@@ -36,6 +36,18 @@ Master::Master(Configurable *root, Universe *net)
state_.paused = !state_.paused;
});
+ net->bind("list_streams", []() {
+ return std::list<std::string>();
+ });
+
+ net->bind("find_stream", [](const std::string &uri, bool proxy) {
+ return std::optional<ftl::UUID>{};
+ });
+
+ net->bind("add_stream", [](const std::string &uri) {
+
+ });
+
net->bind("update_cfg", [](const std::string &uri, const std::string &value) {
ftl::config::update(uri, nlohmann::json::parse(value));
});
@@ -45,7 +57,8 @@ Master::Master(Configurable *root, Universe *net)
});
net->bind("get_configurable", [](const std::string &uri) -> std::string {
- return ftl::config::find(uri)->getConfig().dump();
+ auto *cfg = ftl::config::find(uri);
+ return (cfg) ? cfg->getConfig().dump() : "{}";
});
net->bind("list_configurables", []() {
@@ -82,6 +95,8 @@ Master::Master(Configurable *root, Universe *net)
ftl::UUID peer = p->id();
auto cs = getConfigurables(peer);
for (auto c : cs) {
+ if (ftl::config::find(c) != nullptr) continue;
+
//LOG(INFO) << "NET CONFIG: " << c;
ftl::config::json_t *configuration = new ftl::config::json_t;
*configuration = getConfigurable(peer, c);
@@ -101,6 +116,8 @@ Master::Master(Configurable *root, Universe *net)
}
peerConfigurables_[peer].clear();
});
+
+ active_ = true;
}
Master::~Master() {
@@ -156,9 +173,9 @@ vector<string> Master::getConfigurables() {
vector<string> Master::getConfigurables(const ftl::UUID &peer) {
try {
- LOG(INFO) << "LISTING CONFIGS";
return net_->call<vector<string>>(peer, "list_configurables");
- } catch (...) {
+ } catch (const ftl::exception &e) {
+ e.ignore();
return {};
}
}
@@ -242,4 +259,4 @@ void Master::stop() {
}
in_log_ = false;
-}*/
\ No newline at end of file
+}*/
diff --git a/components/net/cpp/CMakeLists.txt b/components/net/cpp/CMakeLists.txt
index c765fa53877c3e29b2bcde904cccda75487f35ea..04e89bdfeabef32a938299a2e720e23b76655ac1 100644
--- a/components/net/cpp/CMakeLists.txt
+++ b/components/net/cpp/CMakeLists.txt
@@ -18,6 +18,8 @@ target_include_directories(ftlnet PUBLIC
PRIVATE src)
target_link_libraries(ftlnet ftlctrl ftlcommon Threads::Threads glog::glog ${UUID_LIBRARIES})
+target_precompile_headers(ftlnet REUSE_FROM ftlcommon)
+
install(TARGETS ftlnet EXPORT ftlnet-config
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
diff --git a/components/net/cpp/include/ftl/net/dispatcher.hpp b/components/net/cpp/include/ftl/net/dispatcher.hpp
index 1666184c04c8b6d80d83e96df7011174843b0313..ea136483f7982756cf3c5fb9888afea9180f54a4 100644
--- a/components/net/cpp/include/ftl/net/dispatcher.hpp
+++ b/components/net/cpp/include/ftl/net/dispatcher.hpp
@@ -60,13 +60,16 @@ namespace net {
class Dispatcher {
public:
- explicit Dispatcher(Dispatcher *parent=nullptr) : parent_(parent) {}
-
+ explicit Dispatcher(Dispatcher *parent=nullptr) : parent_(parent) {
+ // FIXME threading and funcs_; hack use large size
+ funcs_.reserve(1024);
+ }
+
//void dispatch(Peer &, const std::string &msg);
void dispatch(Peer &, const msgpack::object &msg);
// Without peer object =====================================================
-
+
template <typename F>
void bind(std::string const &name, F func,
ftl::internal::tags::void_result const &,
@@ -221,11 +224,11 @@ class Dispatcher {
funcs_.erase(i);
}
}
-
+
std::vector<std::string> getBindings() const;
bool isBound(const std::string &name) const;
-
+
using adaptor_type = std::function<std::unique_ptr<msgpack::object_handle>(
ftl::net::Peer &, msgpack::object const &)>;
@@ -234,16 +237,16 @@ class Dispatcher {
//! \brief This is the type of notification messages.
using notification_t = std::tuple<int8_t, std::string, msgpack::object>;
-
+
using response_t =
std::tuple<uint32_t, uint32_t, std::string, msgpack::object>;
-
+
private:
Dispatcher *parent_;
std::unordered_map<std::string, adaptor_type> funcs_;
-
+
std::optional<adaptor_type> _locateHandler(const std::string &name) const;
-
+
static void enforce_arg_count(std::string const &func, std::size_t found,
std::size_t expected);
diff --git a/components/net/cpp/include/ftl/net/listener.hpp b/components/net/cpp/include/ftl/net/listener.hpp
index 91dc56a260d4810e05382255f8b5119330221fbc..bbf6d0c6aa02623430bc16833a7f0f7cc0bf64da 100644
--- a/components/net/cpp/include/ftl/net/listener.hpp
+++ b/components/net/cpp/include/ftl/net/listener.hpp
@@ -27,10 +27,13 @@ class Listener {
void connection(std::shared_ptr<Peer> &s);
void onConnection(connecthandler_t h) { handler_connect_.push_back(h); };
+
+ inline int port() const { return port_; }
private:
SOCKET descriptor_;
Protocol *default_proto_;
+ int port_;
//sockaddr_in slocalAddr;
std::vector<connecthandler_t> handler_connect_;
};
diff --git a/components/net/cpp/include/ftl/net/peer.hpp b/components/net/cpp/include/ftl/net/peer.hpp
index 6ac41b2f7477fde4014f49a7e05ba06ba5724844..e1ef7b5d59c89c1b7f78239c185d1effbcee1fbe 100644
--- a/components/net/cpp/include/ftl/net/peer.hpp
+++ b/components/net/cpp/include/ftl/net/peer.hpp
@@ -101,6 +101,8 @@ class Peer {
* Make a reconnect attempt. Called internally by Universe object.
*/
bool reconnect();
+
+ inline bool isOutgoing() const { return outgoing_; }
/**
* Test if the connection is valid. This returns true in all conditions
@@ -193,21 +195,25 @@ class Peer {
bool isWaiting() const { return is_waiting_; }
void rawClose() { _badClose(false); }
+
+ inline void noReconnect() { can_reconnect_ = false; }
+
+ inline unsigned int localID() const { return local_id_; }
public:
static const int kMaxMessage = 10*1024*1024; // 10Mb currently
protected:
void data(); // Process one message from socket
- void socketError(); // Process one error from socket
+ bool socketError(); // Process one error from socket
void error(int e);
bool _data();
void _badClose(bool retry=true);
- void _dispatchResponse(uint32_t id, msgpack::object &obj);
- void _sendResponse(uint32_t id, const msgpack::object &obj);
+ void _dispatchResponse(uint32_t id, const std::string &name, msgpack::object &obj);
+ void _sendResponse(uint32_t id, const std::string &name, const msgpack::object &obj);
/**
* Get the internal OS dependent socket.
@@ -261,6 +267,8 @@ class Peer {
std::string uri_; // Original connection URI, or assumed URI
ftl::UUID peerid_; // Received in handshake or allocated
+ bool outgoing_;
+ unsigned int local_id_;
ftl::net::Dispatcher *disp_; // For RPC call dispatch
//std::vector<std::function<void(Peer &)>> open_handlers_;
@@ -268,7 +276,8 @@ class Peer {
//std::vector<std::function<void(Peer &)>> close_handlers_;
std::map<int, std::unique_ptr<virtual_caller>> callbacks_;
- static volatile int rpcid__; // Return ID for RPC calls
+ static std::atomic_int rpcid__; // Return ID for RPC calls
+ static std::atomic_int local_peer_ids__;
};
// --- Inline Template Implementations -----------------------------------------
diff --git a/components/net/cpp/include/ftl/net/universe.hpp b/components/net/cpp/include/ftl/net/universe.hpp
index f5af2edef3d8a90cf4d2f9a0b53f25538b30e051..8ee642fe615b1044c44535ee8f17d0911d90e669 100644
--- a/components/net/cpp/include/ftl/net/universe.hpp
+++ b/components/net/cpp/include/ftl/net/universe.hpp
@@ -85,6 +85,9 @@ class Universe : public ftl::Configurable {
* @param addr URI giving protocol, interface and port
*/
Peer *connect(const std::string &addr);
+
+ bool isConnected(const ftl::URI &uri);
+ bool isConnected(const std::string &s);
size_t numberOfPeers() const { return peers_.size(); }
@@ -209,12 +212,12 @@ class Universe : public ftl::Configurable {
void removeCallback(ftl::net::callback_t cbid);
- size_t getSendBufferSize() const { return send_size_; }
- size_t getRecvBufferSize() const { return recv_size_; }
+ size_t getSendBufferSize(ftl::URI::scheme_t s);
+ size_t getRecvBufferSize(ftl::URI::scheme_t s);
private:
void _run();
- int _setDescriptors();
+ SOCKET _setDescriptors();
void _installBindings();
void _installBindings(Peer *);
//bool _subscribe(const std::string &res);
@@ -236,6 +239,7 @@ class Universe : public ftl::Configurable {
std::vector<ftl::net::Listener*> listeners_;
std::vector<ftl::net::Peer*> peers_;
+ std::unordered_map<std::string, ftl::net::Peer*> peer_by_uri_;
//std::map<std::string, std::vector<ftl::UUID>> subscribers_;
//std::unordered_set<std::string> owned_;
std::map<ftl::UUID, ftl::net::Peer*> peer_ids_;
@@ -244,6 +248,7 @@ class Universe : public ftl::Configurable {
std::list<ReconnectInfo> reconnects_;
size_t phase_;
std::list<ftl::net::Peer*> garbage_;
+ ftl::Handle garbage_timer_;
size_t send_size_;
size_t recv_size_;
@@ -306,95 +311,74 @@ void Universe::broadcast(const std::string &name, ARGS... args) {
template <typename R, typename... ARGS>
std::optional<R> Universe::findOne(const std::string &name, ARGS... args) {
- bool hasreturned = false;
- std::mutex m;
- std::condition_variable cv;
- std::atomic<int> count = 0;
- std::optional<R> result;
-
- auto handler = [&](const std::optional<R> &r) {
- count--;
- std::unique_lock<std::mutex> lk(m);
- if (hasreturned || !r) return;
- hasreturned = true;
- result = r;
- lk.unlock();
- cv.notify_one();
+ struct SharedData {
+ std::atomic_bool hasreturned = false;
+ std::mutex m;
+ std::condition_variable cv;
+ std::optional<R> result;
};
- std::map<Peer*, int> record;
- SHARED_LOCK(net_mutex_,lk);
+ auto sdata = std::make_shared<SharedData>();
- for (auto p : peers_) {
- if (!p->waitConnection()) continue;
- count++;
- record[p] = p->asyncCall<std::optional<R>>(name, handler, args...);
- }
- lk.unlock();
-
- { // Block thread until async callback notifies us
- std::unique_lock<std::mutex> llk(m);
- // FIXME: what happens if one clients does not return (count != 0)?
- cv.wait_for(llk, std::chrono::seconds(1), [&hasreturned, &count] {
- return hasreturned && count == 0;
- });
-
- // Cancel any further results
- lk.lock();
+ auto handler = [sdata](const std::optional<R> &r) {
+ std::unique_lock<std::mutex> lk(sdata->m);
+ if (r && !sdata->hasreturned) {
+ sdata->hasreturned = true;
+ sdata->result = r;
+ }
+ lk.unlock();
+ sdata->cv.notify_one();
+ };
+
+ {
+ SHARED_LOCK(net_mutex_,lk);
for (auto p : peers_) {
- auto m = record.find(p);
- if (m != record.end()) {
- p->cancelCall(m->second);
- }
+ if (!p->waitConnection()) continue;
+ p->asyncCall<std::optional<R>>(name, handler, args...);
}
}
+
+ // Block thread until async callback notifies us
+ std::unique_lock<std::mutex> llk(sdata->m);
+ sdata->cv.wait_for(llk, std::chrono::seconds(1), [sdata] {
+ return (bool)sdata->hasreturned;
+ });
- return result;
+ return sdata->result;
}
template <typename R, typename... ARGS>
std::vector<R> Universe::findAll(const std::string &name, ARGS... args) {
- int returncount = 0;
- int sentcount = 0;
- std::mutex m;
- std::condition_variable cv;
-
- std::vector<R> results;
+ struct SharedData {
+ std::atomic_int returncount = 0;
+ std::atomic_int sentcount = 0;
+ std::mutex m;
+ std::condition_variable cv;
+ std::vector<R> results;
+ };
+
+ auto sdata = std::make_shared<SharedData>();
- auto handler = [&](const std::vector<R> &r) {
- //UNIQUE_LOCK(m,lk);
- std::unique_lock<std::mutex> lk(m);
- returncount++;
- results.insert(results.end(), r.begin(), r.end());
+ auto handler = [sdata](const std::vector<R> &r) {
+ std::unique_lock<std::mutex> lk(sdata->m);
+ ++sdata->returncount;
+ sdata->results.insert(sdata->results.end(), r.begin(), r.end());
lk.unlock();
- cv.notify_one();
+ sdata->cv.notify_one();
};
- std::map<Peer*, int> record;
- SHARED_LOCK(net_mutex_,lk);
- for (auto p : peers_) {
- if (!p->waitConnection()) continue;
- sentcount++;
- record[p] = p->asyncCall<std::vector<R>>(name, handler, args...);
- }
- lk.unlock();
-
- { // Block thread until async callback notifies us
- //UNIQUE_LOCK(m,llk);
- std::unique_lock<std::mutex> llk(m);
- cv.wait_for(llk, std::chrono::seconds(1), [&returncount,&sentcount]{return returncount == sentcount;});
-
- // Cancel any further results
- lk.lock();
+ {
+ SHARED_LOCK(net_mutex_,lk);
for (auto p : peers_) {
- auto m = record.find(p);
- if (m != record.end()) {
- p->cancelCall(m->second);
- }
+ if (!p->waitConnection()) continue;
+ ++sdata->sentcount;
+ p->asyncCall<std::vector<R>>(name, handler, args...);
}
}
-
- return results;
+
+ std::unique_lock<std::mutex> llk(sdata->m);
+ sdata->cv.wait_for(llk, std::chrono::seconds(1), [sdata]{return sdata->returncount == sdata->sentcount; });
+ return sdata->results;
}
template <typename R, typename... ARGS>
diff --git a/components/net/cpp/include/ftl/net/ws_internal.hpp b/components/net/cpp/include/ftl/net/ws_internal.hpp
index 29fa3ff68e1c79771b870a7cca3172e3303a58e5..fb457578ecd1e6a4f0bb5e35819eb161acdbe837 100644
--- a/components/net/cpp/include/ftl/net/ws_internal.hpp
+++ b/components/net/cpp/include/ftl/net/ws_internal.hpp
@@ -32,6 +32,10 @@ struct wsheader_type {
uint8_t masking_key[4];
};
+struct ws_options {
+ std::string userinfo = "";
+};
+
/**
* Websocket dispatch parser. Given a raw socket buffer and its length, this
* function parses the websocket header and if valid and containing enough data
@@ -49,7 +53,7 @@ int ws_parse(msgpack::unpacker &buf, wsheader_type &ws);
*/
int ws_prepare(wsheader_type::opcode_type, bool useMask, size_t len, char *buffer, size_t maxlen);
-bool ws_connect(SOCKET sockfd, const ftl::URI &uri);
+bool ws_connect(SOCKET sockfd, const ftl::URI &uri, const ws_options &options=ws_options());
};
};
diff --git a/components/net/cpp/src/dispatcher.cpp b/components/net/cpp/src/dispatcher.cpp
index b1a5b265e8a00b3defabb929426c70366f5d191f..2be0055ae59924296562976e9d2db612d136aabd 100644
--- a/components/net/cpp/src/dispatcher.cpp
+++ b/components/net/cpp/src/dispatcher.cpp
@@ -67,7 +67,7 @@ void ftl::net::Dispatcher::dispatch_call(Peer &s, const msgpack::object &msg) {
if (type == 1) {
//DLOG(INFO) << "RPC return for " << id;
- s._dispatchResponse(id, args);
+ s._dispatchResponse(id, name, args);
} else if (type == 0) {
//DLOG(INFO) << "RPC " << name << "() <- " << s.getURI();
@@ -77,7 +77,7 @@ void ftl::net::Dispatcher::dispatch_call(Peer &s, const msgpack::object &msg) {
//DLOG(INFO) << "Found binding for " << name;
try {
auto result = (*func)(s, args); //->get();
- s._sendResponse(id, result->get());
+ s._sendResponse(id, name, result->get());
/*response_t res_obj = std::make_tuple(1,id,msgpack::object(),result->get());
std::stringstream buf;
msgpack::pack(buf, res_obj);
@@ -101,7 +101,7 @@ void ftl::net::Dispatcher::dispatch_call(Peer &s, const msgpack::object &msg) {
optional<Dispatcher::adaptor_type> ftl::net::Dispatcher::_locateHandler(const std::string &name) const {
auto it_func = funcs_.find(name);
- if (it_func == end(funcs_)) {
+ if (it_func == funcs_.end()) {
if (parent_ != nullptr) {
return parent_->_locateHandler(name);
} else {
diff --git a/components/net/cpp/src/listener.cpp b/components/net/cpp/src/listener.cpp
index 14c8f557052da86e9f3afb7a8658f59efa84d590..90ec540f4de09cfb82c763e9b3bf591ad8cf9314 100644
--- a/components/net/cpp/src/listener.cpp
+++ b/components/net/cpp/src/listener.cpp
@@ -102,7 +102,7 @@ Listener::Listener(const char *pUri) : default_proto_(NULL) {
if (uri.getProtocol() == URI::SCHEME_TCP) {
descriptor_ = tcpListen(uri);
- std::cout << "Listening: " << pUri << " - " << descriptor_ << std::endl;
+ port_ = uri.getPort();
} else if (uri.getProtocol() == URI::SCHEME_WS) {
descriptor_ = wsListen(uri);
} else {
diff --git a/components/net/cpp/src/net_internal.hpp b/components/net/cpp/src/net_internal.hpp
index 77aab1ecab35c3dd9e38c634e96c273c020e27c4..fa116a675af38f18e99a6ff31db0b3d13b1464cd 100644
--- a/components/net/cpp/src/net_internal.hpp
+++ b/components/net/cpp/src/net_internal.hpp
@@ -11,6 +11,7 @@ namespace ftl { namespace net { namespace internal {
#ifdef WIN32
int recv(SOCKET sd, char *buf, int n, int f);
int send(SOCKET sd, const char *v, int cnt, int flags);
+ int writev(SOCKET sd, LPWSABUF v, DWORD cnt, LPDWORD sent);
#else
ssize_t recv(int sd, void *buf, size_t n, int f);
ssize_t writev(int sd, const struct iovec *v, int cnt);
@@ -19,6 +20,7 @@ namespace ftl { namespace net { namespace internal {
#ifdef WIN32
inline int recv(SOCKET sd, char *buf, int n, int f) { return ::recv(sd,buf,n,f); }
inline int send(SOCKET sd, const char *v, int cnt, int flags) { return ::send(sd,v,cnt,flags); }
+ inline int writev(SOCKET sd, LPWSABUF v, DWORD cnt, LPDWORD sent) { return ::WSASend(sd, v, cnt, sent, 0, NULL, NULL); }
#else
#if defined _DEBUG && DEBUG_NET
inline ssize_t recv(int sd, void *buf, size_t n, int f) {
diff --git a/components/net/cpp/src/peer.cpp b/components/net/cpp/src/peer.cpp
index 2a8bf879ce007346580b48085da1a7c05b677bc0..1bf4b3d7e340c19afe40be40d4045a9ddc83dbd4 100644
--- a/components/net/cpp/src/peer.cpp
+++ b/components/net/cpp/src/peer.cpp
@@ -48,18 +48,8 @@ using ftl::net::Universe;
using ftl::net::callback_t;
using std::vector;
-/*static std::string hexStr(const std::string &s)
-{
- const char *data = s.data();
- int len = s.size();
- std::stringstream ss;
- ss << std::hex;
- for(int i=0;i<len;++i)
- ss << std::setw(2) << std::setfill('0') << (int)data[i];
- return ss.str();
-}*/
-
-volatile int Peer::rpcid__ = 0;
+std::atomic_int Peer::rpcid__ = 0;
+std::atomic_int Peer::local_peer_ids__ = 0;
// Global peer UUID
ftl::UUID ftl::net::this_peer;
@@ -67,7 +57,7 @@ ftl::UUID ftl::net::this_peer;
//static ctpl::thread_pool pool(5);
// TODO:(nick) Move to tcp_internal.cpp
-static SOCKET tcpConnect(URI &uri, int ssize, int rsize) {
+static SOCKET tcpConnect(URI &uri, size_t ssize, size_t rsize) {
int rc;
//sockaddr_in destAddr;
@@ -90,11 +80,13 @@ static SOCKET tcpConnect(URI &uri, int ssize, int rsize) {
int flags =1;
if (setsockopt(csocket, IPPROTO_TCP, TCP_NODELAY, (const char *)&flags, sizeof(flags))) { LOG(ERROR) << "ERROR: setsocketopt(), TCP_NODELAY"; };
- int a = rsize;
+ LOG(INFO) << "TcpConnect buffers: " << ssize << ", " << rsize;
+
+ int a = static_cast<int>(rsize);
if (setsockopt(csocket, SOL_SOCKET, SO_RCVBUF, (const char *)&a, sizeof(int)) == -1) {
fprintf(stderr, "Error setting socket opts: %s\n", strerror(errno));
}
- a = ssize;
+ a = static_cast<int>(ssize);
if (setsockopt(csocket, SOL_SOCKET, SO_SNDBUF, (const char *)&a, sizeof(int)) == -1) {
fprintf(stderr, "Error setting socket opts: %s\n", strerror(errno));
}
@@ -130,22 +122,30 @@ static SOCKET tcpConnect(URI &uri, int ssize, int rsize) {
if (rc < 0) {
if (errno == EINPROGRESS) {
// FIXME:(Nick) Move to main select thread to prevent blocking
- fd_set myset;
+ fd_set myset;
+ fd_set errset;
struct timeval tv;
tv.tv_sec = 1;
tv.tv_usec = 0;
FD_ZERO(&myset);
- FD_SET(csocket, &myset);
- rc = select(csocket+1, NULL, &myset, NULL, &tv);
- if (rc <= 0) { //} && errno != EINTR) {
+ FD_SET(csocket, &myset);
+ FD_ZERO(&errset);
+ FD_SET(csocket, &errset);
+
+ rc = select(csocket+1u, NULL, &myset, &errset, &tv);
+ if (rc <= 0 || FD_ISSET(csocket, &errset)) { //} && errno != EINTR) {
+ if (rc <= 0) {
+ LOG(ERROR) << "Could not connect to " << uri.getBaseURI();
+ } else {
+ LOG(ERROR) << "Could not connect (" << errno << ") " << uri.getBaseURI();
+ }
+
#ifndef WIN32
close(csocket);
#else
closesocket(csocket);
#endif
- LOG(ERROR) << "Could not connect to " << uri.getBaseURI();
-
return INVALID_SOCKET;
}
} else {
@@ -179,17 +179,21 @@ Peer::Peer(SOCKET s, Universe *u, Dispatcher *d) : sock_(s), can_reconnect_(fals
is_waiting_ = true;
scheme_ = ftl::URI::SCHEME_TCP;
+ outgoing_ = false;
+ local_id_ = local_peer_ids__++;
+ #ifndef TEST_MOCKS
int flags =1;
if (setsockopt(s, IPPROTO_TCP, TCP_NODELAY, (const char *)&flags, sizeof(flags))) { LOG(ERROR) << "ERROR: setsocketopt(), TCP_NODELAY"; };
- int a = u->getRecvBufferSize();
+ int a = static_cast<int>(u->getRecvBufferSize(scheme_));
if (setsockopt(s, SOL_SOCKET, SO_RCVBUF, (const char *)&a, sizeof(int)) == -1) {
fprintf(stderr, "Error setting socket opts: %s\n", strerror(errno));
}
- a = u->getSendBufferSize();
+ a = static_cast<int>(u->getSendBufferSize(scheme_));
if (setsockopt(s, SOL_SOCKET, SO_SNDBUF, (const char *)&a, sizeof(int)) == -1) {
fprintf(stderr, "Error setting socket opts: %s\n", strerror(errno));
}
+ #endif
// Send the initiating handshake if valid
if (status_ == kConnecting) {
@@ -232,6 +236,8 @@ Peer::Peer(const char *pUri, Universe *u, Dispatcher *d) : can_reconnect_(true),
status_ = kInvalid;
sock_ = INVALID_SOCKET;
+ outgoing_ = true;
+ local_id_ = local_peer_ids__++;
disp_ = new Dispatcher(d);
@@ -240,19 +246,19 @@ Peer::Peer(const char *pUri, Universe *u, Dispatcher *d) : can_reconnect_(true),
scheme_ = uri.getProtocol();
if (uri.getProtocol() == URI::SCHEME_TCP) {
- sock_ = tcpConnect(uri, u->getSendBufferSize(), u->getRecvBufferSize());
+ sock_ = tcpConnect(uri, u->getSendBufferSize(scheme_), u->getRecvBufferSize(scheme_));
if (sock_ != INVALID_SOCKET) status_ = kConnecting;
else status_ = kReconnecting;
} else if (uri.getProtocol() == URI::SCHEME_WS) {
LOG(INFO) << "Websocket connect " << uri.getPath();
- sock_ = tcpConnect(uri, u->getSendBufferSize(), u->getRecvBufferSize());
+ sock_ = tcpConnect(uri, u->getSendBufferSize(scheme_), u->getRecvBufferSize(scheme_));
if (sock_ != INVALID_SOCKET) {
if (!ws_connect(sock_, uri)) {
LOG(ERROR) << "Websocket connection failed";
_badClose(false);
} else {
status_ = kConnecting;
- LOG(INFO) << "WEB SOCK CONNECTED";
+ LOG(INFO) << "Websocket connected: " << pUri;
}
} else {
LOG(ERROR) << "Connection refused to " << uri.getHost() << ":" << uri.getPort();
@@ -309,7 +315,7 @@ bool Peer::reconnect() {
LOG(INFO) << "Reconnecting to " << uri_ << " ...";
if (scheme_ == URI::SCHEME_TCP) {
- sock_ = tcpConnect(uri, universe_->getSendBufferSize(), universe_->getRecvBufferSize());
+ sock_ = tcpConnect(uri, universe_->getSendBufferSize(scheme_), universe_->getRecvBufferSize(scheme_));
if (sock_ != INVALID_SOCKET) {
status_ = kConnecting;
is_waiting_ = true;
@@ -318,7 +324,7 @@ bool Peer::reconnect() {
return false;
}
} else if (scheme_ == URI::SCHEME_WS) {
- sock_ = tcpConnect(uri, universe_->getSendBufferSize(), universe_->getRecvBufferSize());
+ sock_ = tcpConnect(uri, universe_->getSendBufferSize(scheme_), universe_->getRecvBufferSize(scheme_));
if (sock_ != INVALID_SOCKET) {
if (!ws_connect(sock_, uri)) {
return false;
@@ -371,7 +377,7 @@ void Peer::close(bool retry) {
send("__disconnect__");
_badClose(retry);
- LOG(INFO) << "Deliberate disconnect of peer.";
+ LOG(INFO) << "Deliberate disconnect of peer: " << uri_;
}
}
@@ -383,12 +389,12 @@ void Peer::_badClose(bool retry) {
closesocket(sock_);
#endif
sock_ = INVALID_SOCKET;
- status_ = kDisconnected;
//auto i = find(sockets.begin(),sockets.end(),this);
//sockets.erase(i);
universe_->_notifyDisconnect(this);
+ status_ = kDisconnected;
// Attempt auto reconnect?
if (retry && can_reconnect_) {
@@ -397,7 +403,7 @@ void Peer::_badClose(bool retry) {
}
}
-void Peer::socketError() {
+bool Peer::socketError() {
int err;
#ifdef WIN32
int optlen = sizeof(err);
@@ -406,11 +412,14 @@ void Peer::socketError() {
#endif
getsockopt(sock_, SOL_SOCKET, SO_ERROR, (char*)&err, &optlen);
+ if (err == 0) return false;
+
// Must close before log since log may try to send over net causing
// more socket errors...
_badClose();
LOG(ERROR) << "Socket: " << uri_ << " - error " << err;
+ return true;
}
void Peer::error(int e) {
@@ -434,7 +443,7 @@ void Peer::data() {
return;
}
- int cap = recv_buf_.buffer_capacity();
+ int cap = static_cast<int>(recv_buf_.buffer_capacity());
auto buf = recv_buf_.buffer();
lk.unlock();
@@ -560,7 +569,7 @@ bool Peer::_data() {
return true;
}
-void Peer::_dispatchResponse(uint32_t id, msgpack::object &res) {
+void Peer::_dispatchResponse(uint32_t id, const std::string &name, msgpack::object &res) {
// TODO: Handle error reporting...
UNIQUE_LOCK(cb_mtx_,lk);
if (callbacks_.count(id) > 0) {
@@ -577,7 +586,7 @@ void Peer::_dispatchResponse(uint32_t id, msgpack::object &res) {
LOG(ERROR) << "Exception in RPC response: " << e.what();
}
} else {
- LOG(WARNING) << "Missing RPC callback for result - discarding";
+ LOG(WARNING) << "Missing RPC callback for result - discarding: " << name;
}
}
@@ -588,8 +597,8 @@ void Peer::cancelCall(int id) {
}
}
-void Peer::_sendResponse(uint32_t id, const msgpack::object &res) {
- Dispatcher::response_t res_obj = std::make_tuple(1,id,std::string(""),res);
+void Peer::_sendResponse(uint32_t id, const std::string &name, const msgpack::object &res) {
+ Dispatcher::response_t res_obj = std::make_tuple(1,id,name,res);
UNIQUE_LOCK(send_mtx_,lk);
if (scheme_ == ftl::URI::SCHEME_WS) send_buf_.append_ref(nullptr,0);
msgpack::pack(send_buf_, res_obj);
@@ -656,6 +665,8 @@ void Peer::_connected() {
int Peer::_send() {
if (sock_ == INVALID_SOCKET) return -1;
+ int c=0;
+
// Are we using a websocket?
if (scheme_ == ftl::URI::SCHEME_WS) {
// Create a websocket header as well.
@@ -682,24 +693,44 @@ int Peer::_send() {
// Patch the first io vector to be ws header
const_cast<iovec*>(&sendvec[0])->iov_base = buf;
const_cast<iovec*>(&sendvec[0])->iov_len = rc;
- }
#ifdef WIN32
- auto send_vec = send_buf_.vector();
- auto send_size = send_buf_.vector_size();
- vector<WSABUF> wsabuf(send_size);
-
- for (int i = 0; i < send_size; i++) {
- wsabuf[i].len = (ULONG)send_vec[i].iov_len;
- wsabuf[i].buf = (char*)send_vec[i].iov_base;
- //c += ftl::net::internal::send(sock_, (char*)send_vec[i].iov_base, (int)send_vec[i].iov_len, 0);
- }
+ auto send_vec = send_buf_.vector();
+ auto send_size = send_buf_.vector_size();
+ vector<WSABUF> wsabuf(send_size);
+
+ for (int i = 0; i < send_size; i++) {
+ wsabuf[i].len = (ULONG)send_vec[i].iov_len;
+ wsabuf[i].buf = (char*)send_vec[i].iov_base;
+ //c += ftl::net::internal::send(sock_, (char*)send_vec[i].iov_base, (int)send_vec[i].iov_len, 0);
+ }
+
+ DWORD bytessent;
+ //c = WSASend(sock_, wsabuf.data(), static_cast<DWORD>(send_size), (LPDWORD)&bytessent, 0, NULL, NULL);
+ c = ftl::net::internal::writev(sock_, wsabuf.data(), static_cast<DWORD>(send_size), (LPDWORD)&bytessent);
+#else
+ c = ftl::net::internal::writev(sock_, send_buf_.vector(), (int)send_buf_.vector_size());
+#endif
+
+ } else {
+#ifdef WIN32
+ auto send_vec = send_buf_.vector();
+ auto send_size = send_buf_.vector_size();
+ vector<WSABUF> wsabuf(send_size);
+
+ for (int i = 0; i < send_size; i++) {
+ wsabuf[i].len = (ULONG)send_vec[i].iov_len;
+ wsabuf[i].buf = (char*)send_vec[i].iov_base;
+ //c += ftl::net::internal::send(sock_, (char*)send_vec[i].iov_base, (int)send_vec[i].iov_len, 0);
+ }
- DWORD bytessent;
- int c = WSASend(sock_, wsabuf.data(), send_size, (LPDWORD)&bytessent, 0, NULL, NULL);
+ DWORD bytessent;
+ //c = WSASend(sock_, wsabuf.data(), static_cast<DWORD>(send_size), (LPDWORD)&bytessent, 0, NULL, NULL);
+ c = ftl::net::internal::writev(sock_, wsabuf.data(), static_cast<DWORD>(send_size), (LPDWORD)&bytessent);
#else
- int c = ftl::net::internal::writev(sock_, send_buf_.vector(), (int)send_buf_.vector_size());
+ c = ftl::net::internal::writev(sock_, send_buf_.vector(), (int)send_buf_.vector_size());
#endif
+ }
send_buf_.clear();
diff --git a/components/net/cpp/src/universe.cpp b/components/net/cpp/src/universe.cpp
index d5aeb743ac545ae525b2ee9a8c89cb86c098de38..ce1137ee064dad1402a065f94a3a41e1e3ade489 100644
--- a/components/net/cpp/src/universe.cpp
+++ b/components/net/cpp/src/universe.cpp
@@ -38,8 +38,13 @@ struct NetImplDetail {
}
}
+//#define TCP_SEND_BUFFER_SIZE (512*1024)
+//#define TCP_RECEIVE_BUFFER_SIZE (1024*1024*1)
+
#define TCP_SEND_BUFFER_SIZE (512*1024)
-#define TCP_RECEIVE_BUFFER_SIZE (1024*1024*1)
+#define TCP_RECEIVE_BUFFER_SIZE (1024*1024) // Perhaps try 24K?
+#define WS_SEND_BUFFER_SIZE (512*1024)
+#define WS_RECEIVE_BUFFER_SIZE (62*1024)
callback_t ftl::net::Universe::cbid__ = 0;
@@ -65,8 +70,8 @@ Universe::Universe(nlohmann::json &config) :
this_peer(ftl::net::this_peer),
impl_(new ftl::net::NetImplDetail),
phase_(0),
- send_size_(value("tcp_send_buffer",TCP_SEND_BUFFER_SIZE)),
- recv_size_(value("tcp_recv_buffer",TCP_RECEIVE_BUFFER_SIZE)),
+ //send_size_(value("tcp_send_buffer",TCP_SEND_BUFFER_SIZE)),
+ //recv_size_(value("tcp_recv_buffer",TCP_RECEIVE_BUFFER_SIZE)),
periodic_time_(value("periodics", 1.0)),
reconnect_attempts_(value("reconnect_attempts",50)),
thread_(Universe::__start, this) {
@@ -76,7 +81,7 @@ Universe::Universe(nlohmann::json &config) :
// Add an idle timer job to garbage collect peer objects
// Note: Important to be a timer job to ensure no other timer jobs are
// using the object.
- ftl::timer::add(ftl::timer::kTimerIdle10, [this](int64_t ts) {
+ garbage_timer_ = ftl::timer::add(ftl::timer::kTimerIdle10, [this](int64_t ts) {
if (garbage_.size() > 0) {
UNIQUE_LOCK(net_mutex_,lk);
if (ftl::pool.n_idle() == ftl::pool.size()) {
@@ -96,6 +101,18 @@ Universe::~Universe() {
delete impl_;
}
+size_t Universe::getSendBufferSize(ftl::URI::scheme_t s) {
+ return (s == ftl::URI::scheme_t::SCHEME_WS) ?
+ value("ws_send_buffer",WS_SEND_BUFFER_SIZE) :
+ value("tcp_send_buffer",TCP_SEND_BUFFER_SIZE);
+}
+
+size_t Universe::getRecvBufferSize(ftl::URI::scheme_t s) {
+ return (s == ftl::URI::scheme_t::SCHEME_WS) ?
+ value("ws_recv_buffer",WS_RECEIVE_BUFFER_SIZE) :
+ value("tcp_recv_buffer",TCP_RECEIVE_BUFFER_SIZE);
+}
+
void Universe::start() {
/*cpu_set_t cpus;
CPU_ZERO(&cpus);
@@ -148,13 +165,43 @@ bool Universe::listen(const string &addr) {
return l->isListening();
}
+bool Universe::isConnected(const ftl::URI &uri) {
+ UNIQUE_LOCK(net_mutex_,lk);
+ return (peer_by_uri_.find(uri.getBaseURI()) != peer_by_uri_.end());
+}
+
+bool Universe::isConnected(const std::string &s) {
+ ftl::URI uri(s);
+ return isConnected(uri);
+}
+
Peer *Universe::connect(const string &addr) {
+ ftl::URI u(addr);
+
+ // Check if already connected or if self
+ {
+ UNIQUE_LOCK(net_mutex_,lk);
+ if (peer_by_uri_.find(u.getBaseURI()) != peer_by_uri_.end()) {
+ return peer_by_uri_.at(u.getBaseURI());
+ }
+
+ if (u.getHost() == "localhost" || u.getHost() == "127.0.0.1") {
+ for (const auto *l : listeners_) {
+ if (l->port() == u.getPort()) {
+ throw FTL_Error("Cannot connect to self");
+ }
+ }
+ }
+ }
+
+
auto p = new Peer(addr.c_str(), this, &disp_);
if (!p) return nullptr;
if (p->status() != Peer::kInvalid) {
UNIQUE_LOCK(net_mutex_,lk);
peers_.push_back(p);
+ peer_by_uri_[u.getBaseURI()] = p;
}
_installBindings(p);
@@ -174,7 +221,7 @@ int Universe::waitConnections() {
return count;
}
-int Universe::_setDescriptors() {
+SOCKET Universe::_setDescriptors() {
//Reset all file descriptors
FD_ZERO(&impl_->sfdread_);
FD_ZERO(&impl_->sfderror_);
@@ -230,6 +277,13 @@ void Universe::_cleanupPeers() {
auto ix = peer_ids_.find(p->id());
if (ix != peer_ids_.end()) peer_ids_.erase(ix);
+ for (auto i=peer_by_uri_.begin(); i != peer_by_uri_.end(); ++i) {
+ if (i->second == p) {
+ peer_by_uri_.erase(i);
+ break;
+ }
+ }
+
i = peers_.erase(i);
if (p->status() == ftl::net::Peer::kReconnecting) {
@@ -254,6 +308,29 @@ Peer *Universe::getPeer(const UUID &id) const {
void Universe::_periodic() {
auto i = reconnects_.begin();
while (i != reconnects_.end()) {
+
+ std::string addr = i->peer->getURI();
+
+ {
+ UNIQUE_LOCK(net_mutex_,lk);
+ ftl::URI u(addr);
+ bool removed = false;
+
+ if (u.getHost() == "localhost" || u.getHost() == "127.0.0.1") {
+ for (const auto *l : listeners_) {
+ if (l->port() == u.getPort()) {
+ LOG(ERROR) << "Cannot connect to self";
+ garbage_.push_back((*i).peer);
+ i = reconnects_.erase(i);
+ removed = true;
+ break;
+ }
+ }
+ }
+
+ if (removed) continue;
+ }
+
if ((*i).peer->reconnect()) {
UNIQUE_LOCK(net_mutex_,lk);
peers_.push_back((*i).peer);
@@ -292,7 +369,7 @@ void Universe::_run() {
auto start = std::chrono::high_resolution_clock::now();
while (active_) {
- int n = _setDescriptors();
+ SOCKET n = _setDescriptors();
int selres = 1;
// Do periodics
@@ -312,7 +389,7 @@ void Universe::_run() {
//Wait for a network event or timeout in 3 seconds
block.tv_sec = 0;
block.tv_usec = 100000;
- selres = select(n+1, &impl_->sfdread_, 0, &impl_->sfderror_, &block);
+ selres = select(n+1u, &impl_->sfdread_, 0, &impl_->sfderror_, &block);
// NOTE Nick: Is it possible that not all the recvs have been called before I
// again reach a select call!? What are the consequences of this? A double recv attempt?
@@ -368,9 +445,10 @@ void Universe::_run() {
if (sock == INVALID_SOCKET) continue;
if (FD_ISSET(sock, &impl_->sfderror_)) {
- s->socketError();
- s->close();
- continue; // No point in reading data...
+ if (s->socketError()) {
+ s->close();
+ continue; // No point in reading data...
+ }
}
//If message received from this client then deal with it
if (FD_ISSET(sock, &impl_->sfdread_)) {
diff --git a/components/net/cpp/src/ws_internal.cpp b/components/net/cpp/src/ws_internal.cpp
index db9393d2a5350f07c69b5ce514f59f6ccdfe68b5..28318ab5b3291e2941298f1ebb7defd0636d134e 100644
--- a/components/net/cpp/src/ws_internal.cpp
+++ b/components/net/cpp/src/ws_internal.cpp
@@ -6,7 +6,10 @@
#include <loguru.hpp>
#include <cstring>
+
#include <ftl/net/ws_internal.hpp>
+#include <ftl/utility/base64.hpp>
+
#include <memory>
@@ -184,7 +187,7 @@ int ftl::net::ws_prepare(wsheader_type::opcode_type op, bool useMask, size_t len
return (int)header_size;
}
-bool ftl::net::ws_connect(SOCKET sockfd, const URI &uri) {
+bool ftl::net::ws_connect(SOCKET sockfd, const URI &uri, const ws_options &options) {
string http = "";
int status;
int i;
@@ -196,11 +199,19 @@ bool ftl::net::ws_connect(SOCKET sockfd, const URI &uri) {
} else {
http += "Host: "+uri.getHost()+":"+std::to_string(uri.getPort())+"\r\n";
}
+ if (uri.hasUserInfo()) {
+ //https://developer.mozilla.org/en-US/docs/Web/HTTP/Headers/Authorization
+ http += "Authorization: Basic ";
+ http += base64_encode(uri.getUserInfo()) + "\r\n";
+ }
+
http += "Upgrade: websocket\r\n";
http += "Connection: Upgrade\r\n";
http += "Sec-WebSocket-Key: x3JJHMbDL1EzLkh9GBhXDw==\r\n";
http += "Sec-WebSocket-Version: 13\r\n";
http += "\r\n";
+ // TODO: Check/process HTTP response code
+
int rc = ::send(sockfd, http.c_str(), (int)http.length(), 0);
if (rc != (int)http.length()) {
LOG(ERROR) << "Could not send Websocket http request... (" << rc << ", " << errno << ")";
diff --git a/components/net/cpp/test/net_integration.cpp b/components/net/cpp/test/net_integration.cpp
index 3f43ceb27c61ed0cce51b3a9c55b4b487915a2b4..040c6db74a4308e0f28597f47e5f886f1c300ff8 100644
--- a/components/net/cpp/test/net_integration.cpp
+++ b/components/net/cpp/test/net_integration.cpp
@@ -12,6 +12,15 @@ using std::chrono::milliseconds;
// --- Support -----------------------------------------------------------------
+static bool try_for(int count, const std::function<bool()> &f) {
+ int i=count;
+ while (i-- > 0) {
+ if (f()) return true;
+ sleep_for(milliseconds(10));
+ }
+ return false;
+}
+
// --- Tests -------------------------------------------------------------------
TEST_CASE("Universe::connect()", "[net]") {
@@ -44,7 +53,7 @@ TEST_CASE("Universe::connect()", "[net]") {
auto p = b.connect("http://127.0.0.1:7077");
REQUIRE( !p->isValid() );
- sleep_for(milliseconds(100));
+ sleep_for(milliseconds(50));
REQUIRE( a.numberOfPeers() == 0 );
REQUIRE( b.numberOfPeers() == 0 );
@@ -91,8 +100,8 @@ TEST_CASE("Universe::onConnect()", "[net]") {
});
b.connect("tcp://localhost:7077")->waitConnection();
- sleep_for(milliseconds(100));
- REQUIRE( done );
+
+ REQUIRE( try_for(20, [&done]{ return done; }) );
}
SECTION("single valid init connection") {
@@ -123,10 +132,10 @@ TEST_CASE("Universe::onDisconnect()", "[net]") {
Peer *p = b.connect("tcp://localhost:7077");
p->waitConnection();
- sleep_for(milliseconds(100));
+ sleep_for(milliseconds(20));
p->close();
- sleep_for(milliseconds(100));
- REQUIRE( done );
+
+ REQUIRE( try_for(20, [&done]{ return done; }) );
}
SECTION("single valid close") {
@@ -138,10 +147,10 @@ TEST_CASE("Universe::onDisconnect()", "[net]") {
Peer *p = b.connect("tcp://localhost:7077");
p->waitConnection();
- sleep_for(milliseconds(100));
+ sleep_for(milliseconds(20));
p->close();
- sleep_for(milliseconds(100));
- REQUIRE( done );
+
+ REQUIRE( try_for(20, [&done]{ return done; }) );
}
}
@@ -173,9 +182,7 @@ TEST_CASE("Universe::broadcast()", "[net]") {
b.broadcast("hello");
- while (!done) sleep_for(milliseconds(5));
-
- REQUIRE( done );
+ REQUIRE( try_for(20, [&done]{ return done; }) );
}
SECTION("one argument to one peer") {
@@ -188,9 +195,7 @@ TEST_CASE("Universe::broadcast()", "[net]") {
b.broadcast("hello", 676);
- while (done == 0) sleep_for(milliseconds(5));
-
- REQUIRE( done == 676 );
+ REQUIRE( try_for(20, [&done]{ return done == 676; }) );
}
SECTION("one argument to two peers") {
@@ -214,10 +219,7 @@ TEST_CASE("Universe::broadcast()", "[net]") {
a.broadcast("hello", 676);
- sleep_for(milliseconds(100));
-
- REQUIRE( done1 == 676 );
- REQUIRE( done2 == 676 );
+ REQUIRE( try_for(20, [&done1, &done2]{ return done1 == 676 && done2 == 676; }) );
}
}
diff --git a/components/net/cpp/test/peer_unit.cpp b/components/net/cpp/test/peer_unit.cpp
index c4ace71797063eef78bafee6e3784f0f5e4fa124..57828f57c78260068227f6044fc5d7d65dabfe96 100644
--- a/components/net/cpp/test/peer_unit.cpp
+++ b/components/net/cpp/test/peer_unit.cpp
@@ -51,8 +51,8 @@ class Universe {
callback_t onConnect(const std::function<void(Peer*)> &f) { return 0; }
callback_t onDisconnect(const std::function<void(Peer*)> &f) { return 0; }
- size_t getSendBufferSize() const { return 10*1024; }
- size_t getRecvBufferSize() const { return 10*1024; }
+ size_t getSendBufferSize(ftl::URI::scheme_t s) const { return 10*1024; }
+ size_t getRecvBufferSize(ftl::URI::scheme_t s) const { return 10*1024; }
};
}
}
@@ -85,11 +85,25 @@ ssize_t ftl::net::internal::recv(SOCKET sd, void *buf, size_t n, int f) {
}
#ifdef WIN32
-int ftl::net::internal::send(SOCKET sd, const char *v, int cnt, int flags) {
+/*int ftl::net::internal::send(SOCKET sd, const char *v, int cnt, int flags) {
int len = cnt;
// TODO(nick) merge multiple sends
fakedata[sd] = std::string(v, len);
return len;
+}*/
+int ftl::net::internal::writev(SOCKET sd, LPWSABUF v, DWORD cnt, LPDWORD sent) {
+ size_t len = 0; //v[0].iov_len+v[1].iov_len;
+ char buf[1000];
+ char *bufp = &buf[0];
+
+ for (auto i=0; i<cnt; i++) {
+ std::memcpy(bufp,v[i].buf,v[i].len);
+ len += v[i].len;
+ bufp += v[i].len;
+ }
+
+ fakedata[sd] = std::string(&buf[0], len);
+ return len;
}
#else
ssize_t ftl::net::internal::writev(int sd, const struct iovec *v, int cnt) {
diff --git a/components/operators/CMakeLists.txt b/components/operators/CMakeLists.txt
index dea9b6df6d15d5c2d49b2d1b081a9fb82e5da16d..5eb5cb71c41692fb95bbc6c9300396f36766d588 100644
--- a/components/operators/CMakeLists.txt
+++ b/components/operators/CMakeLists.txt
@@ -57,4 +57,10 @@ target_include_directories(ftloperators PUBLIC
target_link_libraries(ftloperators ftlrender ftlrgbd ftlcommon sgm libstereo Eigen3::Eigen Threads::Threads ${OpenCV_LIBS})
-#ADD_SUBDIRECTORY(test)
+target_precompile_headers(ftloperators REUSE_FROM ftldata)
+
+set_property(TARGET ftloperators PROPERTY CUDA_ARCHITECTURES OFF)
+
+if (BUILD_TESTS)
+ add_subdirectory(test)
+endif()
diff --git a/components/operators/include/ftl/algorithms/dbscan.hpp b/components/operators/include/ftl/algorithms/dbscan.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..7fd21bce1b04d2cd86d1a61dca6cc476d3e3ffc3
--- /dev/null
+++ b/components/operators/include/ftl/algorithms/dbscan.hpp
@@ -0,0 +1,99 @@
+#ifndef HPP_FTL_ALGORITHMS_DBSCAN_
+#define HPP_FTL_ALGORITHMS_DBSCAN_
+
+#include <vector>
+#include <deque>
+#include <opencv2/core/core.hpp>
+
+namespace ftl {
+
+/**
+ * DBSCAN clustering algorithm. Iterates over each points and assigns a label
+ * based on local neighborhood. Complexity O(n*O(RangeQuery)) for n points.
+ *
+ * points Input parameter: points
+ * RangeQuery function vector<size_t>(points, i, radius) which returns point
+ * indices (excluding input point with index i) which are within
+ * given radius. Called at least once for each point (but at most
+ * twice).
+ * min_points DBSCAN parameter: minimum cluster size (core point).
+ * radius DBSCAN parameter: search radius
+ * labels Output paramters: cluster labels. Negative labels are used for
+ * noise.
+ * centroids Output parameter: cluster centroids
+ */
+template<typename T>
+void dbscan(const std::vector<T> &points,
+ std::function<std::vector<size_t>(const std::vector<T>&, size_t, float)> RangeQuery,
+ unsigned int min_points, float radius,
+ std::vector<short> &labels, std::vector<T> ¢roids) {
+
+ const short NONE = -2;
+ const short NOISE = -1;
+
+ labels.resize(points.size());
+ std::fill(labels.begin(), labels.end(), NONE);
+
+ int cluster_count = 0;
+
+ for (unsigned i = 0; i < points.size(); i++) {
+ short cluster = NONE;
+
+ if (labels[i] != NONE) {
+ continue;
+ }
+
+ // get neighbours of points[i]
+ std::vector<size_t> neighbors = RangeQuery(points, i, radius);
+
+ if (neighbors.size() < min_points) {
+ labels[i] = NOISE;
+ continue;
+ }
+
+ // assign new cluster id
+ cluster = cluster_count++;
+
+ labels[i] = cluster;
+ T centroid = points[i];
+ int n_points = 1;
+
+ // seed_set: neighboring points to this cluster
+ std::deque<size_t> seed_set;
+ for (const auto &n : neighbors) {
+ seed_set.push_back(n);
+ }
+
+ while(!seed_set.empty()) {
+ auto i_n = seed_set.front();
+ seed_set.pop_front();
+
+ if (labels[i_n] == NOISE) {
+ // add to cluster (few lines down)
+ }
+ else if (labels[i_n] != NONE){
+ continue;
+ }
+
+ labels[i_n] = cluster;
+ centroid += points[i_n];
+ n_points++;
+
+ neighbors = RangeQuery(points, i_n, radius);
+
+ if (neighbors.size() < min_points) {
+ continue;
+ }
+ else {
+ for (const auto &n : neighbors) {
+ seed_set.push_back(n);
+ }
+ }
+ }
+
+ centroids.push_back(centroid/n_points);
+ }
+}
+
+}
+#endif
diff --git a/components/operators/include/ftl/operators/antialiasing.hpp b/components/operators/include/ftl/operators/antialiasing.hpp
index 295729bd361e6a17287b845460068a59e4d7555e..5548c08578e96879f36f2c3a11b281b78ca4bf43 100644
--- a/components/operators/include/ftl/operators/antialiasing.hpp
+++ b/components/operators/include/ftl/operators/antialiasing.hpp
@@ -12,7 +12,7 @@ namespace operators {
*/
class FXAA : public ftl::operators::Operator {
public:
- explicit FXAA(ftl::Configurable*);
+ explicit FXAA(ftl::operators::Graph *g, ftl::Configurable*);
~FXAA();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
diff --git a/components/operators/include/ftl/operators/buffer.hpp b/components/operators/include/ftl/operators/buffer.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..424e2dea08e853416b8ca673a0f577eaf1c119a7
--- /dev/null
+++ b/components/operators/include/ftl/operators/buffer.hpp
@@ -0,0 +1,37 @@
+#ifndef _FTL_OPERATORS_BUFFERS_HPP_
+#define _FTL_OPERATORS_BUFFERS_HPP_
+
+namespace ftl {
+namespace operators {
+
+/**
+ * Similar to frame channels, but these are pipeline buffers that can be
+ * used from one operator to the next.
+ */
+enum class Buffer {
+ LowLeft = 0, // 8UC4
+ Screen = 1,
+ Weights = 2, // short
+ Confidence = 3, // 32F
+ Contribution = 4, // 32F
+ Flow = 5, // 16SC2
+ Flow2 = 6, // 16SC2
+ Energy = 7, // 32F
+ Mask = 8, // 32U
+ Density = 9, // 32F
+ Support1 = 10, // 8UC4 (currently)
+ Support2 = 11, // 8UC4 (currently)
+ Segmentation = 12, // 32S?
+ Disparity = 13,
+ Smoothing = 14, // 32F
+ LowGrayLeft = 15,
+ LowGrayRight = 16,
+ GrayLeft = 17,
+ GrayRight = 18,
+ LowRight = 19
+};
+
+}
+}
+
+#endif
\ No newline at end of file
diff --git a/components/operators/include/ftl/operators/clipping.hpp b/components/operators/include/ftl/operators/clipping.hpp
index 590e714c9eeca9713e56139aa874f7c0db0a472d..25d8b76ff7bdbfc99717b01652497395e5ff7ea1 100644
--- a/components/operators/include/ftl/operators/clipping.hpp
+++ b/components/operators/include/ftl/operators/clipping.hpp
@@ -12,7 +12,7 @@ namespace operators {
*/
class ClipScene : public ftl::operators::Operator {
public:
- explicit ClipScene(ftl::Configurable*);
+ explicit ClipScene(ftl::operators::Graph *g, ftl::Configurable*);
~ClipScene();
inline Operator::Type type() const override { return Operator::Type::ManyToMany; }
diff --git a/components/operators/include/ftl/operators/colours.hpp b/components/operators/include/ftl/operators/colours.hpp
index 788f7b4f50dec2472453d30ebf4351616de228b2..a54539a67f829a7d1e9aa6c6306bb76a707081fa 100644
--- a/components/operators/include/ftl/operators/colours.hpp
+++ b/components/operators/include/ftl/operators/colours.hpp
@@ -8,7 +8,7 @@ namespace operators {
class ColourChannels : public ftl::operators::Operator {
public:
- explicit ColourChannels(ftl::Configurable *cfg);
+ explicit ColourChannels(ftl::operators::Graph *g, ftl::Configurable *cfg);
~ColourChannels();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
diff --git a/components/operators/include/ftl/operators/cuda/mask.hpp b/components/operators/include/ftl/operators/cuda/mask.hpp
index 8e136371879c451a9b03997998c46e7b50a8c943..54a1522b628e14e5b99b1fb823416347374e00fc 100644
--- a/components/operators/include/ftl/operators/cuda/mask.hpp
+++ b/components/operators/include/ftl/operators/cuda/mask.hpp
@@ -83,6 +83,11 @@ void cull_mask(
unsigned int radius,
cudaStream_t stream);
+void show_mask(
+ ftl::cuda::TextureObject<uchar4> &colour,
+ ftl::cuda::TextureObject<uint8_t> &mask,
+ int id, uchar4 style, cudaStream_t stream);
+
}
}
diff --git a/components/operators/include/ftl/operators/depth.hpp b/components/operators/include/ftl/operators/depth.hpp
index b7ceba8dab56c1f168c6f6fc3bf29e005ff07b33..14f46b12d12b3adf933bd3ea7bd67463b36f19f2 100644
--- a/components/operators/include/ftl/operators/depth.hpp
+++ b/components/operators/include/ftl/operators/depth.hpp
@@ -10,8 +10,8 @@ namespace operators {
class DepthBilateralFilter : public::ftl::operators::Operator {
public:
- explicit DepthBilateralFilter(ftl::Configurable*);
- DepthBilateralFilter(ftl::Configurable*, const std::tuple<ftl::codecs::Channel> &);
+ explicit DepthBilateralFilter(ftl::operators::Graph *g, ftl::Configurable*);
+ DepthBilateralFilter(ftl::operators::Graph *g, ftl::Configurable*, const std::tuple<ftl::codecs::Channel> &);
~DepthBilateralFilter() {};
diff --git a/components/operators/include/ftl/operators/detectandtrack.hpp b/components/operators/include/ftl/operators/detectandtrack.hpp
index f6c5c869fc9583e5f1b2948806d57237be550ea3..0d8b063d34cc2a9059d6cabe54d6c25484015891 100644
--- a/components/operators/include/ftl/operators/detectandtrack.hpp
+++ b/components/operators/include/ftl/operators/detectandtrack.hpp
@@ -39,7 +39,7 @@ namespace operators {
*/
class DetectAndTrack : public ftl::operators::Operator {
public:
- explicit DetectAndTrack(ftl::Configurable*);
+ explicit DetectAndTrack(ftl::operators::Graph *g, ftl::Configurable*);
~DetectAndTrack() {};
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
@@ -116,22 +116,21 @@ class DetectAndTrack : public ftl::operators::Operator {
*/
class ArUco : public ftl::operators::Operator {
public:
- explicit ArUco(ftl::Configurable*);
+ explicit ArUco(ftl::operators::Graph *g, ftl::Configurable*);
~ArUco() {};
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
-
- void wait(cudaStream_t) override;
+ virtual void wait(cudaStream_t) override;
ftl::codecs::Channel channel_in_;
ftl::codecs::Channel channel_out_;
private:
- std::future<bool> job_;
- bool debug_;
bool estimate_pose_;
float marker_size_;
+ cv::Mat tmp_;
+ std::future<void> job_;
cv::Ptr<cv::aruco::Dictionary> dictionary_;
cv::Ptr<cv::aruco::DetectorParameters> params_;
diff --git a/components/operators/include/ftl/operators/disparity.hpp b/components/operators/include/ftl/operators/disparity.hpp
index 62b1f00857a1d8971f61248cda857814d49fc24e..4aba9bbd8e179c86ddc0d6305fb14b3579a6fb23 100644
--- a/components/operators/include/ftl/operators/disparity.hpp
+++ b/components/operators/include/ftl/operators/disparity.hpp
@@ -8,6 +8,7 @@
#endif
#include <opencv2/cudastereo.hpp>
+#include <opencv2/cudafilters.hpp>
#ifdef HAVE_LIBSGM
#include <libsgm.h>
@@ -19,7 +20,7 @@ namespace operators {
class StereoDisparity : public ftl::operators::Operator {
public:
- explicit StereoDisparity(ftl::Configurable* cfg);
+ StereoDisparity(ftl::operators::Graph *g, ftl::Configurable* cfg);
~StereoDisparity();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
@@ -44,7 +45,7 @@ private:
*/
class FixstarsSGM : public ftl::operators::Operator {
public:
- explicit FixstarsSGM(ftl::Configurable* cfg);
+ FixstarsSGM(ftl::operators::Graph *g, ftl::Configurable* cfg);
~FixstarsSGM();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
@@ -57,11 +58,14 @@ class FixstarsSGM : public ftl::operators::Operator {
bool updateParameters();
bool updateP2Parameters();
void computeP2(cudaStream_t &stream);
+ void _variance_mask(cv::InputArray in, cv::OutputArray out, int wsize, cv::cuda::Stream &cvstream);
sgm::StereoSGM *ssgm_;
cv::Size size_;
cv::cuda::GpuMat lbw_;
cv::cuda::GpuMat rbw_;
+ cv::cuda::GpuMat lbw_full_;
+ cv::cuda::GpuMat rbw_full_;
cv::cuda::GpuMat disp_int_;
cv::cuda::GpuMat P2_map_;
@@ -69,6 +73,12 @@ class FixstarsSGM : public ftl::operators::Operator {
cv::cuda::GpuMat weightsF_;
cv::cuda::GpuMat edges_;
cv::Ptr<cv::cuda::CannyEdgeDetector> canny_;
+ cv::Ptr<cv::cuda::Filter> filter_;
+
+ cv::cuda::GpuMat im_;
+ cv::cuda::GpuMat im2_;
+ cv::cuda::GpuMat mean_;
+ cv::cuda::GpuMat mean2_;
int P1_;
int P2_;
@@ -80,7 +90,7 @@ class FixstarsSGM : public ftl::operators::Operator {
class DisparityBilateralFilter : public::ftl::operators::Operator {
public:
- explicit DisparityBilateralFilter(ftl::Configurable*);
+ DisparityBilateralFilter(ftl::operators::Graph *g, ftl::Configurable*);
~DisparityBilateralFilter() {};
@@ -91,6 +101,7 @@ class DisparityBilateralFilter : public::ftl::operators::Operator {
cv::Ptr<cv::cuda::DisparityBilateralFilter> filter_;
cv::cuda::GpuMat disp_int_;
cv::cuda::GpuMat disp_int_result_;
+ cv::cuda::GpuMat rgb_;
double scale_;
int radius_;
int iter_;
@@ -102,8 +113,8 @@ class DisparityBilateralFilter : public::ftl::operators::Operator {
*/
class DisparityToDepth : public ftl::operators::Operator {
public:
- explicit DisparityToDepth(ftl::Configurable* cfg) :
- ftl::operators::Operator(cfg) {}
+ DisparityToDepth(ftl::operators::Graph *g, ftl::Configurable* cfg) :
+ ftl::operators::Operator(g, cfg) {}
~DisparityToDepth() {};
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
@@ -117,7 +128,7 @@ class DisparityToDepth : public ftl::operators::Operator {
*/
class DepthChannel : public ftl::operators::Operator {
public:
- explicit DepthChannel(ftl::Configurable *cfg);
+ DepthChannel(ftl::operators::Graph *g, ftl::Configurable *cfg);
~DepthChannel();
inline Operator::Type type() const override { return Operator::Type::ManyToMany; }
@@ -139,8 +150,8 @@ class DepthChannel : public ftl::operators::Operator {
#ifdef HAVE_OPTFLOW
class OpticalFlowTemporalSmoothing : public ftl::operators::Operator {
public:
- explicit OpticalFlowTemporalSmoothing(ftl::Configurable*);
- OpticalFlowTemporalSmoothing(ftl::Configurable*, const std::tuple<ftl::codecs::Channel> ¶ms);
+ OpticalFlowTemporalSmoothing(ftl::operators::Graph *g, ftl::Configurable*);
+ OpticalFlowTemporalSmoothing(ftl::operators::Graph *g, ftl::Configurable*, const std::tuple<ftl::codecs::Channel> ¶ms);
~OpticalFlowTemporalSmoothing();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
diff --git a/components/operators/include/ftl/operators/filling.hpp b/components/operators/include/ftl/operators/filling.hpp
index 6de380213ba4fb69bbf966a87db11a7de81f0946..ed2b3f39a20a949fa28dfe61232d44d15f56affe 100644
--- a/components/operators/include/ftl/operators/filling.hpp
+++ b/components/operators/include/ftl/operators/filling.hpp
@@ -12,7 +12,7 @@ namespace operators {
*/
class ScanFieldFill : public ftl::operators::Operator {
public:
- explicit ScanFieldFill(ftl::Configurable*);
+ ScanFieldFill(ftl::operators::Graph *g, ftl::Configurable*);
~ScanFieldFill();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
@@ -23,7 +23,7 @@ class ScanFieldFill : public ftl::operators::Operator {
class CrossSupportFill : public ftl::operators::Operator {
public:
- explicit CrossSupportFill(ftl::Configurable*);
+ CrossSupportFill(ftl::operators::Graph *g, ftl::Configurable*);
~CrossSupportFill();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
diff --git a/components/operators/include/ftl/operators/gt_analysis.hpp b/components/operators/include/ftl/operators/gt_analysis.hpp
index a89230caa12e42fc05027506c6484be1bf348d91..cea34c9dba5477012bd2a620ebbbe0e079fdea51 100644
--- a/components/operators/include/ftl/operators/gt_analysis.hpp
+++ b/components/operators/include/ftl/operators/gt_analysis.hpp
@@ -14,7 +14,7 @@ namespace operators {
*/
class GTAnalysis : public ftl::operators::Operator {
public:
- explicit GTAnalysis(ftl::Configurable*);
+ GTAnalysis(ftl::operators::Graph *g, ftl::Configurable*);
~GTAnalysis();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
diff --git a/components/operators/include/ftl/operators/mask.hpp b/components/operators/include/ftl/operators/mask.hpp
index 294caf54f31d12fce9674dfcf51e204f3b2ade5d..7d877d6579c329f7af513840b7140f187dbf7eed 100644
--- a/components/operators/include/ftl/operators/mask.hpp
+++ b/components/operators/include/ftl/operators/mask.hpp
@@ -14,7 +14,7 @@ namespace operators {
*/
class DiscontinuityMask : public ftl::operators::Operator {
public:
- explicit DiscontinuityMask(ftl::Configurable*);
+ DiscontinuityMask(ftl::operators::Graph *g, ftl::Configurable*);
~DiscontinuityMask();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
@@ -28,7 +28,7 @@ class DiscontinuityMask : public ftl::operators::Operator {
*/
class BorderMask : public ftl::operators::Operator {
public:
- explicit BorderMask(ftl::Configurable*);
+ BorderMask(ftl::operators::Graph *g, ftl::Configurable*);
~BorderMask();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
@@ -37,12 +37,26 @@ class BorderMask : public ftl::operators::Operator {
};
+/**
+ * Visualise a mask value
+ */
+class DisplayMask : public ftl::operators::Operator {
+ public:
+ DisplayMask(ftl::operators::Graph *g, ftl::Configurable*);
+ ~DisplayMask();
+
+ inline Operator::Type type() const override { return Operator::Type::OneToOne; }
+
+ bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+
+};
+
/**
* Remove depth values marked with the discontinuity mask.
*/
class CullDiscontinuity : public ftl::operators::Operator {
public:
- explicit CullDiscontinuity(ftl::Configurable*);
+ CullDiscontinuity(ftl::operators::Graph *g, ftl::Configurable*);
~CullDiscontinuity();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
diff --git a/components/operators/include/ftl/operators/mvmls.hpp b/components/operators/include/ftl/operators/mvmls.hpp
index 3e5c476d60728bea288f0e43a95a6bd00776ce1e..0c0d6f4afb9715814199304ca0b430ac094071c4 100644
--- a/components/operators/include/ftl/operators/mvmls.hpp
+++ b/components/operators/include/ftl/operators/mvmls.hpp
@@ -8,7 +8,7 @@ namespace operators {
class MultiViewMLS : public ftl::operators::Operator {
public:
- explicit MultiViewMLS(ftl::Configurable*);
+ MultiViewMLS(ftl::operators::Graph *g, ftl::Configurable*);
~MultiViewMLS();
inline Operator::Type type() const override { return Operator::Type::ManyToMany; }
diff --git a/components/operators/include/ftl/operators/normals.hpp b/components/operators/include/ftl/operators/normals.hpp
index a5faaa17645612bce3ab9601638f92058fd4ba57..c4d1a0190d27e9f307474eeed3f2234ac99e2e23 100644
--- a/components/operators/include/ftl/operators/normals.hpp
+++ b/components/operators/include/ftl/operators/normals.hpp
@@ -12,7 +12,7 @@ namespace operators {
*/
class Normals : public ftl::operators::Operator {
public:
- explicit Normals(ftl::Configurable*);
+ Normals(ftl::operators::Graph *g, ftl::Configurable*);
~Normals();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
@@ -29,7 +29,7 @@ class Normals : public ftl::operators::Operator {
*/
class NormalDot : public ftl::operators::Operator {
public:
- explicit NormalDot(ftl::Configurable*);
+ NormalDot(ftl::operators::Graph *g, ftl::Configurable*);
~NormalDot();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
@@ -44,7 +44,7 @@ class NormalDot : public ftl::operators::Operator {
*/
class SmoothNormals : public ftl::operators::Operator {
public:
- explicit SmoothNormals(ftl::Configurable*);
+ SmoothNormals(ftl::operators::Graph *g, ftl::Configurable*);
~SmoothNormals();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
diff --git a/components/operators/include/ftl/operators/operator.hpp b/components/operators/include/ftl/operators/operator.hpp
index 399adddd4656f1a76476b93de074a6eb55983739..3f77b6900e4456898076031b3d97ba5bae190f90 100644
--- a/components/operators/include/ftl/operators/operator.hpp
+++ b/components/operators/include/ftl/operators/operator.hpp
@@ -8,10 +8,13 @@
#include <ftl/rgbd/frameset.hpp>
#include <ftl/rgbd/source.hpp>
#include <ftl/cuda_common.hpp>
+#include <ftl/operators/buffer.hpp>
namespace ftl {
namespace operators {
+class Graph;
+
/**
* An abstract frame operator interface. Any kind of filter that operates on a
* single frame should use this as a base class. An example of a filter would
@@ -22,7 +25,7 @@ namespace operators {
*/
class Operator {
public:
- explicit Operator(ftl::Configurable *cfg);
+ Operator(Graph *pgraph, ftl::Configurable *cfg);
virtual ~Operator();
enum class Type {
@@ -58,9 +61,12 @@ class Operator {
inline ftl::Configurable *config() const { return config_; }
+ inline Graph *graph() const { return graph_; }
+
private:
bool enabled_;
ftl::Configurable *config_;
+ Graph *graph_;
};
namespace detail {
@@ -68,7 +74,7 @@ namespace detail {
struct ConstructionHelperBase {
explicit ConstructionHelperBase(ftl::Configurable *cfg) : config(cfg) {}
virtual ~ConstructionHelperBase() {}
- virtual ftl::operators::Operator *make()=0;
+ virtual ftl::operators::Operator *make(Graph *g)=0;
ftl::Configurable *config;
};
@@ -77,8 +83,8 @@ template <typename T>
struct ConstructionHelper : public ConstructionHelperBase {
explicit ConstructionHelper(ftl::Configurable *cfg) : ConstructionHelperBase(cfg) {}
~ConstructionHelper() {}
- ftl::operators::Operator *make() override {
- return new T(config);
+ ftl::operators::Operator *make(Graph *g) override {
+ return new T(g, config);
}
};
@@ -88,8 +94,8 @@ struct ConstructionHelper2 : public ConstructionHelperBase {
arguments_ = std::make_tuple(args...);
}
~ConstructionHelper2() {}
- ftl::operators::Operator *make() override {
- return new T(config, arguments_);
+ ftl::operators::Operator *make(Graph *g) override {
+ return new T(g, config, arguments_);
}
private:
@@ -119,11 +125,12 @@ class Graph : public ftl::Configurable {
template <typename T, typename... ARGS>
ftl::Configurable *append(const std::string &name, ARGS...);
- bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream=0);
- bool apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cudaStream_t stream=0);
- bool apply(ftl::rgbd::FrameSet &in, ftl::rgbd::Frame &out, cudaStream_t stream=0);
+ bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, const std::function<void()> &cb=nullptr);
+
+ bool queue(const ftl::data::FrameSetPtr &fs, const std::function<void()> &cb);
- cudaStream_t getStream() const { return stream_; }
+ bool apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out);
+ //bool apply(ftl::rgbd::FrameSet &in, ftl::rgbd::Frame &out, const std::function<void()> &cb=nullptr);
/**
* Make sure all async operators have also completed. This is automatically
@@ -134,12 +141,26 @@ class Graph : public ftl::Configurable {
*/
bool waitAll(cudaStream_t);
+ inline cv::cuda::GpuMat &createBuffer(ftl::operators::Buffer b) { return createBuffer(b, 0); }
+ cv::cuda::GpuMat &createBuffer(ftl::operators::Buffer b, uint32_t fid);
+
+ cv::cuda::GpuMat &getBuffer(ftl::operators::Buffer b, uint32_t fid);
+
+ bool hasBuffer(ftl::operators::Buffer b, uint32_t fid) const;
+
private:
std::list<ftl::operators::detail::OperatorNode> operators_;
std::map<std::string, ftl::Configurable*> configs_;
- cudaStream_t stream_;
+ std::atomic_flag busy_;
+ std::unordered_map<uint32_t,cv::cuda::GpuMat> buffers_;
+ std::unordered_set<uint32_t> valid_buffers_;
+ std::function<void()> callback_;
+ std::list<std::pair<ftl::data::FrameSetPtr, std::function<void()>>> queue_;
+ MUTEX mtx_;
ftl::Configurable *_append(ftl::operators::detail::ConstructionHelperBase*);
+ void _processOne();
+ bool _apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out);
};
}
diff --git a/components/operators/include/ftl/operators/opticalflow.hpp b/components/operators/include/ftl/operators/opticalflow.hpp
index 8ee77736dcba7d95becf381759266dfeb543cba3..21d8bbb200383b85a4f0c99a1f35e5e2e7b51385 100644
--- a/components/operators/include/ftl/operators/opticalflow.hpp
+++ b/components/operators/include/ftl/operators/opticalflow.hpp
@@ -12,8 +12,8 @@ namespace operators {
*/
class NVOpticalFlow : public ftl::operators::Operator {
public:
- explicit NVOpticalFlow(ftl::Configurable*);
- NVOpticalFlow(ftl::Configurable*, const std::tuple<ftl::codecs::Channel,ftl::codecs::Channel,ftl::codecs::Channel,ftl::codecs::Channel> &channels);
+ NVOpticalFlow(ftl::operators::Graph *g, ftl::Configurable*);
+ NVOpticalFlow(ftl::operators::Graph *g, ftl::Configurable*, const std::tuple<ftl::codecs::Channel,ftl::codecs::Channel,ftl::codecs::Channel,ftl::codecs::Channel> &channels);
~NVOpticalFlow();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
diff --git a/components/operators/include/ftl/operators/poser.hpp b/components/operators/include/ftl/operators/poser.hpp
index 732ee47ed90caf3fb9bc1ed3bcc889626edf4885..8d762f8ba2ee371342adb8e20b07d359211d081e 100644
--- a/components/operators/include/ftl/operators/poser.hpp
+++ b/components/operators/include/ftl/operators/poser.hpp
@@ -15,26 +15,31 @@ namespace operators {
*/
class Poser : public ftl::operators::Operator {
public:
- explicit Poser(ftl::Configurable*);
+ Poser(ftl::operators::Graph *g, ftl::Configurable*);
~Poser();
inline Operator::Type type() const override { return Operator::Type::ManyToMany; }
bool apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cudaStream_t stream) override;
+ bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+
static bool get(const std::string &name, Eigen::Matrix4d &pose);
- static bool set(const std::string &name, const Eigen::Matrix4d &pose);
+ static bool get(const std::string &name, ftl::codecs::Shape3D &shape);
+ static std::list<ftl::codecs::Shape3D*> getAll(int32_t fsid);
+
+ //static bool set(const ftl::codecs::Shape3D &shape);
+
+ static void add(const ftl::codecs::Shape3D &t, ftl::data::FrameID id);
private:
struct PoseState {
- Eigen::Matrix4d pose;
+ ftl::codecs::Shape3D shape;
bool locked;
};
static std::unordered_map<std::string,PoseState> pose_db__;
-
- void add(const ftl::codecs::Shape3D &t, int frameset, int frame);
-
+ static std::unordered_map<int,std::list<ftl::codecs::Shape3D*>> fs_shapes__;
};
}
diff --git a/components/operators/include/ftl/operators/segmentation.hpp b/components/operators/include/ftl/operators/segmentation.hpp
index d7447615c6d5230f997f9dab857b1ba824b22ce2..ec2f9e9a6d3ea8d683a6139a237849c82b8fe44a 100644
--- a/components/operators/include/ftl/operators/segmentation.hpp
+++ b/components/operators/include/ftl/operators/segmentation.hpp
@@ -11,7 +11,7 @@ namespace operators {
*/
class CrossSupport : public ftl::operators::Operator {
public:
- explicit CrossSupport(ftl::Configurable*);
+ CrossSupport(ftl::operators::Graph *g, ftl::Configurable*);
~CrossSupport();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
@@ -25,7 +25,7 @@ class CrossSupport : public ftl::operators::Operator {
*/
class VisCrossSupport : public ftl::operators::Operator {
public:
- explicit VisCrossSupport(ftl::Configurable*);
+ VisCrossSupport(ftl::operators::Graph *g, ftl::Configurable*);
~VisCrossSupport();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
diff --git a/components/operators/include/ftl/operators/smoothing.hpp b/components/operators/include/ftl/operators/smoothing.hpp
index 0dc463d2eb4c22563e1e83d032f3d56474d095cb..db231cdd714a786df1dedf7ca54de06d2005ae4e 100644
--- a/components/operators/include/ftl/operators/smoothing.hpp
+++ b/components/operators/include/ftl/operators/smoothing.hpp
@@ -14,7 +14,7 @@ namespace operators {
*/
class HFSmoother : public ftl::operators::Operator {
public:
- explicit HFSmoother(ftl::Configurable*);
+ HFSmoother(ftl::operators::Graph *g, ftl::Configurable*);
~HFSmoother();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
@@ -23,7 +23,7 @@ class HFSmoother : public ftl::operators::Operator {
private:
cv::cuda::GpuMat temp_;
- ftl::rgbd::Frame frames_[4];
+ //ftl::rgbd::Frame frames_[4];
};
/**
@@ -35,7 +35,7 @@ class HFSmoother : public ftl::operators::Operator {
*/
class SmoothChannel : public ftl::operators::Operator {
public:
- explicit SmoothChannel(ftl::Configurable*);
+ SmoothChannel(ftl::operators::Graph *g, ftl::Configurable*);
~SmoothChannel();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
@@ -43,7 +43,7 @@ class SmoothChannel : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
private:
- ftl::rgbd::Frame temp_[6];
+ ftl::cuda::TextureObject<uchar4> temp_[6];
};
/**
@@ -53,7 +53,7 @@ class SmoothChannel : public ftl::operators::Operator {
*/
class SimpleMLS : public ftl::operators::Operator {
public:
- explicit SimpleMLS(ftl::Configurable*);
+ SimpleMLS(ftl::operators::Graph *g, ftl::Configurable*);
~SimpleMLS();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
@@ -61,7 +61,7 @@ class SimpleMLS : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
private:
- ftl::rgbd::Frame temp_;
+ ftl::data::Frame temp_;
};
/**
@@ -70,7 +70,7 @@ class SimpleMLS : public ftl::operators::Operator {
*/
class ColourMLS : public ftl::operators::Operator {
public:
- explicit ColourMLS(ftl::Configurable*);
+ ColourMLS(ftl::operators::Graph *g, ftl::Configurable*);
~ColourMLS();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
@@ -78,7 +78,7 @@ class ColourMLS : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
private:
- ftl::rgbd::Frame temp_;
+ ftl::data::Frame temp_;
};
/**
@@ -113,7 +113,7 @@ class ColourMLS : public ftl::operators::Operator {
*/
class AggreMLS : public ftl::operators::Operator {
public:
- explicit AggreMLS(ftl::Configurable*);
+ AggreMLS(ftl::operators::Graph *g, ftl::Configurable*);
~AggreMLS();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
@@ -125,7 +125,7 @@ class AggreMLS : public ftl::operators::Operator {
ftl::cuda::TextureObject<float4> centroid_vert_;
ftl::cuda::TextureObject<half4> normals_horiz_;
- ftl::rgbd::Frame temp_;
+ ftl::data::Frame temp_;
};
/**
@@ -137,7 +137,7 @@ class AggreMLS : public ftl::operators::Operator {
*/
class AdaptiveMLS : public ftl::operators::Operator {
public:
- explicit AdaptiveMLS(ftl::Configurable*);
+ AdaptiveMLS(ftl::operators::Graph *g, ftl::Configurable*);
~AdaptiveMLS();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
@@ -145,7 +145,7 @@ class AdaptiveMLS : public ftl::operators::Operator {
bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
private:
- ftl::rgbd::Frame temp_;
+ ftl::data::Frame temp_;
};
}
diff --git a/components/operators/include/ftl/operators/weighting.hpp b/components/operators/include/ftl/operators/weighting.hpp
index 545b4c3b8380311aaccc29190a83626da28b8aa6..8256a08cb23d03d42b9ef18a7107a858a34ebb8b 100644
--- a/components/operators/include/ftl/operators/weighting.hpp
+++ b/components/operators/include/ftl/operators/weighting.hpp
@@ -22,7 +22,7 @@ namespace operators {
*/
class PixelWeights : public ftl::operators::Operator {
public:
- explicit PixelWeights(ftl::Configurable*);
+ PixelWeights(ftl::operators::Graph *g, ftl::Configurable*);
~PixelWeights();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
@@ -33,7 +33,7 @@ class PixelWeights : public ftl::operators::Operator {
class CullWeight : public ftl::operators::Operator {
public:
- explicit CullWeight(ftl::Configurable*);
+ CullWeight(ftl::operators::Graph *g, ftl::Configurable*);
~CullWeight();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
@@ -44,7 +44,7 @@ class CullWeight : public ftl::operators::Operator {
class DegradeWeight : public ftl::operators::Operator {
public:
- explicit DegradeWeight(ftl::Configurable*);
+ DegradeWeight(ftl::operators::Graph *g, ftl::Configurable*);
~DegradeWeight();
inline Operator::Type type() const override { return Operator::Type::OneToOne; }
diff --git a/components/operators/src/antialiasing.cpp b/components/operators/src/antialiasing.cpp
index 1e6ef8f6c2f2f33de83fb7d113f2bd60b6f1d1f8..bbd1760657e8a7a497c1af5d12a9a92415e990ac 100644
--- a/components/operators/src/antialiasing.cpp
+++ b/components/operators/src/antialiasing.cpp
@@ -4,7 +4,7 @@
using ftl::operators::FXAA;
using ftl::codecs::Channel;
-FXAA::FXAA(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+FXAA::FXAA(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
}
diff --git a/components/operators/src/aruco.cpp b/components/operators/src/aruco.cpp
index 34fcfca33463238cda25e3469e57ca98c6f1112e..17df4d0eb3d89711df2ead4c00545753183d0bba 100644
--- a/components/operators/src/aruco.cpp
+++ b/components/operators/src/aruco.cpp
@@ -6,6 +6,7 @@
#include <opencv2/calib3d.hpp>
#define LOGURU_REPLACE_GLOG 1
+#include <ftl/profiler.hpp>
#include <loguru.hpp>
using ftl::operators::ArUco;
@@ -19,6 +20,7 @@ using cv::Point2f;
using cv::Vec3d;
using std::vector;
+using std::list;
static cv::Mat rmat(cv::Vec3d &rvec) {
cv::Mat R(cv::Size(3, 3), CV_64FC1);
@@ -37,70 +39,58 @@ static Eigen::Matrix4d matrix(cv::Vec3d &rvec, cv::Vec3d &tvec) {
return r;
}
-ArUco::ArUco(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
- dictionary_ = cv::aruco::getPredefinedDictionary(cfg->value("dictionary", 0));
+ArUco::ArUco(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
+ dictionary_ = cv::aruco::getPredefinedDictionary(
+ cfg->value("dictionary", int(cv::aruco::DICT_4X4_50)));
params_ = cv::aruco::DetectorParameters::create();
+ params_->cornerRefinementMethod = cv::aruco::CORNER_REFINE_CONTOUR;
+ params_->cornerRefinementMinAccuracy = 0.05;
+ params_->cornerRefinementMaxIterations = 10;
- debug_ = cfg->value("debug", false);
- //estimate_pose_ = cfg->value("estimate_pose", false);
- //auto marker_size = cfg->get<float>("marker_size");
- //if (!marker_size || (*marker_size <= 0.0f)) {
- // marker_size_ = 0.1f;
- // estimate_pose_ = false;
- //}
- //else {
- // marker_size_ = *marker_size;
- //}
+ // default values 13, 23, 10, for speed just one thresholding window size
+ params_->adaptiveThreshWinSizeMin = 13;
+ params_->adaptiveThreshWinSizeMax = 23;
+ params_->adaptiveThreshWinSizeStep = 10;
channel_in_ = Channel::Colour;
channel_out_ = Channel::Shapes3D;
- cfg->on("dictionary", [this,cfg](const ftl::config::Event &e) {
- dictionary_ = cv::aruco::getPredefinedDictionary(cfg->value("dictionary", 0));
+ cfg->on("dictionary", [this,cfg]() {
+ dictionary_ = cv::aruco::getPredefinedDictionary(
+ cfg->value("dictionary", 0));
});
}
-bool ArUco::apply(Frame &in, Frame &out, cudaStream_t stream) {
+bool ArUco::apply(Frame &in, Frame &out, cudaStream_t) {
if (!in.hasChannel(channel_in_)) { return false; }
- Frame *inptr = ∈
- Frame *outptr = &out;
-
estimate_pose_ = config()->value("estimate_pose", true);
- debug_ = config()->value("debug", false);
- marker_size_ = config()->value("marker_size",0.1f);
-
- job_ = std::move(ftl::pool.push([this,inptr,outptr,stream](int id) {
- Frame &in = *inptr;
- Frame &out = *outptr;
-
- auto cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
- //in.download(channel_in_);
-
- //Mat im = in.get<Mat>(channel_in_);
- // FIXME: Use internal stream here.
- Mat im; // = in.fastDownload(channel_in_, cv::cuda::Stream::Null());
- cv::cvtColor(in.fastDownload(channel_in_, cv::cuda::Stream::Null()), im, cv::COLOR_BGRA2BGR);
-
- Mat K = in.getLeftCamera().getCameraMatrix();
- Mat dist = cv::Mat::zeros(cv::Size(5, 1), CV_64FC1);
+ marker_size_ = config()->value("marker_size", 0.1f);
+ job_ = ftl::pool.push([this, &in, &out](int) {
+ std::vector<Vec3d> rvecs;
+ std::vector<Vec3d> tvecs;
std::vector<std::vector<cv::Point2f>> corners;
std::vector<int> ids;
- cv::aruco::detectMarkers( im, dictionary_,
- corners, ids, params_, cv::noArray(), K);
+ {
+ FTL_Profile("ArUco", 0.02);
+ cv::cvtColor(in.get<cv::Mat>(channel_in_), tmp_, cv::COLOR_BGRA2GRAY);
- std::vector<Vec3d> rvecs;
- std::vector<Vec3d> tvecs;
+ const Mat K = in.getLeftCamera().getCameraMatrix(tmp_.size());
+ const Mat dist;
- if (estimate_pose_) {
- cv::aruco::estimatePoseSingleMarkers(corners, marker_size_, K, dist, rvecs, tvecs);
+ cv::aruco::detectMarkers(tmp_, dictionary_,
+ corners, ids, params_, cv::noArray(), K, dist);
+
+ if (estimate_pose_) {
+ cv::aruco::estimatePoseSingleMarkers(corners, marker_size_, K, dist, rvecs, tvecs);
+ }
}
- vector<Shape3D> result;
+ list<Shape3D> result;
if (out.hasChannel(channel_out_)) {
- out.get(channel_out_, result);
+ result = out.get<list<Shape3D>>(channel_out_);
}
for (size_t i = 0; i < rvecs.size(); i++) {
@@ -109,39 +99,18 @@ bool ArUco::apply(Frame &in, Frame &out, cudaStream_t stream) {
t.id = ids[i];
t.type = ftl::codecs::Shape3DType::ARUCO;
t.pose = (in.getPose() * matrix(rvecs[i], tvecs[i])).cast<float>();
- t.size = Eigen::Vector3f(0.1f,0.1f,0.1f);
- t.label = "Aruco";
- }
- }
-
- out.create(channel_out_, result);
-
- if (debug_) {
- cv::aruco::drawDetectedMarkers(im, corners, ids);
- if (estimate_pose_) {
- for (size_t i = 0; i < rvecs.size(); i++) {
- cv::aruco::drawAxis(im, K, dist, rvecs[i], tvecs[i], marker_size_);
- }
+ t.size = Eigen::Vector3f(1.0f, 1.0f, 0.0f)*marker_size_;
+ t.label = "Aruco-" + std::to_string(ids[i]);
}
}
- // TODO: should be uploaded by operator which requires data on GPU
- //in.upload(channel_in_);
- if (debug_) {
- if (in.isGPU(channel_in_)) {
- cv::cvtColor(im, im, cv::COLOR_BGR2BGRA);
- out.get<cv::cuda::GpuMat>(channel_in_).upload(im);
- } else cv::cvtColor(im, in.get<cv::Mat>(channel_in_), cv::COLOR_BGR2BGRA);
- }
- return true;
- }));
-
+ out.create<list<Shape3D>>(channel_out_).list = result;
+ });
return true;
}
-void ArUco::wait(cudaStream_t s) {
+void ArUco::wait(cudaStream_t) {
if (job_.valid()) {
job_.wait();
- job_.get();
}
-}
+}
\ No newline at end of file
diff --git a/components/operators/src/clipping.cpp b/components/operators/src/clipping.cpp
index 7772fad3df68df868e8aaa3bf787144329df46e8..3cfce7d554dc81ec253f5248192d61a525205e5e 100644
--- a/components/operators/src/clipping.cpp
+++ b/components/operators/src/clipping.cpp
@@ -10,7 +10,7 @@ using ftl::operators::ClipScene;
using ftl::codecs::Channel;
using ftl::rgbd::Format;
-ClipScene::ClipScene(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+ClipScene::ClipScene(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
}
@@ -59,16 +59,16 @@ bool ClipScene::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cudaStr
bool no_clip = config()->value("no_clip", false);
bool clip_colour = config()->value("clip_colour", false);
- std::vector<ftl::codecs::Shape3D> shapes;
+ std::list<ftl::codecs::Shape3D> shapes;
if (in.hasChannel(Channel::Shapes3D)) {
- in.get(Channel::Shapes3D, shapes);
+ shapes = in.get<std::list<ftl::codecs::Shape3D>>(Channel::Shapes3D);
}
shapes.push_back(shape);
- in.create(Channel::Shapes3D, shapes);
+ in.create<std::list<ftl::codecs::Shape3D>>(Channel::Shapes3D).list = shapes;
for (size_t i=0; i<in.frames.size(); ++i) {
if (!in.hasFrame(i)) continue;
- auto &f = in.frames[i];
+ auto &f = in.frames[i].cast<ftl::rgbd::Frame>();
//auto *s = in.sources[i];
if (f.hasChannel(Channel::Depth)) {
@@ -77,12 +77,12 @@ bool ClipScene::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cudaStr
auto sclip = clip;
sclip.origin = sclip.origin.getInverse() * pose;
if (!no_clip) {
- if (clip_colour) {
- f.clearPackets(Channel::Colour);
- f.clearPackets(Channel::Depth);
+ if (clip_colour && f.hasChannel(Channel::Colour)) {
+ f.set<ftl::rgbd::VideoFrame>(Channel::Colour);
+ f.set<ftl::rgbd::VideoFrame>(Channel::Depth);
ftl::cuda::clipping(f.createTexture<float>(Channel::Depth), f.getTexture<uchar4>(Channel::Colour), f.getLeftCamera(), sclip, stream);
} else {
- f.clearPackets(Channel::Depth);
+ f.set<ftl::rgbd::VideoFrame>(Channel::Depth);
ftl::cuda::clipping(f.createTexture<float>(Channel::Depth), f.getLeftCamera(), sclip, stream);
}
}
diff --git a/components/operators/src/colours.cpp b/components/operators/src/colours.cpp
index 8ca2c62bf8613e77df8100f6781ec5c36f47427e..2704d5763d496de808716c827ccd86ce1efc9c15 100644
--- a/components/operators/src/colours.cpp
+++ b/components/operators/src/colours.cpp
@@ -6,7 +6,7 @@
using ftl::operators::ColourChannels;
using ftl::codecs::Channel;
-ColourChannels::ColourChannels(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+ColourChannels::ColourChannels(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
}
@@ -15,6 +15,11 @@ ColourChannels::~ColourChannels() {
}
bool ColourChannels::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) {
+ if (!in.hasChannel(Channel::Colour)) {
+ in.message(ftl::data::Message::Warning_MISSING_CHANNEL, "No colour channel found");
+ return false;
+ }
+
auto &col = in.get<cv::cuda::GpuMat>(Channel::Colour);
// Convert colour from BGR to BGRA if needed
@@ -25,6 +30,7 @@ bool ColourChannels::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStre
cv::cuda::swap(col, temp_);
cv::cuda::cvtColor(temp_,col, cv::COLOR_BGR2BGRA, 0, cvstream);*/
+ in.message(ftl::data::Message::Error_BAD_FORMAT, "Bad colour format");
throw FTL_Error("Left colour must be 4 channels");
}
@@ -39,17 +45,25 @@ bool ColourChannels::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStre
cv::cuda::swap(col, temp_);
cv::cuda::cvtColor(temp_,col, cv::COLOR_BGR2BGRA, 0, cvstream);*/
+ in.message(ftl::data::Message::Error_BAD_FORMAT, "Bad colour format");
throw FTL_Error("Right colour must be 4 channels");
}
}
//in.resetTexture(Channel::Colour);
- in.createTexture<uchar4>(Channel::Colour, true);
+ const auto &vf = in.get<ftl::rgbd::VideoFrame>(Channel::Colour);
+ if (vf.isGPU()) {
+ in.createTexture<uchar4>(Channel::Colour, true);
+ }
+
if (in.hasChannel(Channel::Right)) {
- in.createTexture<uchar4>(Channel::Right, true);
+ const auto &vf = in.get<ftl::rgbd::VideoFrame>(Channel::Right);
+ if (vf.isGPU()) {
+ in.createTexture<uchar4>(Channel::Right, true);
+ }
}
- if (in.hasChannel(Channel::Depth)) {
+ /*if (in.hasChannel(Channel::Depth)) {
auto &depth = in.get<cv::cuda::GpuMat>(Channel::Depth);
if (depth.size() != col.size()) {
auto cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
@@ -71,7 +85,7 @@ bool ColourChannels::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStre
throw FTL_Error("Depth and colour channels and different resolutions: " << depth.size() << " vs " << right.size());
}
}
- }
+ }*/
return true;
}
diff --git a/components/operators/src/depth.cpp b/components/operators/src/depth.cpp
index 24597a23312f53ca1bb233e7daa3cc7fd6cdedde..11a8d22430c436aa2002ee4afa9ecd6a27c0d4be 100644
--- a/components/operators/src/depth.cpp
+++ b/components/operators/src/depth.cpp
@@ -9,6 +9,7 @@
#include "ftl/operators/depth.hpp"
#include "ftl/operators/mask.hpp"
#include "ftl/operators/opticalflow.hpp"
+#include <ftl/calibration/structures.hpp>
#include "./disparity/opencv/disparity_bilateral_filter.hpp"
@@ -48,8 +49,8 @@ static void calc_space_weighted_filter(GpuMat& table_space, int win_size, float
// ==== Depth Bilateral Filter =================================================
-DepthBilateralFilter::DepthBilateralFilter(ftl::Configurable* cfg) :
- ftl::operators::Operator(cfg) {
+DepthBilateralFilter::DepthBilateralFilter(ftl::operators::Graph *g, ftl::Configurable* cfg) :
+ ftl::operators::Operator(g, cfg) {
scale_ = 16.0;
radius_ = cfg->value("radius", 7);
@@ -59,10 +60,10 @@ DepthBilateralFilter::DepthBilateralFilter(ftl::Configurable* cfg) :
max_disc_ = cfg->value("max_discontinuity", 0.1f);
channel_ = Channel::Depth;
- cfg->on("edge_discontinuity", [this](const ftl::config::Event &e) {
+ cfg->on("edge_discontinuity", [this]() {
edge_disc_ = config()->value("edge_discontinuity", 0.04f);
});
- cfg->on("max_discontinuity", [this](const ftl::config::Event &e) {
+ cfg->on("max_discontinuity", [this]() {
max_disc_ = config()->value("max_discontinuity", 0.1f);
});
@@ -71,8 +72,8 @@ DepthBilateralFilter::DepthBilateralFilter(ftl::Configurable* cfg) :
calc_space_weighted_filter(table_space_, radius_ * 2 + 1, radius_ + 1.0f);
}
-DepthBilateralFilter::DepthBilateralFilter(ftl::Configurable* cfg, const std::tuple<ftl::codecs::Channel> &p) :
- ftl::operators::Operator(cfg) {
+DepthBilateralFilter::DepthBilateralFilter(ftl::operators::Graph *g, ftl::Configurable* cfg, const std::tuple<ftl::codecs::Channel> &p) :
+ ftl::operators::Operator(g, cfg) {
scale_ = 16.0;
radius_ = cfg->value("radius", 7);
@@ -82,10 +83,10 @@ DepthBilateralFilter::DepthBilateralFilter(ftl::Configurable* cfg, const std::tu
max_disc_ = cfg->value("max_discontinuity", 0.1f);
channel_ = std::get<0>(p);
- cfg->on("edge_discontinuity", [this](const ftl::config::Event &e) {
+ cfg->on("edge_discontinuity", [this]() {
edge_disc_ = config()->value("edge_discontinuity", 0.04f);
});
- cfg->on("max_discontinuity", [this](const ftl::config::Event &e) {
+ cfg->on("max_discontinuity", [this]() {
max_disc_ = config()->value("max_discontinuity", 0.1f);
});
@@ -105,7 +106,7 @@ bool DepthBilateralFilter::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out,
auto cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
const GpuMat &rgb = in.get<GpuMat>(Channel::Colour);
- GpuMat &depth = in.get<GpuMat>(channel_);
+ const GpuMat &depth = in.get<GpuMat>(channel_);
UNUSED(rgb);
UNUSED(depth);
@@ -123,25 +124,28 @@ bool DepthBilateralFilter::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out,
// =============================================================================
-DepthChannel::DepthChannel(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+DepthChannel::DepthChannel(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
pipe_ = nullptr;
}
DepthChannel::~DepthChannel() {
-
+ if (pipe_) delete pipe_;
}
void DepthChannel::_createPipeline(size_t size) {
if (pipe_ != nullptr) return;
pipe_ = ftl::config::create<ftl::operators::Graph>(config(), "depth");
- depth_size_ = cv::Size( config()->value("width", 1280),
- config()->value("height", 720));
+ //depth_size_ = cv::Size( config()->value("width", 1280),
+ // config()->value("height", 720));
+
+ depth_size_ = cv::Size(0,0);
pipe_->append<ftl::operators::ColourChannels>("colour"); // Convert BGR to BGRA
pipe_->append<ftl::operators::CrossSupport>("cross");
#ifdef HAVE_OPTFLOW
- pipe_->append<ftl::operators::NVOpticalFlow>("optflow", Channel::Colour, Channel::Flow, Channel::Colour2, Channel::Flow2);
+ // FIXME: OpenCV Nvidia OptFlow has a horrible implementation that causes device syncs
+ //pipe_->append<ftl::operators::NVOpticalFlow>("optflow", Channel::Colour, Channel::Flow, Channel::Colour2, Channel::Flow2);
//if (size == 1) pipe_->append<ftl::operators::OpticalFlowTemporalSmoothing>("optflow_filter", Channel::Disparity);
#endif
#ifdef HAVE_LIBSGM
@@ -168,35 +172,36 @@ bool DepthChannel::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cuda
rbuf_.resize(in.frames.size());
+ int valid_count = 0;
+
for (size_t i=0; i<in.frames.size(); ++i) {
if (!in.hasFrame(i)) continue;
- auto &f = in.frames[i];
+ auto &f = in.frames[i].cast<ftl::rgbd::Frame>();
+
if (!f.hasChannel(Channel::Depth) && f.hasChannel(Channel::Right)) {
- _createPipeline(in.frames.size());
- cv::cuda::GpuMat& left = f.get<cv::cuda::GpuMat>(Channel::Left);
- cv::cuda::GpuMat& right = f.get<cv::cuda::GpuMat>(Channel::Right);
- cv::cuda::GpuMat& depth = f.create<cv::cuda::GpuMat>(Channel::Depth);
- depth.create(left.size(), CV_32FC1);
+ if (f.hasChannel(Channel::CalibrationData)) {
+ auto &cdata = f.get<ftl::calibration::CalibrationData>(Channel::CalibrationData);
+ if (!cdata.enabled) continue;
+ }
+ const cv::cuda::GpuMat& left = f.get<cv::cuda::GpuMat>(Channel::Left);
+ const cv::cuda::GpuMat& right = f.get<cv::cuda::GpuMat>(Channel::Right);
if (left.empty() || right.empty()) continue;
- /*if (depth_size_ != left.size()) {
- auto &col2 = f.create<cv::cuda::GpuMat>(Channel::ColourHighRes);
- cv::cuda::resize(left, col2, depth_size_, 0.0, 0.0, cv::INTER_CUBIC, cvstream);
- f.createTexture<uchar4>(Channel::ColourHighRes, true);
- f.swapChannels(Channel::Colour, Channel::ColourHighRes);
- }
-
- if (depth_size_ != right.size()) {
- cv::cuda::resize(right, rbuf_[i], depth_size_, 0.0, 0.0, cv::INTER_CUBIC, cvstream);
- cv::cuda::swap(right, rbuf_[i]);
- }*/
+ cv::cuda::GpuMat& depth = f.create<cv::cuda::GpuMat>(Channel::Depth);
- pipe_->apply(f, f, stream);
+ const auto &intrin = f.getLeft();
+ depth.create(intrin.height, intrin.width, CV_32FC1);
+ ++valid_count;
}
}
+ if (valid_count > 0) {
+ _createPipeline(in.frames.size());
+ pipe_->apply(in, out);
+ }
+
return true;
}
@@ -207,28 +212,21 @@ bool DepthChannel::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream
auto &f = in;
if (!f.hasChannel(Channel::Depth) && f.hasChannel(Channel::Right)) {
+ if (f.hasChannel(Channel::CalibrationData)) {
+ auto &cdata = f.get<ftl::calibration::CalibrationData>(Channel::CalibrationData);
+ if (!cdata.enabled) return true;
+ }
+
+ const cv::cuda::GpuMat& left = f.get<cv::cuda::GpuMat>(Channel::Left);
+ const cv::cuda::GpuMat& right = f.get<cv::cuda::GpuMat>(Channel::Right);
+ if (left.empty() || right.empty()) return false;
+
_createPipeline(1);
- cv::cuda::GpuMat& left = f.get<cv::cuda::GpuMat>(Channel::Left);
- cv::cuda::GpuMat& right = f.get<cv::cuda::GpuMat>(Channel::Right);
cv::cuda::GpuMat& depth = f.create<cv::cuda::GpuMat>(Channel::Depth);
depth.create(depth_size_, CV_32FC1);
- if (left.empty() || right.empty()) return false;
-
- /*if (depth_size_ != left.size()) {
- auto &col2 = f.create<cv::cuda::GpuMat>(Channel::ColourHighRes);
- cv::cuda::resize(left, col2, depth_size_, 0.0, 0.0, cv::INTER_CUBIC, cvstream);
- f.createTexture<uchar4>(Channel::ColourHighRes, true);
- f.swapChannels(Channel::Colour, Channel::ColourHighRes);
- }
-
- if (depth_size_ != right.size()) {
- cv::cuda::resize(right, rbuf_[i], depth_size_, 0.0, 0.0, cv::INTER_CUBIC, cvstream);
- cv::cuda::swap(right, rbuf_[i]);
- }*/
-
- pipe_->apply(f, f, stream);
+ pipe_->apply(f, f);
}
return true;
diff --git a/components/operators/src/detectandtrack.cpp b/components/operators/src/detectandtrack.cpp
index 7135d2e0b01d25faefd2bc5c3b2a7903a8c5dfd1..0b9e783e0419256b357a27970beb6fb6eb0e6604 100644
--- a/components/operators/src/detectandtrack.cpp
+++ b/components/operators/src/detectandtrack.cpp
@@ -20,7 +20,7 @@ using ftl::codecs::Channel;
using ftl::rgbd::Frame;
using ftl::operators::DetectAndTrack;
-DetectAndTrack::DetectAndTrack(ftl::Configurable *cfg) : ftl::operators::Operator(cfg), detecting_(false) {
+DetectAndTrack::DetectAndTrack(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg), detecting_(false) {
init();
}
@@ -28,7 +28,7 @@ bool DetectAndTrack::init() {
fname_ = config()->value<string>("filename", FTL_LOCAL_DATA_ROOT "/haarcascades/haarcascade_frontalface_default.xml");
debug_ = config()->value<bool>("debug", false);
- config()->on("debug", [this](const ftl::config::Event &e) {
+ config()->on("debug", [this]() {
debug_ = config()->value<bool>("debug", false);
});
@@ -229,7 +229,7 @@ bool DetectAndTrack::apply(Frame &in, Frame &out, cudaStream_t stream) {
Mat im; // TODO: Keep this as an internal buffer? Perhaps page locked.
// FIXME: Use internal stream here.
- cv::cvtColor(in.fastDownload(channel_in_, cv::cuda::Stream::Null()), im, cv::COLOR_BGRA2BGR);
+ cv::cvtColor(in.get<cv::Mat>(channel_in_), im, cv::COLOR_BGRA2BGR);
if (im.empty()) {
throw FTL_Error("Empty image in face detection");
@@ -272,7 +272,7 @@ bool DetectAndTrack::apply(Frame &in, Frame &out, cudaStream_t stream) {
cv::Mat depth;
if (in.hasChannel(Channel::Depth)) {
- depth = in.fastDownload(Channel::Depth, cv::cuda::Stream::Null());
+ depth = in.get<cv::Mat>(Channel::Depth);
}
std::vector<ftl::codecs::Face> result;
@@ -292,15 +292,15 @@ bool DetectAndTrack::apply(Frame &in, Frame &out, cudaStream_t stream) {
cv::rectangle(im, tracked.object, cv::Scalar(0, 0, 255), 1);
}
}
- out.create(channel_out_, result);
+ out.create<std::vector<ftl::codecs::Face>>(channel_out_) = result;
//in.upload(channel_in_);
// FIXME: This is a bad idea.
if (debug_) {
- if (in.isGPU(channel_in_)) {
+ //if (in.isGPU(channel_in_)) {
cv::cvtColor(im, im, cv::COLOR_BGR2BGRA);
- out.get<cv::cuda::GpuMat>(channel_in_).upload(im);
- } else cv::cvtColor(im, in.get<cv::Mat>(channel_in_), cv::COLOR_BGR2BGRA);
+ out.set<cv::cuda::GpuMat>(channel_in_).upload(im);
+ //} else cv::cvtColor(im, in.get<cv::Mat>(channel_in_), cv::COLOR_BGR2BGRA);
}
return true;
diff --git a/components/operators/src/disparity/bilateral_filter.cpp b/components/operators/src/disparity/bilateral_filter.cpp
index 4b14c3bb54f7d037bca7d65a7f53fd955df89419..425b8378a2c8bfc13ebb52f1c11c0d50efbe8449 100644
--- a/components/operators/src/disparity/bilateral_filter.cpp
+++ b/components/operators/src/disparity/bilateral_filter.cpp
@@ -4,15 +4,17 @@
#include <ftl/operators/cuda/disparity.hpp>
#include <opencv2/cudaimgproc.hpp>
+#include <opencv2/cudawarping.hpp>
using cv::cuda::GpuMat;
using cv::Size;
using ftl::codecs::Channel;
using ftl::operators::DisparityBilateralFilter;
+using ftl::operators::Buffer;
-DisparityBilateralFilter::DisparityBilateralFilter(ftl::Configurable* cfg) :
- ftl::operators::Operator(cfg) {
+DisparityBilateralFilter::DisparityBilateralFilter(ftl::operators::Graph *g, ftl::Configurable* cfg) :
+ ftl::operators::Operator(g, cfg) {
scale_ = 16.0;
n_disp_ = cfg->value("n_disp", 256);
@@ -27,14 +29,16 @@ bool DisparityBilateralFilter::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out
if (!in.hasChannel(Channel::Colour)) {
throw FTL_Error("Joint Bilateral Filter is missing Colour");
return false;
- } else if (!in.hasChannel(Channel::Disparity)) {
+ }
+
+ if (!graph()->hasBuffer(Buffer::Disparity, in.source())) {
// Have depth, so calculate disparity...
if (in.hasChannel(Channel::Depth)) {
// No disparity, so create it.
const auto params = in.getLeftCamera();
const GpuMat &depth = in.get<GpuMat>(Channel::Depth);
- GpuMat &disp = out.create<GpuMat>(Channel::Disparity);
+ GpuMat &disp = graph()->createBuffer(Buffer::Disparity, in.source());
disp.create(depth.size(), CV_32FC1);
//LOG(ERROR) << "Calculated disparity from depth";
@@ -56,14 +60,31 @@ bool DisparityBilateralFilter::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out
auto cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
const GpuMat &rgb = in.get<GpuMat>(Channel::Colour);
- GpuMat &disp_in = in.get<GpuMat>(Channel::Disparity);
- GpuMat &disp_out = out.create<GpuMat>(Channel::Disparity);
+ //const GpuMat &disp_in = in.get<GpuMat>(Channel::Disparity);
+ //GpuMat &disp_out = out.create<GpuMat>(Channel::Disparity);
+
+ GpuMat disp_in = graph()->getBuffer(Buffer::Disparity, in.source());
disp_int_.create(disp_in.size(), disp_in.type());
+ GpuMat rgb_buf;
+ if (rgb.size() != disp_in.size()) {
+ if (graph()->hasBuffer(Buffer::LowLeft, in.source())) {
+ rgb_buf = graph()->getBuffer(Buffer::LowLeft, in.source());
+ } else {
+ auto &t = graph()->createBuffer(Buffer::LowLeft, in.source());
+ cv::cuda::resize(rgb, t, disp_in.size(), 0, 0, cv::INTER_LINEAR, cvstream);
+ rgb_buf = t;
+ }
+ } else {
+ rgb_buf = rgb;
+ }
+
+ //LOG(INFO) << "DISP = " << disp_in.size() << "," << disp_in.type() << " - RGBBUF = " << rgb_buf.size() << "," << rgb_buf.type() << " - RGB = " << rgb.size() << "," << rgb.type();
+
//disp_in.convertTo(disp_int_, CV_16SC1, scale_, cvstream);
//cv::cuda::cvtColor(rgb, bw_, cv::COLOR_BGRA2GRAY, 0, cvstream);
- filter_->apply(disp_in, rgb, disp_int_, cvstream);
- cv::cuda::swap(disp_out, disp_int_);
+ filter_->apply(disp_in, rgb_buf, disp_int_, cvstream);
+ cv::cuda::swap(disp_in, disp_int_);
//disp_int_result_.convertTo(disp_out, disp_in.type(), 1.0/scale_, cvstream);
return true;
}
\ No newline at end of file
diff --git a/components/operators/src/disparity/disparity_to_depth.cpp b/components/operators/src/disparity/disparity_to_depth.cpp
index 1ffd157dead77ef4fcf8859903c4439955a70f0b..07146ccfc95705186ccf5706c071bac3aff9a3a2 100644
--- a/components/operators/src/disparity/disparity_to_depth.cpp
+++ b/components/operators/src/disparity/disparity_to_depth.cpp
@@ -3,17 +3,18 @@
using ftl::operators::DisparityToDepth;
using ftl::codecs::Channel;
+using ftl::operators::Buffer;
using cv::cuda::GpuMat;
bool DisparityToDepth::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out,
cudaStream_t stream) {
- if (!in.hasChannel(Channel::Disparity)) {
+ if (!graph()->hasBuffer(Buffer::Disparity, in.source())) {
throw FTL_Error("Missing disparity before convert to depth");
}
- const GpuMat &disp = in.get<GpuMat>(Channel::Disparity);
+ const GpuMat &disp = graph()->getBuffer(Buffer::Disparity, in.source());
const auto params = in.getLeftCamera().scaled(disp.cols, disp.rows);
GpuMat &depth = out.create<GpuMat>(Channel::Depth);
diff --git a/components/operators/src/disparity/fixstars_sgm.cpp b/components/operators/src/disparity/fixstars_sgm.cpp
index 8ad3a41fb3e7bf034146336ebf8d5464e0d3f9e7..5604f134c3918522f990a52e4aa5115e3df99099 100644
--- a/components/operators/src/disparity/fixstars_sgm.cpp
+++ b/components/operators/src/disparity/fixstars_sgm.cpp
@@ -6,6 +6,7 @@
#include <opencv2/cudaimgproc.hpp>
#include <opencv2/cudaarithm.hpp>
#include <opencv2/cudafilters.hpp>
+#include <opencv2/cudawarping.hpp>
using cv::Size;
using cv::cuda::GpuMat;
@@ -15,29 +16,25 @@ using ftl::codecs::Channel;
using ftl::rgbd::Frame;
using ftl::rgbd::Source;
using ftl::operators::FixstarsSGM;
+using ftl::operators::Buffer;
-static void variance_mask(cv::InputArray in, cv::OutputArray out, int wsize, cv::cuda::Stream &cvstream) {
+void FixstarsSGM::_variance_mask(cv::InputArray in, cv::OutputArray out, int wsize, cv::cuda::Stream &cvstream) {
if (in.isGpuMat() && out.isGpuMat()) {
- cv::cuda::GpuMat im;
- cv::cuda::GpuMat im2;
- cv::cuda::GpuMat mean;
- cv::cuda::GpuMat mean2;
-
- mean.create(in.size(), CV_32FC1);
- mean2.create(in.size(), CV_32FC1);
- im2.create(in.size(), CV_32FC1);
- in.getGpuMat().convertTo(im, CV_32FC1, cvstream);
-
- cv::cuda::multiply(im, im, im2, 1.0, CV_32FC1, cvstream);
- auto filter = cv::cuda::createBoxFilter(CV_32FC1, CV_32FC1, cv::Size(wsize,wsize));
- filter->apply(im, mean, cvstream); // E[X]
- filter->apply(im2, mean2, cvstream); // E[X^2]
- cv::cuda::multiply(mean, mean, mean, 1.0, -1, cvstream); // (E[X])^2
+ mean_.create(in.size(), CV_32FC1);
+ mean2_.create(in.size(), CV_32FC1);
+ im2_.create(in.size(), CV_32FC1);
+ in.getGpuMat().convertTo(im_, CV_32FC1, cvstream);
+
+ cv::cuda::multiply(im_, im_, im2_, 1.0, CV_32FC1, cvstream);
+ if (!filter_) filter_ = cv::cuda::createBoxFilter(CV_32FC1, CV_32FC1, cv::Size(wsize,wsize));
+ filter_->apply(im_, mean_, cvstream); // E[X]
+ filter_->apply(im2_, mean2_, cvstream); // E[X^2]
+ cv::cuda::multiply(mean_, mean_, mean_, 1.0, -1, cvstream); // (E[X])^2
// NOTE: floating point accuracy in subtraction
// (cv::cuda::createBoxFilter only supports float and 8 bit integer types)
- cv::cuda::subtract(mean2, mean, out.getGpuMatRef(), cv::noArray(), -1, cvstream); // E[X^2] - (E[X])^2
+ cv::cuda::subtract(mean2_, mean_, out.getGpuMatRef(), cv::noArray(), -1, cvstream); // E[X^2] - (E[X])^2
}
else { throw std::exception(); /* todo CPU version */ }
}
@@ -56,8 +53,8 @@ void FixstarsSGM::computeP2(cudaStream_t &stream) {
}
}
-FixstarsSGM::FixstarsSGM(ftl::Configurable* cfg) :
- ftl::operators::Operator(cfg) {
+FixstarsSGM::FixstarsSGM(ftl::operators::Graph *g, ftl::Configurable* cfg) :
+ ftl::operators::Operator(g, cfg) {
ssgm_ = nullptr;
size_ = Size(0, 0);
@@ -65,7 +62,7 @@ FixstarsSGM::FixstarsSGM(ftl::Configurable* cfg) :
uniqueness_ = cfg->value("uniqueness", 0.95f);
P1_ = cfg->value("P1", 10);
P2_ = cfg->value("P2", 120);
- max_disp_ = cfg->value("max_disp", 256);
+ max_disp_ = cfg->value("num_disp", 256);
if (uniqueness_ < 0.0 || uniqueness_ > 1.0) {
uniqueness_ = 1.0;
@@ -82,12 +79,12 @@ FixstarsSGM::FixstarsSGM(ftl::Configurable* cfg) :
LOG(WARNING) << "Invalid value for P2, using value of P1 (" << P1_ << ")";
}
- if (!(max_disp_ == 256 || max_disp_ == 128)) {
+ if (!(max_disp_ == 256 || max_disp_ == 128 || max_disp_ == 192)) {
max_disp_ = 256;
LOG(WARNING) << "Invalid value for max_disp, using default value (256)";
}
- cfg->on("P1", [this, cfg](const ftl::config::Event&) {
+ cfg->on("P1", [this, cfg]() {
int P1 = cfg->value("P1", 0);
if (P1 <= 0) {
LOG(WARNING) << "Invalid value for P1 (" << P1 << ")";
@@ -98,7 +95,7 @@ FixstarsSGM::FixstarsSGM(ftl::Configurable* cfg) :
}
});
- cfg->on("P2", [this, cfg](const ftl::config::Event&) {
+ cfg->on("P2", [this, cfg]() {
int P2 = cfg->value("P2", 0);
if (P2 < P1_) {
LOG(WARNING) << "Invalid value for P2 (" << P2 << ")";
@@ -109,7 +106,7 @@ FixstarsSGM::FixstarsSGM(ftl::Configurable* cfg) :
}
});
- cfg->on("uniqueness", [this, cfg](const ftl::config::Event&) {
+ cfg->on("uniqueness", [this, cfg]() {
double uniqueness = cfg->value("uniqueness", 0.0);
if (uniqueness < 0.0 || uniqueness > 1.0) {
LOG(WARNING) << "Invalid value for uniqueness (" << uniqueness << ")";
@@ -122,11 +119,11 @@ FixstarsSGM::FixstarsSGM(ftl::Configurable* cfg) :
updateP2Parameters();
- cfg->on("canny_low", [this, cfg](const ftl::config::Event&) {
+ cfg->on("canny_low", [this, cfg]() {
updateP2Parameters();
});
- cfg->on("canny_high", [this, cfg](const ftl::config::Event&) {
+ cfg->on("canny_high", [this, cfg]() {
updateP2Parameters();
});
}
@@ -180,32 +177,48 @@ bool FixstarsSGM::apply(Frame &in, Frame &out, cudaStream_t stream) {
auto &l = in.get<GpuMat>(Channel::Left);
const auto &r = in.get<GpuMat>(Channel::Right);
- if (l.size() != size_) {
- size_ = l.size();
+ const auto &intrin = in.getLeft();
+
+ if (l.empty() || r.empty() || intrin.width == 0) {
+ LOG(ERROR) << "Missing data for Fixstars";
+ return false;
+ }
+
+ if (size_.width != intrin.width) {
+ size_ = cv::Size(intrin.width, intrin.height);
if (!init()) { return false; }
}
- bool has_estimate = in.hasChannel(Channel::Disparity);
- auto &disp = (!has_estimate) ? out.create<GpuMat>(Channel::Disparity, Format<short>(l.size())) : in.get<GpuMat>(Channel::Disparity);
+ bool has_estimate = graph()->hasBuffer(Buffer::Disparity, in.source()); //in.hasChannel(Channel::Disparity);
+ auto &disp = graph()->createBuffer(Buffer::Disparity, in.source());
+ disp.create(size_, CV_16SC1);
auto cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
- cv::cuda::cvtColor(l, lbw_, cv::COLOR_BGRA2GRAY, 0, cvstream);
- cv::cuda::cvtColor(r, rbw_, cv::COLOR_BGRA2GRAY, 0, cvstream);
+ cv::cuda::cvtColor(l, lbw_full_, cv::COLOR_BGRA2GRAY, 0, cvstream);
+ cv::cuda::cvtColor(r, rbw_full_, cv::COLOR_BGRA2GRAY, 0, cvstream);
+
+ if (l.size() != size_) {
+ cv::cuda::resize(lbw_full_, lbw_, size_, 0, 0, cv::INTER_CUBIC, cvstream);
+ cv::cuda::resize(rbw_full_, rbw_, size_, 0, 0, cv::INTER_CUBIC, cvstream);
+ } else {
+ lbw_ = lbw_full_;
+ rbw_ = rbw_full_;
+ }
//cvstream.waitForCompletion();
computeP2(stream);
bool use_variance = config()->value("use_variance", true);
if (use_variance) {
- variance_mask(lbw_, weightsF_, config()->value("var_wsize", 11), cvstream);
+ _variance_mask(lbw_, weightsF_, config()->value("var_wsize", 11), cvstream);
float minweight = std::min(1.0f, std::max(0.0f, config()->value("var_minweight", 0.5f)));
cv::cuda::normalize(weightsF_, weightsF_, minweight, 1.0, cv::NORM_MINMAX, -1, cv::noArray(), cvstream);
- weightsF_.convertTo(weights_, CV_8UC1, 255.0f);
+ weightsF_.convertTo(weights_, CV_8UC1, 255.0f, cvstream);
//if ((int)P2_map_.step != P2_map_.cols) LOG(ERROR) << "P2 map step error: " << P2_map_.cols << "," << P2_map_.step;
- ssgm_->execute(lbw_.data, rbw_.data, disp_int_.data, P2_map_.data, (uint8_t*) weights_.data, weights_.step1(), stream);
+ ssgm_->execute(lbw_.data, rbw_.data, disp_int_.data, P2_map_.data, (uint8_t*) weights_.data, weights_.step1(), config()->value("min_disp", 60), stream);
} else {
- ssgm_->execute(lbw_.data, rbw_.data, disp_int_.data, P2_map_.data, nullptr, 0, stream);
+ ssgm_->execute(lbw_.data, rbw_.data, disp_int_.data, P2_map_.data, nullptr, 0, config()->value("min_disp", 60), stream);
}
// GpuMat left_pixels(dispt_, cv::Rect(0, 0, max_disp_, dispt_.rows));
@@ -215,7 +228,7 @@ bool FixstarsSGM::apply(Frame &in, Frame &out, cudaStream_t stream) {
ftl::cuda::merge_disparities(disp_int_, disp, stream);
}
- cv::cuda::threshold(disp_int_, disp, 4096.0f, 0.0f, cv::THRESH_TOZERO_INV, cvstream);
+ cv::cuda::threshold(disp_int_, disp, 16383.0f, 0.0f, cv::THRESH_TOZERO_INV, cvstream);
if (config()->value("check_reprojection", false)) {
ftl::cuda::check_reprojection(disp, in.getTexture<uchar4>(Channel::Colour),
@@ -224,13 +237,13 @@ bool FixstarsSGM::apply(Frame &in, Frame &out, cudaStream_t stream) {
}
if (config()->value("show_P2_map", false)) {
- cv::cuda::cvtColor(P2_map_, out.get<GpuMat>(Channel::Colour), cv::COLOR_GRAY2BGRA);
+ cv::cuda::cvtColor(P2_map_, out.get<GpuMat>(Channel::Colour), cv::COLOR_GRAY2BGRA, 0, cvstream);
}
if (config()->value("show_rpe", false)) {
- ftl::cuda::show_rpe(disp, l, r, 100.0f, stream);
+ ftl::cuda::show_rpe(disp, in.set<GpuMat>(Channel::Left), r, 100.0f, stream);
}
if (config()->value("show_disp_density", false)) {
- ftl::cuda::show_disp_density(disp, l, 100.0f, stream);
+ ftl::cuda::show_disp_density(disp, in.set<GpuMat>(Channel::Left), 100.0f, stream);
}
//disp_int_.convertTo(disp, CV_32F, 1.0f / 16.0f, cvstream);
diff --git a/components/operators/src/disparity/libstereo.cpp b/components/operators/src/disparity/libstereo.cpp
index 22aaac63092ae4d68f7c08f2d212ad477b4510f5..8229c845e59a6dbe0e963cae66599fb0c405280f 100644
--- a/components/operators/src/disparity/libstereo.cpp
+++ b/components/operators/src/disparity/libstereo.cpp
@@ -21,8 +21,8 @@ struct StereoDisparity::Impl {
StereoCensusSgm sgm;
};
-StereoDisparity::StereoDisparity(ftl::Configurable* cfg) :
- ftl::operators::Operator(cfg), impl_(nullptr) {
+StereoDisparity::StereoDisparity(ftl::operators::Graph *g, ftl::Configurable* cfg) :
+ ftl::operators::Operator(g, cfg), impl_(nullptr) {
init();
}
@@ -56,7 +56,7 @@ bool StereoDisparity::apply(Frame &in, Frame &out, cudaStream_t stream) {
disp32f_.create(l.size(), CV_32FC1);
bool has_estimate = in.hasChannel(Channel::Disparity);
- auto &disp = (!has_estimate) ? out.create<GpuMat>(Channel::Disparity, Format<short>(l.size())) : in.get<GpuMat>(Channel::Disparity);
+ auto &disp = (!has_estimate) ? out.create<ftl::rgbd::VideoFrame>(Channel::Disparity).createGPU(Format<short>(l.size())) : in.get<GpuMat>(Channel::Disparity);
auto cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
diff --git a/components/operators/src/disparity/opencv/disparity_bilateral_filter.cu b/components/operators/src/disparity/opencv/disparity_bilateral_filter.cu
index c1dd611c00e6830232a01d6f1eb86b643cd477cb..9ed95f6eab0831f12b502a36858c837f37edd8ad 100644
--- a/components/operators/src/disparity/opencv/disparity_bilateral_filter.cu
+++ b/components/operators/src/disparity/opencv/disparity_bilateral_filter.cu
@@ -328,8 +328,8 @@ namespace ftl { namespace cuda { namespace device
}
- if (stream == 0)
- cudaSafeCall( cudaDeviceSynchronize() );
+ //if (stream == 0)
+ // cudaSafeCall( cudaDeviceSynchronize() );
}
// These are commented out since we don't use them and it slows compile
diff --git a/components/operators/src/disparity/optflow_smoothing.cpp b/components/operators/src/disparity/optflow_smoothing.cpp
index e2f1e6f936fec0236ce0be92ba05335e5150e8f3..d1205854ea385c0b8be40167926523c572c4af96 100644
--- a/components/operators/src/disparity/optflow_smoothing.cpp
+++ b/components/operators/src/disparity/optflow_smoothing.cpp
@@ -18,14 +18,14 @@ using std::vector;
template<typename T> static bool inline isValidDisparity(T d) { return (0.0 < d) && (d < 256.0); } // TODO
-OpticalFlowTemporalSmoothing::OpticalFlowTemporalSmoothing(ftl::Configurable* cfg, const std::tuple<ftl::codecs::Channel> ¶ms) :
- ftl::operators::Operator(cfg) {
+OpticalFlowTemporalSmoothing::OpticalFlowTemporalSmoothing(ftl::operators::Graph *g, ftl::Configurable* cfg, const std::tuple<ftl::codecs::Channel> ¶ms) :
+ ftl::operators::Operator(g, cfg) {
channel_ = std::get<0>(params);
_init(cfg);
}
-OpticalFlowTemporalSmoothing::OpticalFlowTemporalSmoothing(ftl::Configurable* cfg) :
- ftl::operators::Operator(cfg) {
+OpticalFlowTemporalSmoothing::OpticalFlowTemporalSmoothing(ftl::operators::Graph *g, ftl::Configurable* cfg) :
+ ftl::operators::Operator(g, cfg) {
_init(cfg);
}
@@ -47,7 +47,7 @@ void OpticalFlowTemporalSmoothing::_init(ftl::Configurable* cfg) {
threshold_ = cfg->value("threshold", 5.0f);
- cfg->on("threshold", [this](const ftl::config::Event&) {
+ cfg->on("threshold", [this]() {
float threshold = config()->value("threshold", 5.0f);
if (threshold < 0.0) {
LOG(WARNING) << "invalid threshold " << threshold << ", value must be positive";
@@ -58,7 +58,7 @@ void OpticalFlowTemporalSmoothing::_init(ftl::Configurable* cfg) {
}
});
- cfg->on("history_size", [this, &cfg](const ftl::config::Event&) {
+ cfg->on("history_size", [this, &cfg]() {
int n_max = cfg->value("history_size", 7);
if (n_max < 1) {
@@ -89,14 +89,14 @@ bool OpticalFlowTemporalSmoothing::apply(Frame &in, Frame &out, cudaStream_t str
auto cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
const cv::cuda::GpuMat &optflow = in.get<cv::cuda::GpuMat>(Channel::Flow);
- cv::cuda::GpuMat &data = out.get<cv::cuda::GpuMat>(channel_);
+ cv::cuda::GpuMat &data = out.set<cv::cuda::GpuMat>(channel_);
if (data.size() != size_) {
size_ = data.size();
if (!init()) { return false; }
}
- ftl::cuda::optflow_filter(data, optflow, history_, in.get<cv::cuda::GpuMat>(Channel::Support1), n_max_, threshold_, config()->value("filling", false), cvstream);
+ ftl::cuda::optflow_filter(data, optflow, history_, in.set<cv::cuda::GpuMat>(Channel::Support1), n_max_, threshold_, config()->value("filling", false), cvstream);
return true;
}
diff --git a/components/operators/src/filling.cpp b/components/operators/src/filling.cpp
index 87298cc052cb8d48673a6c2ce13943c35a68caee..8b6b369b787f1e1ceab1c404af46629f4b146185 100644
--- a/components/operators/src/filling.cpp
+++ b/components/operators/src/filling.cpp
@@ -6,7 +6,7 @@ using ftl::operators::ScanFieldFill;
using ftl::operators::CrossSupportFill;
using ftl::codecs::Channel;
-ScanFieldFill::ScanFieldFill(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+ScanFieldFill::ScanFieldFill(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
}
@@ -29,7 +29,7 @@ bool ScanFieldFill::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStrea
}
-CrossSupportFill::CrossSupportFill(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+CrossSupportFill::CrossSupportFill(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
}
diff --git a/components/operators/src/fusion/correspondence_depth.cu b/components/operators/src/fusion/correspondence_depth.cu
index f7303cfc413f03b49bdc75510906a5cbd409b626..95d11b890c98d53c643fed9946b855bf0b6f3ca8 100644
--- a/components/operators/src/fusion/correspondence_depth.cu
+++ b/components/operators/src/fusion/correspondence_depth.cu
@@ -117,9 +117,16 @@ __global__ void corresponding_depth_kernel(
if (depth1 > cam1.minDepth && depth1 < cam1.maxDepth && bestcost < 1.0f) {
// Delay making the depth change until later.
conf(pt) = bestadjust;
- mask(pt) = mask(pt) | Mask::kMask_Correspondence;
+ auto m = mask(pt);
+ m &= ~Mask::kMask_Bad;
+ mask(pt) = m | Mask::kMask_Correspondence;
screenOut(pt) = bestScreen;
}
+
+ if (depth1 > cam1.minDepth && depth1 < cam1.maxDepth && bestcost > 2.0f) {
+ auto m = mask(pt);
+ mask(pt) = (m & Mask::kMask_Correspondence) ? m : m | Mask::kMask_Bad;
+ }
}
}
diff --git a/components/operators/src/fusion/correspondence_util.cu b/components/operators/src/fusion/correspondence_util.cu
index 5145f69767866e66ed01518b6e492328f022f595..1887ee88fa7e182e9b6f4b725092b5a5e833c1ef 100644
--- a/components/operators/src/fusion/correspondence_util.cu
+++ b/components/operators/src/fusion/correspondence_util.cu
@@ -53,6 +53,8 @@ __global__ void show_cor_error_kernel(
if (x < colour.width() && y < colour.height()) {
short2 s1 = screen1.tex2D(x,y);
+ //colour(x,y) = make_uchar4(0,0,0,0);
+
if (s1.x >= 0 && s1.x < screen2.width() && s1.y < screen2.height()) {
short2 s2 = screen2.tex2D(s1.x, s1.y);
@@ -120,6 +122,8 @@ __global__ void show_depth_adjust_kernel(
float a = adjust.tex2D(x,y);
short2 s = screen.tex2D(x,y);
+ //colour(x,y) = make_uchar4(0,0,0,0);
+
if (s.x >= 0) {
float ncG = min(1.0f, fabsf(a)/scale);
float ncB = -max(-1.0f, min(0.0f, a/scale));
diff --git a/components/operators/src/fusion/mvmls.cpp b/components/operators/src/fusion/mvmls.cpp
index 0dfe26b141c257aebb347bea7fb7c1a00bfc83aa..38328f33ea724a1b687163bc961c2ccec1d6b4fa 100644
--- a/components/operators/src/fusion/mvmls.cpp
+++ b/components/operators/src/fusion/mvmls.cpp
@@ -5,13 +5,14 @@
#include <ftl/cuda/normals.hpp>
#include <opencv2/cudaarithm.hpp>
+#include <opencv2/cudawarping.hpp>
using ftl::operators::MultiViewMLS;
using ftl::codecs::Channel;
using cv::cuda::GpuMat;
using ftl::rgbd::Format;
-MultiViewMLS::MultiViewMLS(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+MultiViewMLS::MultiViewMLS(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
}
@@ -47,8 +48,19 @@ bool MultiViewMLS::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cuda
bool show_consistency = config()->value("show_consistency", false);
bool show_adjustment = config()->value("show_adjustment", false);
- if (in.frames.size() < 1) return false;
- auto size = in.firstFrame().get<GpuMat>(Channel::Depth).size();
+ if (in.frames.size() < 1 || in.mask == 0) return false;
+ cv::Size size(0,0);
+ for (auto &f : in.frames) {
+ if (f.hasChannel(Channel::Depth)) {
+ size = f.get<GpuMat>(Channel::Depth).size();
+ break;
+ }
+ }
+
+ if (size.width == 0) {
+ in.firstFrame().message(ftl::data::Message::Warning_MISSING_CHANNEL, "Missing Depth Channel in MVMLS operator");
+ return false;
+ }
// Make sure we have enough buffers
while (normals_horiz_.size() < in.frames.size()) {
@@ -62,7 +74,7 @@ bool MultiViewMLS::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cuda
for (size_t i=0; i<in.frames.size(); ++i) {
if (!in.hasFrame(i)) continue;
- auto &f = in.frames[i];
+ auto &f = in.frames[i].cast<ftl::rgbd::Frame>();
auto size = f.get<GpuMat>(Channel::Depth).size();
centroid_horiz_[i]->create(size.height, size.width);
normals_horiz_[i]->create(size.height, size.width);
@@ -77,12 +89,19 @@ bool MultiViewMLS::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cuda
}
// Create required channels
- f.create<GpuMat>(Channel::Confidence, Format<float>(size));
+ f.create<ftl::rgbd::VideoFrame>(Channel::Confidence).createGPU(Format<float>(size));
f.createTexture<float>(Channel::Confidence);
- f.create<GpuMat>(Channel::Screen, Format<short2>(size));
+ f.create<ftl::rgbd::VideoFrame>(Channel::Screen).createGPU(Format<short2>(size));
f.createTexture<short2>(Channel::Screen);
- f.get<GpuMat>(Channel::Confidence).setTo(cv::Scalar(0.0f), cvstream);
+ f.set<GpuMat>(Channel::Confidence).setTo(cv::Scalar(0.0f), cvstream);
+
+ if (show_adjustment || show_consistency) {
+ if (!f.hasChannel(Channel::Overlay)) {
+ auto &t = f.createTexture<uchar4>(Channel::Overlay, ftl::rgbd::Format<uchar4>(size));
+ cudaMemset2DAsync(t.devicePtr(), t.pitch(), 0, t.width()*4, t.height(), stream);
+ }
+ }
}
//for (int iter=0; iter<iters; ++iter) {
@@ -95,7 +114,7 @@ bool MultiViewMLS::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cuda
for (size_t i=0; i<in.frames.size(); ++i) {
if (!in.hasFrame(i)) continue;
- auto &f1 = in.frames[i];
+ auto &f1 = in.frames[i].cast<ftl::rgbd::Frame>();
//f1.get<GpuMat>(Channel::Depth2).setTo(cv::Scalar(0.0f), cvstream);
//f1.get<GpuMat>(Channel::Confidence).setTo(cv::Scalar(0.0f), cvstream);
@@ -108,7 +127,7 @@ bool MultiViewMLS::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cuda
//LOG(INFO) << "Running phase1";
- auto &f2 = in.frames[j];
+ auto &f2 = in.frames[j].cast<ftl::rgbd::Frame>();
//auto s1 = in.sources[i];
//auto s2 = in.sources[j];
@@ -261,8 +280,8 @@ bool MultiViewMLS::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cuda
);*/
if (show_consistency) {
- ftl::cuda::show_cor_error(f1.getTexture<uchar4>(Channel::Colour), f1.getTexture<short2>(Channel::Screen), f2.getTexture<short2>(Channel::Screen), 5.0f, stream);
- ftl::cuda::show_cor_error(f2.getTexture<uchar4>(Channel::Colour), f2.getTexture<short2>(Channel::Screen), f1.getTexture<short2>(Channel::Screen), 5.0f, stream);
+ ftl::cuda::show_cor_error(f1.getTexture<uchar4>(Channel::Overlay), f1.getTexture<short2>(Channel::Screen), f2.getTexture<short2>(Channel::Screen), 5.0f, stream);
+ ftl::cuda::show_cor_error(f2.getTexture<uchar4>(Channel::Overlay), f2.getTexture<short2>(Channel::Screen), f1.getTexture<short2>(Channel::Screen), 5.0f, stream);
}
/*ftl::cuda::remove_cor_error(
@@ -286,8 +305,8 @@ bool MultiViewMLS::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cuda
//}
if (show_adjustment) {
- ftl::cuda::show_depth_adjustment(f1.getTexture<uchar4>(Channel::Colour), f1.getTexture<short2>(Channel::Screen), f1.getTexture<float>(Channel::Confidence), 0.04f, stream);
- ftl::cuda::show_depth_adjustment(f2.getTexture<uchar4>(Channel::Colour), f2.getTexture<short2>(Channel::Screen), f2.getTexture<float>(Channel::Confidence), 0.04f, stream);
+ ftl::cuda::show_depth_adjustment(f1.getTexture<uchar4>(Channel::Overlay), f1.getTexture<short2>(Channel::Screen), f1.getTexture<float>(Channel::Confidence), 0.04f, stream);
+ ftl::cuda::show_depth_adjustment(f2.getTexture<uchar4>(Channel::Overlay), f2.getTexture<short2>(Channel::Screen), f2.getTexture<float>(Channel::Confidence), 0.04f, stream);
}
//} //else {
/*ftl::cuda::correspondence(
@@ -345,7 +364,7 @@ bool MultiViewMLS::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cuda
// Redo normals
for (size_t i=0; i<in.frames.size(); ++i) {
if (!in.hasFrame(i)) continue;
- auto &f = in.frames[i];
+ auto &f = in.frames[i].cast<ftl::rgbd::Frame>();
ftl::cuda::normals(
f.getTexture<half4>(Channel::Normals),
f.getTexture<float>(Channel::Depth),
@@ -411,7 +430,7 @@ bool MultiViewMLS::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cuda
for (size_t i=0; i<in.frames.size(); ++i) {
if (!in.hasFrame(i)) continue;
- auto &f = in.frames[i];
+ auto &f = in.frames[i].cast<ftl::rgbd::Frame>();
//auto *s = in.sources[i];
// Clear data
@@ -428,13 +447,27 @@ bool MultiViewMLS::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cuda
float thresh = (1.0f / f.getLeft().fx) * disconPixels;
+ const GpuMat &rgb = f.get<GpuMat>(Channel::Colour);
+ GpuMat rgb_buf;
+ if (rgb.size() != size) {
+ if (graph()->hasBuffer(Buffer::LowLeft, f.source())) {
+ rgb_buf = graph()->getBuffer(Buffer::LowLeft, f.source());
+ } else {
+ rgb_buf = graph()->createBuffer(Buffer::LowLeft, f.source());
+ cv::cuda::resize(rgb, rgb_buf, size, 0, 0, cv::INTER_LINEAR, cvstream);
+ }
+ } else {
+ rgb_buf = rgb;
+ }
+
ftl::cuda::mls_aggr_horiz(
f.createTexture<uchar4>((f.hasChannel(Channel::Support2)) ? Channel::Support2 : Channel::Support1),
f.createTexture<half4>(Channel::Normals),
*normals_horiz_[i],
f.createTexture<float>(Channel::Depth),
*centroid_horiz_[i],
- f.createTexture<uchar4>(Channel::Colour),
+ //f.createTexture<uchar4>(Channel::Colour),
+ rgb_buf,
thresh,
col_smooth,
radius,
@@ -465,7 +498,7 @@ bool MultiViewMLS::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cuda
if (do_aggr) {
for (size_t i=0; i<in.frames.size(); ++i) {
if (!in.hasFrame(i)) continue;
- auto &f1 = in.frames[i];
+ auto &f1 = in.frames[i].cast<ftl::rgbd::Frame>();
//f1.get<GpuMat>(Channel::Depth2).setTo(cv::Scalar(0.0f), cvstream);
//f1.get<GpuMat>(Channel::Confidence).setTo(cv::Scalar(0.0f), cvstream);
@@ -478,7 +511,7 @@ bool MultiViewMLS::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cuda
//LOG(INFO) << "Running phase1";
- auto &f2 = in.frames[j];
+ auto &f2 = in.frames[j].cast<ftl::rgbd::Frame>();
//auto s1 = in.sources[i];
//auto s2 = in.sources[j];
@@ -520,7 +553,7 @@ bool MultiViewMLS::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cuda
// Normalise aggregations and move the points
for (size_t i=0; i<in.frames.size(); ++i) {
if (!in.hasFrame(i)) continue;
- auto &f = in.frames[i];
+ auto &f = in.frames[i].cast<ftl::rgbd::Frame>();
//auto *s = in.sources[i];
auto size = f.get<GpuMat>(Channel::Depth).size();
diff --git a/components/operators/src/gt_analysis.cpp b/components/operators/src/gt_analysis.cpp
index 066f04d94c1ec96c2a01d8094e99cf86a66136bf..d7f94d39946d58a877050c73371c178436a9e6f9 100644
--- a/components/operators/src/gt_analysis.cpp
+++ b/components/operators/src/gt_analysis.cpp
@@ -5,7 +5,7 @@ using ftl::operators::GTAnalysis;
using ftl::codecs::Channel;
using std::string;
-GTAnalysis::GTAnalysis(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+GTAnalysis::GTAnalysis(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
cudaMalloc(&output_, sizeof(ftl::cuda::GTAnalysisData));
}
@@ -60,7 +60,7 @@ bool GTAnalysis::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t
}
std::vector<std::string> msgs;
- if (in.hasChannel(Channel::Messages)) { in.get(Channel::Messages, msgs); }
+ if (in.hasChannel(Channel::Messages)) { msgs = in.get<std::vector<std::string>>(Channel::Messages); }
bool use_disp = config()->value("use_disparity", true);
auto &dmat = in.get<cv::cuda::GpuMat>(Channel::Depth);
@@ -103,7 +103,7 @@ bool GTAnalysis::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t
else { report(msgs, err, o, npixels, "mm", 1000.0); }
}
- in.create(Channel::Messages, msgs);
+ in.create<std::vector<std::string>>(Channel::Messages) = msgs;
return true;
}
diff --git a/components/operators/src/mask.cpp b/components/operators/src/mask.cpp
index e39fcabea0fa322ef2c6d8333a6366aef664e0e4..c1ca5d251a60e45c1175b9a5a4ff831ed747a4cb 100644
--- a/components/operators/src/mask.cpp
+++ b/components/operators/src/mask.cpp
@@ -4,10 +4,11 @@
using ftl::operators::DiscontinuityMask;
using ftl::operators::BorderMask;
using ftl::operators::CullDiscontinuity;
+using ftl::operators::DisplayMask;
using ftl::codecs::Channel;
using ftl::rgbd::Format;
-DiscontinuityMask::DiscontinuityMask(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+DiscontinuityMask::DiscontinuityMask(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
}
@@ -25,12 +26,16 @@ bool DiscontinuityMask::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaS
float noiseThresh = config()->value("noise_thresh", 0.8f);
float areaMax = config()->value("area_max", 26.0f); // Cross support radius squared + 1
- if (!in.hasChannel(Channel::Depth) || !in.hasChannel(Channel::Support1)) return false;
+ if (!in.hasChannel(Channel::Depth) || !in.hasChannel(Channel::Support1)) {
+ out.message(ftl::data::Message::Warning_MISSING_CHANNEL, "Missing Depth or Support Channel in Mask Operator");
+ return false;
+ }
if (!out.hasChannel(Channel::Mask)) {
+ cv::cuda::Stream cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
auto &m = out.create<cv::cuda::GpuMat>(Channel::Mask);
m.create(in.get<cv::cuda::GpuMat>(Channel::Depth).size(), CV_8UC1);
- m.setTo(cv::Scalar(0));
+ m.setTo(cv::Scalar(0), cvstream);
}
/*ftl::cuda::discontinuity(
@@ -56,7 +61,7 @@ bool DiscontinuityMask::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaS
-BorderMask::BorderMask(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+BorderMask::BorderMask(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
}
@@ -84,7 +89,7 @@ bool BorderMask::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t
-CullDiscontinuity::CullDiscontinuity(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+CullDiscontinuity::CullDiscontinuity(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
}
@@ -96,10 +101,10 @@ bool CullDiscontinuity::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaS
if (!in.hasChannel(Channel::Depth) || !in.hasChannel(Channel::Mask)) return false;
uint8_t maskID = config()->value("mask_id", (unsigned int)(ftl::cuda::Mask::kMask_Discontinuity | ftl::cuda::Mask::kMask_Bad));
- unsigned int radius = config()->value("radius", 0);
+ unsigned int radius = config()->value("radius", 2);
bool inverted = config()->value("invert", false);
- out.clearPackets(Channel::Depth); // Force reset
+ out.set<ftl::rgbd::VideoFrame>(Channel::Depth); // Force reset
ftl::cuda::cull_mask(
in.createTexture<uint8_t>(Channel::Mask),
out.createTexture<float>(Channel::Depth),
@@ -110,4 +115,35 @@ bool CullDiscontinuity::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaS
);
return true;
-}
\ No newline at end of file
+}
+
+
+
+DisplayMask::DisplayMask(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
+
+}
+
+DisplayMask::~DisplayMask() {
+
+}
+
+bool DisplayMask::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) {
+
+ if (!in.hasChannel(Channel::Mask)) {
+ return true;
+ }
+
+ uint8_t mask = config()->value("mask", 0);
+ bool invert = config()->value("invert", false);
+
+ auto &masktex = in.getTexture<uint8_t>(Channel::Mask);
+
+ if (!in.hasChannel(Channel::Overlay)) {
+ auto &t = in.createTexture<uchar4>(Channel::Overlay, ftl::rgbd::Format<uchar4>(masktex.width(), masktex.height()));
+ cudaMemset2DAsync(t.devicePtr(), t.pitch(), 0, t.width()*4, t.height(), stream);
+ }
+
+ ftl::cuda::show_mask(in.getTexture<uchar4>(Channel::Overlay), masktex, mask, make_uchar4(255,0,255,255), stream);
+
+ return true;
+}
diff --git a/components/operators/src/mls.cu b/components/operators/src/mls.cu
index ee3ce41255e1f24d3f6066e648f26e7caa501f0e..55813446ab7a62d0913b96d107187b2bb62f0543 100644
--- a/components/operators/src/mls.cu
+++ b/components/operators/src/mls.cu
@@ -223,6 +223,10 @@ __device__ inline int segmentID(int u, int v) {
return 0;
}
+__device__ inline float4 make_float4(const uchar4 &v) {
+ return make_float4(float(v.x), float(v.y), float(v.z), float(v.w));
+}
+
/*
* Smooth depth map using Moving Least Squares. This version uses colour
* similarity weights to adjust the spatial smoothing factor. It is naive in
@@ -237,7 +241,9 @@ __device__ inline int segmentID(int u, int v) {
TextureObject<half4> normals_out,
TextureObject<float> depth_in, // Virtual depth map
TextureObject<float> depth_out, // Accumulated output
- TextureObject<uchar4> colour_in,
+ //TextureObject<uchar4> colour_in,
+ const uchar4* __restrict__ colour_in,
+ int colour_pitch,
float smoothing,
float colour_smoothing,
ftl::rgbd::Camera camera) {
@@ -260,7 +266,8 @@ __device__ inline int segmentID(int u, int v) {
}
float3 X = camera.screenToCam((int)(x),(int)(y),d0);
- float4 c0 = colour_in.tex2D((float)x+0.5f, (float)y+0.5f);
+ //float4 c0 = colour_in.tex2D((float)x+0.5f, (float)y+0.5f);
+ float4 c0 = make_float4(colour_in[x+y*colour_pitch]);
// Neighbourhood
uchar4 base = region.tex2D(x,y);
@@ -274,7 +281,8 @@ __device__ inline int segmentID(int u, int v) {
#pragma unroll
for (int u=-RADIUS; u<=RADIUS; ++u) {
- const float d = depth_in.tex2D(x+u, y+v);
+ if (x+u >= 0 && x+u < depth_in.width() && y+v >= 0 && y+v < depth_in.height()) {
+ const float d = depth_in.tex2D(x+u, y+v);
//if (d > camera.minDepth && d < camera.maxDepth) {
float w = (d <= camera.minDepth || d >= camera.maxDepth || u < -baseY.x || u > baseY.y || v < -base.z || v > base.z) ? 0.0f : 1.0f;
@@ -286,7 +294,8 @@ __device__ inline int segmentID(int u, int v) {
// FIXME: Ensure bad normals are removed by setting depth invalid
//if (Ni.x+Ni.y+Ni.z == 0.0f) continue;
- const float4 c = colour_in.tex2D(float(x+u) + 0.5f, float(y+v) + 0.5f);
+ //const float4 c = colour_in.tex2D(float(x+u) + 0.5f, float(y+v) + 0.5f);
+ const float4 c = make_float4(colour_in[x+u+(y+v)*colour_pitch]);
w *= ftl::cuda::colourWeighting(c0,c,colour_smoothing);
// Allow missing point to borrow z value
@@ -300,7 +309,7 @@ __device__ inline int segmentID(int u, int v) {
nX += Ni*w;
contrib += w;
//if (FILLING && w > 0.0f && v > -base.z+1 && v < base.w-1 && u > -baseY.x+1 && u < baseY.y-1) segment_check |= segmentID(u,v);
- //}
+ }
}
}
@@ -335,7 +344,8 @@ void ftl::cuda::colour_mls_smooth_csr(
ftl::cuda::TextureObject<half4> &normals_out,
ftl::cuda::TextureObject<float> &depth_in,
ftl::cuda::TextureObject<float> &depth_out,
- ftl::cuda::TextureObject<uchar4> &colour_in,
+ //ftl::cuda::TextureObject<uchar4> &colour_in,
+ const cv::cuda::GpuMat &colour_in,
float smoothing,
float colour_smoothing,
bool filling,
@@ -346,9 +356,9 @@ void ftl::cuda::colour_mls_smooth_csr(
const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
if (filling) {
- colour_mls_smooth_csr_kernel<true,5><<<gridSize, blockSize, 0, stream>>>(region, normals_in, normals_out, depth_in, depth_out, colour_in, smoothing, colour_smoothing, camera);
+ colour_mls_smooth_csr_kernel<true,5><<<gridSize, blockSize, 0, stream>>>(region, normals_in, normals_out, depth_in, depth_out, (uchar4*)colour_in.data, colour_in.step/4, smoothing, colour_smoothing, camera);
} else {
- colour_mls_smooth_csr_kernel<false,5><<<gridSize, blockSize, 0, stream>>>(region, normals_in, normals_out, depth_in, depth_out, colour_in, smoothing, colour_smoothing, camera);
+ colour_mls_smooth_csr_kernel<false,5><<<gridSize, blockSize, 0, stream>>>(region, normals_in, normals_out, depth_in, depth_out, (uchar4*)colour_in.data, colour_in.step/4, smoothing, colour_smoothing, camera);
}
cudaSafeCall( cudaGetLastError() );
@@ -593,7 +603,8 @@ void ftl::cuda::mls_aggr_horiz(
ftl::cuda::TextureObject<half4> &normals_out,
ftl::cuda::TextureObject<float> &depth_in,
ftl::cuda::TextureObject<float4> ¢roid_out,
- ftl::cuda::TextureObject<uchar4> &colour_in,
+ //ftl::cuda::TextureObject<uchar4> &colour_in,
+ const cv::cuda::GpuMat &colour_in,
float smoothing,
float colour_smoothing,
int radius,
@@ -607,13 +618,13 @@ void ftl::cuda::mls_aggr_horiz(
const dim3 blockSize(THREADS_X, THREADS_Y);
switch(radius) {
- case 1: mls_aggr_horiz_kernel<1><<<gridSize, blockSize, 0, stream>>>(region.devicePtr(), region.pixelPitch(), normals_in.devicePtr(), normals_in.pixelPitch(), normals_out, depth_in.devicePtr(), depth_in.pixelPitch(), centroid_out, colour_in.devicePtr(), colour_in.pixelPitch(), smoothing, colour_smoothing, camera); break;
- case 2: mls_aggr_horiz_kernel<2><<<gridSize, blockSize, 0, stream>>>(region.devicePtr(), region.pixelPitch(), normals_in.devicePtr(), normals_in.pixelPitch(), normals_out, depth_in.devicePtr(), depth_in.pixelPitch(), centroid_out, colour_in.devicePtr(), colour_in.pixelPitch(), smoothing, colour_smoothing, camera); break;
- case 3: mls_aggr_horiz_kernel<3><<<gridSize, blockSize, 0, stream>>>(region.devicePtr(), region.pixelPitch(), normals_in.devicePtr(), normals_in.pixelPitch(), normals_out, depth_in.devicePtr(), depth_in.pixelPitch(), centroid_out, colour_in.devicePtr(), colour_in.pixelPitch(), smoothing, colour_smoothing, camera); break;
- case 5: mls_aggr_horiz_kernel<5><<<gridSize, blockSize, 0, stream>>>(region.devicePtr(), region.pixelPitch(), normals_in.devicePtr(), normals_in.pixelPitch(), normals_out, depth_in.devicePtr(), depth_in.pixelPitch(), centroid_out, colour_in.devicePtr(), colour_in.pixelPitch(), smoothing, colour_smoothing, camera); break;
- case 10: mls_aggr_horiz_kernel<10><<<gridSize, blockSize, 0, stream>>>(region.devicePtr(), region.pixelPitch(), normals_in.devicePtr(), normals_in.pixelPitch(), normals_out, depth_in.devicePtr(), depth_in.pixelPitch(), centroid_out, colour_in.devicePtr(), colour_in.pixelPitch(), smoothing, colour_smoothing, camera); break;
- case 15: mls_aggr_horiz_kernel<15><<<gridSize, blockSize, 0, stream>>>(region.devicePtr(), region.pixelPitch(), normals_in.devicePtr(), normals_in.pixelPitch(), normals_out, depth_in.devicePtr(), depth_in.pixelPitch(), centroid_out, colour_in.devicePtr(), colour_in.pixelPitch(), smoothing, colour_smoothing, camera); break;
- case 20: mls_aggr_horiz_kernel<20><<<gridSize, blockSize, 0, stream>>>(region.devicePtr(), region.pixelPitch(), normals_in.devicePtr(), normals_in.pixelPitch(), normals_out, depth_in.devicePtr(), depth_in.pixelPitch(), centroid_out, colour_in.devicePtr(), colour_in.pixelPitch(), smoothing, colour_smoothing, camera); break;
+ case 1: mls_aggr_horiz_kernel<1><<<gridSize, blockSize, 0, stream>>>(region.devicePtr(), region.pixelPitch(), normals_in.devicePtr(), normals_in.pixelPitch(), normals_out, depth_in.devicePtr(), depth_in.pixelPitch(), centroid_out, (uchar4*)colour_in.data, colour_in.step/4, smoothing, colour_smoothing, camera); break;
+ case 2: mls_aggr_horiz_kernel<2><<<gridSize, blockSize, 0, stream>>>(region.devicePtr(), region.pixelPitch(), normals_in.devicePtr(), normals_in.pixelPitch(), normals_out, depth_in.devicePtr(), depth_in.pixelPitch(), centroid_out, (uchar4*)colour_in.data, colour_in.step/4, smoothing, colour_smoothing, camera); break;
+ case 3: mls_aggr_horiz_kernel<3><<<gridSize, blockSize, 0, stream>>>(region.devicePtr(), region.pixelPitch(), normals_in.devicePtr(), normals_in.pixelPitch(), normals_out, depth_in.devicePtr(), depth_in.pixelPitch(), centroid_out, (uchar4*)colour_in.data, colour_in.step/4, smoothing, colour_smoothing, camera); break;
+ case 5: mls_aggr_horiz_kernel<5><<<gridSize, blockSize, 0, stream>>>(region.devicePtr(), region.pixelPitch(), normals_in.devicePtr(), normals_in.pixelPitch(), normals_out, depth_in.devicePtr(), depth_in.pixelPitch(), centroid_out, (uchar4*)colour_in.data, colour_in.step/4, smoothing, colour_smoothing, camera); break;
+ case 10: mls_aggr_horiz_kernel<10><<<gridSize, blockSize, 0, stream>>>(region.devicePtr(), region.pixelPitch(), normals_in.devicePtr(), normals_in.pixelPitch(), normals_out, depth_in.devicePtr(), depth_in.pixelPitch(), centroid_out, (uchar4*)colour_in.data, colour_in.step/4, smoothing, colour_smoothing, camera); break;
+ case 15: mls_aggr_horiz_kernel<15><<<gridSize, blockSize, 0, stream>>>(region.devicePtr(), region.pixelPitch(), normals_in.devicePtr(), normals_in.pixelPitch(), normals_out, depth_in.devicePtr(), depth_in.pixelPitch(), centroid_out, (uchar4*)colour_in.data, colour_in.step/4, smoothing, colour_smoothing, camera); break;
+ case 20: mls_aggr_horiz_kernel<20><<<gridSize, blockSize, 0, stream>>>(region.devicePtr(), region.pixelPitch(), normals_in.devicePtr(), normals_in.pixelPitch(), normals_out, depth_in.devicePtr(), depth_in.pixelPitch(), centroid_out, (uchar4*)colour_in.data, colour_in.step/4, smoothing, colour_smoothing, camera); break;
default: return;
}
cudaSafeCall( cudaGetLastError() );
diff --git a/components/operators/src/normals.cpp b/components/operators/src/normals.cpp
index aefd04623e7ef9a6f89c6cbaa7d3b3984542612e..d4831c56204598cb8537ab984caf806c6830c628 100644
--- a/components/operators/src/normals.cpp
+++ b/components/operators/src/normals.cpp
@@ -8,7 +8,7 @@ using ftl::operators::SmoothNormals;
using ftl::codecs::Channel;
using ftl::rgbd::Format;
-Normals::Normals(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+Normals::Normals(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
}
@@ -18,7 +18,9 @@ Normals::~Normals() {
bool Normals::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) {
if (!in.hasChannel(Channel::Depth)) {
- throw FTL_Error("Missing depth channel in Normals operator");
+ out.message(ftl::data::Message::Warning_MISSING_CHANNEL, "Missing Depth Channel in Normals operator");
+ //throw FTL_Error("Missing depth channel in Normals operator");
+ return false;
}
if (out.hasChannel(Channel::Normals)) {
@@ -37,7 +39,7 @@ bool Normals::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t st
// =============================================================================
-NormalDot::NormalDot(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+NormalDot::NormalDot(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
}
@@ -47,7 +49,9 @@ NormalDot::~NormalDot() {
bool NormalDot::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) {
if (!in.hasChannel(Channel::Depth)) {
- throw FTL_Error("Missing depth channel in Normals operator");
+ out.message(ftl::data::Message::Warning_MISSING_CHANNEL, "Missing Depth Channel in Normals operator");
+ //throw FTL_Error("Missing depth channel in Normals operator");
+ return false;
}
if (out.hasChannel(Channel::Normals)) {
@@ -67,7 +71,7 @@ bool NormalDot::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t
// =============================================================================
-SmoothNormals::SmoothNormals(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+SmoothNormals::SmoothNormals(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
}
@@ -80,6 +84,7 @@ bool SmoothNormals::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStrea
int radius = max(0, min(config()->value("radius",1), 5));
if (!in.hasChannel(Channel::Depth)) {
+ out.message(ftl::data::Message::Warning_MISSING_CHANNEL, "Missing Depth Channel in Normals operator");
throw FTL_Error("Missing depth channel in SmoothNormals operator");
}
diff --git a/components/operators/src/nvopticalflow.cpp b/components/operators/src/nvopticalflow.cpp
index 2426c10197a165b02929f444544cdc338de98cf7..8c0d38a6937e08b1efba9f61601029b4bd9cad15 100644
--- a/components/operators/src/nvopticalflow.cpp
+++ b/components/operators/src/nvopticalflow.cpp
@@ -18,13 +18,13 @@ using ftl::operators::NVOpticalFlow;
using cv::Size;
using cv::cuda::GpuMat;
-NVOpticalFlow::NVOpticalFlow(ftl::Configurable* cfg) :
- ftl::operators::Operator(cfg), channel_in_{ftl::codecs::Channel::Colour,ftl::codecs::Channel::Colour2}, channel_out_{ftl::codecs::Channel::Flow,ftl::codecs::Channel::Flow2} {
+NVOpticalFlow::NVOpticalFlow(ftl::operators::Graph *g, ftl::Configurable* cfg) :
+ ftl::operators::Operator(g, cfg), channel_in_{ftl::codecs::Channel::Colour,ftl::codecs::Channel::Colour2}, channel_out_{ftl::codecs::Channel::Flow,ftl::codecs::Channel::Flow2} {
size_ = Size(0, 0);
}
-NVOpticalFlow::NVOpticalFlow(ftl::Configurable*cfg, const std::tuple<ftl::codecs::Channel,ftl::codecs::Channel,ftl::codecs::Channel,ftl::codecs::Channel> &channels) : ftl::operators::Operator(cfg) {
+NVOpticalFlow::NVOpticalFlow(ftl::operators::Graph *g, ftl::Configurable*cfg, const std::tuple<ftl::codecs::Channel,ftl::codecs::Channel,ftl::codecs::Channel,ftl::codecs::Channel> &channels) : ftl::operators::Operator(g, cfg) {
channel_in_[0] = std::get<0>(channels);
channel_out_[0] = std::get<1>(channels);
channel_in_[1] = std::get<2>(channels);
@@ -74,7 +74,7 @@ bool NVOpticalFlow::apply(Frame &in, Frame &out, cudaStream_t stream) {
auto &flow1 = out.create<GpuMat>(channel_out_[0]);
cv::cuda::cvtColor(in.get<GpuMat>(channel_in_[0]), left_gray_, cv::COLOR_BGRA2GRAY, 0, cvstream);
- cv::cuda::cvtColor(in.get<GpuMat>(channel_in_[1]), right_gray_, cv::COLOR_BGRA2GRAY, 0, cvstream);
+ if (both_channels) cv::cuda::cvtColor(in.get<GpuMat>(channel_in_[1]), right_gray_, cv::COLOR_BGRA2GRAY, 0, cvstream);
// TODO: Use optical flow confidence output, perhaps combined with a
// sensitivity adjustment
diff --git a/components/operators/src/operator.cpp b/components/operators/src/operator.cpp
index 617514afdfa3542846415001b085422a01f1bbea..81adaaa8752f17ab69070c47291ed53ba414c2db 100644
--- a/components/operators/src/operator.cpp
+++ b/components/operators/src/operator.cpp
@@ -8,11 +8,12 @@ using ftl::operators::Graph;
using ftl::rgbd::Frame;
using ftl::rgbd::FrameSet;
using ftl::rgbd::Source;
+using ftl::codecs::Channel;
-Operator::Operator(ftl::Configurable *config) : config_(config) {
+Operator::Operator(ftl::operators::Graph *g, ftl::Configurable *config) : config_(config), graph_(g) {
enabled_ = config_->value("enabled", true);
- config_->on("enabled", [this](const ftl::config::Event &e) {
+ config_->on("enabled", [this]() {
enabled_ = config_->value("enabled", true);
});
}
@@ -34,24 +35,83 @@ bool Operator::apply(FrameSet &in, Frame &out, cudaStream_t stream) {
Graph::Graph(nlohmann::json &config) : ftl::Configurable(config) {
- cudaSafeCall( cudaStreamCreate(&stream_) );
+ busy_.clear();
}
Graph::~Graph() {
- cudaStreamDestroy(stream_);
+ // Cleanup configurables
+ for (auto &c : configs_) {
+ delete c.second;
+ }
+ for (auto &o : operators_) {
+ for (auto *i : o.instances) {
+ delete i;
+ }
+ }
+}
+
+cv::cuda::GpuMat &Graph::createBuffer(ftl::operators::Buffer b, uint32_t fid) {
+ if (fid > 32) throw FTL_Error("Too many frames for buffer");
+ auto &v = buffers_[(uint32_t(b) << 8) + fid];
+ valid_buffers_.insert((uint32_t(b) << 8) + fid);
+ return v;
+}
+
+cv::cuda::GpuMat &Graph::getBuffer(ftl::operators::Buffer b, uint32_t fid) {
+ if (fid > 32) throw FTL_Error("Too many frames for buffer");
+ if (!hasBuffer(b, fid)) throw FTL_Error("Buffer does not exist: " << int(b));
+ auto &v = buffers_.at((uint32_t(b) << 8) + fid);
+ return v;
+}
+
+bool Graph::hasBuffer(ftl::operators::Buffer b, uint32_t fid) const {
+ return valid_buffers_.count((uint32_t(b) << 8) + fid) > 0;
+}
+
+bool Graph::queue(const ftl::data::FrameSetPtr &fs, const std::function<void()> &cb) {
+ if (!value("enabled", true)) return true;
+ if (fs->frames.size() < 1) return true;
+
+ {
+ UNIQUE_LOCK(mtx_, lk);
+ if (queue_.size() > 3) {
+ LOG(ERROR) << "Pipeline queue exceeded";
+ return false;
+ }
+ queue_.emplace_back(fs, cb);
+ }
+
+ if (busy_.test_and_set()) {
+ LOG(INFO) << "Pipeline queued... " << queue_.size();
+ return true;
+ }
+
+ _processOne();
+ return true;
}
-bool Graph::apply(FrameSet &in, FrameSet &out, cudaStream_t stream) {
- if (!value("enabled", true)) return false;
+bool Graph::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out) {
+ if (!value("enabled", true)) return true;
+ if (in.frames.size() < 1) return true;
+
+ return _apply(in, out);
+}
- auto stream_actual = (stream == 0) ? stream_ : stream;
+bool Graph::_apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out) {
+ auto stream_actual = in.frames[0].stream();
bool success = true;
- if (in.frames.size() != out.frames.size()) return false;
+ valid_buffers_.clear();
+
+ for (auto &f : out.frames) {
+ if (!f.hasOwn(Channel::Pipelines)) f.create<std::list<std::string>>(Channel::Pipelines);
+ auto pls = f.set<std::list<std::string>>(Channel::Pipelines);
+ pls = getID();
+ }
for (auto &i : operators_) {
if (i.instances.size() < 1) {
- i.instances.push_back(i.maker->make());
+ i.instances.push_back(i.maker->make(this));
}
if (i.instances[0]->type() == Operator::Type::OneToOne) {
@@ -60,20 +120,22 @@ bool Graph::apply(FrameSet &in, FrameSet &out, cudaStream_t stream) {
//i.instances.push_back(i.maker->make());
//}
if (in.frames.size() > 1 && i.instances.size() < 2 && !i.instances[0]->isMemoryHeavy()) {
- i.instances.push_back(i.maker->make());
+ i.instances.push_back(i.maker->make(this));
}
for (size_t j=0; j<in.frames.size(); ++j) {
- if (!in.hasFrame(j)) continue;
+ if (!in.hasFrame(j)) in.frames[j].message(ftl::data::Message::Warning_INCOMPLETE_FRAME, "Frame not complete in Pipeline");
int iix = (i.instances[0]->isMemoryHeavy()) ? 0 : j&0x1;
auto *instance = i.instances[iix];
if (instance->enabled()) {
try {
- instance->apply(in.frames[j], out.frames[j], stream_actual);
+ instance->apply(in.frames[j].cast<ftl::rgbd::Frame>(), out.frames[j].cast<ftl::rgbd::Frame>(), stream_actual);
+ //cudaSafeCall(cudaStreamSynchronize(stream_actual));
} catch (const std::exception &e) {
LOG(ERROR) << "Operator exception for '" << instance->config()->getID() << "': " << e.what();
+ in.frames[j].message(ftl::data::Message::Error_OPERATOR_EXCEPTION, "Operator exception");
success = false;
break;
}
@@ -86,8 +148,10 @@ bool Graph::apply(FrameSet &in, FrameSet &out, cudaStream_t stream) {
if (instance->enabled()) {
try {
instance->apply(in, out, stream_actual);
+ //cudaSafeCall(cudaStreamSynchronize(stream_actual));
} catch (const std::exception &e) {
LOG(ERROR) << "Operator exception for '" << instance->config()->getID() << "': " << e.what();
+ if (in.frames.size() > 0) in.frames[0].message(ftl::data::Message::Error_OPERATOR_EXCEPTION, "Operator exception");
success = false;
break;
}
@@ -96,12 +160,51 @@ bool Graph::apply(FrameSet &in, FrameSet &out, cudaStream_t stream) {
}
success = waitAll(stream_actual) && success;
+ return success;
+}
+
+void Graph::_processOne() {
- if (stream == 0) {
- cudaSafeCall(cudaStreamSynchronize(stream_actual));
+ ftl::data::FrameSetPtr fs;
+ std::function<void()> cb;
+
+ {
+ UNIQUE_LOCK(mtx_, lk);
+ if(queue_.size() == 0) {
+ busy_.clear();
+ return;
+ }
+
+ fs = queue_.front().first;
+ cb = queue_.front().second;
+ queue_.pop_front();
}
- return success;
+ auto &in = *fs;
+ auto &out = *fs;
+
+ auto stream_actual = in.frames[0].stream();
+
+ _apply(in, out);
+
+ if (cb) {
+ cudaCallback(stream_actual, [this,cb]() {
+ bool sched = false;
+ {
+ UNIQUE_LOCK(mtx_, lk);
+ if (queue_.size() == 0) busy_.clear();
+ else sched = true;
+ }
+ ftl::pool.push([this,cb,sched](int id) {
+ if (sched) _processOne();
+ cb();
+ });
+ });
+ } else {
+ busy_.clear();
+ }
+
+ return;
}
bool Graph::waitAll(cudaStream_t stream) {
@@ -118,16 +221,28 @@ bool Graph::waitAll(cudaStream_t stream) {
return true;
}
-bool Graph::apply(Frame &in, Frame &out, cudaStream_t stream) {
- if (!value("enabled", true)) return false;
+bool Graph::apply(Frame &in, Frame &out, const std::function<void()> &cb) {
+ if (!value("enabled", true)) return true;
- auto stream_actual = (stream == 0) ? stream_ : stream;
+ auto stream_actual = in.stream();
bool success = true;
+ if (busy_.test_and_set()) {
+ LOG(ERROR) << "Pipeline already in use: " << in.timestamp();
+ //if (cb) cb();
+ return false;
+ }
+
+ valid_buffers_.clear();
+
+ if (!out.hasOwn(Channel::Pipelines)) out.create<std::list<std::string>>(Channel::Pipelines);
+ auto pls = out.set<std::list<std::string>>(Channel::Pipelines);
+ pls = getID();
+
for (auto &i : operators_) {
// Make sure there are enough instances
if (i.instances.size() < 1) {
- i.instances.push_back(i.maker->make());
+ i.instances.push_back(i.maker->make(this));
}
auto *instance = i.instances[0];
@@ -135,9 +250,11 @@ bool Graph::apply(Frame &in, Frame &out, cudaStream_t stream) {
if (instance->enabled()) {
try {
instance->apply(in, out, stream_actual);
+ //cudaSafeCall(cudaStreamSynchronize(stream_actual));
} catch (const std::exception &e) {
LOG(ERROR) << "Operator exception for '" << instance->config()->getID() << "': " << e.what();
success = false;
+ out.message(ftl::data::Message::Error_OPERATOR_EXCEPTION, "Operator exception");
break;
}
}
@@ -145,11 +262,18 @@ bool Graph::apply(Frame &in, Frame &out, cudaStream_t stream) {
success = waitAll(stream_actual) && success;
- if (stream == 0) {
- cudaSafeCall(cudaStreamSynchronize(stream_actual));
+ if (cb) {
+ cudaCallback(stream_actual, [this,cb]() {
+ busy_.clear();
+ ftl::pool.push([cb](int id) { cb(); });
+ });
+ } else {
+ //cudaSafeCall(cudaStreamSynchronize(stream_actual));
+ busy_.clear();
}
- return success;
+ //busy_.clear();
+ return true;
}
ftl::Configurable *Graph::_append(ftl::operators::detail::ConstructionHelperBase *m) {
diff --git a/components/operators/src/poser.cpp b/components/operators/src/poser.cpp
index f81c11d39bfd7984231b8e326fdc04bdf418a06c..4d220b90404930198f766cc6fd2fefca2874e726 100644
--- a/components/operators/src/poser.cpp
+++ b/components/operators/src/poser.cpp
@@ -8,9 +8,11 @@ using ftl::codecs::Channel;
using ftl::codecs::Shape3DType;
using std::string;
+static SHARED_MUTEX smtx;
std::unordered_map<std::string,ftl::operators::Poser::PoseState> Poser::pose_db__;
+std::unordered_map<int,std::list<ftl::codecs::Shape3D*>> Poser::fs_shapes__;
-Poser::Poser(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+Poser::Poser(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
}
@@ -18,36 +20,48 @@ Poser::~Poser() {
}
-void Poser::add(const ftl::codecs::Shape3D &t, int frameset, int frame) {
+void Poser::add(const ftl::codecs::Shape3D &t, ftl::data::FrameID id) {
std::string idstr;
switch(t.type) {
case Shape3DType::ARUCO : idstr = "aruco-"; break;
case Shape3DType::CAMERA : idstr = "camera-"; break;
+ case Shape3DType::CURSOR : idstr = "cursor-"; break;
default : idstr = "unk-"; break;
}
- idstr += std::to_string(frameset) + string("-") + std::to_string(frame) + string("-") + std::to_string(t.id);
+ idstr += std::to_string(id.frameset()) + string("-") + std::to_string(id.source()) + string("-") + std::to_string(t.id);
- auto pose = t.pose.cast<double>(); // f.getPose() *
+ //auto pose = t.pose.cast<double>(); // f.getPose() *
+ UNIQUE_LOCK(smtx, lk);
auto p = pose_db__.find(idstr);
if (p == pose_db__.end()) {
ftl::operators::Poser::PoseState ps;
- ps.pose = pose;
+ ps.shape = t;
ps.locked = false;
pose_db__.emplace(std::make_pair(idstr,ps));
LOG(INFO) << "POSE ID: " << idstr;
+ fs_shapes__[id.frameset()].push_back(&pose_db__[idstr].shape);
} else {
// TODO: Merge poses
- if (!(*p).second.locked) (*p).second.pose = pose;
+ if (!(*p).second.locked) (*p).second.shape = t;
//LOG(INFO) << "POSE ID: " << idstr;
}
}
+std::list<ftl::codecs::Shape3D*> Poser::getAll(int32_t fsid) {
+ SHARED_LOCK(smtx, lk);
+ if (fs_shapes__.count(fsid)) {
+ return fs_shapes__[fsid];
+ }
+ return {};
+}
+
bool Poser::get(const std::string &name, Eigen::Matrix4d &pose) {
+ SHARED_LOCK(smtx, lk);
auto p = pose_db__.find(name);
if (p != pose_db__.end()) {
- pose = (*p).second.pose;
+ pose = (*p).second.shape.pose.cast<double>();
return true;
} else {
LOG(WARNING) << "Pose not found: " << name;
@@ -55,62 +69,85 @@ bool Poser::get(const std::string &name, Eigen::Matrix4d &pose) {
}
}
-bool Poser::set(const std::string &name, const Eigen::Matrix4d &pose) {
- auto p = pose_db__.find(name);
- if (p == pose_db__.end()) {
- ftl::operators::Poser::PoseState ps;
- ps.pose = pose;
- ps.locked = false;
- pose_db__.emplace(std::make_pair(name,ps));
- LOG(INFO) << "POSE ID: " << name;
- } else {
- // TODO: Merge poses
- if (!(*p).second.locked) (*p).second.pose = pose;
- //LOG(INFO) << "POSE ID: " << idstr;
- }
- return true;
-}
-
bool Poser::apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cudaStream_t stream) {
if (in.hasChannel(Channel::Shapes3D)) {
- std::vector<ftl::codecs::Shape3D> transforms;
- in.get(Channel::Shapes3D, transforms);
+ const auto &transforms = in.get<std::list<ftl::codecs::Shape3D>>(Channel::Shapes3D);
//LOG(INFO) << "Found shapes 3D global: " << (int)transforms.size();
for (auto &t : transforms) {
// LOG(INFO) << "Have FS transform: " << t.label;
- add(t, in.id, 255);
+ add(t, in.id());
}
}
for (size_t i=0; i<in.frames.size(); ++i) {
- if (in.hasFrame(i)) {
- auto &f = in.frames[i];
+ //if (in.hasFrame(i)) {
+ auto &f = in.frames[i].cast<ftl::rgbd::Frame>();
if (f.hasChannel(Channel::Shapes3D)) {
- std::vector<ftl::codecs::Shape3D> transforms;
- f.get(Channel::Shapes3D, transforms);
+ const auto &transforms = f.get<std::list<ftl::codecs::Shape3D>>(Channel::Shapes3D);
//LOG(INFO) << "Found shapes 3D: " << (int)transforms.size();
for (auto &t : transforms) {
- add(t, in.id, i);
+ add(t, f.id());
}
}
- }
+
+ if (f.hasChannel(Channel::Pose)) {
+ ftl::codecs::Shape3D cam;
+ cam.id = 0;
+ cam.label = f.name();
+ cam.pose = f.getPose().cast<float>();
+ cam.type = ftl::codecs::Shape3DType::CAMERA;
+ add(cam, f.id());
+ }
+ //}
}
+ SHARED_LOCK(smtx, lk);
string pose_ident = config()->value("pose_ident",string("default"));
if (pose_ident != "default") {
auto p = pose_db__.find(pose_ident);
if (p != pose_db__.end()) {
(*p).second.locked = config()->value("locked",false);
- in.pose = (*p).second.pose;
+
+ Eigen::Matrix4d pose = (*p).second.shape.pose.cast<double>();
+
+ if (in.frames.size() == 1) {
+ auto response = in.frames[0].response();
+ auto &rgbdf = response.cast<ftl::rgbd::Frame>();
+ rgbdf.setPose() = (config()->value("inverse",false)) ? pose.inverse() : pose;
+ } else {
+ in.cast<ftl::rgbd::Frame>().setPose() = (config()->value("inverse",false)) ? pose.inverse() : pose;
+ }
} else {
LOG(WARNING) << "Pose not found: " << pose_ident;
}
}
+ return true;
+}
+
+bool Poser::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) {
+ auto &f = in;
+
+ if (f.hasChannel(Channel::Shapes3D)) {
+ const auto &transforms = f.get<std::list<ftl::codecs::Shape3D>>(Channel::Shapes3D);
+
+ for (auto &t : transforms) {
+ add(t, f.id());
+ }
+ }
+
+ if (f.hasChannel(Channel::Pose)) {
+ ftl::codecs::Shape3D cam;
+ cam.id = 0;
+ cam.label = f.name();
+ cam.pose = f.getPose().cast<float>();
+ cam.type = ftl::codecs::Shape3DType::CAMERA;
+ add(cam, f.id());
+ }
return true;
}
\ No newline at end of file
diff --git a/components/operators/src/segmentation.cpp b/components/operators/src/segmentation.cpp
index d2201a088fa636bc0fb2a15215443a95ce3c4b5d..e256dc091a5c7c701729ce005aaf4e11f3f76591 100644
--- a/components/operators/src/segmentation.cpp
+++ b/components/operators/src/segmentation.cpp
@@ -1,11 +1,15 @@
#include <ftl/operators/segmentation.hpp>
#include "segmentation_cuda.hpp"
+#include <opencv2/cudawarping.hpp>
+
+#include <loguru.hpp>
using ftl::operators::CrossSupport;
using ftl::operators::VisCrossSupport;
using ftl::codecs::Channel;
+using cv::cuda::GpuMat;
-CrossSupport::CrossSupport(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+CrossSupport::CrossSupport(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
}
@@ -16,20 +20,48 @@ CrossSupport::~CrossSupport() {
bool CrossSupport::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) {
bool use_mask = config()->value("discon_support", false);
+ if (!in.hasChannel(Channel::Colour)) {
+ out.message(ftl::data::Message::Warning_MISSING_CHANNEL, "Missing Colour channel in Support operator");
+ return false;
+ }
+
+ auto cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
+
+ const auto &intrin = in.getLeft();
+ cv::Size size(intrin.width, intrin.height);
+
+ const GpuMat &rgb = in.get<GpuMat>(Channel::Colour);
+ if (rgb.empty()) return false;
+
+ GpuMat rgb_buf;
+ if (rgb.size() != size) {
+ if (graph()->hasBuffer(Buffer::LowLeft, in.source())) {
+ rgb_buf = graph()->getBuffer(Buffer::LowLeft, in.source());
+ } else {
+ auto &t = graph()->createBuffer(Buffer::LowLeft, in.source());
+ cv::cuda::resize(rgb, t, size, 0, 0, cv::INTER_LINEAR, cvstream);
+ rgb_buf = t;
+ }
+ } else {
+ rgb_buf = rgb;
+ }
if (use_mask && !in.hasChannel(Channel::Support2)) {
- if (!in.hasChannel(Channel::Mask)) return false;
+ if (!in.hasChannel(Channel::Mask)) {
+ out.message(ftl::data::Message::Warning_MISSING_CHANNEL, "Missing Mask channel in Support operator");
+ return false;
+ }
ftl::cuda::support_region(
in.createTexture<uint8_t>(Channel::Mask),
- out.createTexture<uchar4>(Channel::Support2, ftl::rgbd::Format<uchar4>(in.get<cv::cuda::GpuMat>(Channel::Colour).size())),
+ out.createTexture<uchar4>(Channel::Support2, ftl::rgbd::Format<uchar4>(rgb_buf.size())),
config()->value("v_max", 5),
config()->value("h_max", 5),
config()->value("symmetric", false), stream
);
} else if (!in.hasChannel(Channel::Support1)) {
ftl::cuda::support_region(
- in.createTexture<uchar4>(Channel::Colour),
- out.createTexture<uchar4>(Channel::Support1, ftl::rgbd::Format<uchar4>(in.get<cv::cuda::GpuMat>(Channel::Colour).size())),
+ rgb_buf,
+ out.createTexture<uchar4>(Channel::Support1, ftl::rgbd::Format<uchar4>(rgb_buf.size())),
config()->value("tau", 10.0f),
config()->value("v_max", 5),
config()->value("h_max", 5),
@@ -43,7 +75,7 @@ bool CrossSupport::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream
-VisCrossSupport::VisCrossSupport(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+VisCrossSupport::VisCrossSupport(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
}
diff --git a/components/operators/src/segmentation.cu b/components/operators/src/segmentation.cu
index de1268931a7b91bb09f0e3dc6385a8d9c7a4a9d8..c8f780363622c00292aebea375e05eb98fb722c3 100644
--- a/components/operators/src/segmentation.cu
+++ b/components/operators/src/segmentation.cu
@@ -25,20 +25,20 @@ __device__ inline float cross<float>(float p1, float p2) {
}
template <typename T, bool SYM>
-__device__ uchar4 calculate_support_region(const TextureObject<T> &img, int x, int y, float tau, int v_max, int h_max) {
+__device__ uchar4 calculate_support_region(const T* __restrict__ img, int width, int height, int pitch, int x, int y, float tau, int v_max, int h_max) {
int x_min = max(0, x - h_max);
- int x_max = min(img.width()-1, static_cast<unsigned int>(x + h_max));
+ int x_max = min(width-1, static_cast<unsigned int>(x + h_max));
int y_min = max(0, y - v_max);
- int y_max = min(img.height()-1, static_cast<unsigned int>(y + v_max));
+ int y_max = min(height-1, static_cast<unsigned int>(y + v_max));
uchar4 result = make_uchar4(0, 0, 0, 0);
- auto colour = img.tex2D((float)x+0.5f,(float)y+0.5f);
+ auto colour = img[x+y*pitch];
auto prev_colour = colour;
int u;
for (u=x-1; u >= x_min; --u) {
- auto next_colour = img.tex2D((float)u+0.5f,(float)y+0.5f);
+ auto next_colour = img[u+y*pitch];
if (cross(prev_colour, next_colour) > tau) {
result.x = x - u - 1;
break;
@@ -49,7 +49,7 @@ __device__ uchar4 calculate_support_region(const TextureObject<T> &img, int x, i
prev_colour = colour;
for (u=x+1; u <= x_max; ++u) {
- auto next_colour = img.tex2D((float)u+0.5f,(float)y+0.5f);
+ auto next_colour = img[u+y*pitch];
if (cross(prev_colour, next_colour) > tau) {
result.y = u - x - 1;
break;
@@ -61,7 +61,7 @@ __device__ uchar4 calculate_support_region(const TextureObject<T> &img, int x, i
int v;
prev_colour = colour;
for (v=y-1; v >= y_min; --v) {
- auto next_colour = img.tex2D((float)x+0.5f,(float)v+0.5f);
+ auto next_colour = img[x+v*pitch];
if (cross(prev_colour, next_colour) > tau) {
result.z = y - v - 1;
break;
@@ -72,7 +72,7 @@ __device__ uchar4 calculate_support_region(const TextureObject<T> &img, int x, i
prev_colour = colour;
for (v=y+1; v <= y_max; ++v) {
- auto next_colour = img.tex2D((float)x+0.5f,(float)v+0.5f);
+ auto next_colour = img[x+v*pitch];
if (cross(prev_colour, next_colour) > tau) {
result.w = v - y - 1;
break;
@@ -91,19 +91,19 @@ __device__ uchar4 calculate_support_region(const TextureObject<T> &img, int x, i
return result;
}
-__device__ uchar4 calculate_support_region(const TextureObject<uint8_t> &img, int x, int y, int v_max, int h_max) {
+__device__ uchar4 calculate_support_region(const uint8_t* __restrict__ img, int width, int height, int pitch, int x, int y, int v_max, int h_max) {
int x_min = max(0, x - h_max);
- int x_max = min(img.width()-1, static_cast<unsigned int>(x + h_max));
+ int x_max = min(width-1, static_cast<unsigned int>(x + h_max));
int y_min = max(0, y - v_max);
- int y_max = min(img.height()-1, static_cast<unsigned int>(y + v_max));
+ int y_max = min(height-1, static_cast<unsigned int>(y + v_max));
uchar4 result = make_uchar4(0, 0, 0, 0);
- Mask m1(img.tex2D(x,y));
+ Mask m1(img[x+y*pitch]);
int u;
for (u=x-1; u >= x_min; --u) {
- Mask m2(img.tex2D(u,y));
+ Mask m2(img[u+y*pitch]);
if (m2.isDiscontinuity()) {
result.x = x - u - 1;
break;
@@ -112,7 +112,7 @@ __device__ uchar4 calculate_support_region(const TextureObject<uint8_t> &img, in
if (u < x_min) result.x = x - x_min;
for (u=x+1; u <= x_max; ++u) {
- Mask m2(img.tex2D(u,y));
+ Mask m2(img[u+y*pitch]);
if (m2.isDiscontinuity()) {
result.y = u - x - 1;
break;
@@ -122,7 +122,7 @@ __device__ uchar4 calculate_support_region(const TextureObject<uint8_t> &img, in
int v;
for (v=y-1; v >= y_min; --v) {
- Mask m2(img.tex2D(x,v));
+ Mask m2(img[x+v*pitch]);
if (m2.isDiscontinuity()) {
result.z = y - v - 1;
break;
@@ -131,7 +131,7 @@ __device__ uchar4 calculate_support_region(const TextureObject<uint8_t> &img, in
if (v < y_min) result.z = y - y_min;
for (v=y+1; v <= y_max; ++v) {
- Mask m2(img.tex2D(x,v));
+ Mask m2(img[x+v*pitch]);
if (m2.isDiscontinuity()) {
result.w = v - y - 1;
break;
@@ -150,26 +150,26 @@ __device__ uchar4 calculate_support_region(const TextureObject<uint8_t> &img, in
}
template <typename T, bool SYM>
-__global__ void support_region_kernel(TextureObject<T> img, TextureObject<uchar4> region, float tau, int v_max, int h_max) {
+__global__ void support_region_kernel(const T* __restrict__ img, int width, int height, int pitch, TextureObject<uchar4> region, float tau, int v_max, int h_max) {
const int x = blockIdx.x*blockDim.x + threadIdx.x;
const int y = blockIdx.y*blockDim.y + threadIdx.y;
- if (x < 0 || y < 0 || x >= img.width() || y >= img.height()) return;
+ if (x < 0 || y < 0 || x >= width || y >= height) return;
- region(x,y) = calculate_support_region<T,SYM>(img, x, y, tau, v_max, h_max);
+ region(x,y) = calculate_support_region<T,SYM>(img, width, height, pitch, x, y, tau, v_max, h_max);
}
-__global__ void support_region_kernel(TextureObject<uint8_t> img, TextureObject<uchar4> region, int v_max, int h_max) {
+__global__ void support_region_kernel(const uint8_t* __restrict__ img, int width, int height, int pitch, TextureObject<uchar4> region, int v_max, int h_max) {
const int x = blockIdx.x*blockDim.x + threadIdx.x;
const int y = blockIdx.y*blockDim.y + threadIdx.y;
- if (x < 0 || y < 0 || x >= img.width() || y >= img.height()) return;
+ if (x < 0 || y < 0 || x >= width || y >= height) return;
- region(x,y) = calculate_support_region(img, x, y, v_max, h_max);
+ region(x,y) = calculate_support_region(img, width, height, pitch, x, y, v_max, h_max);
}
void ftl::cuda::support_region(
- ftl::cuda::TextureObject<uchar4> &colour,
+ const cv::cuda::GpuMat &colour,
ftl::cuda::TextureObject<uchar4> ®ion,
float tau,
int v_max,
@@ -180,8 +180,8 @@ void ftl::cuda::support_region(
const dim3 gridSize((region.width() + T_PER_BLOCK - 1)/T_PER_BLOCK, (region.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
- if (sym) support_region_kernel<uchar4, true><<<gridSize, blockSize, 0, stream>>>(colour, region, tau, v_max, h_max);
- else support_region_kernel<uchar4, false><<<gridSize, blockSize, 0, stream>>>(colour, region, tau, v_max, h_max);
+ if (sym) support_region_kernel<uchar4, true><<<gridSize, blockSize, 0, stream>>>((uchar4*)colour.data, colour.cols, colour.rows, colour.step/4, region, tau, v_max, h_max);
+ else support_region_kernel<uchar4, false><<<gridSize, blockSize, 0, stream>>>((uchar4*)colour.data, colour.cols, colour.rows, colour.step/4, region, tau, v_max, h_max);
cudaSafeCall( cudaGetLastError() );
@@ -202,7 +202,7 @@ void ftl::cuda::support_region(
const dim3 gridSize((region.width() + T_PER_BLOCK - 1)/T_PER_BLOCK, (region.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
- support_region_kernel<float, true><<<gridSize, blockSize, 0, stream>>>(depth, region, tau, v_max, h_max);
+ support_region_kernel<float, true><<<gridSize, blockSize, 0, stream>>>(depth.devicePtr(), depth.width(), depth.height(), depth.pixelPitch(), region, tau, v_max, h_max);
cudaSafeCall( cudaGetLastError() );
@@ -222,7 +222,7 @@ void ftl::cuda::support_region(
const dim3 gridSize((region.width() + T_PER_BLOCK - 1)/T_PER_BLOCK, (region.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
- support_region_kernel<<<gridSize, blockSize, 0, stream>>>(mask, region, v_max, h_max);
+ support_region_kernel<<<gridSize, blockSize, 0, stream>>>(mask.devicePtr(), mask.width(), mask.height(), mask.pixelPitch(), region, v_max, h_max);
cudaSafeCall( cudaGetLastError() );
diff --git a/components/operators/src/segmentation_cuda.hpp b/components/operators/src/segmentation_cuda.hpp
index 445ed7e6d0f2624808232e66d834a360c6d798e8..49faa4e87fb58df03da7f5332c5313e7f35121c1 100644
--- a/components/operators/src/segmentation_cuda.hpp
+++ b/components/operators/src/segmentation_cuda.hpp
@@ -7,7 +7,7 @@ namespace ftl {
namespace cuda {
void support_region(
- ftl::cuda::TextureObject<uchar4> &colour,
+ const cv::cuda::GpuMat &colour,
ftl::cuda::TextureObject<uchar4> ®ion,
float tau, int v_max, int h_max, bool sym,
cudaStream_t stream);
diff --git a/components/operators/src/smoothing.cpp b/components/operators/src/smoothing.cpp
index 7391626224673e90e481750905f13191acd4755c..347b6b7754b49363be98578a94e1d049b6ffec1a 100644
--- a/components/operators/src/smoothing.cpp
+++ b/components/operators/src/smoothing.cpp
@@ -18,7 +18,7 @@ using ftl::codecs::Channel;
using ftl::rgbd::Format;
using cv::cuda::GpuMat;
-HFSmoother::HFSmoother(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+HFSmoother::HFSmoother(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
}
@@ -71,7 +71,7 @@ bool HFSmoother::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t
// ====== Smoothing Channel ====================================================
-SmoothChannel::SmoothChannel(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+SmoothChannel::SmoothChannel(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
}
@@ -89,7 +89,7 @@ bool SmoothChannel::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStrea
float scale = 1.0f;
// Clear to max smoothing
- out.create<GpuMat>(Channel::Smoothing, Format<float>(width, height)).setTo(cv::Scalar(1.0f));
+ out.create<ftl::rgbd::VideoFrame>(Channel::Smoothing).createGPU(Format<float>(width, height)).setTo(cv::Scalar(1.0f));
// Reduce to nearest
ftl::cuda::smooth_channel(
@@ -108,14 +108,16 @@ bool SmoothChannel::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStrea
height /= 2;
scale *= 2.0f;
+ temp_[i].create(width,height);
+
ftl::rgbd::Camera scaledCam = in.getLeftCamera().scaled(width, height);
// Downscale images for next pass
- cv::cuda::resize(in.get<GpuMat>(Channel::Colour), temp_[i].create<GpuMat>(Channel::Colour), cv::Size(width, height), 0.0, 0.0, cv::INTER_LINEAR);
+ cv::cuda::resize(in.get<GpuMat>(Channel::Colour), temp_[i].to_gpumat(), cv::Size(width, height), 0.0, 0.0, cv::INTER_LINEAR);
//cv::cuda::resize(in.get<GpuMat>(Channel::Depth), temp_[i].create<GpuMat>(Channel::Depth), cv::Size(width, height), 0.0, 0.0, cv::INTER_NEAREST);
ftl::cuda::smooth_channel(
- temp_[i].createTexture<uchar4>(Channel::Colour),
+ temp_[i],
//temp_[i].createTexture<float>(Channel::Depth),
out.getTexture<float>(Channel::Smoothing),
scaledCam,
@@ -133,7 +135,7 @@ bool SmoothChannel::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStrea
// ===== MLS ===================================================================
-SimpleMLS::SimpleMLS(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+SimpleMLS::SimpleMLS(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg), temp_(ftl::data::Frame::make_standalone()) {
}
@@ -146,6 +148,8 @@ bool SimpleMLS::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t
int iters = config()->value("mls_iterations", 1);
int radius = config()->value("mls_radius",2);
+ auto &temp = temp_.cast<ftl::rgbd::Frame>();
+
if (!in.hasChannel(Channel::Normals)) {
/*ftl::cuda::normals(
in.createTexture<float4>(Channel::Normals, ftl::rgbd::Format<float4>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
@@ -160,9 +164,9 @@ bool SimpleMLS::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t
for (int i=0; i<iters; ++i) {
ftl::cuda::mls_smooth(
in.createTexture<half4>(Channel::Normals),
- temp_.createTexture<half4>(Channel::Normals, ftl::rgbd::Format<half4>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
+ temp.createTexture<half4>(Channel::Normals, ftl::rgbd::Format<half4>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
in.createTexture<float>(Channel::Depth),
- temp_.createTexture<float>(Channel::Depth, ftl::rgbd::Format<float>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
+ temp.createTexture<float>(Channel::Depth, ftl::rgbd::Format<float>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
thresh,
radius,
in.getLeftCamera(),
@@ -171,7 +175,8 @@ bool SimpleMLS::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t
//in.swapChannels(Channel::Depth, Channel::Depth2);
//in.swapChannels(Channel::Normals, Channel::Points);
- temp_.swapChannels(Channel::Normals + Channel::Depth, in);
+ temp.swapChannel(Channel::Normals, in);
+ temp.swapChannel(Channel::Depth, in);
}
return true;
@@ -179,7 +184,7 @@ bool SimpleMLS::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t
-ColourMLS::ColourMLS(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+ColourMLS::ColourMLS(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg), temp_(ftl::data::Frame::make_standalone()) {
}
@@ -200,14 +205,33 @@ bool ColourMLS::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t
return false;
}
+ auto &temp = temp_.cast<ftl::rgbd::Frame>();
+ auto size = in.get<GpuMat>(Channel::Depth).size();
+
+ auto cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
+
+ const GpuMat &rgb = in.get<GpuMat>(Channel::Colour);
+ GpuMat rgb_buf;
+ if (rgb.size() != size) {
+ if (graph()->hasBuffer(Buffer::LowLeft, in.source())) {
+ rgb_buf = graph()->getBuffer(Buffer::LowLeft, in.source());
+ } else {
+ auto &t = graph()->createBuffer(Buffer::LowLeft, in.source());
+ cv::cuda::resize(rgb, t, size, 0, 0, cv::INTER_LINEAR, cvstream);
+ rgb_buf = t;
+ }
+ } else {
+ rgb_buf = rgb;
+ }
+
// FIXME: Assume in and out are the same frame.
for (int i=0; i<iters; ++i) {
if (!crosssup) {
ftl::cuda::colour_mls_smooth(
in.createTexture<half4>(Channel::Normals),
- temp_.createTexture<half4>(Channel::Normals, ftl::rgbd::Format<half4>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
+ temp.createTexture<half4>(Channel::Normals, ftl::rgbd::Format<half4>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
in.createTexture<float>(Channel::Depth),
- temp_.createTexture<float>(Channel::Depth, ftl::rgbd::Format<float>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
+ temp.createTexture<float>(Channel::Depth, ftl::rgbd::Format<float>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
in.createTexture<uchar4>(Channel::Colour),
thresh,
col_smooth,
@@ -219,10 +243,11 @@ bool ColourMLS::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t
ftl::cuda::colour_mls_smooth_csr(
in.createTexture<uchar4>(Channel::Support1),
in.createTexture<half4>(Channel::Normals),
- temp_.createTexture<half4>(Channel::Normals, ftl::rgbd::Format<half4>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
+ temp.createTexture<half4>(Channel::Normals, ftl::rgbd::Format<half4>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
in.createTexture<float>(Channel::Depth),
- temp_.createTexture<float>(Channel::Depth, ftl::rgbd::Format<float>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
- in.createTexture<uchar4>(Channel::Colour),
+ temp.createTexture<float>(Channel::Depth, ftl::rgbd::Format<float>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
+ //in.createTexture<uchar4>(Channel::Colour),
+ rgb_buf,
thresh,
col_smooth,
filling,
@@ -233,7 +258,8 @@ bool ColourMLS::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t
//in.swapChannels(Channel::Depth, Channel::Depth2);
//in.swapChannels(Channel::Normals, Channel::Points);
- temp_.swapChannels(Channel::Normals + Channel::Depth, in);
+ temp_.swapChannel(Channel::Depth, in);
+ temp_.swapChannel(Channel::Normals, in);
}
return true;
@@ -242,8 +268,8 @@ bool ColourMLS::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t
// ====== Aggregating MLS ======================================================
-AggreMLS::AggreMLS(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
-
+AggreMLS::AggreMLS(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg), temp_(ftl::data::Frame::make_standalone()) {
+ temp_.store();
}
AggreMLS::~AggreMLS() {
@@ -267,11 +293,29 @@ bool AggreMLS::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t s
return false;
}
+ auto &temp = temp_.cast<ftl::rgbd::Frame>();
+
auto size = in.get<GpuMat>(Channel::Depth).size();
centroid_horiz_.create(size.height, size.width);
normals_horiz_.create(size.height, size.width);
centroid_vert_.create(size.width, size.height);
+ auto cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
+
+ const GpuMat &rgb = in.get<GpuMat>(Channel::Colour);
+ GpuMat rgb_buf;
+ if (rgb.size() != size) {
+ if (graph()->hasBuffer(Buffer::LowLeft, in.source())) {
+ rgb_buf = graph()->getBuffer(Buffer::LowLeft, in.source());
+ } else {
+ auto &t = graph()->createBuffer(Buffer::LowLeft, in.source());
+ cv::cuda::resize(rgb, t, size, 0, 0, cv::INTER_LINEAR, cvstream);
+ rgb_buf = t;
+ }
+ } else {
+ rgb_buf = rgb;
+ }
+
// FIXME: Assume in and out are the same frame.
for (int i=0; i<iters; ++i) {
@@ -282,7 +326,8 @@ bool AggreMLS::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t s
normals_horiz_,
in.createTexture<float>(Channel::Depth),
centroid_horiz_,
- in.createTexture<uchar4>(Channel::Colour),
+ //in.createTexture<uchar4>(Channel::Colour),
+ rgb_buf,
thresh,
col_smooth,
radius,
@@ -306,7 +351,7 @@ bool AggreMLS::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t s
ftl::cuda::mls_adjust_depth(
in.createTexture<half4>(Channel::Normals),
centroid_vert_,
- temp_.createTexture<float>(Channel::Depth, ftl::rgbd::Format<float>(size)),
+ temp.createTexture<float>(Channel::Depth, ftl::rgbd::Format<float>(size)),
in.getTexture<float>(Channel::Depth),
in.getLeftCamera(),
stream
@@ -314,16 +359,17 @@ bool AggreMLS::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t s
//in.swapChannels(Channel::Depth, Channel::Depth2);
//in.swapChannels(Channel::Normals, Channel::Points);
- temp_.swapChannels(ftl::codecs::Channels<0>(Channel::Depth), in);
+ temp_.swapChannel(Channel::Depth, in);
} else {
ftl::cuda::colour_mls_smooth_csr(
in.createTexture<uchar4>(Channel::Support1),
in.createTexture<half4>(Channel::Normals),
- temp_.createTexture<half4>(Channel::Normals, ftl::rgbd::Format<half4>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
+ temp.createTexture<half4>(Channel::Normals, ftl::rgbd::Format<half4>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
in.createTexture<float>(Channel::Depth),
- temp_.createTexture<float>(Channel::Depth, ftl::rgbd::Format<float>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
- in.createTexture<uchar4>(Channel::Colour),
+ temp.createTexture<float>(Channel::Depth, ftl::rgbd::Format<float>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
+ //in.createTexture<uchar4>(Channel::Colour),
+ rgb_buf,
thresh,
col_smooth,
false,
@@ -331,7 +377,8 @@ bool AggreMLS::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t s
stream
);
- temp_.swapChannels(Channel::Normals + Channel::Depth, in);
+ temp_.swapChannel(Channel::Depth, in);
+ temp_.swapChannel(Channel::Normals, in);
}
}
@@ -341,7 +388,7 @@ bool AggreMLS::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t s
// ====== Adaptive MLS =========================================================
-AdaptiveMLS::AdaptiveMLS(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+AdaptiveMLS::AdaptiveMLS(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg), temp_(ftl::data::Frame::make_standalone()) {
}
@@ -358,20 +405,23 @@ bool AdaptiveMLS::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_
return false;
}
+ auto &temp = temp_.cast<ftl::rgbd::Frame>();
+
// FIXME: Assume in and out are the same frame.
for (int i=0; i<iters; ++i) {
ftl::cuda::adaptive_mls_smooth(
in.createTexture<half4>(Channel::Normals),
- temp_.createTexture<half4>(Channel::Normals, ftl::rgbd::Format<half4>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
+ temp.createTexture<half4>(Channel::Normals, ftl::rgbd::Format<half4>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
in.createTexture<float>(Channel::Depth),
- temp_.createTexture<float>(Channel::Depth, ftl::rgbd::Format<float>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
+ temp.createTexture<float>(Channel::Depth, ftl::rgbd::Format<float>(in.get<cv::cuda::GpuMat>(Channel::Depth).size())),
in.createTexture<float>(Channel::Smoothing),
radius,
in.getLeftCamera(),
stream
);
- temp_.swapChannels(Channel::Normals + Channel::Depth, in);
+ temp_.swapChannel(Channel::Depth, in);
+ temp_.swapChannel(Channel::Normals, in);
}
diff --git a/components/operators/src/smoothing_cuda.hpp b/components/operators/src/smoothing_cuda.hpp
index 5454d91e2aea43c49ae806524a98bc0cc85ef086..c44c7787b9fe8dd18d6e148d96c8d71803ba368c 100644
--- a/components/operators/src/smoothing_cuda.hpp
+++ b/components/operators/src/smoothing_cuda.hpp
@@ -35,7 +35,8 @@ void colour_mls_smooth_csr(
ftl::cuda::TextureObject<half4> &normals_out,
ftl::cuda::TextureObject<float> &depth_in,
ftl::cuda::TextureObject<float> &depth_out,
- ftl::cuda::TextureObject<uchar4> &colour_in,
+ //ftl::cuda::TextureObject<uchar4> &colour_in,
+ const cv::cuda::GpuMat &colour_in,
float smoothing,
float colour_smoothing,
bool filling,
@@ -56,7 +57,8 @@ void mls_aggr_horiz(
ftl::cuda::TextureObject<half4> &normals_out,
ftl::cuda::TextureObject<float> &depth_in,
ftl::cuda::TextureObject<float4> ¢roid_out,
- ftl::cuda::TextureObject<uchar4> &colour_in,
+ //ftl::cuda::TextureObject<uchar4> &colour_in,
+ const cv::cuda::GpuMat &colour_in,
float smoothing,
float colour_smoothing,
int radius,
diff --git a/components/operators/src/weighting.cpp b/components/operators/src/weighting.cpp
index 549a22f144d7627277e4e0396dd24331feaaacf3..33f1a922d7ec8306899db071c43fd5eeac94f4e8 100644
--- a/components/operators/src/weighting.cpp
+++ b/components/operators/src/weighting.cpp
@@ -9,7 +9,7 @@ using ftl::operators::CullWeight;
using ftl::operators::DegradeWeight;
using ftl::codecs::Channel;
-PixelWeights::PixelWeights(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+PixelWeights::PixelWeights(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
}
@@ -33,14 +33,22 @@ bool PixelWeights::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream
params.normals = config()->value("use_normals", true);
bool output_normals = config()->value("output_normals", params.normals);
- if ((!in.hasChannel(Channel::Depth) && !in.hasChannel(Channel::GroundTruth)) || !in.hasChannel(Channel::Support1)) return false;
+ if (!in.hasChannel(Channel::Depth) && !in.hasChannel(Channel::GroundTruth)) {
+ out.message(ftl::data::Message::Warning_MISSING_CHANNEL, "Missing Depth channel in Weights operators");
+ return false;
+ }
+ if (!in.hasChannel(Channel::Support1)) {
+ out.message(ftl::data::Message::Warning_MISSING_CHANNEL, "Missing Support channel in Weights operators");
+ return false;
+ }
Channel dchan = (in.hasChannel(Channel::Depth)) ? Channel::Depth : Channel::GroundTruth;
if (!out.hasChannel(Channel::Mask)) {
+ cv::cuda::Stream cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
auto &m = out.create<cv::cuda::GpuMat>(Channel::Mask);
m.create(in.get<cv::cuda::GpuMat>(dchan).size(), CV_8UC1);
- m.setTo(cv::Scalar(0));
+ m.setTo(cv::Scalar(0), cvstream);
}
if (output_normals) {
@@ -69,7 +77,7 @@ bool PixelWeights::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream
return true;
}
-CullWeight::CullWeight(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+CullWeight::CullWeight(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
}
@@ -82,7 +90,7 @@ bool CullWeight::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t
float weight = config()->value("weight", 0.1f);
- out.clearPackets(Channel::Depth); // Force reset
+ out.set<ftl::rgbd::VideoFrame>(Channel::Depth); // Force reset
ftl::cuda::cull_weight(
in.createTexture<short>(Channel::Weights),
out.createTexture<float>(Channel::Depth),
@@ -95,7 +103,7 @@ bool CullWeight::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t
-DegradeWeight::DegradeWeight(ftl::Configurable *cfg) : ftl::operators::Operator(cfg) {
+DegradeWeight::DegradeWeight(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
}
diff --git a/components/operators/src/weighting.cu b/components/operators/src/weighting.cu
index 90aa5fd494f19e20a28eb7f6dc3ff822bd5c05ce..b9c74ff89d689657d6bfdb8ff5452e94f25377af 100644
--- a/components/operators/src/weighting.cu
+++ b/components/operators/src/weighting.cu
@@ -26,6 +26,8 @@ __global__ void pixel_weight_kernel(
if (x < size.width && y < size.height) {
Mask mask(mask_out(x,y));
+ if (normals_out.isValid()) normals_out(x,y) = make_half4(0.0f);
+
const float d = depth.tex2D((int)x, (int)y);
// Multiples of pixel size at given depth
//const float threshold = (depthCoef / ((depthCoef / d) - (radius+disconDisparities-1))) - d;
diff --git a/components/operators/test/CMakeLists.txt b/components/operators/test/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..80673c7440209c27b7cf6b0cc04984648bc2bfff
--- /dev/null
+++ b/components/operators/test/CMakeLists.txt
@@ -0,0 +1,9 @@
+### DBSCAN Unit ################################################################
+add_executable(dbscan_unit
+ $<TARGET_OBJECTS:CatchTest>
+ ./dbscan_unit.cpp
+)
+target_include_directories(dbscan_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
+target_link_libraries(dbscan_unit ftlcommon)
+
+add_test(DBSCANUnitTest dbscan_unit)
diff --git a/components/operators/test/data.hpp b/components/operators/test/data.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..e4d868af4f889c060dce012c8d5e91e92036685b
--- /dev/null
+++ b/components/operators/test/data.hpp
@@ -0,0 +1,3026 @@
+#pragma once
+
+#include <vector>
+#include <opencv2/core.hpp>
+
+/**
+ * Test data generated with sklearn.datasets (make_circles and make_moons)
+ * Two clusters in both.
+ *
+ * Visualization:
+ * https://scikit-learn.org/stable/auto_examples/cluster/plot_cluster_comparison.html
+ */
+
+static const std::vector<cv::Vec2f> noisy_circles {
+ {-0.677999, -0.698757},
+ {0.931437, 0.191391},
+ {0.548291, -0.006017},
+ {0.872837, 0.375023},
+ {0.435427, -0.294726},
+ {-0.536253, -0.163471},
+ {0.935534, -0.069950},
+ {0.159219, 0.971415},
+ {-0.611547, 0.751418},
+ {0.423040, -0.268125},
+ {0.173147, -0.458363},
+ {-0.219125, -0.398849},
+ {0.096109, -0.519602},
+ {-0.104486, 0.942077},
+ {0.967687, -0.174183},
+ {0.754242, -0.621617},
+ {-0.043996, -0.531987},
+ {0.430365, -0.355165},
+ {-1.027807, 0.155325},
+ {-0.228548, 0.382529},
+ {0.071758, 0.989000},
+ {0.655803, -0.812775},
+ {0.758490, 0.629618},
+ {-0.866656, -0.497841},
+ {-0.520035, 0.072190},
+ {0.394909, 0.221529},
+ {-0.480141, -0.098754},
+ {-0.184218, -0.921755},
+ {0.101596, 0.524727},
+ {-0.140615, -0.420062},
+ {0.305418, -0.305836},
+ {-0.850261, 0.502583},
+ {-0.520933, -0.010492},
+ {0.157637, 0.523338},
+ {-0.434189, 0.023918},
+ {0.316513, -0.394525},
+ {-0.603595, -0.675230},
+ {0.120921, -0.969693},
+ {-0.699461, -0.700145},
+ {-0.829813, 0.384497},
+ {-0.450135, -0.285030},
+ {0.342891, -0.455510},
+ {0.531814, 0.031431},
+ {0.738477, -0.657938},
+ {-0.615457, 0.768498},
+ {-0.378752, -0.893043},
+ {-0.469287, 0.170619},
+ {0.940516, -0.345081},
+ {0.280564, 0.318425},
+ {-0.375463, -0.387242},
+ {0.513356, 0.249786},
+ {-0.461774, -0.224138},
+ {0.053183, -0.948771},
+ {0.070808, -0.380032},
+ {-0.160072, -0.895151},
+ {-0.027487, -0.554549},
+ {0.912894, -0.342490},
+ {-0.441389, -0.890764},
+ {0.454790, 0.032809},
+ {-0.506644, 0.080482},
+ {-0.734677, -0.666446},
+ {0.860849, 0.554751},
+ {-0.456707, 0.221557},
+ {-0.331154, 0.969166},
+ {0.035349, 0.466655},
+ {-0.008867, 0.516405},
+ {-0.312811, -1.016868},
+ {-0.331718, -0.439313},
+ {-0.753690, -0.642232},
+ {-0.546627, 0.079896},
+ {0.914885, 0.087661},
+ {-0.946636, -0.593912},
+ {0.407068, 0.108282},
+ {-0.409579, 0.293544},
+ {0.418979, 0.871143},
+ {-0.079673, -0.959064},
+ {0.022271, 0.492024},
+ {-0.128445, 1.034038},
+ {0.296129, 0.927400},
+ {0.221448, -0.372743},
+ {0.423269, -0.212434},
+ {-0.924347, -0.351271},
+ {-0.605629, -0.715164},
+ {-0.765676, -0.728862},
+ {0.338073, 0.372803},
+ {-0.428441, 0.807283},
+ {0.333686, -0.263154},
+ {-0.524092, -0.848993},
+ {-0.038609, -0.995680},
+ {-0.984526, 0.046951},
+ {0.210340, -0.985424},
+ {0.008886, -0.996032},
+ {-0.659499, 0.594582},
+ {0.971926, 0.224894},
+ {-0.353677, -0.235196},
+ {-0.057825, -0.566347},
+ {0.871634, -0.633181},
+ {-0.321464, 0.931368},
+ {0.984817, 0.281003},
+ {0.087167, 0.529270},
+ {-0.388277, 0.193739},
+ {0.179648, -0.497591},
+ {0.551416, 0.873007},
+ {0.057045, 0.497796},
+ {-0.573832, 0.033362},
+ {0.074692, 0.579819},
+ {-0.952958, 0.325481},
+ {-0.732914, -0.528069},
+ {0.248820, -0.956671},
+ {-0.511009, 0.180196},
+ {-0.015967, 1.037270},
+ {0.961245, 0.087256},
+ {0.924577, 0.380657},
+ {0.694589, 0.584797},
+ {-0.168396, -0.486705},
+ {0.112856, 0.455664},
+ {0.905957, 0.235716},
+ {-0.193360, -0.380150},
+ {0.428584, 0.279267},
+ {-0.129808, -1.006865},
+ {0.849347, 0.433455},
+ {0.958172, -0.407165},
+ {-0.684629, -0.698642},
+ {-0.303698, -0.935910},
+ {-0.605071, -0.870112},
+ {-0.171775, 0.504553},
+ {-0.941087, -0.363499},
+ {-1.026895, -0.176613},
+ {0.251774, -0.375210},
+ {-0.039233, 0.508237},
+ {0.598627, 0.161475},
+ {0.150253, 0.467936},
+ {-0.158063, 0.993672},
+ {-0.174484, -0.490936},
+ {0.797353, -0.570802},
+ {-0.880238, 0.581656},
+ {0.248483, 0.975321},
+ {-0.764439, 0.640960},
+ {-0.555157, 0.222931},
+ {0.398577, -0.875908},
+ {-0.908205, 0.407285},
+ {0.539886, -0.845203},
+ {0.162116, 0.440918},
+ {0.481715, 0.116853},
+ {-0.049455, 0.973072},
+ {-1.094953, -0.026592},
+ {0.081761, -0.882492},
+ {-0.935893, 0.378655},
+ {0.397561, -0.169954},
+ {0.974016, 0.059282},
+ {-0.854687, 0.659927},
+ {-0.468957, -0.282842},
+ {0.980104, 0.249931},
+ {0.086943, 0.513643},
+ {0.541957, 0.144448},
+ {-0.019935, 0.411957},
+ {0.495279, -0.184585},
+ {-0.992969, 0.072164},
+ {-0.045094, 0.469167},
+ {0.909351, -0.449186},
+ {-0.225598, -0.473253},
+ {0.865109, -0.496427},
+ {-0.227253, 0.997429},
+ {-0.461060, -0.179750},
+ {0.254634, -0.391796},
+ {0.162349, 0.399205},
+ {-0.547372, 0.199308},
+ {0.432875, -0.288995},
+ {-0.838898, 0.395562},
+ {0.985178, 0.197549},
+ {-0.866028, -0.502550},
+ {0.507851, 0.173829},
+ {0.380959, -0.212232},
+ {-0.084691, 1.016472},
+ {-0.222872, 0.397240},
+ {-0.900582, -0.474540},
+ {0.237292, 0.830083},
+ {-0.462334, -0.958491},
+ {0.294507, -0.392423},
+ {0.660606, -0.680099},
+ {-0.852687, 0.549440},
+ {-0.307098, 0.859804},
+ {0.986497, -0.286053},
+ {1.072890, -0.014782},
+ {0.347051, -0.952041},
+ {0.792057, 0.622892},
+ {0.856374, -0.659352},
+ {0.716643, 0.739131},
+ {-0.949822, -0.413830},
+ {0.439084, 0.973049},
+ {-0.901443, 0.473575},
+ {-0.417679, -0.292204},
+ {-0.401663, 0.230490},
+ {-0.770459, -0.624693},
+ {0.104649, -0.419057},
+ {-0.351992, 0.925476},
+ {-0.461885, 0.081054},
+ {0.776156, 0.563417},
+ {-0.609453, 0.776124},
+ {-0.869826, 0.611030},
+ {-0.936343, -0.250396},
+ {0.947641, 0.195189},
+ {0.172001, 0.505505},
+ {0.670847, 0.722337},
+ {-0.128180, 0.382630},
+ {0.084943, 0.970973},
+ {0.502432, 0.836911},
+ {-0.765820, -0.598353},
+ {0.267783, -0.953261},
+ {-0.136963, 0.505817},
+ {0.526329, 0.006974},
+ {0.033778, -1.002287},
+ {1.060646, 0.045413},
+ {0.500939, -0.059420},
+ {-0.440592, -0.186962},
+ {-0.725037, -0.670232},
+ {-0.259295, -0.395699},
+ {0.356994, 0.302502},
+ {0.411269, -0.865534},
+ {-0.459595, 0.127022},
+ {0.187557, 0.503566},
+ {0.350990, 0.962713},
+ {0.946578, -0.211255},
+ {0.599337, -0.842506},
+ {-0.186974, -1.057288},
+ {-0.781941, -0.518192},
+ {0.504377, -0.112438},
+ {-0.424958, -0.131915},
+ {-0.988047, -0.290393},
+ {0.583738, 0.762403},
+ {0.905616, -0.191904},
+ {0.122915, -0.478367},
+ {0.321184, -0.380730},
+ {0.925293, -0.452892},
+ {0.177570, -0.932051},
+ {0.285047, 0.423628},
+ {-0.506985, -0.110505},
+ {0.482756, -0.083604},
+ {-0.308917, 1.035905},
+ {-0.486191, -0.079374},
+ {-0.109448, 0.483735},
+ {0.927042, 0.372615},
+ {-0.227088, 0.396412},
+ {0.194856, -0.431768},
+ {0.807127, 0.410153},
+ {-0.487039, -0.197967},
+ {-0.015964, -0.483816},
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+ {-0.290483, -0.378248},
+ {0.224182, -0.526300},
+ {0.468004, -0.850300},
+ {-0.475102, -0.201755},
+ {-0.150610, 0.964198},
+ {-0.374576, 0.296889},
+ {0.326127, -0.403445},
+ {0.293239, -0.358646},
+ {0.977400, -0.246636},
+ {0.839435, -0.390965},
+ {-0.312602, 0.329096},
+ {0.396110, -0.188653},
+ {-0.345810, 0.979769},
+ {-0.235239, 0.424713},
+ {-0.121138, 0.492547},
+ {0.920001, 0.579908},
+ {0.956540, 0.190687},
+ {-0.274876, 0.989650},
+ {0.437722, 0.243599},
+ {0.991046, -0.119906},
+ {-0.456911, -0.106230},
+ {0.585620, 0.828932},
+ {0.153801, 0.928593},
+ {0.462057, -0.290546},
+ {-0.217044, 0.990277},
+ {-0.584347, 0.694665},
+ {0.936432, 0.387643},
+ {0.189225, -0.933064},
+ {0.077744, -0.555827},
+ {-0.366123, -0.922218},
+ {-0.761475, 0.704149},
+ {-0.699725, -0.734398},
+ {0.439303, 0.819247},
+ {0.557673, -0.079411},
+ {-0.265055, -0.604687},
+ {0.045423, 0.485691},
+ {0.871393, -0.597538},
+ {-0.578653, -0.051956},
+ {0.210804, 0.400319},
+ {-0.005140, 0.587265},
+ {1.021576, 0.175319},
+ {-0.493216, 0.058602},
+ {0.391830, 1.011464},
+ {0.112199, 0.505886},
+ {-0.494688, -0.166269},
+ {0.879432, -0.408510},
+ {0.328677, 0.401118},
+ {0.239682, 0.419771},
+ {0.219065, -0.935714},
+ {-0.325962, 0.335467},
+ {0.410568, 0.903644},
+ {0.954673, -0.031991},
+ {-0.165429, -0.445167},
+ {-0.308758, 0.506077},
+ {-0.949142, 0.410075},
+ {0.025179, 1.086534},
+ {-0.282731, -0.401589},
+ {-0.751915, -0.540239},
+ {0.401528, -0.954622},
+ {-0.325838, 0.320585},
+ {-0.789071, 0.652788},
+ {-0.067263, -0.415211},
+ {-0.342763, -0.500473},
+ {0.614655, 0.772828},
+ {0.193913, -0.416394},
+ {0.598747, -0.897963},
+ {0.017949, -0.549917},
+ {-0.777863, 0.681901},
+ {-0.622935, -0.776148},
+ {-0.842153, -0.513615},
+ {-0.342361, -0.285485},
+ {-0.479340, -0.257759},
+ {-0.647113, 0.708901},
+ {0.404161, 0.178805},
+ {-0.592213, -0.095235},
+ {-0.331177, -0.271972},
+ {0.977967, 0.215754},
+ {-0.452242, 0.119274},
+ {-0.898306, 0.546823},
+ {0.470385, 0.097732},
+ {1.074445, 0.120241},
+ {0.311009, 0.477228},
+ {-0.498992, 0.230706},
+ {0.553832, 0.558558},
+ {0.436860, 0.156143},
+ {-0.444444, 0.249753},
+ {0.486519, -0.106007},
+ {-0.421283, 0.180623},
+ {-0.406001, 0.247732},
+ {0.450869, 0.165908},
+ {-0.036799, -1.048837},
+ {-0.204806, 0.991814},
+ {-0.469319, -0.237311},
+ {0.960148, -0.029572},
+ {0.290759, -0.931106},
+ {0.457885, 0.727751},
+ {0.990829, -0.109917},
+ {-0.020007, 0.545816},
+ {0.709308, 0.874297},
+ {-1.010977, -0.074784},
+ {0.473314, 0.926140},
+ {1.045204, 0.166321},
+ {0.388059, -0.312612},
+ {-0.110272, -1.061526},
+ {-1.022783, 0.071001},
+ {-0.879856, 0.008920},
+ {-0.044214, 0.935743},
+ {0.085258, 0.472718},
+ {-1.010090, 0.084493},
+ {-0.153919, 0.507331},
+ {-0.914801, -0.077787},
+ {0.397552, 0.253458},
+ {-0.071208, -0.584040},
+ {-0.586113, 0.822001},
+ {-0.315848, -0.428398},
+ {-0.475201, 0.045856},
+ {0.119077, 0.958341},
+ {-0.004970, -0.633133},
+ {-0.091496, -1.063429},
+ {-0.977251, 0.001460},
+ {0.105994, 0.535126},
+ {0.906682, -0.362689},
+ {0.419639, 0.227265},
+ {-0.128094, 0.443781},
+ {-0.236173, -0.421747},
+ {-0.561705, -0.149725},
+ {-0.399144, -0.315863},
+ {0.249800, 0.456173},
+ {-0.067688, 0.474221},
+ {-0.403660, -0.089936},
+ {0.422568, -0.195349},
+ {-0.507068, 0.236393},
+ {-0.049440, 0.494637},
+ {0.573601, 0.160837},
+ {-0.957441, 0.346013},
+ {-0.103069, 0.984878},
+ {0.732054, 0.654709},
+ {0.505812, -0.848135},
+ {0.136014, 0.432586},
+ {0.423961, -1.023403},
+ {-0.993448, -0.073076},
+ {0.716949, 0.686259},
+ {-0.475708, -0.013893},
+ {-0.932824, -0.520301},
+ {0.507099, 0.099702},
+ {-0.536745, -0.061553},
+ {-0.749363, 0.642360},
+ {0.871757, 0.398393},
+ {0.139424, -0.579037},
+ {-0.513559, 0.829711},
+ {0.216548, 0.518864},
+ {0.528756, -0.211615},
+ {-0.498062, 0.252568},
+ {-0.961372, -0.198659},
+ {-0.997016, 0.387509},
+ {-0.665681, 0.794896},
+ {0.479599, 0.001011},
+ {-0.491049, 0.160684},
+ {0.418982, -0.324877},
+ {0.513648, 0.881750},
+ {0.389844, 0.224851},
+ {0.909708, 0.223947},
+ {-0.320696, -0.223657},
+ {0.195747, 0.454857},
+ {-0.472384, -0.971927},
+ {0.818149, -0.552201},
+ {0.300139, 1.023248},
+ {-0.475618, 0.766312},
+ {0.952992, -0.295727},
+ {-0.156673, -0.960558},
+ {-0.072489, -1.029532},
+ {0.565584, -0.871809},
+ {0.968489, -0.416161},
+ {-0.158193, -0.469685},
+ {-0.035628, -0.566708},
+ {-0.868991, -0.393100},
+ {0.120758, 0.482890},
+ {-0.499142, -0.133691},
+ {0.718468, -0.673767},
+ {0.483947, 0.200953},
+ {0.504083, -0.092725},
+ {-0.380365, -0.348349},
+ {0.644130, 0.753145},
+ {0.325310, 0.443521},
+ {-0.712700, -0.626573},
+ {0.432635, -0.220105},
+ {0.509025, -0.003331},
+ {-0.140491, 0.458993},
+ {0.554641, 0.831357},
+ {0.382893, 0.180935},
+ {0.856840, 0.624508},
+ {0.306591, 0.314238},
+ {-0.157257, -0.989907},
+ {0.271623, 0.321017},
+ {0.045540, 1.064526},
+ {0.742861, 0.603701},
+ {-0.076098, -0.977182},
+ {0.897281, -0.340274},
+ {-0.878503, 0.487946},
+ {0.361002, -0.343894},
+ {0.236070, -0.887971},
+ {-0.418928, 0.076475},
+ {0.310445, -0.936192},
+ {-0.679949, 0.792224},
+ {-0.238985, 0.434101},
+ {0.222413, -0.405034},
+ {0.473205, 0.034184},
+ {0.406588, 0.274089},
+ {-0.345188, -0.358048},
+ {0.017197, -0.945138},
+ {0.913779, -0.598842}
+};
+
+static const std::vector<short> noisy_circles_labels {
+ 0, 0, 1, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 0, 1, 1, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 1, 0, 1, 1, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 1, 1, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 0, 1, 0, 1, 0, 0, 1, 0, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 1, 0, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 0, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, 0, 0, 1, 0, 1, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 0, 0, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 1, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 0, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 1, 1, 0, 1, 0, 0, 0, 1, 0, 1, 0, 0, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 1, 0, 0, 0, 1, 1, 0, 1, 1, 0, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 1, 0, 1, 0, 1, 0, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 1, 0, 1, 0, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 0, 1, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 1, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 0, 1, 1, 0, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 1, 0, 1, 0, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 1, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, 0, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 0, 1, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 1, 0, 0, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 1, 1, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0,
+};
+
+static const std::vector<cv::Vec2f> noisy_moons {
+ {0.496271, -0.342753},
+ {-0.166300, 0.922342},
+ {0.718956, 0.665290},
+ {-0.337840, 0.912074},
+ {0.103768, 0.116946},
+ {0.702804, 0.667720},
+ {-0.614904, 0.881684},
+ {0.667835, -0.456815},
+ {0.803439, 0.768419},
+ {0.434519, 0.833548},
+ {-0.451526, 0.867688},
+ {0.573179, -0.413433},
+ {1.566417, -0.440186},
+ {1.396258, -0.353635},
+ {1.011969, -0.562964},
+ {1.071866, -0.033929},
+ {-0.067705, 0.985937},
+ {1.739636, -0.173039},
+ {0.214441, -0.128790},
+ {0.984292, -0.469513},
+ {1.998867, 0.349441},
+ {1.132009, -0.548606},
+ {0.082511, 0.989596},
+ {0.713686, -0.499899},
+ {-1.036180, 0.389093},
+ {0.475082, -0.369990},
+ {0.185801, 0.952638},
+ {0.119731, 0.022406},
+ {1.993655, 0.445478},
+ {0.637446, 0.747901},
+ {1.068196, -0.482278},
+ {-0.148474, 1.050313},
+ {0.386807, 0.980657},
+ {-0.178671, 0.940450},
+ {1.282258, -0.396343},
+ {-0.980326, 0.100863},
+ {1.987377, 0.464477},
+ {0.126748, -0.112373},
+ {0.444394, -0.291783},
+ {0.615013, 0.724495},
+ {-0.907856, 0.515206},
+ {0.006890, 0.971489},
+ {1.815501, 0.005442},
+ {1.973811, 0.316884},
+ {0.888139, -0.557867},
+ {0.013169, 1.014930},
+ {1.958637, 0.154446},
+ {0.466269, 0.879144},
+ {0.423977, 0.988572},
+ {0.669984, 0.789333},
+ {0.549956, 0.826760},
+ {0.652881, 0.678939},
+ {0.167620, 0.124025},
+ {2.021983, 0.289367},
+ {2.036312, 0.392123},
+ {-0.705304, 0.802209},
+ {0.721721, -0.446847},
+ {-1.057252, 0.288871},
+ {0.538738, 0.707988},
+ {-0.730453, 0.641255},
+ {-0.085058, 1.040617},
+ {0.446517, 0.817575},
+ {0.895367, 0.414274},
+ {0.299042, -0.121882},
+ {0.340815, -0.268886},
+ {0.640343, -0.425107},
+ {-0.104821, 0.874745},
+ {1.025808, 0.030871},
+ {1.500083, -0.388380},
+ {1.058557, -0.486871},
+ {0.153143, 0.143906},
+ {0.698832, 0.732750},
+ {0.337857, 1.001806},
+ {0.582376, 0.779731},
+ {0.516631, 0.908242},
+ {-0.012161, 0.549717},
+ {0.377415, -0.209377},
+ {0.398307, 0.876080},
+ {0.079609, 0.407017},
+ {0.932146, 0.253114},
+ {0.390304, -0.209082},
+ {-0.548919, 0.775369},
+ {0.601761, -0.472310},
+ {0.330164, -0.214821},
+ {1.870198, 0.073266},
+ {0.239898, -0.051028},
+ {-0.173536, 1.009318},
+ {0.596136, -0.400319},
+ {0.573521, -0.352605},
+ {2.056516, 0.169410},
+ {0.608283, 0.768349},
+ {0.009094, 0.943835},
+ {0.940722, 0.280645},
+ {0.460975, -0.396293},
+ {1.592816, -0.425294},
+ {1.495644, -0.381199},
+ {1.721367, -0.131403},
+ {1.575977, -0.286960},
+ {0.020088, 0.569959},
+ {0.811551, 0.576702},
+ {0.055550, 0.272523},
+ {1.819475, -0.054582},
+ {1.103558, -0.453437},
+ {0.409392, 1.025252},
+ {0.737369, 0.751975},
+ {0.872074, 0.504964},
+ {0.785829, -0.466771},
+ {0.962392, -0.564115},
+ {-0.110210, 0.953938},
+ {-0.070268, 0.997614},
+ {1.378774, -0.458579},
+ {1.738328, -0.388595},
+ {0.639144, -0.496515},
+ {0.078786, -0.000002},
+ {0.040087, 0.090268},
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+ {-0.668824, 0.801821},
+ {-1.090992, 0.140943},
+ {1.464551, -0.389069},
+ {2.047649, 0.353707},
+ {0.812124, 0.377782},
+ {0.993446, 0.401215},
+ {1.866624, -0.057398},
+ {-0.615064, 0.784470},
+ {-0.493770, 0.926331},
+ {-0.703263, 0.706535},
+ {0.833080, 0.593098},
+ {0.419678, 0.932303},
+ {0.061289, -0.029986},
+ {0.111869, -0.032584},
+ {-0.508201, 0.721360},
+ {-0.049591, 0.462859},
+ {-1.084732, 0.282470},
+ {0.279268, 0.979543},
+ {-0.336197, 1.009357},
+ {0.138583, -0.037314},
+ {-0.845177, 0.573057},
+ {0.048651, 0.212818},
+ {1.998907, 0.436598},
+ {1.524810, -0.310846},
+ {-0.852273, 0.693712},
+ {0.312212, -0.137077},
+ {0.604822, -0.414580},
+ {-0.022099, 0.961760},
+ {0.990277, -0.520190},
+ {0.058058, 0.254649},
+ {1.947760, 0.071421},
+ {0.314997, -0.302236},
+ {-1.043031, 0.044560},
+ {1.106648, -0.435029},
+ {-0.211299, 0.940982},
+ {0.934626, 0.316289},
+ {1.964347, 0.230726},
+ {0.721664, 0.671392},
+ {0.146093, -0.050481},
+ {-0.342076, 0.937329},
+ {2.011612, 0.448573},
+ {0.974391, 0.314916},
+ {0.298786, -0.143717},
+ {0.955922, 0.324982},
+ {-0.408658, 0.963722},
+ {0.742804, 0.680852},
+ {1.743709, -0.181210},
+ {0.314714, -0.137710},
+ {-0.092031, 0.961372},
+ {-0.702479, 0.769795},
+ {0.839017, 0.400835},
+ {-1.041318, 0.316274},
+ {1.846009, -0.076618},
+ {0.407674, -0.321502},
+ {1.976894, 0.284721},
+ {0.337385, -0.334260},
+ {0.586201, -0.368885},
+ {0.432563, 0.924590},
+ {-0.879775, 0.345697},
+ {-0.014395, 0.313793},
+ {0.503783, -0.239654},
+ {-0.407768, 0.914401},
+ {0.916260, 0.444225},
+ {-0.418969, 0.901274},
+ {1.111643, -0.452600},
+ {0.937454, -0.527681},
+ {0.835120, 0.624568},
+ {-0.851018, 0.375570},
+ {-0.915210, 0.378375},
+ {-0.064244, 0.327803},
+ {0.659794, 0.708016},
+ {1.335793, -0.448514},
+ {0.410420, -0.310221},
+ {-0.162192, 0.998459},
+ {0.223661, -0.198823},
+ {-0.570358, 0.831877},
+ {1.032324, 0.129681},
+ {0.217019, -0.003042},
+ {0.261615, -0.285742},
+ {0.048796, 0.984813},
+ {-0.254938, 0.994804},
+ {0.898794, 0.046838},
+ {1.069669, 0.126048},
+ {0.440227, -0.285024},
+ {0.136637, 0.198051},
+ {1.120624, -0.477247},
+ {-0.973364, 0.339979},
+ {0.053698, 0.231351},
+ {1.262157, -0.486460},
+ {1.839316, -0.081125},
+ {2.052578, 0.427548},
+ {1.932266, 0.410544},
+ {0.306282, 0.951114},
+ {-0.075340, 0.944025},
+ {1.898917, 0.198505},
+ {0.981225, 0.336562},
+ {-0.921751, 0.360200},
+ {1.073715, 0.279362},
+ {0.037450, 0.350880},
+ {1.242632, -0.449359},
+ {0.271190, 1.006297},
+ {-0.955722, -0.022154},
+ {0.398929, 0.849623},
+ {1.905541, 0.235737},
+ {0.849080, 0.490684},
+ {-0.957821, 0.300314},
+ {0.417028, 0.889683},
+ {1.934534, 0.306650},
+ {0.479683, -0.294547},
+ {0.034986, 0.360210},
+ {-1.038837, 0.211337},
+ {0.205103, -0.070759},
+ {0.190626, 0.037918},
+ {0.645647, 0.801434},
+ {-0.628091, 0.715487},
+ {0.732760, 0.664974},
+ {-0.590563, 0.775441},
+ {0.285149, 0.959786},
+ {0.800147, -0.467614},
+ {-0.000921, 1.032517},
+ {0.455246, 0.893279},
+ {1.052181, -0.475257},
+ {1.226588, -0.425567},
+ {-0.432090, 0.925309},
+ {1.829544, 0.255384},
+ {0.944458, 0.191713},
+ {-0.510158, 0.832587},
+ {-0.930726, 0.161549},
+ {-0.922595, 0.329888},
+ {0.707979, 0.739976},
+ {-0.613216, 0.766708},
+ {1.258353, -0.470191},
+ {0.927009, -0.498520},
+ {0.324842, 0.903055},
+ {0.871482, 0.453519},
+ {-0.054499, 0.421917},
+ {0.141363, 1.010463},
+ {0.827176, 0.712774},
+ {2.016852, 0.476308},
+ {0.929437, -0.456706},
+ {2.042305, 0.548997},
+ {1.901681, 0.163530},
+ {-0.930355, 0.407547},
+ {0.479895, -0.351491},
+ {1.983887, 0.347194},
+ {0.017671, 0.484723},
+ {1.639731, -0.290390},
+ {1.932341, 0.071913},
+ {0.501825, -0.281240},
+ {1.921311, 0.087951},
+ {1.272188, -0.498398},
+ {-0.179918, 1.051137},
+ {0.453132, 0.835018},
+ {0.576611, 0.918667},
+ {0.918902, 0.050946},
+ {1.661269, -0.274173},
+ {0.937542, 0.311417},
+ {0.432592, 0.982486},
+ {0.812409, 0.676360},
+ {1.797159, -0.225232},
+ {1.851369, 0.019509},
+ {-0.283105, 0.926137},
+ {-0.332006, 0.897045},
+ {0.697053, 0.674013},
+ {-0.584869, 0.754202},
+ {1.410478, -0.486355},
+ {0.287750, 0.903310},
+ {2.012718, 0.390410},
+ {1.903221, 0.379131},
+ {-0.196606, 1.033605},
+ {1.918604, 0.333567},
+ {-0.511178, 0.915872},
+ {0.251228, -0.121687},
+ {0.424416, -0.280077},
+ {-0.827322, 0.636587},
+ {0.723174, 0.733239},
+ {0.314638, 0.918349},
+ {-0.198637, 0.852728},
+ {1.403938, -0.402679},
+ {0.169446, 1.059232},
+ {1.861147, 0.020544},
+ {-0.875108, 0.614762},
+ {-0.431734, 0.877782},
+ {-0.473136, 0.958484},
+ {-0.005458, 0.493191},
+ {-0.779139, 0.791404},
+ {0.062583, 0.223050},
+ {1.450417, -0.321252},
+ {1.457999, -0.323413},
+ {-0.521386, 0.858724},
+ {1.159840, -0.501402},
+ {0.205773, -0.082981},
+ {0.452968, 0.808904},
+ {0.632244, 0.834704},
+ {0.027568, 0.405447},
+ {1.005634, -0.060669},
+ {1.173155, -0.403369},
+ {1.415813, -0.360574},
+ {-0.755428, 0.645590},
+ {-0.921456, 0.104213},
+ {0.319172, 0.959075},
+ {-0.721720, 0.629173},
+ {0.559405, -0.415354},
+ {1.154913, -0.486450},
+ {1.874627, 0.186733},
+ {0.129949, 1.025790},
+ {0.915931, -0.453787},
+ {0.965287, 0.047880},
+ {1.659713, -0.289383},
+ {1.058690, -0.531482},
+ {1.300179, -0.476471},
+ {1.011569, 0.049704},
+ {1.935927, 0.205163},
+ {0.647294, -0.501768},
+ {0.196952, -0.131321},
+ {0.768647, 0.625616},
+ {-0.268717, 0.917226},
+ {0.910211, -0.515727},
+ {1.517311, -0.313105},
+ {-0.896194, 0.268710},
+ {1.079940, -0.470747},
+ {0.819778, 0.514925},
+ {-0.945710, 0.255479},
+ {0.122346, 0.051894},
+ {1.787602, -0.139645},
+ {0.752995, 0.515553},
+ {0.180700, 0.006226},
+ {-0.812868, 0.575579},
+ {-0.233209, 0.953957},
+ {0.423760, -0.306385},
+ {-0.760465, 0.707430},
+ {1.752590, -0.159040},
+ {-0.047417, 1.142527},
+ {0.103935, -0.066128},
+ {1.716572, -0.148447},
+ {0.062318, -0.103880},
+ {-0.899097, 0.400504},
+ {1.183183, -0.511290},
+ {1.902193, 0.154401},
+ {-0.103015, 1.005290},
+ {0.300173, -0.307560},
+ {0.257369, 0.968842},
+ {1.109539, 0.205086},
+ {0.770578, 0.568366},
+ {0.934577, 0.060062},
+ {0.969279, 0.282622},
+ {1.654506, -0.246114},
+ {0.032389, 0.169729},
+ {0.050433, 0.403408},
+ {1.600779, -0.341651},
+ {-0.957760, 0.337992},
+ {0.855063, -0.508219},
+ {1.747808, -0.193790},
+ {0.653936, 0.794221},
+ {1.393704, -0.430918},
+ {2.026835, 0.404619},
+ {0.582225, 0.810004},
+ {0.900367, 0.247613},
+ {0.223586, -0.021075},
+ {1.913451, 0.078152},
+ {-0.939789, 0.600428},
+ {0.634625, -0.382429},
+ {1.185619, -0.384662},
+ {0.301292, -0.396078},
+ {0.062252, 0.188547},
+ {0.439219, 0.809028},
+ {0.114075, 0.086596},
+ {0.385133, 0.924554},
+ {0.636800, -0.372632},
+ {0.274617, -0.202793},
+ {1.972595, 0.127309},
+ {0.137737, 0.092172},
+ {-0.044042, 1.066223},
+ {0.546031, 0.878942},
+ {0.849479, 0.411200},
+ {0.215150, 0.099633},
+ {0.908682, -0.476567},
+ {0.495083, 0.941848},
+ {-0.752203, 0.614888},
+ {0.619550, -0.325722},
+ {-0.833069, 0.540707},
+ {1.887803, -0.164009},
+ {1.901957, 0.181567},
+ {-0.376925, 0.949594},
+ {0.341581, 0.966420},
+ {-0.073042, 0.397439},
+ {0.021347, 0.296053},
+ {-0.642642, 0.716163},
+ {1.937418, 0.231237},
+ {1.406181, -0.399618},
+ {0.243133, -0.237591},
+ {1.046156, -0.455960},
+ {0.196480, 0.990915},
+ {-0.678494, 0.746111},
+ {1.480257, -0.350615},
+ {1.495622, -0.416584},
+ {0.627392, 0.820522},
+ {-0.845936, 0.240077},
+ {0.176938, 0.156807},
+ {1.623276, -0.226135},
+ {0.025651, 0.264181},
+ {0.736717, -0.510448},
+ {1.759529, -0.164661},
+ {0.992858, 0.297352},
+ {1.004335, 0.050847},
+ {-0.329659, 0.829825},
+ {1.959744, 0.319912},
+ {1.917142, 0.079347},
+ {1.779574, -0.063431},
+ {1.956901, 0.417775},
+ {-0.838951, 0.550627},
+ {-0.312107, 0.972094},
+ {0.054083, 1.055564},
+ {1.939328, 0.029565},
+ {0.766661, 0.556358},
+ {0.994651, 0.068223},
+ {0.076859, 0.337722},
+ {-0.630298, 0.809767},
+ {-0.447665, 0.797417},
+ {-0.422787, 0.921586},
+ {0.199731, -0.283831},
+ {-1.082445, 0.130062},
+ {0.932234, 0.388892},
+ {1.795673, -0.195881},
+ {0.788854, 0.498824},
+ {0.241845, 0.906703},
+ {0.309588, -0.181482},
+ {1.393854, -0.445827},
+ {-0.668386, 0.729540},
+ {0.897551, 0.245724},
+ {0.079552, 0.124947},
+ {0.905924, 0.329091},
+ {0.474081, 0.860559},
+ {1.869998, -0.016190},
+ {-0.433127, 0.809947},
+ {1.909509, 0.029897},
+ {0.546231, -0.360031},
+ {0.040900, 0.370693}
+};
+
+static const std::vector<short> noisy_moons_labels {
+0, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 1, 0, 1, 0, 1, 1, 0, 0, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 0, 1, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 1, 0, 1, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 1, 0, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 1, 1, 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 0, 1, 0, 1, 1, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 0, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 0, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 0, 1, 0, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 1, 0, 1, 0, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 0, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 0, 0, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 0, 1, 0, 1, 1, 0, 1, 1, 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 0, 0, 1, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 1, 1, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 1, 0, 1, 1, 0, 0, 1, 1, 1, 0, 0, 0, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0, 1, 0, 1, 0, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 0, 1, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 0, 0, 1, 1, 1, 1, 0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 0, 1, 1, 1, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 0, 0, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 1, 0, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 1, 0, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 0, 1, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 1, 0, 1, 0, 0, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 0, 0, 1, 0, 0, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 1, 0, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0, 0,
+};
diff --git a/components/operators/test/dbscan_unit.cpp b/components/operators/test/dbscan_unit.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4d892b6a32d350acb36aee2402d4aced4e6ee5a1
--- /dev/null
+++ b/components/operators/test/dbscan_unit.cpp
@@ -0,0 +1,139 @@
+#include <catch.hpp>
+#include <random>
+
+
+#include <opencv2/core.hpp>
+#include <ftl/algorithms/dbscan.hpp>
+
+#include <ftl/profiler.hpp>
+
+#include "data.hpp"
+
+using std::vector;
+
+template<typename T>
+static vector<size_t> linearSearch(const vector<T> &points, size_t idx, float radius) {
+ vector<size_t> neighbors;
+ for (auto i = 0u; i < points.size(); i++) {
+ if (i == idx) {
+ continue;
+ }
+ if (cv::norm(points[idx] - points[i]) < radius) {
+ neighbors.push_back(i);
+ }
+ }
+ return neighbors;
+}
+
+TEST_CASE("DBSCAN 3D clustering (linear search)") {
+ vector<cv::Vec3f> points {
+ {1.0,2.1,3.0},
+ {1.0,1.9,3.0},
+ {1.0,2.0,3.0},
+ {1.0,1.9,3.0},
+ {1.0,2.1,3.0},
+
+ {3.0,2.1,1.0},
+ {3.0,2.0,1.0},
+ {3.0,2.0,1.0},
+ {3.0,2.0,1.0},
+ {3.0,1.9,1.0}
+ };
+
+ vector<cv::Vec3f> centroids;
+ vector<short> labels;
+ ftl::dbscan<cv::Vec3f>(points, linearSearch<cv::Vec3f>, 3, 1.0f, labels, centroids);
+
+ REQUIRE(centroids.size() == 2);
+ REQUIRE(centroids[0] == cv::Vec3f(1,2,3));
+ REQUIRE(centroids[1] == cv::Vec3f(3,2,1));
+}
+
+TEST_CASE("DBSCAN 3D clustering (random points)") {
+
+ std::random_device rd;
+ std::mt19937::result_type seed = rd();
+
+ vector<cv::Vec3f> true_centroids = {
+ { 1, 5, 3},
+ { 3, 5, 1},
+ { 0, 0, 0},
+ { 3, 3, 3},
+ {-3,-3,-3},
+ { 7, 7, 7},
+ {-7,-7,-7},
+ };
+
+ int n_points = 16;
+ float sigma = 0.33;
+ float eps = sigma; // error threshold for test case
+
+ vector<cv::Vec3f> points;
+ std::mt19937 gen(seed);
+
+ for (const auto &c : true_centroids) {
+ std::normal_distribution<float> x{c[0], sigma};
+ std::normal_distribution<float> y{c[1], sigma};
+ std::normal_distribution<float> z{c[2], sigma};
+
+ for (int i = 0; i < n_points; i++) {
+ points.push_back({x(gen), y(gen), z(gen)});
+ }
+ }
+
+ vector<cv::Vec3f> centroids;
+ vector<short> labels;
+ ftl::dbscan<cv::Vec3f>(points, linearSearch<cv::Vec3f>, 8, 1.0f, labels, centroids);
+
+ REQUIRE(centroids.size() == true_centroids.size());
+ for (unsigned i = 0; i < true_centroids.size(); i++) {
+ // assumes same order as points were added (no shuffle)
+ REQUIRE(cv::norm(centroids[i] - true_centroids[i]) < eps);
+ }
+}
+
+TEST_CASE("DBSCAN 2D clustering (noisy moons)") {
+
+ vector<cv::Vec2f> centroids;
+ vector<short> labels;
+ {
+ //ftl::Profiler __profile(__func__, "DBSCAN 1500 points linear search", 0);
+ //__profile.verbosity(1);
+
+ // ~ 10ms (release)
+ ftl::dbscan<cv::Vec2f>(noisy_moons, linearSearch<cv::Vec2f>, 5, 0.2f, labels, centroids);
+ }
+
+ // assumes clustering returns same labels each time
+ REQUIRE(centroids.size() == 2);
+ REQUIRE(cv::norm(centroids[0] - cv::Vec2f(1.0, 0.0)) < 0.15); // 0.13359162681252454
+ REQUIRE(cv::norm(centroids[1] - cv::Vec2f(0.0, 0.5)) < 0.15); // 0.13651460122147505
+
+ for (unsigned i = 0; i < labels.size(); i++) {
+ if (labels[i] < 0) continue; // label: NOISE
+ REQUIRE(labels[i] == noisy_moons_labels[i]);
+ }
+}
+
+TEST_CASE("DBSCAN 2D clustering (noisy circles)") {
+
+ vector<cv::Vec2f> centroids;
+ vector<short> labels;
+ {
+ //ftl::Profiler __profile(__func__, "DBSCAN 1500 points linear search", 0);
+ //__profile.verbosity(1);
+
+ // ~10ms (release)
+ ftl::dbscan<cv::Vec2f>(noisy_circles, linearSearch<cv::Vec2f>, 5, 0.1f, labels, centroids);
+ }
+
+ // assumes clustering returns same labels each time
+ REQUIRE(centroids.size() == 2);
+ REQUIRE(cv::norm(centroids[0]) < 0.01); // 0.0008899436718976423
+ REQUIRE(cv::norm(centroids[0]) < 0.01); // 0.0014477936451883612
+ for (unsigned i = 0; i < labels.size(); i++) {
+ if (labels[i] < 0) continue; // label: NOISE
+ REQUIRE(labels[i] == noisy_circles_labels[i]);
+ }
+}
+
diff --git a/applications/gui/test/tests.cpp b/components/operators/test/tests.cpp
similarity index 97%
rename from applications/gui/test/tests.cpp
rename to components/operators/test/tests.cpp
index 0c7c351f437f5f43f3bb62beb254a9f1ecbec5a0..178916eab8b9c7aabb87ff99894b48443ad6ecb6 100644
--- a/applications/gui/test/tests.cpp
+++ b/components/operators/test/tests.cpp
@@ -1,2 +1,3 @@
#define CATCH_CONFIG_MAIN
#include "catch.hpp"
+
diff --git a/components/renderers/cpp/CMakeLists.txt b/components/renderers/cpp/CMakeLists.txt
index 8c5c1f7f078de8761c676627012862857fbbab63..bf3c36d83994ba0f5055816a0f3ccb070147271a 100644
--- a/components/renderers/cpp/CMakeLists.txt
+++ b/components/renderers/cpp/CMakeLists.txt
@@ -10,6 +10,8 @@ add_library(ftlrender
src/colouriser.cpp
src/colour_util.cu
src/overlay.cpp
+ src/gltexture.cpp
+ src/touch.cu
#src/assimp_render.cpp
#src/assimp_scene.cpp
)
@@ -27,4 +29,10 @@ target_include_directories(ftlrender PUBLIC
PRIVATE src)
target_link_libraries(ftlrender ftlrgbd ftlcommon Eigen3::Eigen Threads::Threads nanogui ${NANOGUI_EXTRA_LIBS} ${OpenCV_LIBS})
-#ADD_SUBDIRECTORY(test)
+target_precompile_headers(ftlrender REUSE_FROM ftldata)
+
+set_property(TARGET ftlrender PROPERTY CUDA_ARCHITECTURES OFF)
+
+if (BUILD_TESTS)
+ ADD_SUBDIRECTORY(test)
+endif()
diff --git a/components/renderers/cpp/include/ftl/cuda/touch.hpp b/components/renderers/cpp/include/ftl/cuda/touch.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..f98d64e552576577e8cbeba24e9478d1303d1855
--- /dev/null
+++ b/components/renderers/cpp/include/ftl/cuda/touch.hpp
@@ -0,0 +1,28 @@
+#ifndef _FTL_CUDA_TOUCH_HPP_
+#define _FTL_CUDA_TOUCH_HPP_
+
+#include <ftl/cuda_common.hpp>
+
+namespace ftl {
+namespace cuda {
+
+struct Collision {
+ uint screen;
+ float depth;
+
+ __host__ __device__ inline int x() const { return (screen >> 12) & 0x3FF; }
+ __host__ __device__ inline int y() const { return screen & 0x3FF; }
+ __host__ __device__ inline float strength() const { return float(screen >> 24) / 32.0f; }
+};
+
+void touch_merge(
+ ftl::cuda::TextureObject<float> &depth_in,
+ ftl::cuda::TextureObject<float> &depth_out,
+ Collision *collisions, int max_collisions,
+ float dist,
+ cudaStream_t stream);
+
+}
+}
+
+#endif
diff --git a/components/renderers/cpp/include/ftl/render/CUDARender.hpp b/components/renderers/cpp/include/ftl/render/CUDARender.hpp
index cfdb4cf4016ef00f6df3b9c37adbd6c26598c813..a4e65bce6ba1aa40dbce3c4a8ba24747f258300a 100644
--- a/components/renderers/cpp/include/ftl/render/CUDARender.hpp
+++ b/components/renderers/cpp/include/ftl/render/CUDARender.hpp
@@ -5,6 +5,7 @@
#include <ftl/rgbd/frameset.hpp>
#include <ftl/render/render_params.hpp>
#include <ftl/cuda/points.hpp>
+#include <ftl/cuda/touch.hpp>
#include <ftl/codecs/channels.hpp>
//#include <ftl/filters/filter.hpp>
@@ -25,13 +26,20 @@ class CUDARender : public ftl::render::FSRenderer {
void begin(ftl::rgbd::Frame &, ftl::codecs::Channel) override;
void end() override;
- bool submit(ftl::rgbd::FrameSet *in, ftl::codecs::Channels<0>, const Eigen::Matrix4d &t) override;
+ bool submit(ftl::data::FrameSet *in, ftl::codecs::Channels<0>, const Eigen::Matrix4d &t) override;
//void setOutputDevice(int);
void render() override;
void blend(ftl::codecs::Channel) override;
+ void cancel() override;
+
+ /**
+ * Returns all inter-frameset collisions in camera coordinates.
+ */
+ inline const std::vector<float4> &getCollisions() const { return collision_points_; }
+
void setViewPort(ftl::render::ViewPortMode mode, const ftl::render::ViewPort &vp) {
params_.viewport = vp;
params_.viewPortMode = mode;
@@ -44,7 +52,8 @@ class CUDARender : public ftl::render::FSRenderer {
private:
int device_;
- ftl::rgbd::Frame temp_;
+ ftl::data::Frame temp_d_;
+ ftl::rgbd::Frame &temp_;
//ftl::rgbd::Frame accum_;
ftl::cuda::TextureObject<float4> accum_; // 2 is number of channels can render together
ftl::cuda::TextureObject<int> contrib_;
@@ -52,9 +61,15 @@ class CUDARender : public ftl::render::FSRenderer {
std::list<ftl::cuda::TextureObject<short2>*> screen_buffers_;
std::list<ftl::cuda::TextureObject<float>*> depth_buffers_;
+ ftl::cuda::TextureObject<float> depth_out_;
+
+ ftl::cuda::Collision *collisions_;
+ ftl::cuda::Collision collisions_host_[1024];
+ std::vector<float4> collision_points_;
+ float touch_dist_;
ftl::rgbd::Frame *out_;
- ftl::rgbd::FrameSet *scene_;
+ ftl::data::FrameSet *scene_;
ftl::cuda::ClipSpace clip_;
ftl::render::Colouriser *colouriser_;
bool clipping_;
@@ -100,7 +115,7 @@ class CUDARender : public ftl::render::FSRenderer {
void _end();
void _endSubmit();
- bool _alreadySeen() const { return last_frame_ == scene_->timestamp; }
+ bool _alreadySeen() const { return last_frame_ == scene_->timestamp(); }
void _adjustDepthThresholds(const ftl::rgbd::Camera &fcam);
ftl::cuda::TextureObject<float> &_getDepthBuffer(const cv::Size &);
diff --git a/components/renderers/cpp/include/ftl/render/overlay.hpp b/components/renderers/cpp/include/ftl/render/overlay.hpp
index be4f36d3132ee7157735d2d351313e85d2403cdb..4bb01d799c8d56b0edad19e28efd141661ca5d24 100644
--- a/components/renderers/cpp/include/ftl/render/overlay.hpp
+++ b/components/renderers/cpp/include/ftl/render/overlay.hpp
@@ -6,6 +6,8 @@
#include <ftl/rgbd/frameset.hpp>
#include <nanogui/glutil.h>
+struct NVGcontext;
+
namespace ftl {
namespace overlay {
@@ -24,7 +26,7 @@ class Overlay : public ftl::Configurable {
//void apply(ftl::rgbd::FrameSet &fs, cv::Mat &out, ftl::rgbd::FrameState &state);
- void draw(ftl::rgbd::FrameSet &fs, ftl::rgbd::FrameState &state, const Eigen::Vector2f &);
+ void draw(NVGcontext *, ftl::data::FrameSet &fs, ftl::rgbd::Frame &frame, const Eigen::Vector2f &, const Eigen::Vector2f &, const Eigen::Vector2f &offset, const Eigen::Matrix4d &cursor);
private:
nanogui::GLShader oShader;
diff --git a/components/renderers/cpp/include/ftl/render/render_params.hpp b/components/renderers/cpp/include/ftl/render/render_params.hpp
index b1bcce98b29a04d88cb2f29e84ca95d907240a64..7a445e0aeb6f54cd8ddef114313f638dc2321fec 100644
--- a/components/renderers/cpp/include/ftl/render/render_params.hpp
+++ b/components/renderers/cpp/include/ftl/render/render_params.hpp
@@ -69,6 +69,7 @@ struct Parameters {
ftl::rgbd::Camera camera; // Virtual camera intrinsics
ftl::render::ViewPort viewport;
ftl::render::ViewPortMode viewPortMode;
+ ftl::rgbd::Projection projection;
ftl::render::AccumulationFunction accumulationMode;
};
diff --git a/components/renderers/cpp/include/ftl/render/renderer.hpp b/components/renderers/cpp/include/ftl/render/renderer.hpp
index a7678b92fbb294c91169f28fa117950c6108a499..598e2a6eeb2b9fcd87cd4aceb146cabf3b605e16 100644
--- a/components/renderers/cpp/include/ftl/render/renderer.hpp
+++ b/components/renderers/cpp/include/ftl/render/renderer.hpp
@@ -32,7 +32,7 @@ class Renderer : public ftl::Configurable {
* frame given as parameter is where the output channels are rendered to.
* The channel parameter is the render output channel which can either be
* Left (Colour) or Right (Colour 2). Using "Right" will also adjust the
- * pose to the right eye position and use the right camera intrinsics.
+ * pose to the right eye position and use the right camera intrinsics.
*/
virtual void begin(ftl::rgbd::Frame &, ftl::codecs::Channel)=0;
@@ -47,6 +47,8 @@ class Renderer : public ftl::Configurable {
virtual void blend(ftl::codecs::Channel)=0;
+ virtual void cancel()=0;
+
protected:
Stage stage_;
};
@@ -64,13 +66,13 @@ class FSRenderer : public ftl::render::Renderer {
* multiple times between `begin` and `end` to combine multiple framesets.
* Note that the frameset pointer must remain valid until `end` is called,
* and ideally should not be swapped between.
- *
+ *
* The channels parameter gives all of the source channels that will be
* rendered into the single colour output. These will be blended
* together by some undefined method. Non colour channels will be converted
* to RGB colour appropriately.
*/
- virtual bool submit(ftl::rgbd::FrameSet *, ftl::codecs::Channels<0>, const Eigen::Matrix4d &)=0;
+ virtual bool submit(ftl::data::FrameSet *, ftl::codecs::Channels<0>, const Eigen::Matrix4d &)=0;
};
}
diff --git a/components/renderers/cpp/include/ftl/utility/gltexture.hpp b/components/renderers/cpp/include/ftl/utility/gltexture.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..c56dd0bb34beeb5239594e5b272acd7cb7c6fd10
--- /dev/null
+++ b/components/renderers/cpp/include/ftl/utility/gltexture.hpp
@@ -0,0 +1,57 @@
+#pragma once
+
+#include <opencv2/core.hpp>
+#include <ftl/cuda_common.hpp>
+
+struct cudaGraphicsResource;
+
+namespace ftl {
+namespace utility {
+
+class GLTexture {
+public:
+ enum class Type {
+ RGBA,
+ BGRA,
+ Float
+ };
+
+ explicit GLTexture();
+ ~GLTexture();
+
+ bool isValid() const { return glid_ != std::numeric_limits<unsigned int>::max(); }
+ int width() const { return width_; }
+ int height() const { return height_; }
+ Type type() const { return type_; }
+
+ std::mutex& mutex() { return mtx_; }
+
+ // acquire mutex before make() or free()
+ void make(int width, int height, Type type);
+ void free();
+ unsigned int texture() const;
+
+ cv::cuda::GpuMat map(cudaStream_t stream);
+ void unmap(cudaStream_t stream);
+
+ void copyFrom(const ftl::cuda::TextureObject<uchar4> &buf, cudaStream_t stream = cudaStreamDefault);
+
+ void copyFrom(const cv::Mat &im, cudaStream_t stream = cudaStreamDefault);
+ void copyFrom(const cv::cuda::GpuMat &im, cudaStream_t stream = cudaStreamDefault);
+
+private:
+ unsigned int glid_;
+ unsigned int glbuf_;
+ int width_;
+ int height_;
+ int stride_;
+
+ Type type_;
+
+ std::mutex mtx_; // for locking while in use (opengl thread calls lock() or cuda mapped)
+
+ cudaGraphicsResource *cuda_res_;
+};
+
+}
+}
diff --git a/components/renderers/cpp/src/CUDARender.cpp b/components/renderers/cpp/src/CUDARender.cpp
index 5a6665d68bfb3c6fb013c31b7f4f72d081574b27..dab897d5696f78ebffbec097485778bebd57c03b 100644
--- a/components/renderers/cpp/src/CUDARender.cpp
+++ b/components/renderers/cpp/src/CUDARender.cpp
@@ -25,13 +25,14 @@ using ftl::render::CUDARender;
using ftl::codecs::Channel;
using ftl::codecs::Channels;
using ftl::rgbd::Format;
+using ftl::rgbd::VideoFrame;
using cv::cuda::GpuMat;
using std::stoul;
using ftl::cuda::Mask;
using ftl::render::parseCUDAColour;
using ftl::render::parseCVColour;
-CUDARender::CUDARender(nlohmann::json &config) : ftl::render::FSRenderer(config), scene_(nullptr) {
+CUDARender::CUDARender(nlohmann::json &config) : ftl::render::FSRenderer(config), temp_d_(ftl::data::Frame::make_standalone()), temp_(temp_d_.cast<ftl::rgbd::Frame>()), scene_(nullptr) {
/*if (config["clipping"].is_object()) {
auto &c = config["clipping"];
float rx = c.value("pitch", 0.0f);
@@ -59,27 +60,29 @@ CUDARender::CUDARender(nlohmann::json &config) : ftl::render::FSRenderer(config)
colouriser_ = ftl::create<ftl::render::Colouriser>(this, "colouriser");
- on("clipping_enabled", [this](const ftl::config::Event &e) {
+ on("touch_sensitivity", touch_dist_, 0.04f);
+
+ on("clipping_enabled", [this]() {
clipping_ = value("clipping_enabled", true);
});
norm_filter_ = value("normal_filter", -1.0f);
- on("normal_filter", [this](const ftl::config::Event &e) {
+ on("normal_filter", [this]() {
norm_filter_ = value("normal_filter", -1.0f);
});
backcull_ = value("back_cull", true);
- on("back_cull", [this](const ftl::config::Event &e) {
+ on("back_cull", [this]() {
backcull_ = value("back_cull", true);
});
mesh_ = value("meshing", true);
- on("meshing", [this](const ftl::config::Event &e) {
+ on("meshing", [this]() {
mesh_ = value("meshing", true);
});
background_ = parseCVColour(value("background", std::string("#4c4c4c")));
- on("background", [this](const ftl::config::Event &e) {
+ on("background", [this]() {
background_ = parseCVColour(value("background", std::string("#4c4c4c")));
});
@@ -96,12 +99,18 @@ CUDARender::CUDARender(nlohmann::json &config) : ftl::render::FSRenderer(config)
}
}
- cudaSafeCall(cudaStreamCreate(&stream_));
+ //cudaSafeCall(cudaStreamCreate(&stream_));
+ stream_ = 0;
last_frame_ = -1;
+
+ temp_.store();
+ // Allocate collisions buffer
+ cudaSafeCall(cudaMalloc(&collisions_, 1024*sizeof(ftl::cuda::Collision)));
}
CUDARender::~CUDARender() {
-
+ delete colouriser_;
+ cudaFree(collisions_);
}
void CUDARender::_renderChannel(ftl::rgbd::Frame &output, ftl::codecs::Channel in, const Eigen::Matrix4d &t, cudaStream_t stream) {
@@ -110,12 +119,12 @@ void CUDARender::_renderChannel(ftl::rgbd::Frame &output, ftl::codecs::Channel i
if (in == Channel::None) return;
for (size_t i=0; i < scene_->frames.size(); ++i) {
- if (!scene_->hasFrame(i)) continue;
- auto &f = scene_->frames[i];
+ //if (!scene_->hasFrame(i)) continue;
+ auto &f = scene_->frames[i].cast<ftl::rgbd::Frame>();
if (!f.hasChannel(in)) {
- LOG(ERROR) << "Reprojecting unavailable channel";
- return;
+ //LOG(ERROR) << "Reprojecting unavailable channel";
+ continue;
}
_adjustDepthThresholds(f.getLeftCamera());
@@ -169,14 +178,14 @@ void CUDARender::_renderChannel(ftl::rgbd::Frame &output, ftl::codecs::Channel i
void CUDARender::_dibr(ftl::rgbd::Frame &out, const Eigen::Matrix4d &t, cudaStream_t stream) {
cv::cuda::Stream cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
- temp_.get<GpuMat>(Channel::Depth2).setTo(cv::Scalar(0x7FFFFFFF), cvstream);
+ temp_.set<GpuMat>(Channel::Depth2).setTo(cv::Scalar(0x7FFFFFFF), cvstream);
for (size_t i=0; i < scene_->frames.size(); ++i) {
if (!scene_->hasFrame(i)) continue;
- auto &f = scene_->frames[i];
+ auto &f = scene_->frames[i].cast<ftl::rgbd::Frame>();
//auto *s = scene_->sources[i];
- if (f.empty(Channel::Colour)) {
+ if (!f.has(Channel::Colour)) {
LOG(ERROR) << "Missing required channel";
continue;
}
@@ -233,23 +242,35 @@ void CUDARender::_mesh(ftl::rgbd::Frame &out, const Eigen::Matrix4d &t, cudaStre
bool do_blend = value("mesh_blend", false);
float blend_alpha = value("blend_alpha", 0.02f);
if (do_blend) {
- temp_.get<GpuMat>(Channel::Depth).setTo(cv::Scalar(0x7FFFFFFF), cvstream);
- temp_.get<GpuMat>(Channel::Weights).setTo(cv::Scalar(0.0f), cvstream);
+ temp_.set<GpuMat>(Channel::Depth).setTo(cv::Scalar(0x7FFFFFFF), cvstream);
+ temp_.set<GpuMat>(Channel::Weights).setTo(cv::Scalar(0.0f), cvstream);
} else {
- temp_.get<GpuMat>(Channel::Depth2).setTo(cv::Scalar(0x7FFFFFFF), cvstream);
+ temp_.set<GpuMat>(Channel::Depth2).setTo(cv::Scalar(0x7FFFFFFF), cvstream);
}
+ int valid_count = 0;
+
+ // FIXME: Is it possible to remember previously if there should be depth?
+ bool use_depth = scene_->anyHasChannel(Channel::Depth) || scene_->anyHasChannel(Channel::GroundTruth);
+
// For each source depth map
for (size_t i=0; i < scene_->frames.size(); ++i) {
- if (!scene_->hasFrame(i)) continue;
- auto &f = scene_->frames[i];
+ //if (!scene_->hasFrame(i)) continue;
+ auto &f = scene_->frames[i].cast<ftl::rgbd::Frame>();
//auto *s = scene_->sources[i];
- if (f.empty(Channel::Colour)) {
- LOG(ERROR) << "Missing required channel";
+ if (!f.has(Channel::Colour)) {
+ //LOG(ERROR) << "Missing required channel";
+ continue;
+ }
+
+ // We have the needed depth data?
+ if (use_depth && !f.hasOwn(Channel::Depth) && !f.hasOwn(Channel::GroundTruth)) {
continue;
}
+ ++valid_count;
+
//auto pose = MatrixConversion::toCUDA(t.cast<float>() * f.getPose().cast<float>());
auto transform = pose_ * MatrixConversion::toCUDA(t.cast<float>() * f.getPose().cast<float>());
@@ -260,20 +281,22 @@ void CUDARender::_mesh(ftl::rgbd::Frame &out, const Eigen::Matrix4d &t, cudaStre
auto &screenbuffer = _getScreenBuffer(bufsize);
// Calculate and save virtual view screen position of each source pixel
- if (f.hasChannel(Channel::Depth)) {
- ftl::cuda::screen_coord(
- f.createTexture<float>(Channel::Depth),
- depthbuffer,
- screenbuffer,
- params_, transform, f.getLeftCamera(), stream
- );
- } else if (f.hasChannel(Channel::GroundTruth)) {
- ftl::cuda::screen_coord(
- f.createTexture<float>(Channel::GroundTruth),
- depthbuffer,
- screenbuffer,
- params_, transform, f.getLeftCamera(), stream
- );
+ if (use_depth) {
+ if (f.hasChannel(Channel::Depth)) {
+ ftl::cuda::screen_coord(
+ f.createTexture<float>(Channel::Depth),
+ depthbuffer,
+ screenbuffer,
+ params_, transform, f.getLeftCamera(), stream
+ );
+ } else if (f.hasChannel(Channel::GroundTruth)) {
+ ftl::cuda::screen_coord(
+ f.createTexture<float>(Channel::GroundTruth),
+ depthbuffer,
+ screenbuffer,
+ params_, transform, f.getLeftCamera(), stream
+ );
+ }
} else {
// Constant depth version
ftl::cuda::screen_coord(
@@ -285,9 +308,11 @@ void CUDARender::_mesh(ftl::rgbd::Frame &out, const Eigen::Matrix4d &t, cudaStre
// Must reset depth channel if blending
if (do_blend) {
- temp_.get<GpuMat>(Channel::Depth).setTo(cv::Scalar(0x7FFFFFFF), cvstream);
+ temp_.set<GpuMat>(Channel::Depth).setTo(cv::Scalar(0x7FFFFFFF), cvstream);
}
+ depth_out_.to_gpumat().setTo(cv::Scalar(1000.0f), cvstream);
+
// Decide on and render triangles around each point
ftl::cuda::triangle_render1(
depthbuffer,
@@ -303,7 +328,8 @@ void CUDARender::_mesh(ftl::rgbd::Frame &out, const Eigen::Matrix4d &t, cudaStre
// Blend this sources mesh with previous meshes
ftl::cuda::mesh_blender(
temp_.getTexture<int>(Channel::Depth),
- out.createTexture<float>(_getDepthChannel()),
+ //out.createTexture<float>(_getDepthChannel()),
+ depth_out_,
f.createTexture<short>(Channel::Weights),
temp_.createTexture<float>(Channel::Weights),
params_,
@@ -315,20 +341,28 @@ void CUDARender::_mesh(ftl::rgbd::Frame &out, const Eigen::Matrix4d &t, cudaStre
}
}
+ if (valid_count == 0) return;
+
// Convert from int depth to float depth
//temp_.get<GpuMat>(Channel::Depth2).convertTo(out.get<GpuMat>(Channel::Depth), CV_32F, 1.0f / 100000.0f, cvstream);
if (do_blend) {
ftl::cuda::dibr_normalise(
- out.getTexture<float>(_getDepthChannel()),
- out.getTexture<float>(_getDepthChannel()),
+ //out.getTexture<float>(_getDepthChannel()),
+ //out.getTexture<float>(_getDepthChannel()),
+ depth_out_,
+ depth_out_,
temp_.getTexture<float>(Channel::Weights),
stream_
);
} else {
- ftl::cuda::merge_convert_depth(temp_.getTexture<int>(Channel::Depth2), out.createTexture<float>(_getDepthChannel()), 1.0f / 100000.0f, stream_);
+ //ftl::cuda::merge_convert_depth(temp_.getTexture<int>(Channel::Depth2), out.createTexture<float>(_getDepthChannel()), 1.0f / 100000.0f, stream_);
+ ftl::cuda::merge_convert_depth(temp_.getTexture<int>(Channel::Depth2), depth_out_, 1.0f / 100000.0f, stream_);
}
+ // Now merge new render to any existing frameset render, detecting collisions
+ ftl::cuda::touch_merge(depth_out_, out.createTexture<float>(_getDepthChannel()), collisions_, 1024, touch_dist_, stream_);
+
//filters_->filter(out, src, stream);
// Generate normals for final virtual image
@@ -347,29 +381,30 @@ void CUDARender::_allocateChannels(ftl::rgbd::Frame &out, ftl::codecs::Channel c
// Allocate left channel buffers and clear them
if (chan == Channel::Colour) {
//if (!out.hasChannel(Channel::Depth)) {
- out.create<GpuMat>(Channel::Depth, Format<float>(camera.width, camera.height));
- out.create<GpuMat>(Channel::Colour, Format<uchar4>(camera.width, camera.height));
- out.create<GpuMat>(Channel::Normals, Format<half4>(camera.width, camera.height));
- out.createTexture<uchar4>(Channel::Colour, true); // Force interpolated colour
- out.get<GpuMat>(Channel::Depth).setTo(cv::Scalar(1000.0f), cvstream);
+ out.create<VideoFrame>(Channel::Depth).createGPU(Format<float>(camera.width, camera.height));
+ out.create<VideoFrame>(Channel::Colour).createGPU(Format<uchar4>(camera.width, camera.height));
+ out.create<VideoFrame>(Channel::Normals).createGPU(Format<half4>(camera.width, camera.height));
+ out.createTexture<uchar4>(Channel::Colour, ftl::rgbd::Format<uchar4>(camera.width, camera.height), true); // Force interpolated colour
+ out.set<GpuMat>(Channel::Depth).setTo(cv::Scalar(1000.0f), cvstream);
//}
// Allocate right channel buffers and clear them
} else {
- if (!out.hasChannel(Channel::Depth2)) {
- out.create<GpuMat>(Channel::Depth2, Format<float>(camera.width, camera.height));
- out.create<GpuMat>(Channel::Colour2, Format<uchar4>(camera.width, camera.height));
- out.create<GpuMat>(Channel::Normals2, Format<half4>(camera.width, camera.height));
- out.createTexture<uchar4>(Channel::Colour2, true); // Force interpolated colour
- out.get<GpuMat>(Channel::Depth2).setTo(cv::Scalar(1000.0f), cvstream);
- }
+ //if (!out.hasChannel(Channel::Depth2)) {
+ out.create<VideoFrame>(Channel::Depth2).createGPU(Format<float>(camera.width, camera.height));
+ out.create<VideoFrame>(Channel::Colour2).createGPU(Format<uchar4>(camera.width, camera.height));
+ out.create<VideoFrame>(Channel::Normals2).createGPU(Format<half4>(camera.width, camera.height));
+ out.createTexture<uchar4>(Channel::Colour2, ftl::rgbd::Format<uchar4>(camera.width, camera.height), true); // Force interpolated colour
+ out.set<GpuMat>(Channel::Depth2).setTo(cv::Scalar(1000.0f), cvstream);
+ //}
}
-
- temp_.create<GpuMat>(Channel::Depth, Format<int>(camera.width, camera.height));
- temp_.create<GpuMat>(Channel::Depth2, Format<int>(camera.width, camera.height));
- temp_.create<GpuMat>(Channel::Normals, Format<half4>(camera.width, camera.height));
- temp_.create<GpuMat>(Channel::Weights, Format<float>(camera.width, camera.height));
+
+ temp_.create<VideoFrame>(Channel::Depth).createGPU(Format<int>(camera.width, camera.height));
+ temp_.create<VideoFrame>(Channel::Depth2).createGPU(Format<int>(camera.width, camera.height));
+ temp_.create<VideoFrame>(Channel::Normals).createGPU(Format<half4>(camera.width, camera.height));
+ temp_.create<VideoFrame>(Channel::Weights).createGPU(Format<float>(camera.width, camera.height));
temp_.createTexture<int>(Channel::Depth);
+ depth_out_.create(camera.width, camera.height);
accum_.create(camera.width, camera.height);
contrib_.create(camera.width, camera.height);
@@ -404,6 +439,7 @@ void CUDARender::_updateParameters(ftl::rgbd::Frame &out, ftl::codecs::Channel c
params_.disconDisparities = value("discon_disparities", 2.0f);
params_.accumulationMode = static_cast<ftl::render::AccumulationFunction>(value("accumulation_func", 0));
params_.m_flags = 0;
+ params_.projection = static_cast<ftl::rgbd::Projection>(value("projection",0));
if (value("normal_weight_colours", true)) params_.m_flags |= ftl::render::kNormalWeightColours;
if (value("channel_weights", false)) params_.m_flags |= ftl::render::kUseWeightsChannel;
}
@@ -417,7 +453,7 @@ void CUDARender::_postprocessColours(ftl::rgbd::Frame &out) {
out.getTexture<half4>(_getNormalsChannel()),
out.getTexture<uchar4>(out_chan_),
col, pose,
- stream_
+ stream_
);
}
@@ -437,7 +473,7 @@ void CUDARender::_postprocessColours(ftl::rgbd::Frame &out) {
params_.camera,
stream_
);
- } else if (out.hasChannel(_getDepthChannel()) && out.hasChannel(out_chan_)) {
+ } else if (mesh_ && out.hasChannel(_getDepthChannel()) && out.hasChannel(out_chan_)) {
ftl::cuda::fix_bad_colour(
out.getTexture<float>(_getDepthChannel()),
out.getTexture<uchar4>(out_chan_),
@@ -466,17 +502,27 @@ void CUDARender::_renderPass2(Channels<0> chans, const Eigen::Matrix4d &t) {
for (auto chan : chans) {
ftl::codecs::Channel mapped = chan;
- if (chan == Channel::Colour && scene_->firstFrame().hasChannel(Channel::ColourHighRes)) mapped = Channel::ColourHighRes;
+ // FIXME: Doesn't seem to work
+ //if (chan == Channel::Colour && scene_->firstFrame().hasChannel(Channel::ColourHighRes)) mapped = Channel::ColourHighRes;
_renderChannel(*out_, mapped, t, stream_);
}
}
+void CUDARender::cancel() {
+ out_ = nullptr;
+ scene_ = nullptr;
+ stage_ = Stage::Finished;
+ cudaSafeCall(cudaStreamSynchronize(stream_));
+}
+
void CUDARender::begin(ftl::rgbd::Frame &out, ftl::codecs::Channel chan) {
if (stage_ != Stage::Finished) {
throw FTL_Error("Already rendering");
}
+ stream_ = out.stream();
+
out_ = &out;
const auto &camera = out.getLeftCamera();
cv::cuda::Stream cvstream = cv::cuda::StreamAccessor::wrapStream(stream_);
@@ -491,7 +537,7 @@ void CUDARender::begin(ftl::rgbd::Frame &out, ftl::codecs::Channel chan) {
// Apply a colour background
if (env_image_.empty() || !value("environment_enabled", false)) {
- out.get<GpuMat>(chan).setTo(background_, cvstream);
+ out.set<GpuMat>(chan).setTo(background_, cvstream);
} else {
auto pose = poseInverse_.getFloat3x3();
ftl::cuda::equirectangular_reproject(
@@ -502,6 +548,9 @@ void CUDARender::begin(ftl::rgbd::Frame &out, ftl::codecs::Channel chan) {
sets_.clear();
stage_ = Stage::ReadySubmit;
+
+ // Reset collision data.
+ cudaSafeCall(cudaMemsetAsync(collisions_, 0, sizeof(int), stream_));
}
void CUDARender::render() {
@@ -566,14 +615,45 @@ void CUDARender::_endSubmit() {
void CUDARender::_end() {
_postprocessColours(*out_);
- // Final OpenGL flip
- ftl::cuda::flip(out_->getTexture<uchar4>(out_chan_), stream_);
- ftl::cuda::flip(out_->getTexture<float>(_getDepthChannel()), stream_);
+ // Final OpenGL flip (easier to do in shader?)
+ /*ftl::cuda::flip(out_->getTexture<uchar4>(out_chan_), stream_);*/
+ /*ftl::cuda::flip(out_->getTexture<float>(_getDepthChannel()), stream_);*/
+ cudaSafeCall(cudaMemcpyAsync(collisions_host_, collisions_, sizeof(ftl::cuda::Collision)*1024, cudaMemcpyDeviceToHost, stream_));
cudaSafeCall(cudaStreamSynchronize(stream_));
+
+ // Convert collisions into camera coordinates.
+ collision_points_.resize(collisions_host_[0].screen);
+ for (uint i=1; i<collisions_host_[0].screen+1; ++i) {
+ collision_points_[i-1] = make_float4(collisions_host_[i].x(), collisions_host_[i].y(), collisions_host_[i].depth, collisions_host_[i].strength());
+ }
+
+ // Do something with the collisions
+ /*if (collisions_host_[0].screen > 0) {
+ float x = 0.0f;
+ float y = 0.0f;
+ float d = 0.0f;
+ float w = 0.0f;
+
+ for (uint i=1; i<collisions_host_[0].screen+1; ++i) {
+ float inum = collisions_host_[i].strength();
+ int ix = collisions_host_[i].x();
+ int iy = collisions_host_[i].y();
+ x += float(ix)*inum;
+ y += float(iy)*inum;
+ d += collisions_host_[i].depth*inum;
+ w += inum;
+ }
+
+ x /= w;
+ y /= w;
+ d /= w;
+
+ LOG(INFO) << "Collision at: " << x << "," << y << ", " << d;
+ }*/
}
-bool CUDARender::submit(ftl::rgbd::FrameSet *in, Channels<0> chans, const Eigen::Matrix4d &t) {
+bool CUDARender::submit(ftl::data::FrameSet *in, Channels<0> chans, const Eigen::Matrix4d &t) {
if (stage_ != Stage::ReadySubmit) {
throw FTL_Error("Renderer not ready for submits");
}
@@ -587,9 +667,8 @@ bool CUDARender::submit(ftl::rgbd::FrameSet *in, Channels<0> chans, const Eigen:
bool success = true;
try {
- _renderPass1(in->pose);
- //cudaSafeCall(cudaStreamSynchronize(stream_));
- } catch (std::exception &e) {
+ _renderPass1(t);
+ } catch (const ftl::exception &e) {
LOG(ERROR) << "Exception in render: " << e.what();
success = false;
}
@@ -597,9 +676,9 @@ bool CUDARender::submit(ftl::rgbd::FrameSet *in, Channels<0> chans, const Eigen:
auto &s = sets_.emplace_back();
s.fs = in;
s.channels = chans;
- s.transform = in->pose;
+ s.transform = t;
- last_frame_ = scene_->timestamp;
+ last_frame_ = scene_->timestamp();
scene_ = nullptr;
return success;
}
diff --git a/components/renderers/cpp/src/clipping.cu b/components/renderers/cpp/src/clipping.cu
index 016e08855e6e042c90662a98d675d9e38ce344bb..d73e7a50bf2000ae6e2ba074280a21a0c7e880da 100644
--- a/components/renderers/cpp/src/clipping.cu
+++ b/components/renderers/cpp/src/clipping.cu
@@ -27,12 +27,15 @@ __global__ void clipping_kernel(ftl::cuda::TextureObject<float> depth, ftl::cuda
const unsigned int x = blockIdx.x*blockDim.x + threadIdx.x;
const unsigned int y = blockIdx.y*blockDim.y + threadIdx.y;
- if (x < depth.width() && y < depth.height()) {
- float d = depth(x,y);
- float4 p = make_float4(camera.screenToCam(x,y,d), 0.0f);
+ const float sx = float(x) / float(colour.width()) * float(depth.width());
+ const float sy = float(y) / float(colour.height()) * float(depth.height());
+
+ if (sx >= 0.0f && sx < depth.width() && sy < depth.height() && sy >= 0.0f) {
+ float d = depth(sx,sy);
+ float4 p = make_float4(camera.screenToCam(sx,sy,d), 0.0f);
if (d <= camera.minDepth || d >= camera.maxDepth || isClipped(p, clip)) {
- depth(x,y) = 0.0f;
+ depth(sx,sy) = 0.0f;
colour(x,y) = make_uchar4(0,0,0,0);
}
}
@@ -54,7 +57,7 @@ void ftl::cuda::clipping(ftl::cuda::TextureObject<float> &depth,
const ftl::rgbd::Camera &camera,
const ClipSpace &clip, cudaStream_t stream) {
- const dim3 gridSize((depth.width() + T_PER_BLOCK - 1)/T_PER_BLOCK, (depth.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
+ const dim3 gridSize((colour.width() + T_PER_BLOCK - 1)/T_PER_BLOCK, (colour.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
clipping_kernel<<<gridSize, blockSize, 0, stream>>>(depth, colour, camera, clip);
diff --git a/components/renderers/cpp/src/colouriser.cpp b/components/renderers/cpp/src/colouriser.cpp
index 6341f1a86a499afc8ae31de31750b16185740a9d..a8399d016b3229fe04d009d49ca9b902f4e6e68e 100644
--- a/components/renderers/cpp/src/colouriser.cpp
+++ b/components/renderers/cpp/src/colouriser.cpp
@@ -2,6 +2,7 @@
#include "splatter_cuda.hpp"
#include <ftl/cuda/colour_cuda.hpp>
#include <ftl/cuda/normals.hpp>
+#include <ftl/operators/cuda/mask.hpp>
#include <opencv2/cudaarithm.hpp>
#include <opencv2/cudaimgproc.hpp>
@@ -113,9 +114,13 @@ Colouriser::~Colouriser() {
}
TextureObject<uchar4> &Colouriser::colourise(ftl::rgbd::Frame &f, Channel c, cudaStream_t stream) {
+ const auto &vf = f.get<ftl::rgbd::VideoFrame>(c);
+ if (!vf.isGPU()) {
+ f.upload(c);
+ }
+
switch (c) {
- case Channel::Overlay : return f.createTexture<uchar4>(c);
- case Channel::ColourHighRes :
+ case Channel::Overlay :
case Channel::Colour :
case Channel::Colour2 : return _processColour(f,c,stream);
case Channel::GroundTruth :
@@ -183,7 +188,7 @@ TextureObject<uchar4> &Colouriser::_processColour(ftl::rgbd::Frame &f, Channel c
bool colour_sources = value("colour_sources", false);
if (!colour_sources && show_mask == 0) {
- return f.createTexture<uchar4>(c);
+ return f.createTexture<uchar4>(c, true);
}
cv::cuda::Stream cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
@@ -192,7 +197,7 @@ TextureObject<uchar4> &Colouriser::_processColour(ftl::rgbd::Frame &f, Channel c
auto &buf = _getBuffer(size.width, size.height);
if (colour_sources) {
- auto colour = HSVtoRGB(360 / 8 * f.id, 0.6, 0.85);
+ auto colour = HSVtoRGB(360 / 8 * f.source(), 0.6, 0.85);
buf.to_gpumat().setTo(colour, cvstream);
}
diff --git a/components/renderers/cpp/src/dibr.cu b/components/renderers/cpp/src/dibr.cu
index 2aa5987371afc61348ffe94f4fe0fc41929e4cb6..a00f4be523294ddaea6f31e3ac847f01415e59fb 100644
--- a/components/renderers/cpp/src/dibr.cu
+++ b/components/renderers/cpp/src/dibr.cu
@@ -9,10 +9,12 @@
using ftl::cuda::TextureObject;
using ftl::render::Parameters;
+using ftl::rgbd::Projection;
/*
* DIBR point cloud with a depth check
*/
+ template <Projection PROJECT>
__global__ void dibr_merge_kernel(TextureObject<float> depth,
TextureObject<int> depth_out,
float4x4 transform,
@@ -26,11 +28,13 @@ using ftl::render::Parameters;
const float3 camPos = transform * cam.screenToCam(x,y,d0);
- const float d = camPos.z;
+ //const float d = camPos.z;
- const uint2 screenPos = params.camera.camToScreen<uint2>(camPos);
- const unsigned int cx = screenPos.x;
- const unsigned int cy = screenPos.y;
+ //const uint2 screenPos = params.camera.camToScreen<uint2>(camPos);
+ const float3 screenPos = params.camera.project<PROJECT>(camPos);
+ const unsigned int cx = (unsigned int)(screenPos.x+0.5f);
+ const unsigned int cy = (unsigned int)(screenPos.y+0.5f);
+ const float d = screenPos.z;
if (d > params.camera.minDepth && d < params.camera.maxDepth && cx < depth_out.width() && cy < depth_out.height()) {
// Transform estimated point to virtual cam space and output z
atomicMin(&depth_out(cx,cy), d * 100000.0f);
@@ -67,7 +71,11 @@ void ftl::cuda::dibr_merge(TextureObject<float> &depth, TextureObject<int> &dept
const dim3 gridSize((depth.width() + T_PER_BLOCK - 1)/T_PER_BLOCK, (depth.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
- dibr_merge_kernel<<<gridSize, blockSize, 0, stream>>>(depth, depth_out, transform, cam, params);
+ if (params.projection == Projection::PERSPECTIVE) {
+ dibr_merge_kernel<Projection::PERSPECTIVE><<<gridSize, blockSize, 0, stream>>>(depth, depth_out, transform, cam, params);
+ } else {
+ dibr_merge_kernel<Projection::ORTHOGRAPHIC><<<gridSize, blockSize, 0, stream>>>(depth, depth_out, transform, cam, params);
+ }
cudaSafeCall( cudaGetLastError() );
}
diff --git a/applications/gui/src/gltexture.cpp b/components/renderers/cpp/src/gltexture.cpp
similarity index 54%
rename from applications/gui/src/gltexture.cpp
rename to components/renderers/cpp/src/gltexture.cpp
index ae3c3a05d852fbff2dc8423de2533c4d2d6f2f8e..2bb106ecd0a225fe27f0dcf099c57720135518c4 100644
--- a/applications/gui/src/gltexture.cpp
+++ b/components/renderers/cpp/src/gltexture.cpp
@@ -1,56 +1,37 @@
-#include "gltexture.hpp"
+#include <ftl/utility/gltexture.hpp>
#include <nanogui/opengl.h>
#include <loguru.hpp>
#include <ftl/cuda_common.hpp>
+
#include <cuda_gl_interop.h>
+#include <opencv2/core/cuda_stream_accessor.hpp>
#include <ftl/exception.hpp>
-using ftl::gui::GLTexture;
+void log_error() {
+ auto err = glGetError();
+ if (err != 0) LOG(ERROR) << "OpenGL Texture error: " << err;
+}
+
+using ftl::utility::GLTexture;
-GLTexture::GLTexture(GLTexture::Type type) {
+GLTexture::GLTexture() {
glid_ = std::numeric_limits<unsigned int>::max();
glbuf_ = std::numeric_limits<unsigned int>::max();
cuda_res_ = nullptr;
width_ = 0;
height_ = 0;
- changed_ = true;
- type_ = type;
+ type_ = Type::RGBA;
}
GLTexture::~GLTexture() {
- //glDeleteTextures(1, &glid_);
+ free(); // Note: Do not simply remove this...
}
-void GLTexture::update(cv::Mat &m) {
- LOG(INFO) << "DEPRECATED";
- if (m.rows == 0) return;
- if (glid_ == std::numeric_limits<unsigned int>::max()) {
- glGenTextures(1, &glid_);
- glBindTexture(GL_TEXTURE_2D, glid_);
- //cv::Mat m(cv::Size(100,100), CV_8UC3);
- if (type_ == Type::BGRA) {
- glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA8, m.cols, m.rows, 0, GL_BGRA, GL_UNSIGNED_BYTE, m.data);
- } else if (type_ == Type::Float) {
- glTexImage2D(GL_TEXTURE_2D, 0, GL_R32F, m.cols, m.rows, 0, GL_RED, GL_FLOAT, m.data);
- }
- glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
- glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
- glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
- glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
- } else {
- //glBindTexture(GL_TEXTURE_2D, glid_);
- // TODO Allow for other formats
- //glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA8, m.cols, m.rows, 0, GL_BGRA, GL_UNSIGNED_BYTE, m.data);
- }
- auto err = glGetError();
- if (err != 0) LOG(ERROR) << "OpenGL Texture error: " << err;
-}
-
-void GLTexture::make(int width, int height) {
- if (width != width_ || height != height_) {
+void GLTexture::make(int width, int height, Type type) {
+ if (width != width_ || height != height_ || type_ != type) {
free();
}
@@ -58,31 +39,33 @@ void GLTexture::make(int width, int height) {
width_ = width;
height_ = height;
- stride_ = ((width*4) % ALIGNMENT != 0) ? ((width*4) + (ALIGNMENT - ((width*4) % ALIGNMENT))) / 4 : width;
+ stride_ = ((width*4) % ALIGNMENT != 0) ?
+ ((width*4) + (ALIGNMENT - ((width*4) % ALIGNMENT))) / 4:
+ width;
+
+ type_ = type;
if (width == 0 || height == 0) {
throw FTL_Error("Invalid texture size");
}
if (glid_ == std::numeric_limits<unsigned int>::max()) {
- glGenTextures(1, &glid_);
- glBindTexture(GL_TEXTURE_2D, glid_);
-
- glPixelStorei(GL_UNPACK_ROW_LENGTH, stride_);
+ glGenTextures(1, &glid_); log_error();
+ glBindTexture(GL_TEXTURE_2D, glid_); log_error();
+ glPixelStorei(GL_UNPACK_ROW_LENGTH, stride_); log_error();
- //cv::Mat m(cv::Size(100,100), CV_8UC3);
- //glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA8, width, height, 0, GL_BGRA, GL_UNSIGNED_BYTE, nullptr);
if (type_ == Type::BGRA) {
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA8, width, height, 0, GL_BGRA, GL_UNSIGNED_BYTE, nullptr);
} else if (type_ == Type::Float) {
- glTexImage2D(GL_TEXTURE_2D, 0, GL_R32F, width, height, 0, GL_RED, GL_FLOAT, nullptr);
+ glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA8, width, height, 0, GL_BGRA, GL_UNSIGNED_BYTE, nullptr);
}
+ log_error();
+
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
- auto err = glGetError();
- if (err != 0) LOG(ERROR) << "OpenGL Texture error: " << err;
+ log_error();
glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
@@ -91,11 +74,12 @@ void GLTexture::make(int width, int height) {
glGenBuffers(1, &glbuf_);
// Make this the current UNPACK buffer (OpenGL is state-based)
glBindBuffer(GL_PIXEL_UNPACK_BUFFER, glbuf_);
- // Allocate data for the buffer. 4-channel 8-bit image
+ // Allocate data for the buffer. 4-channel 8-bit image or 1-channel float
glBufferData(GL_PIXEL_UNPACK_BUFFER, stride_ * height * 4, NULL, GL_DYNAMIC_COPY);
cudaSafeCall(cudaGraphicsGLRegisterBuffer(&cuda_res_, glbuf_, cudaGraphicsRegisterFlagsWriteDiscard));
glBindBuffer(GL_PIXEL_UNPACK_BUFFER, 0);
+ log_error();
}
}
@@ -114,6 +98,7 @@ void GLTexture::free() {
}
cv::cuda::GpuMat GLTexture::map(cudaStream_t stream) {
+ mtx_.lock();
void *devptr;
size_t size;
cudaSafeCall(cudaGraphicsMapResources(1, &cuda_res_, stream));
@@ -122,23 +107,27 @@ cv::cuda::GpuMat GLTexture::map(cudaStream_t stream) {
}
void GLTexture::unmap(cudaStream_t stream) {
+ // note: code must not throw, otherwise mtx_.unlock() does not happen
+
cudaSafeCall(cudaGraphicsUnmapResources(1, &cuda_res_, stream));
- changed_ = true;
//glActiveTexture(GL_TEXTURE0);
- glBindBuffer( GL_PIXEL_UNPACK_BUFFER, glbuf_);
+ glBindBuffer(GL_PIXEL_UNPACK_BUFFER, glbuf_);
// Select the appropriate texture
- glBindTexture( GL_TEXTURE_2D, glid_);
+ glBindTexture(GL_TEXTURE_2D, glid_);
+
glPixelStorei(GL_UNPACK_ROW_LENGTH, stride_);
// Make a texture from the buffer
if (type_ == Type::BGRA) {
- glTexSubImage2D( GL_TEXTURE_2D, 0, 0, 0, width_, height_, GL_BGRA, GL_UNSIGNED_BYTE, NULL);
+ glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, width_, height_, GL_BGRA, GL_UNSIGNED_BYTE, NULL);
} else {
- glTexSubImage2D( GL_TEXTURE_2D, 0, 0, 0, width_, height_, GL_RED, GL_FLOAT, NULL);
+ glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, width_, height_, GL_RED, GL_FLOAT, NULL);
}
glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
glBindTexture(GL_TEXTURE_2D, 0);
- glBindBuffer( GL_PIXEL_UNPACK_BUFFER, 0);
+ glBindBuffer(GL_PIXEL_UNPACK_BUFFER, 0);
+
+ mtx_.unlock();
}
unsigned int GLTexture::texture() const {
@@ -153,6 +142,47 @@ unsigned int GLTexture::texture() const {
return glid_;
} else {
- return glid_;
+ throw FTL_Error("No OpenGL texture; use make() first");
+ }
+}
+
+void GLTexture::copyFrom(const ftl::cuda::TextureObject<uchar4> &buffer, cudaStream_t stream) {
+ if (buffer.width() == 0 || buffer.height() == 0) {
+ return;
+ }
+
+ make(buffer.width(), buffer.height(), ftl::utility::GLTexture::Type::BGRA);
+ auto dst = map(stream);
+ cudaSafeCall(cudaMemcpy2D( dst.data, dst.step, buffer.devicePtr(), buffer.pitch(),
+ buffer.width()*4, buffer.height(), cudaMemcpyDeviceToDevice));
+ unmap(stream);
+}
+
+void GLTexture::copyFrom(const cv::Mat &im, cudaStream_t stream) {
+
+ if (im.rows == 0 || im.cols == 0 || im.channels() != 4 || im.type() != CV_8UC4) {
+ LOG(ERROR) << __FILE__ << ":" << __LINE__ << ": " << "bad OpenCV format";
+ return;
}
+
+ auto cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
+ make(im.cols, im.rows, ftl::utility::GLTexture::Type::BGRA);
+
+ auto dst = map(stream);
+ dst.upload(im);
+ unmap(stream);
+}
+
+void GLTexture::copyFrom(const cv::cuda::GpuMat &im, cudaStream_t stream) {
+
+ if (im.rows == 0 || im.cols == 0 || im.channels() != 4 || im.type() != CV_8UC4) {
+ LOG(ERROR) << __FILE__ << ":" << __LINE__ << ": " << "bad OpenCV format";
+ return;
+ }
+
+ auto cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
+ make(im.cols, im.rows, ftl::utility::GLTexture::Type::BGRA);
+ auto dst = map(stream);
+ im.copyTo(dst, cvstream);
+ unmap(stream);
}
diff --git a/components/renderers/cpp/src/overlay.cpp b/components/renderers/cpp/src/overlay.cpp
index 7054c275a0002762d68cffc33a62136f9cfbeac6..7562ffbf9272c72e90e409c03401c0f6f65072a6 100644
--- a/components/renderers/cpp/src/overlay.cpp
+++ b/components/renderers/cpp/src/overlay.cpp
@@ -1,9 +1,11 @@
#include <ftl/render/overlay.hpp>
#include <ftl/utility/matrix_conversion.hpp>
+#include <ftl/cuda_common.hpp>
#include <opencv2/imgproc.hpp>
#include <ftl/codecs/shapes.hpp>
+#include <ftl/operators/poser.hpp>
#define LOGURU_REPLACE_GLOG 1
#include <loguru.hpp>
@@ -21,19 +23,21 @@ namespace {
uniform float height;
uniform float far;
uniform float near;
- uniform mat4 pose;
- uniform vec3 scale;
+ //uniform float offset_x;
+ //uniform float offset_y;
+ uniform mat4 pose;
+ uniform vec3 scale;
void main() {
- vec4 vert = pose*(vec4(scale*vertex,1.0));
- vert = vert / vert.w;
+ vec4 vert = pose*(vec4(scale*vertex,1.0));
+ vert = vert / vert.w;
//vec4 pos = vec4(-vert.x*focal / -vert.z / (width/2.0),
// vert.y*focal / -vert.z / (height/2.0),
// (vert.z-near) / (far-near) * 2.0 - 1.0, 1.0);
vec4 pos = vec4(
- vert.x*focal / (width/2.0),
- -vert.y*focal / (height/2.0),
+ (vert.x*focal) / (width/2.0),
+ (-vert.y*focal) / (height/2.0),
-vert.z * ((far+near) / (far-near)) + (2.0 * near * far / (far-near)),
//((vert.z - near) / (far - near) * 2.0 - 1.0) * vert.z,
vert.z
@@ -46,7 +50,7 @@ namespace {
R"(#version 330
uniform vec4 blockColour;
out vec4 color;
-
+
void main() {
color = blockColour;
})";
@@ -61,201 +65,201 @@ Overlay::~Overlay() {
}
void Overlay::_createShapes() {
- shape_verts_ = {
- // Box
- {-1.0, -1.0, -1.0},
- {1.0, -1.0, -1.0},
- {1.0, 1.0, -1.0},
- {-1.0, 1.0, -1.0},
- {-1.0, -1.0, 1.0},
- {1.0, -1.0, 1.0},
- {1.0, 1.0, 1.0},
- {-1.0, 1.0, 1.0},
-
- // Camera
- {0.0, 0.0, 0.0}, // 8
- {0.5, 0.28, 0.5},
- {0.5, -0.28, 0.5},
- {-0.5, 0.28, 0.5},
- {-0.5, -0.28, 0.5},
-
- // Axis lines
- {1.0, 0.0, 0.0}, // 13
- {0.0, -1.0, 0.0},
- {0.0, 0.0, 1.0},
-
- // Plane XZ big
- {-10.0, 0.0, -10.0}, // 16
- {10.0, 0.0, -10.0},
- {10.0, 0.0, 10.0},
- {-10.0, 0.0, 10.0}
- };
-
- // Generate a big plane
- for (int x=-9; x<=9; ++x) {
- shape_verts_.push_back({float(x), 0.0, -10.0});
- shape_verts_.push_back({float(x), 0.0, 10.0});
- shape_verts_.push_back({-10.0, 0.0, float(x)});
- shape_verts_.push_back({10.0, 0.0, float(x)});
- }
-
- shape_tri_indices_ = {
- // Box
- 0, 1, 2,
- 0, 2, 3,
- 1, 5, 6,
- 1, 6, 2,
- 0, 4, 7,
- 0, 7, 3,
- 3, 2, 6,
- 3, 6, 7,
- 0, 1, 5,
- 0, 5, 4,
-
- // Box Lines
- 0, 1, // 30
- 1, 5,
- 5, 6,
- 6, 2,
- 2, 1,
- 2, 3,
- 3, 0,
- 3, 7,
- 7, 4,
- 4, 5,
- 6, 7,
- 0, 4,
-
- // Camera
- 8, 9, 10, // 54
- 8, 11, 12,
- 8, 9, 11,
- 8, 10, 12,
-
- // Camera Lines
- 8, 9, // 66
- 8, 10,
- 8, 11,
- 8, 12,
- 9, 10,
- 11, 12,
- 9, 11,
- 10, 12,
-
- // Axis lines
- 8, 13, // 82
- 8, 14,
- 8, 15,
-
- // Big XZ Plane
- 16, 17, 18, // 88
- 18, 19, 16
- };
-
- int i = 20;
- for (int x=-10; x<=10; ++x) {
- shape_tri_indices_.push_back(i++);
- shape_tri_indices_.push_back(i++);
- shape_tri_indices_.push_back(i++);
- shape_tri_indices_.push_back(i++);
- }
-
- shapes_[Shape::BOX] = {0,30, 30, 12*2};
- shapes_[Shape::CAMERA] = {54, 4*3, 66, 8*2};
- shapes_[Shape::XZPLANE] = {88, 2*3, 94, 40*2};
- shapes_[Shape::AXIS] = {0, 0, 82, 2*3};
-
- oShader.uploadAttrib("vertex", sizeof(float3)*shape_verts_.size(), 3, sizeof(float), GL_FLOAT, false, shape_verts_.data());
- oShader.uploadAttrib ("indices", sizeof(int)*shape_tri_indices_.size(), 1, sizeof(int), GL_UNSIGNED_INT, true, shape_tri_indices_.data());
+ shape_verts_ = {
+ // Box
+ {-1.0, -1.0, -1.0},
+ {1.0, -1.0, -1.0},
+ {1.0, 1.0, -1.0},
+ {-1.0, 1.0, -1.0},
+ {-1.0, -1.0, 1.0},
+ {1.0, -1.0, 1.0},
+ {1.0, 1.0, 1.0},
+ {-1.0, 1.0, 1.0},
+
+ // Camera
+ {0.0, 0.0, 0.0}, // 8
+ {0.5, 0.28, 0.5},
+ {0.5, -0.28, 0.5},
+ {-0.5, 0.28, 0.5},
+ {-0.5, -0.28, 0.5},
+
+ // Axis lines
+ {1.0, 0.0, 0.0}, // 13
+ {0.0, -1.0, 0.0},
+ {0.0, 0.0, 1.0},
+
+ // Plane XZ big
+ {-10.0, 0.0, -10.0}, // 16
+ {10.0, 0.0, -10.0},
+ {10.0, 0.0, 10.0},
+ {-10.0, 0.0, 10.0}
+ };
+
+ // Generate a big plane
+ for (int x=-9; x<=9; ++x) {
+ shape_verts_.push_back({float(x), 0.0, -10.0});
+ shape_verts_.push_back({float(x), 0.0, 10.0});
+ shape_verts_.push_back({-10.0, 0.0, float(x)});
+ shape_verts_.push_back({10.0, 0.0, float(x)});
+ }
+
+ shape_tri_indices_ = {
+ // Box
+ 0, 1, 2,
+ 0, 2, 3,
+ 1, 5, 6,
+ 1, 6, 2,
+ 0, 4, 7,
+ 0, 7, 3,
+ 3, 2, 6,
+ 3, 6, 7,
+ 0, 1, 5,
+ 0, 5, 4,
+
+ // Box Lines
+ 0, 1, // 30
+ 1, 5,
+ 5, 6,
+ 6, 2,
+ 2, 1,
+ 2, 3,
+ 3, 0,
+ 3, 7,
+ 7, 4,
+ 4, 5,
+ 6, 7,
+ 0, 4,
+
+ // Camera
+ 8, 9, 10, // 54
+ 8, 11, 12,
+ 8, 9, 11,
+ 8, 10, 12,
+
+ // Camera Lines
+ 8, 9, // 66
+ 8, 10,
+ 8, 11,
+ 8, 12,
+ 9, 10,
+ 11, 12,
+ 9, 11,
+ 10, 12,
+
+ // Axis lines
+ 8, 13, // 82
+ 8, 14,
+ 8, 15,
+
+ // Big XZ Plane
+ 16, 17, 18, // 88
+ 18, 19, 16
+ };
+
+ int i = 20;
+ for (int x=-10; x<=10; ++x) {
+ shape_tri_indices_.push_back(i++);
+ shape_tri_indices_.push_back(i++);
+ shape_tri_indices_.push_back(i++);
+ shape_tri_indices_.push_back(i++);
+ }
+
+ shapes_[Shape::BOX] = {0,30, 30, 12*2};
+ shapes_[Shape::CAMERA] = {54, 4*3, 66, 8*2};
+ shapes_[Shape::XZPLANE] = {88, 2*3, 94, 40*2};
+ shapes_[Shape::AXIS] = {0, 0, 82, 2*3};
+
+ oShader.uploadAttrib("vertex", 3*shape_verts_.size(), 3, sizeof(float), GL_FLOAT, false, shape_verts_.data());
+ oShader.uploadAttrib ("indices", 1*shape_tri_indices_.size(), 1, sizeof(int), GL_UNSIGNED_INT, true, shape_tri_indices_.data());
}
void Overlay::_drawFilledShape(Shape shape, const Eigen::Matrix4d &pose, float scale, uchar4 c) {
- if (shapes_.find(shape) ==shapes_.end()) {
- return;
- }
-
- Eigen::Matrix4f mv = pose.cast<float>();
-
- auto [offset,count, loffset, lcount] = shapes_[shape];
- UNUSED(loffset);
- UNUSED(lcount);
- oShader.setUniform("scale", scale);
- oShader.setUniform("pose", mv);
- oShader.setUniform("blockColour", Eigen::Vector4f(float(c.x)/255.0f,float(c.y)/255.0f,float(c.z)/255.0f,float(c.w)/255.0f));
+ if (shapes_.find(shape) ==shapes_.end()) {
+ return;
+ }
+
+ Eigen::Matrix4f mv = pose.cast<float>();
+
+ auto [offset,count, loffset, lcount] = shapes_[shape];
+ UNUSED(loffset);
+ UNUSED(lcount);
+ oShader.setUniform("scale", scale);
+ oShader.setUniform("pose", mv);
+ oShader.setUniform("blockColour", Eigen::Vector4f(float(c.x)/255.0f,float(c.y)/255.0f,float(c.z)/255.0f,float(c.w)/255.0f));
//oShader.drawIndexed(GL_TRIANGLES, offset, count);
- glDrawElements(GL_TRIANGLES, (GLsizei) count, GL_UNSIGNED_INT,
- (const void *)(offset * sizeof(uint32_t)));
+ glDrawElements(GL_TRIANGLES, (GLsizei) count, GL_UNSIGNED_INT,
+ (const void *)(offset * sizeof(uint32_t)));
}
void Overlay::_drawOutlinedShape(Shape shape, const Eigen::Matrix4d &pose, const Eigen::Vector3f &scale, uchar4 fill, uchar4 outline) {
- if (shapes_.find(shape) ==shapes_.end()) {
- return;
- }
-
- Eigen::Matrix4f mv = pose.cast<float>();
-
- auto [offset,count,loffset,lcount] = shapes_[shape];
- oShader.setUniform("scale", scale);
- oShader.setUniform("pose", mv);
-
- if (count > 0) {
- oShader.setUniform("blockColour", Eigen::Vector4f(float(fill.x)/255.0f,float(fill.y)/255.0f,float(fill.z)/255.0f,float(fill.w)/255.0f));
- //oShader.drawIndexed(GL_TRIANGLES, offset, count);
- glDrawElements(GL_TRIANGLES, (GLsizei) count, GL_UNSIGNED_INT,
- (const void *)(offset * sizeof(uint32_t)));
- }
-
- if (lcount != 0) {
- oShader.setUniform("blockColour", Eigen::Vector4f(float(outline.x)/255.0f,float(outline.y)/255.0f,float(outline.z)/255.0f,float(outline.w)/255.0f));
- //oShader.drawIndexed(GL_LINE_LOOP, offset, count);
- glDrawElements(GL_LINES, (GLsizei) lcount, GL_UNSIGNED_INT,
- (const void *)(loffset * sizeof(uint32_t)));
- }
+ if (shapes_.find(shape) ==shapes_.end()) {
+ return;
+ }
+
+ Eigen::Matrix4f mv = pose.cast<float>();
+
+ auto [offset,count,loffset,lcount] = shapes_[shape];
+ oShader.setUniform("scale", scale);
+ oShader.setUniform("pose", mv);
+
+ if (count > 0) {
+ oShader.setUniform("blockColour", Eigen::Vector4f(float(fill.x)/255.0f,float(fill.y)/255.0f,float(fill.z)/255.0f,float(fill.w)/255.0f));
+ //oShader.drawIndexed(GL_TRIANGLES, offset, count);
+ glDrawElements(GL_TRIANGLES, (GLsizei) count, GL_UNSIGNED_INT,
+ (const void *)(offset * sizeof(uint32_t)));
+ }
+
+ if (lcount != 0) {
+ oShader.setUniform("blockColour", Eigen::Vector4f(float(outline.x)/255.0f,float(outline.y)/255.0f,float(outline.z)/255.0f,float(outline.w)/255.0f));
+ //oShader.drawIndexed(GL_LINE_LOOP, offset, count);
+ glDrawElements(GL_LINES, (GLsizei) lcount, GL_UNSIGNED_INT,
+ (const void *)(loffset * sizeof(uint32_t)));
+ }
}
void Overlay::_drawAxis(const Eigen::Matrix4d &pose, const Eigen::Vector3f &scale) {
- Eigen::Matrix4f mv = pose.cast<float>();
-
- auto [offset,count,loffset,lcount] = shapes_[Shape::AXIS];
- UNUSED(offset);
- UNUSED(count);
- UNUSED(lcount);
- oShader.setUniform("scale", scale);
- oShader.setUniform("pose", mv);
-
- oShader.setUniform("blockColour", Eigen::Vector4f(1.0f, 0.0f, 0.0f, 1.0f));
- //oShader.drawIndexed(GL_LINE_LOOP, offset, count);
- glDrawElements(GL_LINES, (GLsizei) 2, GL_UNSIGNED_INT,
- (const void *)(loffset * sizeof(uint32_t)));
-
- loffset += 2;
- oShader.setUniform("blockColour", Eigen::Vector4f(0.0f, 1.0f, 0.0f, 1.0f));
- //oShader.drawIndexed(GL_LINE_LOOP, offset, count);
- glDrawElements(GL_LINES, (GLsizei) 2, GL_UNSIGNED_INT,
- (const void *)(loffset * sizeof(uint32_t)));
-
- loffset += 2;
- oShader.setUniform("blockColour", Eigen::Vector4f(0.0f, 0.0f, 1.0f, 1.0f));
- //oShader.drawIndexed(GL_LINE_LOOP, offset, count);
- glDrawElements(GL_LINES, (GLsizei) 2, GL_UNSIGNED_INT,
- (const void *)(loffset * sizeof(uint32_t)));
+ Eigen::Matrix4f mv = pose.cast<float>();
+
+ auto [offset,count,loffset,lcount] = shapes_[Shape::AXIS];
+ UNUSED(offset);
+ UNUSED(count);
+ UNUSED(lcount);
+ oShader.setUniform("scale", scale);
+ oShader.setUniform("pose", mv);
+
+ oShader.setUniform("blockColour", Eigen::Vector4f(1.0f, 0.0f, 0.0f, 1.0f));
+ //oShader.drawIndexed(GL_LINE_LOOP, offset, count);
+ glDrawElements(GL_LINES, (GLsizei) 2, GL_UNSIGNED_INT,
+ (const void *)(loffset * sizeof(uint32_t)));
+
+ loffset += 2;
+ oShader.setUniform("blockColour", Eigen::Vector4f(0.0f, 1.0f, 0.0f, 1.0f));
+ //oShader.drawIndexed(GL_LINE_LOOP, offset, count);
+ glDrawElements(GL_LINES, (GLsizei) 2, GL_UNSIGNED_INT,
+ (const void *)(loffset * sizeof(uint32_t)));
+
+ loffset += 2;
+ oShader.setUniform("blockColour", Eigen::Vector4f(0.0f, 0.0f, 1.0f, 1.0f));
+ //oShader.drawIndexed(GL_LINE_LOOP, offset, count);
+ glDrawElements(GL_LINES, (GLsizei) 2, GL_UNSIGNED_INT,
+ (const void *)(loffset * sizeof(uint32_t)));
}
-void Overlay::draw(ftl::rgbd::FrameSet &fs, ftl::rgbd::FrameState &state, const Eigen::Vector2f &screenSize) {
+void Overlay::draw(NVGcontext *ctx, ftl::data::FrameSet &fs, ftl::rgbd::Frame &frame, const Eigen::Vector2f &screenSize, const Eigen::Vector2f &imageSize, const Eigen::Vector2f &offset, const Eigen::Matrix4d &cursor) {
if (!value("enabled", false)) return;
-
+
double zfar = 8.0f;
- auto intrin = state.getLeft();
- intrin = intrin.scaled(screenSize[0], screenSize[1]);
+ auto intrin = frame.getLeft();
+ intrin = intrin.scaled(imageSize[0], imageSize[1]);
if (!init_) {
oShader.init("OverlayShader", overlayVertexShader, overlayFragmentShader);
- oShader.bind();
- _createShapes();
+ oShader.bind();
+ _createShapes();
init_ = true;
} else {
- oShader.bind();
- }
+ oShader.bind();
+ }
float3 tris[] = {
{0.5f, -0.7f, 2.0f},
@@ -263,7 +267,7 @@ void Overlay::draw(ftl::rgbd::FrameSet &fs, ftl::rgbd::FrameState &state, const
{0.8f, -0.4f, 2.0f}
};
- auto pose = MatrixConversion::toCUDA(state.getPose().cast<float>().inverse());
+ auto pose = MatrixConversion::toCUDA(frame.getPose().cast<float>().inverse());
tris[0] = pose * tris[0];
tris[1] = pose * tris[1];
@@ -278,10 +282,12 @@ void Overlay::draw(ftl::rgbd::FrameSet &fs, ftl::rgbd::FrameState &state, const
glEnable(GL_LINE_SMOOTH);
oShader.setUniform("focal", intrin.fx);
- oShader.setUniform("width", float(intrin.width));
- oShader.setUniform("height", float(intrin.height));
+ oShader.setUniform("width", screenSize[0]);
+ oShader.setUniform("height", screenSize[1]);
oShader.setUniform("far", zfar);
oShader.setUniform("near", 0.1f); // TODO: but make sure CUDA depth is also normalised like this
+ //oShader.setUniform("offset_x", offset[0]);
+ //oShader.setUniform("offset_y", offset[1]);
/*oShader.setUniform("blockColour", Eigen::Vector4f(1.0f,1.0f,0.0f,0.5f));
oShader.uploadAttrib("vertex", sizeof(tris), 3, sizeof(float), GL_FLOAT, false, tris);
@@ -293,30 +299,48 @@ void Overlay::draw(ftl::rgbd::FrameSet &fs, ftl::rgbd::FrameState &state, const
//glFinish();
- if (value("show_poses", false)) {
+ if (value("show_poses", true)) {
for (size_t i=0; i<fs.frames.size(); ++i) {
- auto pose = fs.frames[i].getPose(); //.inverse() * state.getPose();
+ auto &f = fs.frames[i].cast<ftl::rgbd::Frame>();
+ if (f.id().id == frame.id().id) continue;
- auto name = fs.frames[i].get<std::string>("name");
- _drawOutlinedShape(Shape::CAMERA, state.getPose().inverse() * pose, Eigen::Vector3f(0.2f,0.2f,0.2f), make_uchar4(255,0,0,80), make_uchar4(255,0,0,255));
- _drawAxis(state.getPose().inverse() * pose, Eigen::Vector3f(0.2f, 0.2f, 0.2f));
+ auto pose = f.getPose(); //.inverse() * state.getPose();
+
+ std::string name = fs.frames[0].name();
+
+ auto tpose = frame.getPose().inverse() * pose;
+ _drawOutlinedShape(Shape::CAMERA, tpose, Eigen::Vector3f(0.2f,0.2f,0.2f), make_uchar4(255,0,0,80), make_uchar4(255,0,0,255));
+ _drawAxis(tpose, Eigen::Vector3f(0.2f, 0.2f, 0.2f));
+
+ float3 textpos;
+ textpos.x = tpose(0,3);
+ textpos.y = tpose(1,3);
+ textpos.z = tpose(2,3);
+
+ float2 textscreen = f.getLeft().camToScreen<float2>(textpos);
+ if (textpos.z > 0.1f) nvgText(ctx, textscreen.x, textscreen.y, name.c_str(), nullptr);
//ftl::overlay::drawCamera(state.getLeft(), out, over_depth_, fs.frames[i].getLeftCamera(), pose, cv::Scalar(0,0,255,255), 0.2,value("show_frustrum", false));
//if (name) ftl::overlay::drawText(state.getLeft(), out, over_depth_, *name, pos, 0.5, cv::Scalar(0,0,255,255));
}
}
- if (value("show_xz_plane", false)) {
- float gscale = value("grid_scale",0.5f);
- _drawOutlinedShape(Shape::XZPLANE, state.getPose().inverse(), Eigen::Vector3f(gscale,gscale,gscale), make_uchar4(200,200,200,50), make_uchar4(255,255,255,100));
- }
+ if (value("show_xz_plane", false)) {
+ float gscale = value("grid_scale",0.5f);
+ _drawOutlinedShape(Shape::XZPLANE, frame.getPose().inverse(), Eigen::Vector3f(gscale,gscale,gscale), make_uchar4(200,200,200,50), make_uchar4(255,255,255,100));
+ }
+
+ if (value("show_axis", true)) {
+ _drawAxis(frame.getPose().inverse(), Eigen::Vector3f(0.5f, 0.5f, 0.5f));
+ }
- if (value("show_axis", true)) {
- _drawAxis(state.getPose().inverse(), Eigen::Vector3f(0.5f, 0.5f, 0.5f));
- }
+ if (value("show_cursor", true)) {
+ _drawAxis(frame.getPose().inverse() * cursor.inverse(), Eigen::Vector3f(0.2f, 0.2f, 0.2f));
+ _drawOutlinedShape(Shape::XZPLANE, frame.getPose().inverse() * cursor.inverse(), Eigen::Vector3f(0.05f, 0.05f, 0.05f), make_uchar4(200,200,200,50), make_uchar4(255,255,255,100));
+ }
- if (value("show_shapes", false)) {
- if (fs.hasChannel(Channel::Shapes3D)) {
+ if (value("show_shapes", true)) {
+ /*if (fs.hasChannel(Channel::Shapes3D)) {
std::vector<ftl::codecs::Shape3D> shapes;
fs.get(Channel::Shapes3D, shapes);
@@ -325,426 +349,437 @@ void Overlay::draw(ftl::rgbd::FrameSet &fs, ftl::rgbd::FrameState &state, const
//Eigen::Vector4d pos = pose.inverse() * Eigen::Vector4d(0,0,0,1);
//pos /= pos[3];
- Eigen::Vector3f scale(s.size[0]/2.0f, s.size[1]/2.0f, s.size[2]/2.0f);
+ Eigen::Vector3f scale(s.size[0]/2.0f, s.size[1]/2.0f, s.size[2]/2.0f);
- if (s.type == ftl::codecs::Shape3DType::CAMERA) {
- //auto pose = s.pose;
- auto name = s.label;
- _drawOutlinedShape(Shape::CAMERA, state.getPose().inverse() * pose, Eigen::Vector3f(0.2f,0.2f,0.2f), make_uchar4(255,0,0,80), make_uchar4(255,0,0,255));
- _drawAxis(state.getPose().inverse() * pose, Eigen::Vector3f(0.2f, 0.2f, 0.2f));
- } else {
- _drawOutlinedShape(Shape::BOX, state.getPose().inverse() * pose, scale, make_uchar4(255,0,255,80), make_uchar4(255,0,255,255));
- }
+ if (s.type == ftl::codecs::Shape3DType::CAMERA) {
+ //auto pose = s.pose;
+ auto name = s.label;
+ _drawOutlinedShape(Shape::CAMERA, state.getPose().inverse() * pose, Eigen::Vector3f(0.2f,0.2f,0.2f), make_uchar4(255,0,0,80), make_uchar4(255,0,0,255));
+ _drawAxis(state.getPose().inverse() * pose, Eigen::Vector3f(0.2f, 0.2f, 0.2f));
+ } else {
+ _drawOutlinedShape(Shape::BOX, state.getPose().inverse() * pose, scale, make_uchar4(255,0,255,80), make_uchar4(255,0,255,255));
+ }
//ftl::overlay::drawFilledBox(state.getLeft(), out, over_depth_, pose, cv::Scalar(0,0,255,50), s.size.cast<double>());
- //ftl::overlay::drawBox(state.getLeft(), out, over_depth_, pose, cv::Scalar(0,0,255,255), s.size.cast<double>());
+ //ftl::overlay::drawBox(state.getLeft(), out, over_depth_, pose, cv::Scalar(0,0,255,255), s.size.cast<double>());
//ftl::overlay::drawText(state.getLeft(), out, over_depth_, s.label, pos, 0.5, cv::Scalar(0,0,255,100));
}
- }
+ }*/
- for (size_t i=0; i<fs.frames.size(); ++i) {
- if (fs.frames[i].hasChannel(Channel::Shapes3D)) {
- std::vector<ftl::codecs::Shape3D> shapes;
- fs.frames[i].get(Channel::Shapes3D, shapes);
+ auto shapes = ftl::operators::Poser::getAll(fs.frameset());
- for (auto &s : shapes) {
- auto pose = s.pose.cast<double>(); //.inverse() * state.getPose();
- //Eigen::Vector4d pos = pose.inverse() * Eigen::Vector4d(0,0,0,1);
- //pos /= pos[3];
+ for (auto *ps : shapes) {
+ auto &s = *ps;
- Eigen::Vector3f scale(s.size[0]/2.0f, s.size[1]/2.0f, s.size[2]/2.0f);
+ auto pose = s.pose.cast<double>(); //.inverse() * state.getPose();
+ //Eigen::Vector4d pos = pose.inverse() * Eigen::Vector4d(0,0,0,1);
+ //pos /= pos[3];
- switch (s.type) {
- case ftl::codecs::Shape3DType::CLIPPING: _drawOutlinedShape(Shape::BOX, state.getPose().inverse() * pose, scale, make_uchar4(255,0,255,80), make_uchar4(255,0,255,255)); break;
- case ftl::codecs::Shape3DType::ARUCO: _drawAxis(state.getPose().inverse() * pose, Eigen::Vector3f(0.2f, 0.2f, 0.2f)); break;
- default: break;
- }
+ Eigen::Vector3f scale(s.size[0]/2.0f, s.size[1]/2.0f, s.size[2]/2.0f);
- //ftl::overlay::drawBox(state.getLeft(), out, over_depth_, pose, cv::Scalar(0,0,255,100), s.size.cast<double>());
- //ftl::overlay::drawText(state.getLeft(), out, over_depth_, s.label, pos, 0.5, cv::Scalar(0,0,255,100));
- }
+ auto tpose = frame.getPose().inverse() * pose;
+
+ switch (s.type) {
+ case ftl::codecs::Shape3DType::CAMERA: _drawOutlinedShape(Shape::CAMERA, tpose, scale, make_uchar4(255,0,0,80), make_uchar4(255,0,0,255)); break;
+ case ftl::codecs::Shape3DType::CLIPPING: _drawOutlinedShape(Shape::BOX, tpose, scale, make_uchar4(255,0,255,80), make_uchar4(255,0,255,255)); break;
+ case ftl::codecs::Shape3DType::ARUCO: _drawAxis(tpose, Eigen::Vector3f(0.2f, 0.2f, 0.2f)); break;
+ case ftl::codecs::Shape3DType::CURSOR: _drawAxis(tpose, Eigen::Vector3f(0.2f, 0.2f, 0.2f)); break;
+ default: break;
+ }
+
+ if (s.label.size() > 0) {
+ float3 textpos;
+ textpos.x = tpose(0,3);
+ textpos.y = tpose(1,3);
+ textpos.z = tpose(2,3);
+
+ float2 textscreen = frame.getLeft().camToScreen<float2>(textpos);
+ if (textpos.z > 0.1f) nvgText(ctx, textscreen.x, textscreen.y, s.label.c_str(), nullptr);
}
+
+ //ftl::overlay::drawBox(state.getLeft(), out, over_depth_, pose, cv::Scalar(0,0,255,100), s.size.cast<double>());
+ //ftl::overlay::drawText(state.getLeft(), out, over_depth_, s.label, pos, 0.5, cv::Scalar(0,0,255,100));
}
}
- glDisable(GL_LINE_SMOOTH);
+ glDisable(GL_LINE_SMOOTH);
glDisable(GL_BLEND);
//cv::flip(out, out, 0);
}
/*void ftl::overlay::draw3DLine(
- const ftl::rgbd::Camera &cam,
- cv::Mat &colour,
- cv::Mat &depth,
- const Eigen::Vector4d &begin,
- const Eigen::Vector4d &end,
- const cv::Scalar &linecolour) {
-
-
- auto begin_pos = cam.camToScreen<int2>(make_float3(begin[0], begin[1], begin[2]));
- auto end_pos = cam.camToScreen<int2>(make_float3(end[0], end[1], end[2]));
-
- cv::LineIterator lineit(colour, cv::Point(begin_pos.x, begin_pos.y), cv::Point(end_pos.x, end_pos.y));
- double z_grad = (end[2] - begin[2]) / lineit.count;
- double current_z = begin[2];
-
- for(int i = 0; i < lineit.count; i++, ++lineit) {
- colour.at<cv::Vec4b>(lineit.pos()) = linecolour;
- depth.at<float>(lineit.pos()) = current_z;
- current_z += z_grad;
- }
+ const ftl::rgbd::Camera &cam,
+ cv::Mat &colour,
+ cv::Mat &depth,
+ const Eigen::Vector4d &begin,
+ const Eigen::Vector4d &end,
+ const cv::Scalar &linecolour) {
+
+
+ auto begin_pos = cam.camToScreen<int2>(make_float3(begin[0], begin[1], begin[2]));
+ auto end_pos = cam.camToScreen<int2>(make_float3(end[0], end[1], end[2]));
+
+ cv::LineIterator lineit(colour, cv::Point(begin_pos.x, begin_pos.y), cv::Point(end_pos.x, end_pos.y));
+ double z_grad = (end[2] - begin[2]) / lineit.count;
+ double current_z = begin[2];
+
+ for(int i = 0; i < lineit.count; i++, ++lineit) {
+ colour.at<cv::Vec4b>(lineit.pos()) = linecolour;
+ depth.at<float>(lineit.pos()) = current_z;
+ current_z += z_grad;
+ }
}
void ftl::overlay::drawPoseBox(
- const ftl::rgbd::Camera &cam,
- cv::Mat &colour,
- cv::Mat &depth,
- const Eigen::Matrix4d &pose,
- const cv::Scalar &linecolour,
- double size) {
-
- double size2 = size/2.0;
-
- Eigen::Vector4d p001 = pose.inverse() * Eigen::Vector4d(size2,size2,-size2,1);
- Eigen::Vector4d p011 = pose.inverse() * Eigen::Vector4d(size2,-size2,-size2,1);
- Eigen::Vector4d p111 = pose.inverse() * Eigen::Vector4d(-size2,-size2,-size2,1);
- Eigen::Vector4d p101 = pose.inverse() * Eigen::Vector4d(-size2,size2,-size2,1);
- Eigen::Vector4d p110 = pose.inverse() * Eigen::Vector4d(-size2,-size2,size2,1);
- Eigen::Vector4d p100 = pose.inverse() * Eigen::Vector4d(-size2,size2,size2,1);
- Eigen::Vector4d p010 = pose.inverse() * Eigen::Vector4d(size2,-size2,size2,1);
- Eigen::Vector4d p000 = pose.inverse() * Eigen::Vector4d(size2,size2,size2,1);
-
- p001 /= p001[3];
- p011 /= p011[3];
- p111 /= p111[3];
- p101 /= p101[3];
- p110 /= p110[3];
- p100 /= p100[3];
- p010 /= p010[3];
- p000 /= p000[3];
-
- if (p001[2] < 0.1 || p011[2] < 0.1 || p111[2] < 0.1 || p101[2] < 0.1 || p110[2] < 0.1 || p100[2] < 0.1 || p010[2] < 0.1 || p000[2] < 0.1) return;
-
- draw3DLine(cam, colour, depth, p000, p001, linecolour);
- draw3DLine(cam, colour, depth, p000, p010, linecolour);
- draw3DLine(cam, colour, depth, p000, p100, linecolour);
-
- draw3DLine(cam, colour, depth, p001, p011, linecolour);
- draw3DLine(cam, colour, depth, p001, p101, linecolour);
-
- draw3DLine(cam, colour, depth, p010, p011, linecolour);
- draw3DLine(cam, colour, depth, p010, p110, linecolour);
-
- draw3DLine(cam, colour, depth, p100, p101, linecolour);
- draw3DLine(cam, colour, depth, p100, p110, linecolour);
-
- draw3DLine(cam, colour, depth, p101, p111, linecolour);
- draw3DLine(cam, colour, depth, p110, p111, linecolour);
- draw3DLine(cam, colour, depth, p011, p111, linecolour);
+ const ftl::rgbd::Camera &cam,
+ cv::Mat &colour,
+ cv::Mat &depth,
+ const Eigen::Matrix4d &pose,
+ const cv::Scalar &linecolour,
+ double size) {
+
+ double size2 = size/2.0;
+
+ Eigen::Vector4d p001 = pose.inverse() * Eigen::Vector4d(size2,size2,-size2,1);
+ Eigen::Vector4d p011 = pose.inverse() * Eigen::Vector4d(size2,-size2,-size2,1);
+ Eigen::Vector4d p111 = pose.inverse() * Eigen::Vector4d(-size2,-size2,-size2,1);
+ Eigen::Vector4d p101 = pose.inverse() * Eigen::Vector4d(-size2,size2,-size2,1);
+ Eigen::Vector4d p110 = pose.inverse() * Eigen::Vector4d(-size2,-size2,size2,1);
+ Eigen::Vector4d p100 = pose.inverse() * Eigen::Vector4d(-size2,size2,size2,1);
+ Eigen::Vector4d p010 = pose.inverse() * Eigen::Vector4d(size2,-size2,size2,1);
+ Eigen::Vector4d p000 = pose.inverse() * Eigen::Vector4d(size2,size2,size2,1);
+
+ p001 /= p001[3];
+ p011 /= p011[3];
+ p111 /= p111[3];
+ p101 /= p101[3];
+ p110 /= p110[3];
+ p100 /= p100[3];
+ p010 /= p010[3];
+ p000 /= p000[3];
+
+ if (p001[2] < 0.1 || p011[2] < 0.1 || p111[2] < 0.1 || p101[2] < 0.1 || p110[2] < 0.1 || p100[2] < 0.1 || p010[2] < 0.1 || p000[2] < 0.1) return;
+
+ draw3DLine(cam, colour, depth, p000, p001, linecolour);
+ draw3DLine(cam, colour, depth, p000, p010, linecolour);
+ draw3DLine(cam, colour, depth, p000, p100, linecolour);
+
+ draw3DLine(cam, colour, depth, p001, p011, linecolour);
+ draw3DLine(cam, colour, depth, p001, p101, linecolour);
+
+ draw3DLine(cam, colour, depth, p010, p011, linecolour);
+ draw3DLine(cam, colour, depth, p010, p110, linecolour);
+
+ draw3DLine(cam, colour, depth, p100, p101, linecolour);
+ draw3DLine(cam, colour, depth, p100, p110, linecolour);
+
+ draw3DLine(cam, colour, depth, p101, p111, linecolour);
+ draw3DLine(cam, colour, depth, p110, p111, linecolour);
+ draw3DLine(cam, colour, depth, p011, p111, linecolour);
}
void ftl::overlay::drawBox(
- const ftl::rgbd::Camera &cam,
- cv::Mat &colour,
- cv::Mat &depth,
- const Eigen::Matrix4d &pose,
- const cv::Scalar &linecolour,
- const Eigen::Vector3d &size) {
-
- double size2x = size[0]/2.0;
+ const ftl::rgbd::Camera &cam,
+ cv::Mat &colour,
+ cv::Mat &depth,
+ const Eigen::Matrix4d &pose,
+ const cv::Scalar &linecolour,
+ const Eigen::Vector3d &size) {
+
+ double size2x = size[0]/2.0;
double size2y = size[1]/2.0;
double size2z = size[2]/2.0;
- Eigen::Vector4d p001 = pose.inverse() * Eigen::Vector4d(size2x,size2y,-size2z,1);
- Eigen::Vector4d p011 = pose.inverse() * Eigen::Vector4d(size2x,-size2y,-size2z,1);
- Eigen::Vector4d p111 = pose.inverse() * Eigen::Vector4d(-size2x,-size2y,-size2z,1);
- Eigen::Vector4d p101 = pose.inverse() * Eigen::Vector4d(-size2x,size2y,-size2z,1);
- Eigen::Vector4d p110 = pose.inverse() * Eigen::Vector4d(-size2x,-size2y,size2z,1);
- Eigen::Vector4d p100 = pose.inverse() * Eigen::Vector4d(-size2x,size2y,size2z,1);
- Eigen::Vector4d p010 = pose.inverse() * Eigen::Vector4d(size2x,-size2y,size2z,1);
- Eigen::Vector4d p000 = pose.inverse() * Eigen::Vector4d(size2x,size2y,size2z,1);
-
- p001 /= p001[3];
- p011 /= p011[3];
- p111 /= p111[3];
- p101 /= p101[3];
- p110 /= p110[3];
- p100 /= p100[3];
- p010 /= p010[3];
- p000 /= p000[3];
-
- if (p001[2] < 0.1 || p011[2] < 0.1 || p111[2] < 0.1 || p101[2] < 0.1 || p110[2] < 0.1 || p100[2] < 0.1 || p010[2] < 0.1 || p000[2] < 0.1) return;
-
- draw3DLine(cam, colour, depth, p000, p001, linecolour);
- draw3DLine(cam, colour, depth, p000, p010, linecolour);
- draw3DLine(cam, colour, depth, p000, p100, linecolour);
-
- draw3DLine(cam, colour, depth, p001, p011, linecolour);
- draw3DLine(cam, colour, depth, p001, p101, linecolour);
-
- draw3DLine(cam, colour, depth, p010, p011, linecolour);
- draw3DLine(cam, colour, depth, p010, p110, linecolour);
-
- draw3DLine(cam, colour, depth, p100, p101, linecolour);
- draw3DLine(cam, colour, depth, p100, p110, linecolour);
-
- draw3DLine(cam, colour, depth, p101, p111, linecolour);
- draw3DLine(cam, colour, depth, p110, p111, linecolour);
- draw3DLine(cam, colour, depth, p011, p111, linecolour);
+ Eigen::Vector4d p001 = pose.inverse() * Eigen::Vector4d(size2x,size2y,-size2z,1);
+ Eigen::Vector4d p011 = pose.inverse() * Eigen::Vector4d(size2x,-size2y,-size2z,1);
+ Eigen::Vector4d p111 = pose.inverse() * Eigen::Vector4d(-size2x,-size2y,-size2z,1);
+ Eigen::Vector4d p101 = pose.inverse() * Eigen::Vector4d(-size2x,size2y,-size2z,1);
+ Eigen::Vector4d p110 = pose.inverse() * Eigen::Vector4d(-size2x,-size2y,size2z,1);
+ Eigen::Vector4d p100 = pose.inverse() * Eigen::Vector4d(-size2x,size2y,size2z,1);
+ Eigen::Vector4d p010 = pose.inverse() * Eigen::Vector4d(size2x,-size2y,size2z,1);
+ Eigen::Vector4d p000 = pose.inverse() * Eigen::Vector4d(size2x,size2y,size2z,1);
+
+ p001 /= p001[3];
+ p011 /= p011[3];
+ p111 /= p111[3];
+ p101 /= p101[3];
+ p110 /= p110[3];
+ p100 /= p100[3];
+ p010 /= p010[3];
+ p000 /= p000[3];
+
+ if (p001[2] < 0.1 || p011[2] < 0.1 || p111[2] < 0.1 || p101[2] < 0.1 || p110[2] < 0.1 || p100[2] < 0.1 || p010[2] < 0.1 || p000[2] < 0.1) return;
+
+ draw3DLine(cam, colour, depth, p000, p001, linecolour);
+ draw3DLine(cam, colour, depth, p000, p010, linecolour);
+ draw3DLine(cam, colour, depth, p000, p100, linecolour);
+
+ draw3DLine(cam, colour, depth, p001, p011, linecolour);
+ draw3DLine(cam, colour, depth, p001, p101, linecolour);
+
+ draw3DLine(cam, colour, depth, p010, p011, linecolour);
+ draw3DLine(cam, colour, depth, p010, p110, linecolour);
+
+ draw3DLine(cam, colour, depth, p100, p101, linecolour);
+ draw3DLine(cam, colour, depth, p100, p110, linecolour);
+
+ draw3DLine(cam, colour, depth, p101, p111, linecolour);
+ draw3DLine(cam, colour, depth, p110, p111, linecolour);
+ draw3DLine(cam, colour, depth, p011, p111, linecolour);
}
void ftl::overlay::drawFilledBox(
- const ftl::rgbd::Camera &cam,
- cv::Mat &colour,
- cv::Mat &depth,
- const Eigen::Matrix4d &pose,
- const cv::Scalar &linecolour,
- const Eigen::Vector3d &size) {
-
- double size2x = size[0]/2.0;
+ const ftl::rgbd::Camera &cam,
+ cv::Mat &colour,
+ cv::Mat &depth,
+ const Eigen::Matrix4d &pose,
+ const cv::Scalar &linecolour,
+ const Eigen::Vector3d &size) {
+
+ double size2x = size[0]/2.0;
double size2y = size[1]/2.0;
double size2z = size[2]/2.0;
- Eigen::Vector4d p001 = pose.inverse() * Eigen::Vector4d(size2x,size2y,-size2z,1);
- Eigen::Vector4d p011 = pose.inverse() * Eigen::Vector4d(size2x,-size2y,-size2z,1);
- Eigen::Vector4d p111 = pose.inverse() * Eigen::Vector4d(-size2x,-size2y,-size2z,1);
- Eigen::Vector4d p101 = pose.inverse() * Eigen::Vector4d(-size2x,size2y,-size2z,1);
- Eigen::Vector4d p110 = pose.inverse() * Eigen::Vector4d(-size2x,-size2y,size2z,1);
- Eigen::Vector4d p100 = pose.inverse() * Eigen::Vector4d(-size2x,size2y,size2z,1);
- Eigen::Vector4d p010 = pose.inverse() * Eigen::Vector4d(size2x,-size2y,size2z,1);
- Eigen::Vector4d p000 = pose.inverse() * Eigen::Vector4d(size2x,size2y,size2z,1);
-
- p001 /= p001[3];
- p011 /= p011[3];
- p111 /= p111[3];
- p101 /= p101[3];
- p110 /= p110[3];
- p100 /= p100[3];
- p010 /= p010[3];
- p000 /= p000[3];
-
- if (p001[2] < 0.1 || p011[2] < 0.1 || p111[2] < 0.1 || p101[2] < 0.1 || p110[2] < 0.1 || p100[2] < 0.1 || p010[2] < 0.1 || p000[2] < 0.1) return;
-
- std::array<cv::Point, 4> pts;
-
- auto p = cam.camToScreen<int2>(make_float3(p000[0], p000[1], p000[2]));
- pts[0] = cv::Point(p.x, p.y);
- p = cam.camToScreen<int2>(make_float3(p001[0], p001[1], p001[2]));
- pts[1] = cv::Point(p.x, p.y);
- p = cam.camToScreen<int2>(make_float3(p011[0], p011[1], p011[2]));
- pts[2] = cv::Point(p.x, p.y);
- p = cam.camToScreen<int2>(make_float3(p010[0], p010[1], p010[2]));
- pts[3] = cv::Point(p.x, p.y);
- cv::fillConvexPoly(colour, pts, linecolour);
-
- p = cam.camToScreen<int2>(make_float3(p100[0], p100[1], p100[2]));
- pts[0] = cv::Point(p.x, p.y);
- p = cam.camToScreen<int2>(make_float3(p101[0], p101[1], p101[2]));
- pts[1] = cv::Point(p.x, p.y);
- p = cam.camToScreen<int2>(make_float3(p111[0], p111[1], p111[2]));
- pts[2] = cv::Point(p.x, p.y);
- p = cam.camToScreen<int2>(make_float3(p110[0], p110[1], p110[2]));
- pts[3] = cv::Point(p.x, p.y);
- cv::fillConvexPoly(colour, pts, linecolour);
-
- p = cam.camToScreen<int2>(make_float3(p000[0], p000[1], p000[2]));
- pts[0] = cv::Point(p.x, p.y);
- p = cam.camToScreen<int2>(make_float3(p010[0], p010[1], p010[2]));
- pts[1] = cv::Point(p.x, p.y);
- p = cam.camToScreen<int2>(make_float3(p110[0], p110[1], p110[2]));
- pts[2] = cv::Point(p.x, p.y);
- p = cam.camToScreen<int2>(make_float3(p100[0], p100[1], p100[2]));
- pts[3] = cv::Point(p.x, p.y);
- cv::fillConvexPoly(colour, pts, linecolour);
-
- p = cam.camToScreen<int2>(make_float3(p001[0], p001[1], p001[2]));
- pts[0] = cv::Point(p.x, p.y);
- p = cam.camToScreen<int2>(make_float3(p011[0], p011[1], p011[2]));
- pts[1] = cv::Point(p.x, p.y);
- p = cam.camToScreen<int2>(make_float3(p111[0], p111[1], p111[2]));
- pts[2] = cv::Point(p.x, p.y);
- p = cam.camToScreen<int2>(make_float3(p101[0], p101[1], p101[2]));
- pts[3] = cv::Point(p.x, p.y);
- cv::fillConvexPoly(colour, pts, linecolour);
-
- p = cam.camToScreen<int2>(make_float3(p000[0], p000[1], p000[2]));
- pts[0] = cv::Point(p.x, p.y);
- p = cam.camToScreen<int2>(make_float3(p001[0], p001[1], p001[2]));
- pts[1] = cv::Point(p.x, p.y);
- p = cam.camToScreen<int2>(make_float3(p101[0], p101[1], p101[2]));
- pts[2] = cv::Point(p.x, p.y);
- p = cam.camToScreen<int2>(make_float3(p100[0], p100[1], p100[2]));
- pts[3] = cv::Point(p.x, p.y);
- cv::fillConvexPoly(colour, pts, linecolour);
-
- p = cam.camToScreen<int2>(make_float3(p010[0], p010[1], p010[2]));
- pts[0] = cv::Point(p.x, p.y);
- p = cam.camToScreen<int2>(make_float3(p011[0], p011[1], p011[2]));
- pts[1] = cv::Point(p.x, p.y);
- p = cam.camToScreen<int2>(make_float3(p111[0], p111[1], p111[2]));
- pts[2] = cv::Point(p.x, p.y);
- p = cam.camToScreen<int2>(make_float3(p110[0], p110[1], p110[2]));
- pts[3] = cv::Point(p.x, p.y);
- cv::fillConvexPoly(colour, pts, linecolour);
+ Eigen::Vector4d p001 = pose.inverse() * Eigen::Vector4d(size2x,size2y,-size2z,1);
+ Eigen::Vector4d p011 = pose.inverse() * Eigen::Vector4d(size2x,-size2y,-size2z,1);
+ Eigen::Vector4d p111 = pose.inverse() * Eigen::Vector4d(-size2x,-size2y,-size2z,1);
+ Eigen::Vector4d p101 = pose.inverse() * Eigen::Vector4d(-size2x,size2y,-size2z,1);
+ Eigen::Vector4d p110 = pose.inverse() * Eigen::Vector4d(-size2x,-size2y,size2z,1);
+ Eigen::Vector4d p100 = pose.inverse() * Eigen::Vector4d(-size2x,size2y,size2z,1);
+ Eigen::Vector4d p010 = pose.inverse() * Eigen::Vector4d(size2x,-size2y,size2z,1);
+ Eigen::Vector4d p000 = pose.inverse() * Eigen::Vector4d(size2x,size2y,size2z,1);
+
+ p001 /= p001[3];
+ p011 /= p011[3];
+ p111 /= p111[3];
+ p101 /= p101[3];
+ p110 /= p110[3];
+ p100 /= p100[3];
+ p010 /= p010[3];
+ p000 /= p000[3];
+
+ if (p001[2] < 0.1 || p011[2] < 0.1 || p111[2] < 0.1 || p101[2] < 0.1 || p110[2] < 0.1 || p100[2] < 0.1 || p010[2] < 0.1 || p000[2] < 0.1) return;
+
+ std::array<cv::Point, 4> pts;
+
+ auto p = cam.camToScreen<int2>(make_float3(p000[0], p000[1], p000[2]));
+ pts[0] = cv::Point(p.x, p.y);
+ p = cam.camToScreen<int2>(make_float3(p001[0], p001[1], p001[2]));
+ pts[1] = cv::Point(p.x, p.y);
+ p = cam.camToScreen<int2>(make_float3(p011[0], p011[1], p011[2]));
+ pts[2] = cv::Point(p.x, p.y);
+ p = cam.camToScreen<int2>(make_float3(p010[0], p010[1], p010[2]));
+ pts[3] = cv::Point(p.x, p.y);
+ cv::fillConvexPoly(colour, pts, linecolour);
+
+ p = cam.camToScreen<int2>(make_float3(p100[0], p100[1], p100[2]));
+ pts[0] = cv::Point(p.x, p.y);
+ p = cam.camToScreen<int2>(make_float3(p101[0], p101[1], p101[2]));
+ pts[1] = cv::Point(p.x, p.y);
+ p = cam.camToScreen<int2>(make_float3(p111[0], p111[1], p111[2]));
+ pts[2] = cv::Point(p.x, p.y);
+ p = cam.camToScreen<int2>(make_float3(p110[0], p110[1], p110[2]));
+ pts[3] = cv::Point(p.x, p.y);
+ cv::fillConvexPoly(colour, pts, linecolour);
+
+ p = cam.camToScreen<int2>(make_float3(p000[0], p000[1], p000[2]));
+ pts[0] = cv::Point(p.x, p.y);
+ p = cam.camToScreen<int2>(make_float3(p010[0], p010[1], p010[2]));
+ pts[1] = cv::Point(p.x, p.y);
+ p = cam.camToScreen<int2>(make_float3(p110[0], p110[1], p110[2]));
+ pts[2] = cv::Point(p.x, p.y);
+ p = cam.camToScreen<int2>(make_float3(p100[0], p100[1], p100[2]));
+ pts[3] = cv::Point(p.x, p.y);
+ cv::fillConvexPoly(colour, pts, linecolour);
+
+ p = cam.camToScreen<int2>(make_float3(p001[0], p001[1], p001[2]));
+ pts[0] = cv::Point(p.x, p.y);
+ p = cam.camToScreen<int2>(make_float3(p011[0], p011[1], p011[2]));
+ pts[1] = cv::Point(p.x, p.y);
+ p = cam.camToScreen<int2>(make_float3(p111[0], p111[1], p111[2]));
+ pts[2] = cv::Point(p.x, p.y);
+ p = cam.camToScreen<int2>(make_float3(p101[0], p101[1], p101[2]));
+ pts[3] = cv::Point(p.x, p.y);
+ cv::fillConvexPoly(colour, pts, linecolour);
+
+ p = cam.camToScreen<int2>(make_float3(p000[0], p000[1], p000[2]));
+ pts[0] = cv::Point(p.x, p.y);
+ p = cam.camToScreen<int2>(make_float3(p001[0], p001[1], p001[2]));
+ pts[1] = cv::Point(p.x, p.y);
+ p = cam.camToScreen<int2>(make_float3(p101[0], p101[1], p101[2]));
+ pts[2] = cv::Point(p.x, p.y);
+ p = cam.camToScreen<int2>(make_float3(p100[0], p100[1], p100[2]));
+ pts[3] = cv::Point(p.x, p.y);
+ cv::fillConvexPoly(colour, pts, linecolour);
+
+ p = cam.camToScreen<int2>(make_float3(p010[0], p010[1], p010[2]));
+ pts[0] = cv::Point(p.x, p.y);
+ p = cam.camToScreen<int2>(make_float3(p011[0], p011[1], p011[2]));
+ pts[1] = cv::Point(p.x, p.y);
+ p = cam.camToScreen<int2>(make_float3(p111[0], p111[1], p111[2]));
+ pts[2] = cv::Point(p.x, p.y);
+ p = cam.camToScreen<int2>(make_float3(p110[0], p110[1], p110[2]));
+ pts[3] = cv::Point(p.x, p.y);
+ cv::fillConvexPoly(colour, pts, linecolour);
}
void ftl::overlay::drawRectangle(
- const ftl::rgbd::Camera &cam,
- cv::Mat &colour,
- cv::Mat &depth,
- const Eigen::Matrix4d &pose,
- const cv::Scalar &linecolour,
- double width, double height) {
-
- double width2 = width/2.0;
- double height2 = height/2.0;
-
- Eigen::Vector4d p001 = pose.inverse() * Eigen::Vector4d(width2,height2,0,1);
- Eigen::Vector4d p011 = pose.inverse() * Eigen::Vector4d(width2,-height2,0,1);
- Eigen::Vector4d p111 = pose.inverse() * Eigen::Vector4d(-width2,-height2,0,1);
- Eigen::Vector4d p101 = pose.inverse() * Eigen::Vector4d(-width2,height2,0,1);
-
- p001 /= p001[3];
- p011 /= p011[3];
- p111 /= p111[3];
- p101 /= p101[3];
-
- if (p001[2] < 0.1 || p011[2] < 0.1 || p111[2] < 0.1 || p101[2] < 0.1) return;
-
- draw3DLine(cam, colour, depth, p001, p011, linecolour);
- draw3DLine(cam, colour, depth, p001, p101, linecolour);
- draw3DLine(cam, colour, depth, p101, p111, linecolour);
- draw3DLine(cam, colour, depth, p011, p111, linecolour);
+ const ftl::rgbd::Camera &cam,
+ cv::Mat &colour,
+ cv::Mat &depth,
+ const Eigen::Matrix4d &pose,
+ const cv::Scalar &linecolour,
+ double width, double height) {
+
+ double width2 = width/2.0;
+ double height2 = height/2.0;
+
+ Eigen::Vector4d p001 = pose.inverse() * Eigen::Vector4d(width2,height2,0,1);
+ Eigen::Vector4d p011 = pose.inverse() * Eigen::Vector4d(width2,-height2,0,1);
+ Eigen::Vector4d p111 = pose.inverse() * Eigen::Vector4d(-width2,-height2,0,1);
+ Eigen::Vector4d p101 = pose.inverse() * Eigen::Vector4d(-width2,height2,0,1);
+
+ p001 /= p001[3];
+ p011 /= p011[3];
+ p111 /= p111[3];
+ p101 /= p101[3];
+
+ if (p001[2] < 0.1 || p011[2] < 0.1 || p111[2] < 0.1 || p101[2] < 0.1) return;
+
+ draw3DLine(cam, colour, depth, p001, p011, linecolour);
+ draw3DLine(cam, colour, depth, p001, p101, linecolour);
+ draw3DLine(cam, colour, depth, p101, p111, linecolour);
+ draw3DLine(cam, colour, depth, p011, p111, linecolour);
}
void ftl::overlay::drawPoseCone(
- const ftl::rgbd::Camera &cam,
- cv::Mat &colour,
- cv::Mat &depth,
- const Eigen::Matrix4d &pose,
- const cv::Scalar &linecolour,
- double size) {
+ const ftl::rgbd::Camera &cam,
+ cv::Mat &colour,
+ cv::Mat &depth,
+ const Eigen::Matrix4d &pose,
+ const cv::Scalar &linecolour,
+ double size) {
- double size2 = size;
+ double size2 = size;
- Eigen::Vector4d p110 = pose.inverse() * Eigen::Vector4d(-size2,-size2,size2,1);
- Eigen::Vector4d p100 = pose.inverse() * Eigen::Vector4d(-size2,size2,size2,1);
- Eigen::Vector4d p010 = pose.inverse() * Eigen::Vector4d(size2,-size2,size2,1);
- Eigen::Vector4d p000 = pose.inverse() * Eigen::Vector4d(size2,size2,size2,1);
- Eigen::Vector4d origin = pose.inverse() * Eigen::Vector4d(0,0,0,1);
+ Eigen::Vector4d p110 = pose.inverse() * Eigen::Vector4d(-size2,-size2,size2,1);
+ Eigen::Vector4d p100 = pose.inverse() * Eigen::Vector4d(-size2,size2,size2,1);
+ Eigen::Vector4d p010 = pose.inverse() * Eigen::Vector4d(size2,-size2,size2,1);
+ Eigen::Vector4d p000 = pose.inverse() * Eigen::Vector4d(size2,size2,size2,1);
+ Eigen::Vector4d origin = pose.inverse() * Eigen::Vector4d(0,0,0,1);
- p110 /= p110[3];
- p100 /= p100[3];
- p010 /= p010[3];
- p000 /= p000[3];
- origin /= origin[3];
+ p110 /= p110[3];
+ p100 /= p100[3];
+ p010 /= p010[3];
+ p000 /= p000[3];
+ origin /= origin[3];
- if (origin[2] < 0.1 || p110[2] < 0.1 || p100[2] < 0.1 || p010[2] < 0.1 || p000[2] < 0.1) return;
+ if (origin[2] < 0.1 || p110[2] < 0.1 || p100[2] < 0.1 || p010[2] < 0.1 || p000[2] < 0.1) return;
- draw3DLine(cam, colour, depth, p000, origin, linecolour);
- draw3DLine(cam, colour, depth, p000, p010, linecolour);
- draw3DLine(cam, colour, depth, p000, p100, linecolour);
+ draw3DLine(cam, colour, depth, p000, origin, linecolour);
+ draw3DLine(cam, colour, depth, p000, p010, linecolour);
+ draw3DLine(cam, colour, depth, p000, p100, linecolour);
- draw3DLine(cam, colour, depth, p010, origin, linecolour);
- draw3DLine(cam, colour, depth, p010, p110, linecolour);
+ draw3DLine(cam, colour, depth, p010, origin, linecolour);
+ draw3DLine(cam, colour, depth, p010, p110, linecolour);
- draw3DLine(cam, colour, depth, p100, origin, linecolour);
- draw3DLine(cam, colour, depth, p100, p110, linecolour);
+ draw3DLine(cam, colour, depth, p100, origin, linecolour);
+ draw3DLine(cam, colour, depth, p100, p110, linecolour);
- draw3DLine(cam, colour, depth, p110, origin, linecolour);
+ draw3DLine(cam, colour, depth, p110, origin, linecolour);
}
void ftl::overlay::drawCamera(
- const ftl::rgbd::Camera &vcam,
- cv::Mat &colour,
- cv::Mat &depth,
- const ftl::rgbd::Camera &camera,
- const Eigen::Matrix4d &pose,
- const cv::Scalar &linecolour,
- double scale, bool frustrum) {
-
- //double size2 = size;
-
- const auto ¶ms = camera;
- double width = (static_cast<double>(params.width) / static_cast<double>(params.fx)) * scale;
- double height = (static_cast<double>(params.height) / static_cast<double>(params.fx)) * scale;
- double width2 = width / 2.0;
- double height2 = height / 2.0;
-
- double principx = (((static_cast<double>(params.width) / 2.0) + params.cx) / static_cast<double>(params.fx)) * scale;
- double principy = (((static_cast<double>(params.height) / 2.0) + params.cy) / static_cast<double>(params.fx)) * scale;
-
- auto ptcoord = params.screenToCam(0,0,scale);
- Eigen::Vector4d p110 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
- ptcoord = params.screenToCam(0,params.height,scale);
- Eigen::Vector4d p100 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
- ptcoord = params.screenToCam(params.width,0,scale);
- Eigen::Vector4d p010 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
- ptcoord = params.screenToCam(params.width,params.height,scale);
- Eigen::Vector4d p000 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
- Eigen::Vector4d origin = pose.inverse() * Eigen::Vector4d(0,0,0,1);
-
- p110 /= p110[3];
- p100 /= p100[3];
- p010 /= p010[3];
- p000 /= p000[3];
- origin /= origin[3];
-
- if (origin[2] < 0.1 || p110[2] < 0.1 || p100[2] < 0.1 || p010[2] < 0.1 || p000[2] < 0.1) return;
-
- draw3DLine(vcam, colour, depth, p000, origin, linecolour);
- draw3DLine(vcam, colour, depth, p000, p010, linecolour);
- draw3DLine(vcam, colour, depth, p000, p100, linecolour);
-
- draw3DLine(vcam, colour, depth, p010, origin, linecolour);
- draw3DLine(vcam, colour, depth, p010, p110, linecolour);
-
- draw3DLine(vcam, colour, depth, p100, origin, linecolour);
- draw3DLine(vcam, colour, depth, p100, p110, linecolour);
-
- draw3DLine(vcam, colour, depth, p110, origin, linecolour);
-
- if (frustrum) {
- const double fscale = 16.0;
- ptcoord = params.screenToCam(0,0,fscale);
- Eigen::Vector4d f110 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
- ptcoord = params.screenToCam(0,params.height,fscale);
- Eigen::Vector4d f100 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
- ptcoord = params.screenToCam(params.width,0,fscale);
- Eigen::Vector4d f010 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
- ptcoord = params.screenToCam(params.width,params.height,fscale);
- Eigen::Vector4d f000 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
-
- f110 /= f110[3];
- f100 /= f100[3];
- f010 /= f010[3];
- f000 /= f000[3];
-
- if (f110[2] < 0.1 || f100[2] < 0.1 || f010[2] < 0.1 || f000[2] < 0.1) return;
-
- draw3DLine(vcam, colour, depth, f000, p000, cv::Scalar(0,255,0,0));
- draw3DLine(vcam, colour, depth, f010, p010, cv::Scalar(0,255,0,0));
- draw3DLine(vcam, colour, depth, f100, p100, cv::Scalar(0,255,0,0));
- draw3DLine(vcam, colour, depth, f110, p110, cv::Scalar(0,255,0,0));
-
- draw3DLine(vcam, colour, depth, f000, f010, cv::Scalar(0,255,0,0));
- draw3DLine(vcam, colour, depth, f000, f100, cv::Scalar(0,255,0,0));
- draw3DLine(vcam, colour, depth, f010, f110, cv::Scalar(0,255,0,0));
- draw3DLine(vcam, colour, depth, f100, f110, cv::Scalar(0,255,0,0));
- }
+ const ftl::rgbd::Camera &vcam,
+ cv::Mat &colour,
+ cv::Mat &depth,
+ const ftl::rgbd::Camera &camera,
+ const Eigen::Matrix4d &pose,
+ const cv::Scalar &linecolour,
+ double scale, bool frustrum) {
+
+ //double size2 = size;
+
+ const auto ¶ms = camera;
+ double width = (static_cast<double>(params.width) / static_cast<double>(params.fx)) * scale;
+ double height = (static_cast<double>(params.height) / static_cast<double>(params.fx)) * scale;
+ double width2 = width / 2.0;
+ double height2 = height / 2.0;
+
+ double principx = (((static_cast<double>(params.width) / 2.0) + params.cx) / static_cast<double>(params.fx)) * scale;
+ double principy = (((static_cast<double>(params.height) / 2.0) + params.cy) / static_cast<double>(params.fx)) * scale;
+
+ auto ptcoord = params.screenToCam(0,0,scale);
+ Eigen::Vector4d p110 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
+ ptcoord = params.screenToCam(0,params.height,scale);
+ Eigen::Vector4d p100 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
+ ptcoord = params.screenToCam(params.width,0,scale);
+ Eigen::Vector4d p010 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
+ ptcoord = params.screenToCam(params.width,params.height,scale);
+ Eigen::Vector4d p000 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
+ Eigen::Vector4d origin = pose.inverse() * Eigen::Vector4d(0,0,0,1);
+
+ p110 /= p110[3];
+ p100 /= p100[3];
+ p010 /= p010[3];
+ p000 /= p000[3];
+ origin /= origin[3];
+
+ if (origin[2] < 0.1 || p110[2] < 0.1 || p100[2] < 0.1 || p010[2] < 0.1 || p000[2] < 0.1) return;
+
+ draw3DLine(vcam, colour, depth, p000, origin, linecolour);
+ draw3DLine(vcam, colour, depth, p000, p010, linecolour);
+ draw3DLine(vcam, colour, depth, p000, p100, linecolour);
+
+ draw3DLine(vcam, colour, depth, p010, origin, linecolour);
+ draw3DLine(vcam, colour, depth, p010, p110, linecolour);
+
+ draw3DLine(vcam, colour, depth, p100, origin, linecolour);
+ draw3DLine(vcam, colour, depth, p100, p110, linecolour);
+
+ draw3DLine(vcam, colour, depth, p110, origin, linecolour);
+
+ if (frustrum) {
+ const double fscale = 16.0;
+ ptcoord = params.screenToCam(0,0,fscale);
+ Eigen::Vector4d f110 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
+ ptcoord = params.screenToCam(0,params.height,fscale);
+ Eigen::Vector4d f100 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
+ ptcoord = params.screenToCam(params.width,0,fscale);
+ Eigen::Vector4d f010 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
+ ptcoord = params.screenToCam(params.width,params.height,fscale);
+ Eigen::Vector4d f000 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
+
+ f110 /= f110[3];
+ f100 /= f100[3];
+ f010 /= f010[3];
+ f000 /= f000[3];
+
+ if (f110[2] < 0.1 || f100[2] < 0.1 || f010[2] < 0.1 || f000[2] < 0.1) return;
+
+ draw3DLine(vcam, colour, depth, f000, p000, cv::Scalar(0,255,0,0));
+ draw3DLine(vcam, colour, depth, f010, p010, cv::Scalar(0,255,0,0));
+ draw3DLine(vcam, colour, depth, f100, p100, cv::Scalar(0,255,0,0));
+ draw3DLine(vcam, colour, depth, f110, p110, cv::Scalar(0,255,0,0));
+
+ draw3DLine(vcam, colour, depth, f000, f010, cv::Scalar(0,255,0,0));
+ draw3DLine(vcam, colour, depth, f000, f100, cv::Scalar(0,255,0,0));
+ draw3DLine(vcam, colour, depth, f010, f110, cv::Scalar(0,255,0,0));
+ draw3DLine(vcam, colour, depth, f100, f110, cv::Scalar(0,255,0,0));
+ }
}
void ftl::overlay::drawText(
- const ftl::rgbd::Camera &cam,
- cv::Mat &colour,
- cv::Mat &depth,
- const std::string &text,
- const Eigen::Vector4d &pos,
- double size,
- const cv::Scalar &textcolour) {
-
- auto pt = cam.camToScreen<int2>(make_float3(pos[0], pos[1], pos[2]));
- if (pos[2] < 0.1) return;
- cv::putText(colour, text, cv::Point(pt.x, colour.rows-pt.y), 0, size, textcolour, 1, cv::LINE_8, true);
+ const ftl::rgbd::Camera &cam,
+ cv::Mat &colour,
+ cv::Mat &depth,
+ const std::string &text,
+ const Eigen::Vector4d &pos,
+ double size,
+ const cv::Scalar &textcolour) {
+
+ auto pt = cam.camToScreen<int2>(make_float3(pos[0], pos[1], pos[2]));
+ if (pos[2] < 0.1) return;
+ cv::putText(colour, text, cv::Point(pt.x, colour.rows-pt.y), 0, size, textcolour, 1, cv::LINE_8, true);
}*/
diff --git a/components/renderers/cpp/src/reprojection.cu b/components/renderers/cpp/src/reprojection.cu
index f34759fcfdcd57c39cc1b0078a5e56a829db9edc..e58ba6fa77984ba6ed2926cc3e15c8bd053ce27a 100644
--- a/components/renderers/cpp/src/reprojection.cu
+++ b/components/renderers/cpp/src/reprojection.cu
@@ -14,6 +14,7 @@ using ftl::render::Parameters;
using ftl::rgbd::Camera;
using ftl::render::ViewPortMode;
using ftl::render::AccumulationFunction;
+using ftl::rgbd::Projection;
/*template <typename T>
__device__ inline T generateInput(const T &in, const SplatParams ¶ms, const float4 &worldPos) {
@@ -133,13 +134,13 @@ __device__ inline float2 convertScreen<ViewPortMode::Stretch>(const Parameters &
}
template <typename A>
-__device__ inline auto getInput(TextureObject<A> &in, const float2 &screen, float width, float height) {
+__device__ inline auto getInput(TextureObject<A> &in, const float3 &screen, float width, float height) {
const float inSX = float(in.width()) / width;
const float inSY = float(in.height()) / height;
return in.tex2D(screen.x*inSX, screen.y*inSY);
}
-__device__ float weightByNormal(TextureObject<half4> &normals, int x, int y, const float3x3 &transformR, const float2 &screenPos, const ftl::rgbd::Camera &camera) {
+__device__ float weightByNormal(TextureObject<half4> &normals, int x, int y, const float3x3 &transformR, const float3 &screenPos, const ftl::rgbd::Camera &camera) {
// Calculate the dot product of surface normal and camera ray
const float3 n = transformR * make_float3(normals.tex2D(x, y));
float3 ray = camera.screenToCam(screenPos.x, screenPos.y, 1.0f);
@@ -159,7 +160,7 @@ __device__ float depthMatching(const Parameters ¶ms, float d1, float d2) {
/*
* Full reprojection with normals and depth
*/
- template <typename A, typename B, ViewPortMode VPMODE, AccumulationFunction ACCUM>
+ template <typename A, typename B, AccumulationFunction ACCUM, Projection PROJECT>
__global__ void reprojection_kernel(
TextureObject<A> in, // Attribute input
TextureObject<float> depth_src,
@@ -176,10 +177,11 @@ __global__ void reprojection_kernel(
const float d = depth_in.tex2D((int)x, (int)y);
if (d > params.camera.minDepth && d < params.camera.maxDepth) {
- const float2 rpt = convertScreen<VPMODE>(params, x, y);
- const float3 camPos = transform * params.camera.screenToCam(rpt.x, rpt.y, d);
+ //const float2 rpt = convertScreen<VPMODE>(params, x, y);
+ //const float3 camPos = transform * params.camera.screenToCam(rpt.x, rpt.y, d);
+ const float3 camPos = transform * params.camera.unproject<PROJECT>(make_float3(x, y, d));
if (camPos.z > camera.minDepth && camPos.z < camera.maxDepth) {
- const float2 screenPos = camera.camToScreen<float2>(camPos);
+ const float3 screenPos = camera.project<Projection::PERSPECTIVE>(camPos);
// Not on screen so stop now...
if (screenPos.x < depth_src.width() && screenPos.y < depth_src.height()) {
@@ -220,7 +222,7 @@ __global__ void reprojection_kernel(
/*
* Full reprojection without normals
*/
- template <typename A, typename B, ViewPortMode VPMODE, AccumulationFunction ACCUM>
+ template <typename A, typename B, AccumulationFunction ACCUM, Projection PROJECT>
__global__ void reprojection_kernel(
TextureObject<A> in, // Attribute input
TextureObject<float> depth_src,
@@ -236,10 +238,10 @@ __global__ void reprojection_kernel(
const float d = depth_in.tex2D((int)x, (int)y);
if (d > params.camera.minDepth && d < params.camera.maxDepth) {
- const float2 rpt = convertScreen<VPMODE>(params, x, y);
- const float3 camPos = transform * params.camera.screenToCam(rpt.x, rpt.y, d);
+ //const float2 rpt = convertScreen<VPMODE>(params, x, y);
+ const float3 camPos = transform * params.camera.unproject<PROJECT>(make_float3(x, y, d));
if (camPos.z > camera.minDepth && camPos.z < camera.maxDepth) {
- const float2 screenPos = camera.camToScreen<float2>(camPos);
+ const float3 screenPos = camera.project<Projection::PERSPECTIVE>(camPos);
// Not on screen so stop now...
if (screenPos.x < depth_src.width() && screenPos.y < depth_src.height()) {
@@ -248,7 +250,8 @@ __global__ void reprojection_kernel(
// Boolean match (0 or 1 weight). 1.0 if depths are sufficiently close
float weight = depthMatching(params, camPos.z, d2);
- weight *= float(weights.tex2D(int(screenPos.x+0.5f), int(screenPos.y+0.5f))) / 32767.0f;
+ if (params.m_flags & ftl::render::kUseWeightsChannel)
+ weight *= float(weights.tex2D(int(screenPos.x+0.5f), int(screenPos.y+0.5f))) / 32767.0f;
const B output = make<B>(input); // * weight; //weightInput(input, weight);
@@ -278,66 +281,76 @@ void ftl::cuda::reproject(
if (normals) {
if (params.accumulationMode == AccumulationFunction::CloseWeights) {
- switch (params.viewPortMode) {
- case ViewPortMode::Disabled: reprojection_kernel<A,B,ViewPortMode::Disabled,AccumulationFunction::CloseWeights><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
- case ViewPortMode::Clipping: reprojection_kernel<A,B,ViewPortMode::Clipping,AccumulationFunction::CloseWeights><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
- case ViewPortMode::Stretch: reprojection_kernel<A,B,ViewPortMode::Stretch,AccumulationFunction::CloseWeights><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
+ switch (params.projection) {
+ case Projection::PERSPECTIVE: reprojection_kernel<A,B,AccumulationFunction::CloseWeights, Projection::PERSPECTIVE><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
+ case Projection::ORTHOGRAPHIC: reprojection_kernel<A,B,AccumulationFunction::CloseWeights, Projection::ORTHOGRAPHIC><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
+ case Projection::EQUIRECTANGULAR: reprojection_kernel<A,B,AccumulationFunction::CloseWeights, Projection::EQUIRECTANGULAR><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
+ //case ViewPortMode::Stretch: reprojection_kernel<A,B,ViewPortMode::Stretch,AccumulationFunction::CloseWeights><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
}
} else if (params.accumulationMode == AccumulationFunction::BestWeight) {
- switch (params.viewPortMode) {
- case ViewPortMode::Disabled: reprojection_kernel<A,B,ViewPortMode::Disabled,AccumulationFunction::BestWeight><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
- case ViewPortMode::Clipping: reprojection_kernel<A,B,ViewPortMode::Clipping,AccumulationFunction::BestWeight><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
- case ViewPortMode::Stretch: reprojection_kernel<A,B,ViewPortMode::Stretch,AccumulationFunction::BestWeight><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
+ switch (params.projection) {
+ case Projection::PERSPECTIVE: reprojection_kernel<A,B,AccumulationFunction::BestWeight, Projection::PERSPECTIVE><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
+ case Projection::ORTHOGRAPHIC: reprojection_kernel<A,B,AccumulationFunction::BestWeight, Projection::ORTHOGRAPHIC><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
+ case Projection::EQUIRECTANGULAR: reprojection_kernel<A,B,AccumulationFunction::BestWeight, Projection::EQUIRECTANGULAR><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
+ //case ViewPortMode::Stretch: reprojection_kernel<A,B,ViewPortMode::Stretch,AccumulationFunction::BestWeight><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
}
} else if (params.accumulationMode == AccumulationFunction::Simple) {
- switch (params.viewPortMode) {
- case ViewPortMode::Disabled: reprojection_kernel<A,B,ViewPortMode::Disabled,AccumulationFunction::Simple><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
- case ViewPortMode::Clipping: reprojection_kernel<A,B,ViewPortMode::Clipping,AccumulationFunction::Simple><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
- case ViewPortMode::Stretch: reprojection_kernel<A,B,ViewPortMode::Stretch,AccumulationFunction::Simple><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
+ switch (params.projection) {
+ case Projection::PERSPECTIVE: reprojection_kernel<A,B,AccumulationFunction::Simple, Projection::PERSPECTIVE><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
+ case Projection::ORTHOGRAPHIC: reprojection_kernel<A,B,AccumulationFunction::Simple, Projection::ORTHOGRAPHIC><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
+ case Projection::EQUIRECTANGULAR: reprojection_kernel<A,B,AccumulationFunction::Simple, Projection::EQUIRECTANGULAR><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
+ //case ViewPortMode::Stretch: reprojection_kernel<A,B,ViewPortMode::Stretch,AccumulationFunction::Simple><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
}
} else if (params.accumulationMode == AccumulationFunction::ColourDiscard) {
- switch (params.viewPortMode) {
- case ViewPortMode::Disabled: reprojection_kernel<A,B,ViewPortMode::Disabled,AccumulationFunction::ColourDiscard><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
- case ViewPortMode::Clipping: reprojection_kernel<A,B,ViewPortMode::Clipping,AccumulationFunction::ColourDiscard><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
- case ViewPortMode::Stretch: reprojection_kernel<A,B,ViewPortMode::Stretch,AccumulationFunction::ColourDiscard><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
+ switch (params.projection) {
+ case Projection::PERSPECTIVE: reprojection_kernel<A,B,AccumulationFunction::ColourDiscard, Projection::PERSPECTIVE><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
+ case Projection::ORTHOGRAPHIC: reprojection_kernel<A,B,AccumulationFunction::ColourDiscard, Projection::ORTHOGRAPHIC><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
+ case Projection::EQUIRECTANGULAR: reprojection_kernel<A,B,AccumulationFunction::ColourDiscard, Projection::EQUIRECTANGULAR><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
+ //case ViewPortMode::Stretch: reprojection_kernel<A,B,ViewPortMode::Stretch,AccumulationFunction::ColourDiscard><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
}
} else if (params.accumulationMode == AccumulationFunction::ColourDiscardSmooth) {
- switch (params.viewPortMode) {
- case ViewPortMode::Disabled: reprojection_kernel<A,B,ViewPortMode::Disabled,AccumulationFunction::ColourDiscardSmooth><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
- case ViewPortMode::Clipping: reprojection_kernel<A,B,ViewPortMode::Clipping,AccumulationFunction::ColourDiscardSmooth><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
- case ViewPortMode::Stretch: reprojection_kernel<A,B,ViewPortMode::Stretch,AccumulationFunction::ColourDiscardSmooth><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
+ switch (params.projection) {
+ case Projection::PERSPECTIVE: reprojection_kernel<A,B,AccumulationFunction::ColourDiscardSmooth, Projection::PERSPECTIVE><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
+ case Projection::ORTHOGRAPHIC: reprojection_kernel<A,B,AccumulationFunction::ColourDiscardSmooth, Projection::ORTHOGRAPHIC><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
+ case Projection::EQUIRECTANGULAR: reprojection_kernel<A,B,AccumulationFunction::ColourDiscardSmooth, Projection::EQUIRECTANGULAR><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
+ //case ViewPortMode::Stretch: reprojection_kernel<A,B,ViewPortMode::Stretch,AccumulationFunction::ColourDiscardSmooth><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, *normals, out, contrib, params, camera, transform, transformR); break;
}
}
} else {
if (params.accumulationMode == AccumulationFunction::CloseWeights) {
- switch (params.viewPortMode) {
- case ViewPortMode::Disabled: reprojection_kernel<A,B,ViewPortMode::Disabled,AccumulationFunction::CloseWeights><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
- case ViewPortMode::Clipping: reprojection_kernel<A,B,ViewPortMode::Clipping,AccumulationFunction::CloseWeights><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
- case ViewPortMode::Stretch: reprojection_kernel<A,B,ViewPortMode::Stretch,AccumulationFunction::CloseWeights><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
+ switch (params.projection) {
+ case Projection::PERSPECTIVE: reprojection_kernel<A,B,AccumulationFunction::CloseWeights, Projection::PERSPECTIVE><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
+ case Projection::ORTHOGRAPHIC: reprojection_kernel<A,B,AccumulationFunction::CloseWeights, Projection::ORTHOGRAPHIC><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
+ case Projection::EQUIRECTANGULAR: reprojection_kernel<A,B,AccumulationFunction::CloseWeights, Projection::EQUIRECTANGULAR><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
+ //case ViewPortMode::Stretch: reprojection_kernel<A,B,ViewPortMode::Stretch,AccumulationFunction::CloseWeights><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
}
} else if (params.accumulationMode == AccumulationFunction::BestWeight) {
- switch (params.viewPortMode) {
- case ViewPortMode::Disabled: reprojection_kernel<A,B,ViewPortMode::Disabled,AccumulationFunction::BestWeight><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
- case ViewPortMode::Clipping: reprojection_kernel<A,B,ViewPortMode::Clipping,AccumulationFunction::BestWeight><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
- case ViewPortMode::Stretch: reprojection_kernel<A,B,ViewPortMode::Stretch,AccumulationFunction::BestWeight><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
+ switch (params.projection) {
+ case Projection::PERSPECTIVE: reprojection_kernel<A,B,AccumulationFunction::BestWeight, Projection::PERSPECTIVE><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
+ case Projection::ORTHOGRAPHIC: reprojection_kernel<A,B,AccumulationFunction::BestWeight, Projection::ORTHOGRAPHIC><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
+ case Projection::EQUIRECTANGULAR: reprojection_kernel<A,B,AccumulationFunction::BestWeight, Projection::EQUIRECTANGULAR><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
+ //case ViewPortMode::Stretch: reprojection_kernel<A,B,ViewPortMode::Stretch,AccumulationFunction::BestWeight><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
}
} else if (params.accumulationMode == AccumulationFunction::Simple) {
- switch (params.viewPortMode) {
- case ViewPortMode::Disabled: reprojection_kernel<A,B,ViewPortMode::Disabled,AccumulationFunction::Simple><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
- case ViewPortMode::Clipping: reprojection_kernel<A,B,ViewPortMode::Clipping,AccumulationFunction::Simple><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
- case ViewPortMode::Stretch: reprojection_kernel<A,B,ViewPortMode::Stretch,AccumulationFunction::Simple><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
+ switch (params.projection) {
+ case Projection::PERSPECTIVE: reprojection_kernel<A,B,AccumulationFunction::Simple, Projection::PERSPECTIVE><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
+ case Projection::ORTHOGRAPHIC: reprojection_kernel<A,B,AccumulationFunction::Simple, Projection::ORTHOGRAPHIC><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
+ case Projection::EQUIRECTANGULAR: reprojection_kernel<A,B,AccumulationFunction::Simple, Projection::EQUIRECTANGULAR><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
+ //case ViewPortMode::Stretch: reprojection_kernel<A,B,ViewPortMode::Stretch,AccumulationFunction::Simple><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
}
} else if (params.accumulationMode == AccumulationFunction::ColourDiscard) {
- switch (params.viewPortMode) {
- case ViewPortMode::Disabled: reprojection_kernel<A,B,ViewPortMode::Disabled,AccumulationFunction::ColourDiscard><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
- case ViewPortMode::Clipping: reprojection_kernel<A,B,ViewPortMode::Clipping,AccumulationFunction::ColourDiscard><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
- case ViewPortMode::Stretch: reprojection_kernel<A,B,ViewPortMode::Stretch,AccumulationFunction::ColourDiscard><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
+ switch (params.projection) {
+ case Projection::PERSPECTIVE: reprojection_kernel<A,B,AccumulationFunction::ColourDiscard, Projection::PERSPECTIVE><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
+ case Projection::ORTHOGRAPHIC: reprojection_kernel<A,B,AccumulationFunction::ColourDiscard, Projection::ORTHOGRAPHIC><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
+ case Projection::EQUIRECTANGULAR: reprojection_kernel<A,B,AccumulationFunction::ColourDiscard, Projection::EQUIRECTANGULAR><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
+ //case ViewPortMode::Stretch: reprojection_kernel<A,B,ViewPortMode::Stretch,AccumulationFunction::ColourDiscard><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
}
} else if (params.accumulationMode == AccumulationFunction::ColourDiscardSmooth) {
- switch (params.viewPortMode) {
- case ViewPortMode::Disabled: reprojection_kernel<A,B,ViewPortMode::Disabled,AccumulationFunction::ColourDiscardSmooth><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
- case ViewPortMode::Clipping: reprojection_kernel<A,B,ViewPortMode::Clipping,AccumulationFunction::ColourDiscardSmooth><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
- case ViewPortMode::Stretch: reprojection_kernel<A,B,ViewPortMode::Stretch,AccumulationFunction::ColourDiscardSmooth><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
+ switch (params.projection) {
+ case Projection::PERSPECTIVE: reprojection_kernel<A,B,AccumulationFunction::ColourDiscardSmooth, Projection::PERSPECTIVE><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
+ case Projection::ORTHOGRAPHIC: reprojection_kernel<A,B,AccumulationFunction::ColourDiscardSmooth, Projection::ORTHOGRAPHIC><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
+ case Projection::EQUIRECTANGULAR: reprojection_kernel<A,B,AccumulationFunction::ColourDiscardSmooth, Projection::EQUIRECTANGULAR><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
+ //case ViewPortMode::Stretch: reprojection_kernel<A,B,ViewPortMode::Stretch,AccumulationFunction::ColourDiscardSmooth><<<gridSize, blockSize, 0, stream>>>(in, depth_src, depth_in, weights, out, contrib, params, camera, transform, transformR); break;
}
}
}
@@ -405,8 +418,9 @@ __global__ void reprojection_kernel(
const float d = depth_in.tex2D((int)x, (int)y);
if (d > params.camera.minDepth && d < params.camera.maxDepth) {
- const float3 camPos = poseInv * params.camera.screenToCam(x, y, d);
- const float2 screenPos = camera.camToScreen<float2>(camPos);
+ //const float3 camPos = poseInv * params.camera.screenToCam(x, y, d);
+ const float3 camPos = poseInv * params.camera.unproject<Projection::PERSPECTIVE>(make_float3(x, y, d));
+ const float3 screenPos = camera.project<Projection::PERSPECTIVE>(camPos);
if (screenPos.x < in.width() && screenPos.y < in.height()) {
const auto input = in.tex2D(screenPos.x, screenPos.y);
diff --git a/components/renderers/cpp/src/screen.cu b/components/renderers/cpp/src/screen.cu
index cb041ac0bddb2eee2518314ea7b703775e374f08..15473b9ad4781957b1b9f1c6949469db1c6d230c 100644
--- a/components/renderers/cpp/src/screen.cu
+++ b/components/renderers/cpp/src/screen.cu
@@ -7,6 +7,7 @@ using ftl::rgbd::Camera;
using ftl::cuda::TextureObject;
using ftl::render::Parameters;
using ftl::render::ViewPortMode;
+using ftl::rgbd::Projection;
#define T_PER_BLOCK 8
@@ -45,7 +46,7 @@ __device__ inline uint2 convertToScreen<ViewPortMode::Warping>(const Parameters
/*
* Convert source screen position to output screen coordinates.
*/
- template <ftl::render::ViewPortMode VPMODE>
+ template <ftl::render::ViewPortMode VPMODE, Projection PROJECT>
__global__ void screen_coord_kernel(TextureObject<float> depth,
TextureObject<float> depth_out,
TextureObject<short2> screen_out, Parameters params, float4x4 pose, Camera camera) {
@@ -53,22 +54,23 @@ __device__ inline uint2 convertToScreen<ViewPortMode::Warping>(const Parameters
const int y = blockIdx.y*blockDim.y + threadIdx.y;
if (x >= 0 && y >= 0 && x < depth.width() && y < depth.height()) {
- uint2 screenPos = make_uint2(30000,30000);
+ //uint2 screenPos = make_uint2(30000,30000);
const float d = depth.tex2D(x, y);
// Find the virtual screen position of current point
const float3 camPos = (d > camera.minDepth && d < camera.maxDepth) ? pose * camera.screenToCam(x,y,d) : make_float3(0.0f,0.0f,0.0f);
- screenPos = convertToScreen<VPMODE>(params, camPos);
+ float3 screenPos = params.camera.project<PROJECT>(camPos); //convertToScreen<VPMODE>(params, camPos);
- if ( camPos.z < params.camera.minDepth ||
- camPos.z > params.camera.maxDepth ||
+ if ( screenPos.z < params.camera.minDepth ||
+ screenPos.z > params.camera.maxDepth ||
//!vp.inside(screenPos.x, screenPos.y))
+ screenPos.x < 0.0f || screenPos.y < 0.0f ||
screenPos.x >= params.camera.width ||
screenPos.y >= params.camera.height)
- screenPos = make_uint2(30000,30000);
+ screenPos = make_float3(30000,30000,0);
screen_out(x,y) = make_short2(screenPos.x, screenPos.y);
- depth_out(x,y) = camPos.z;
+ depth_out(x,y) = screenPos.z;
}
}
@@ -78,10 +80,24 @@ void ftl::cuda::screen_coord(TextureObject<float> &depth, TextureObject<float> &
const dim3 gridSize((depth.width() + T_PER_BLOCK - 1)/T_PER_BLOCK, (depth.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
- switch (params.viewPortMode) {
- case ViewPortMode::Disabled: screen_coord_kernel<ViewPortMode::Disabled><<<gridSize, blockSize, 0, stream>>>(depth, depth_out, screen_out, params, pose, camera); break;
- case ViewPortMode::Clipping: screen_coord_kernel<ViewPortMode::Clipping><<<gridSize, blockSize, 0, stream>>>(depth, depth_out, screen_out, params, pose, camera); break;
- case ViewPortMode::Stretch: screen_coord_kernel<ViewPortMode::Stretch><<<gridSize, blockSize, 0, stream>>>(depth, depth_out, screen_out, params, pose, camera); break;
+ if (params.projection == Projection::PERSPECTIVE) {
+ switch (params.viewPortMode) {
+ case ViewPortMode::Disabled: screen_coord_kernel<ViewPortMode::Disabled, Projection::PERSPECTIVE><<<gridSize, blockSize, 0, stream>>>(depth, depth_out, screen_out, params, pose, camera); break;
+ case ViewPortMode::Clipping: screen_coord_kernel<ViewPortMode::Clipping, Projection::PERSPECTIVE><<<gridSize, blockSize, 0, stream>>>(depth, depth_out, screen_out, params, pose, camera); break;
+ case ViewPortMode::Stretch: screen_coord_kernel<ViewPortMode::Stretch, Projection::PERSPECTIVE><<<gridSize, blockSize, 0, stream>>>(depth, depth_out, screen_out, params, pose, camera); break;
+ }
+ } else if (params.projection == Projection::EQUIRECTANGULAR) {
+ switch (params.viewPortMode) {
+ case ViewPortMode::Disabled: screen_coord_kernel<ViewPortMode::Disabled, Projection::EQUIRECTANGULAR><<<gridSize, blockSize, 0, stream>>>(depth, depth_out, screen_out, params, pose, camera); break;
+ case ViewPortMode::Clipping: screen_coord_kernel<ViewPortMode::Clipping, Projection::EQUIRECTANGULAR><<<gridSize, blockSize, 0, stream>>>(depth, depth_out, screen_out, params, pose, camera); break;
+ case ViewPortMode::Stretch: screen_coord_kernel<ViewPortMode::Stretch, Projection::EQUIRECTANGULAR><<<gridSize, blockSize, 0, stream>>>(depth, depth_out, screen_out, params, pose, camera); break;
+ }
+ } else if (params.projection == Projection::ORTHOGRAPHIC) {
+ switch (params.viewPortMode) {
+ case ViewPortMode::Disabled: screen_coord_kernel<ViewPortMode::Disabled, Projection::ORTHOGRAPHIC><<<gridSize, blockSize, 0, stream>>>(depth, depth_out, screen_out, params, pose, camera); break;
+ case ViewPortMode::Clipping: screen_coord_kernel<ViewPortMode::Clipping, Projection::ORTHOGRAPHIC><<<gridSize, blockSize, 0, stream>>>(depth, depth_out, screen_out, params, pose, camera); break;
+ case ViewPortMode::Stretch: screen_coord_kernel<ViewPortMode::Stretch, Projection::ORTHOGRAPHIC><<<gridSize, blockSize, 0, stream>>>(depth, depth_out, screen_out, params, pose, camera); break;
+ }
}
cudaSafeCall( cudaGetLastError() );
}
diff --git a/components/renderers/cpp/src/splatter_cuda.hpp b/components/renderers/cpp/src/splatter_cuda.hpp
index e1021651ce1989cbf06b0a4b00fc04a1d457b844..41088cc226e34f4916c6919d8edc465906dbd499 100644
--- a/components/renderers/cpp/src/splatter_cuda.hpp
+++ b/components/renderers/cpp/src/splatter_cuda.hpp
@@ -165,11 +165,6 @@ namespace cuda {
uchar4 bad_colour,
cudaStream_t stream);
- void show_mask(
- ftl::cuda::TextureObject<uchar4> &colour,
- ftl::cuda::TextureObject<uint8_t> &mask,
- int id, uchar4 style, cudaStream_t stream);
-
void merge_convert_depth(
ftl::cuda::TextureObject<int> &d1,
ftl::cuda::TextureObject<float> &d2,
diff --git a/components/renderers/cpp/src/touch.cu b/components/renderers/cpp/src/touch.cu
new file mode 100644
index 0000000000000000000000000000000000000000..e81d9018093a5a638f68fe72d70bf3d2140c2114
--- /dev/null
+++ b/components/renderers/cpp/src/touch.cu
@@ -0,0 +1,50 @@
+#include <ftl/cuda/touch.hpp>
+#include <ftl/cuda/warp.hpp>
+
+using ftl::cuda::TextureObject;
+using ftl::cuda::warpSum;
+
+__device__ inline ftl::cuda::Collision pack_collision(int cx, int cy, int num, float cd) {
+ return ftl::cuda::Collision{(num << 24) | (cx << 12) | (cy), cd};
+}
+
+ __global__ void touch_kernel(TextureObject<float> depth_in, TextureObject<float> depth_out, ftl::cuda::Collision *collisions, int max_collisions, float dist) {
+ const int x = blockIdx.x*blockDim.x + threadIdx.x;
+ const int y = blockIdx.y*blockDim.y + threadIdx.y;
+
+ bool collision = false;
+ float cd = 0.0f;
+
+ if (x >= 0 && y >= 0 && x < depth_in.width() && y < depth_in.height()) {
+ //uint2 screenPos = make_uint2(30000,30000);
+
+ const float din = depth_in.tex2D(x, y);
+ const float dout = depth_out.tex2D(x, y);
+
+ collision = (din < 1000.0f && fabsf(din-dout) < dist);
+ cd = fminf(din,dout);
+ depth_out(x,y) = cd;
+ }
+
+ int num_collisions = __popc(__ballot_sync(0xFFFFFFFF, collision));
+ float cx = warpSum((collision) ? float(x) : 0.0f) / float(num_collisions);
+ float cy = warpSum((collision) ? float(y) : 0.0f) / float(num_collisions);
+ cd = warpSum((collision) ? float(cd) : 0.0f) / float(num_collisions);
+ if ((threadIdx.x+threadIdx.y*blockDim.x) % 32 == 0) {
+ if (num_collisions > 0) {
+ //printf("Collision: %f,%f [%d]\n", cx, cy, num_collisions);
+ int ix = atomicInc(&collisions[0].screen, max_collisions-1);
+ collisions[ix+1] = pack_collision(cx, cy, num_collisions, cd);
+ }
+ }
+}
+
+#define T_PER_BLOCK 8
+
+void ftl::cuda::touch_merge(TextureObject<float> &depth_in, TextureObject<float> &depth_out, ftl::cuda::Collision *collisions, int max_collisions, float dist, cudaStream_t stream) {
+ const dim3 gridSize((depth_in.width() + T_PER_BLOCK - 1)/T_PER_BLOCK, (depth_in.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
+ const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
+
+ touch_kernel<<<gridSize, blockSize, 0, stream>>>(depth_in, depth_out, collisions, max_collisions, dist);
+ cudaSafeCall( cudaGetLastError() );
+}
diff --git a/components/renderers/cpp/test/CMakeLists.txt b/components/renderers/cpp/test/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6212e13bd1c0e5faf692d31661d31581b0e8c050
--- /dev/null
+++ b/components/renderers/cpp/test/CMakeLists.txt
@@ -0,0 +1,12 @@
+### Renderer Unit ##############################################################
+add_executable(render_unit
+ $<TARGET_OBJECTS:CatchTest>
+ ./render_unit.cpp
+)
+target_include_directories(render_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
+target_link_libraries(render_unit
+ ftlcommon ftlcodecs ftldata ftlrgbd)
+
+ target_precompile_headers(render_unit REUSE_FROM ftlcommon)
+
+add_test(RenderUnitTest render_unit)
\ No newline at end of file
diff --git a/components/renderers/cpp/test/render_unit.cpp b/components/renderers/cpp/test/render_unit.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..8fb470a861b0f0db26f958522f960a5e4f70ceeb
--- /dev/null
+++ b/components/renderers/cpp/test/render_unit.cpp
@@ -0,0 +1,134 @@
+#include "catch.hpp"
+
+#include <ftl/data/new_frameset.hpp>
+#include <ftl/data/framepool.hpp>
+#include <ftl/render/CUDARender.hpp>
+
+#include <nlohmann/json.hpp>
+
+using ftl::data::Frame;
+using ftl::data::FrameSet;
+using ftl::config::json_t;
+using ftl::codecs::Channel;
+
+TEST_CASE("Renderer Single Frame", "") {
+ json_t global = json_t{{"$id","ftl://test"}};
+ auto *root = ftl::config::configure(global);
+
+ ftl::data::Pool pool(5,7);
+
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), 1000);
+ f.store();
+ auto fsptr = FrameSet::fromFrame(f);
+
+ auto renderer = std::unique_ptr<ftl::render::CUDARender>(
+ ftl::create<ftl::render::CUDARender>(root, "renderer")
+ );
+
+ Frame out = pool.allocate(ftl::data::FrameID(1,0), 1000);
+ out.store();
+
+ ftl::rgbd::Frame &rgbdframe = out.cast<ftl::rgbd::Frame>();
+ auto &calib = rgbdframe.setLeft();
+ calib.width = 640;
+ calib.height = 480;
+ calib.fx = 700;
+ calib.fy = 700;
+ calib.cx = -250;
+ calib.cy = -200;
+ calib.minDepth = 0.1f;
+ calib.maxDepth = 10.0f;
+ rgbdframe.setPose() = Eigen::Matrix4d::Identity();
+
+ int width = rgbdframe.getLeft().width;
+ int height = rgbdframe.getLeft().height;
+
+ auto &colour = rgbdframe.create<cv::cuda::GpuMat>(Channel::Colour);
+ colour.create(height, width, CV_8UC4);
+ rgbdframe.create<cv::cuda::GpuMat>(Channel::Depth).create(height, width, CV_32F);
+ rgbdframe.createTexture<float>(Channel::Depth);
+
+ SECTION("copes with single frame missing colour") {
+ for (int i=0; i<20; ++i) {
+ renderer->begin(out.cast<ftl::rgbd::Frame>(), Channel::Colour);
+
+ Eigen::Matrix4d pose;
+ pose.setIdentity();
+ renderer->submit(fsptr.get(), ftl::codecs::Channels<0>(Channel::Colour), pose);
+ renderer->render();
+ renderer->end();
+ }
+ }
+
+ /*SECTION("single colour empty mat") {
+ fsptr->frames[0].create<cv::cuda::GpuMat>(Channel::Colour);
+ fsptr->frames[0].cast<ftl::rgbd::Frame>().setLeft() = calib;
+ fsptr->frames[0].cast<ftl::rgbd::Frame>().setPose() = Eigen::Matrix4d::Identity();
+
+ for (int i=0; i<20; ++i) {
+ renderer->begin(out.cast<ftl::rgbd::Frame>(), Channel::Colour);
+
+ Eigen::Matrix4d pose;
+ pose.setIdentity();
+ renderer->submit(fsptr.get(), ftl::codecs::Channels<0>(Channel::Colour), pose);
+ renderer->render();
+ renderer->end();
+ }
+ }*/
+
+ SECTION("single colour only frame") {
+ fsptr->frames[0].create<cv::cuda::GpuMat>(Channel::Colour).create(640,480,CV_8UC4);
+ fsptr->frames[0].cast<ftl::rgbd::Frame>().setLeft() = calib;
+ fsptr->frames[0].cast<ftl::rgbd::Frame>().setPose() = Eigen::Matrix4d::Identity();
+
+ for (int i=0; i<20; ++i) {
+ renderer->begin(out.cast<ftl::rgbd::Frame>(), Channel::Colour);
+
+ Eigen::Matrix4d pose;
+ pose.setIdentity();
+ renderer->submit(fsptr.get(), ftl::codecs::Channels<0>(Channel::Colour), pose);
+ renderer->render();
+ renderer->end();
+ }
+ }
+
+ SECTION("single full only frame") {
+ fsptr->frames[0].create<cv::cuda::GpuMat>(Channel::Colour).create(640,480,CV_8UC4);
+ fsptr->frames[0].cast<ftl::rgbd::Frame>().setLeft() = calib;
+ fsptr->frames[0].cast<ftl::rgbd::Frame>().setPose() = Eigen::Matrix4d::Identity();
+
+ auto &depth = fsptr->frames[0].create<cv::cuda::GpuMat>(Channel::Colour);
+ depth.create(640,480,CV_8UC4);
+ depth.setTo(cv::Scalar(5.0f));
+
+ for (int i=0; i<20; ++i) {
+ renderer->begin(out.cast<ftl::rgbd::Frame>(), Channel::Colour);
+
+ Eigen::Matrix4d pose;
+ pose.setIdentity();
+ renderer->submit(fsptr.get(), ftl::codecs::Channels<0>(Channel::Colour), pose);
+ renderer->render();
+ renderer->end();
+ }
+ }
+
+ SECTION("single frame empty depth") {
+ fsptr->frames[0].create<cv::cuda::GpuMat>(Channel::Colour).create(640,480,CV_8UC4);
+ fsptr->frames[0].cast<ftl::rgbd::Frame>().setLeft() = calib;
+ fsptr->frames[0].cast<ftl::rgbd::Frame>().setPose() = Eigen::Matrix4d::Identity();
+
+ auto &depth = fsptr->frames[0].create<cv::cuda::GpuMat>(Channel::Colour);
+ //depth.create(640,480,CV_8UC4);
+ //depth.setTo(cv::Scalar(5.0f));
+
+ for (int i=0; i<20; ++i) {
+ renderer->begin(out.cast<ftl::rgbd::Frame>(), Channel::Colour);
+
+ Eigen::Matrix4d pose;
+ pose.setIdentity();
+ renderer->submit(fsptr.get(), ftl::codecs::Channels<0>(Channel::Colour), pose);
+ renderer->render();
+ renderer->end();
+ }
+ }
+}
diff --git a/components/rgbd-sources/CMakeLists.txt b/components/rgbd-sources/CMakeLists.txt
index fafceea695332cc0f0daf1c5bedffc649c3ad727..726e9960a5d5080a77b68cc5343f33530026ca7b 100644
--- a/components/rgbd-sources/CMakeLists.txt
+++ b/components/rgbd-sources/CMakeLists.txt
@@ -1,28 +1,26 @@
set(RGBDSRC
- src/sources/stereovideo/calibrate.cpp
- src/sources/stereovideo/local.cpp
+ src/sources/stereovideo/rectification.cpp
+ src/sources/stereovideo/opencv.cpp
src/source.cpp
src/frame.cpp
- src/frameset.cpp
+ #src/frameset.cpp
src/sources/stereovideo/stereovideo.cpp
#src/colour.cpp
- src/group.cpp
- src/cb_segmentation.cpp
+ #src/group.cpp
+ #src/cb_segmentation.cpp
#src/abr.cpp
src/sources/screencapture/screencapture.cpp
src/camera.cpp
+ #src/init.cpp
)
if (HAVE_REALSENSE)
list(APPEND RGBDSRC "src/sources/realsense/realsense_source.cpp")
endif()
-if (LibArchive_FOUND)
- list(APPEND RGBDSRC
- src/sources/snapshot/snapshot.cpp
- src/sources/snapshot/snapshot_source.cpp
- )
-endif (LibArchive_FOUND)
+if (HAVE_PYLON)
+ list(APPEND RGBDSRC "src/sources/stereovideo/pylon.cpp")
+endif()
add_library(ftlrgbd ${RGBDSRC})
@@ -38,7 +36,9 @@ if (CUDA_FOUND)
set_property(TARGET ftlrgbd PROPERTY CUDA_SEPARABLE_COMPILATION OFF)
endif()
-target_link_libraries(ftlrgbd ftlcalibration ftlcommon ${OpenCV_LIBS} ${LIBSGM_LIBRARIES} ${CUDA_LIBRARIES} Eigen3::Eigen realsense ftlnet ${LibArchive_LIBRARIES} ftlcodecs ftloperators ftldata ${X11_X11_LIB} ${X11_Xext_LIB})
+target_link_libraries(ftlrgbd ftlcalibration ftlcommon ${OpenCV_LIBS} ${CUDA_LIBRARIES} Eigen3::Eigen realsense ftlnet ${LibArchive_LIBRARIES} ftlcodecs ftloperators ftldata ${X11_X11_LIB} ${X11_Xext_LIB} ${X11_Xtst_LIB} ${X11_XTest_LIB} Pylon)
+
+target_precompile_headers(ftlrgbd REUSE_FROM ftldata)
if (BUILD_TESTS)
add_subdirectory(test)
diff --git a/components/rgbd-sources/include/ftl/cb_segmentation.hpp b/components/rgbd-sources/include/ftl/cb_segmentation.hpp
deleted file mode 100644
index 4563e35c171a7141032048ff9d18e3df95661f2c..0000000000000000000000000000000000000000
--- a/components/rgbd-sources/include/ftl/cb_segmentation.hpp
+++ /dev/null
@@ -1,117 +0,0 @@
-#pragma once
-
-#include <opencv2/core.hpp>
-
-namespace ftl {
-
-/**
- * @brief Codebook segmentation and depthmap filling.
- * @param Input image width
- * @param Input image height
- *
- * Codebook segmentation based on
- *
- * Kim, K., Chalidabhongse, T. H., Harwood, D., & Davis, L. (2005).
- * Real-time foreground-background segmentation using codebook model.
- * Real-Time Imaging. https://doi.org/10.1016/j.rti.2004.12.004
- *
- * and fixed size codebook optimization in
- *
- * Rodriguez-Gomez, R., Fernandez-Sanchez, E. J., Diaz, J., & Ros, E.
- * (2015). Codebook hardware implementation on FPGA for background
- * subtraction. Journal of Real-Time Image Processing.
- * https://doi.org/10.1007/s11554-012-0249-6
- *
- * Additional modifications to include depth maps as part of the
- * background model.
- */
-class CBSegmentation {
-public:
- CBSegmentation(char codebook_size, size_t width, size_t height, float alpha, float beta, float epsilon, float sigma, int T_add, int T_del, int T_h);
-
- /**
- * @brief Segment image.
- * @param Input image (3-channels)
- * @param Output Mat. Background pixels set to 0, foreground pixels > 0.
- *
- * @todo Template method on OpenCV type
- */
- void apply(cv::Mat &in, cv::Mat &out, cv::Mat &depth, bool fill=false);
- void apply(cv::Mat &in, cv::Mat &out);
-
-protected:
- class Pixel {
- public:
- int idx;
- float r;
- float g;
- float b;
- float i;
- int d;
- long t;
- Pixel(const int &index, const uchar *bgr, const int &depth, const long &time);
- };
-
- class Codeword {
- public:
- float r;
- float g;
- float b;
- float i_min, i_max;
- long f, lambda, p, q;
-
- float d_m;
- float d_f;
- float d_S;
-
- void set(CBSegmentation::Pixel &pixel);
- void update(CBSegmentation::Pixel &pixel);
-
- bool colordiff(CBSegmentation::Pixel &pixel, float epsilon);
- bool brightness(CBSegmentation::Pixel &pixel, float alpha, float beta);
- bool depthdiff(CBSegmentation::Pixel &pixel, float sigma);
-
- inline int freq() { return f; }
- inline long getLambda() { return lambda; }
- inline long ctime() { return p; }
- inline long atime() { return q; }
- };
-
- enum EntryType { H, M };
-
- union Entry {
- char size;
- struct Data {
- EntryType type;
- CBSegmentation::Codeword cw;
- } data ;
- };
-
- struct CompareEntry{
- bool operator()(const Entry &a,const Entry &b) const{
- return !((a.data.type == M && b.data.type == H) ||
- (a.data.cw.f < b.data.cw.f));
- }
- };
-
- bool processPixel(Pixel &px, Codeword *codeword=nullptr);
-
- size_t size_;
- size_t width_;
- size_t height_;
-
- float alpha_;
- float beta_;
- float epsilon_;
- float sigma_;
-
- int T_add_;
- int T_del_;
- int T_h_;
-
-private:
- long t_ = 1;
- std::vector<Entry> cb_;
-};
-
-}
\ No newline at end of file
diff --git a/components/rgbd-sources/include/ftl/rgbd/camera.hpp b/components/rgbd-sources/include/ftl/rgbd/camera.hpp
index 8006414d5c1b3c190dbc982f057f9afe5437c6e0..1b47187e981f3d95a23e4506746a9099d8fa351f 100644
--- a/components/rgbd-sources/include/ftl/rgbd/camera.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/camera.hpp
@@ -14,6 +14,20 @@
namespace ftl{
namespace rgbd {
+enum class Projection {
+ PERSPECTIVE = 0,
+ ORTHOGRAPHIC = 1,
+ EQUIRECTANGULAR = 2
+};
+
+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 = 0x0008; // Has right RGB
+static const capability_t kCapDepth = 0x0010; // Has depth capabilities
+
/**
* All properties associated with cameras. This structure is designed to
* operate on CPU and GPU.
@@ -37,15 +51,27 @@ struct __align__(16) Camera {
*/
template <typename T> __device__ __host__ T camToScreen(const float3 &pos) const;
+ /**
+ * From 3D point to 2D + Depth.
+ */
+ template <Projection P> __device__ __host__ float3 project(const float3 &point) const;
+
+ /**
+ * From 2D + Depth to 3D point.
+ */
+ template <Projection P> __device__ __host__ float3 unproject(const float3 &point) const;
+
/**
* Convert screen plus depth into camera coordinates.
*/
- __host__ __device__ float3 screenToCam(int ux, int uy, float depth) const;
+ __host__ __device__ float3 screenToCam(int ux, int uy, float depth) const;
+
+ //Eigen::Vector4f eigenScreenToCam(int ux, int uy, float depth) const;
/**
* Convert screen plus depth into camera coordinates.
*/
- __host__ __device__ float3 screenToCam(uint ux, uint uy, float depth) const;
+ __host__ __device__ float3 screenToCam(uint ux, uint uy, float depth) const;
/**
* Convert screen plus depth into camera coordinates.
@@ -60,8 +86,8 @@ struct __align__(16) Camera {
* Make a camera struct from a configurable.
*/
static Camera from(ftl::Configurable*);
-
- cv::Mat getCameraMatrix() const;
+
+ cv::Mat getCameraMatrix(const cv::Size& sz={0, 0}) const;
#endif
};
@@ -70,10 +96,74 @@ struct __align__(16) Camera {
// ---- IMPLEMENTATIONS --------------------------------------------------------
+template <> __device__ __host__
+inline float3 ftl::rgbd::Camera::project<ftl::rgbd::Projection::EQUIRECTANGULAR>(const float3 &cam) const {
+ const float l = length(cam);
+ const float3 ray3d = cam / l;
+
+ //inverse formula for spherical projection, reference Szeliski book "Computer Vision: Algorithms and Applications" p439.
+ const float theta = atan2(ray3d.y,sqrt(ray3d.x*ray3d.x+ray3d.z*ray3d.z));
+ const float phi = atan2(ray3d.x, ray3d.z);
+
+ const float pi = 3.14159265f;
+
+ //get 2D point on equirectangular map
+ float x_sphere = (((phi*width)/pi+width)/2.0f);
+ float y_sphere = (theta+ pi/2.0f)*height/pi;
+
+ return make_float3(x_sphere,y_sphere, l);
+};
+
+template <> __device__ __host__
+inline float3 ftl::rgbd::Camera::unproject<ftl::rgbd::Projection::EQUIRECTANGULAR>(const float3 &equi) const {
+ const float pi = 3.14159265f;
+
+ float phi = (equi.x * 2.0f - float(width)) * pi / float(width);
+ float theta = (equi.y * pi / float(height)) - (pi/2.0f);
+
+ float z = cos(theta)*cos(phi);
+ float x = cos(theta)*sin(phi);
+ float y = sin(theta);
+
+ return make_float3(x*equi.z,y*equi.z,z*equi.z);
+};
+
+template <> __device__ __host__
+inline float3 ftl::rgbd::Camera::project<ftl::rgbd::Projection::PERSPECTIVE>(const float3 &pos) const {
+ return make_float3(
+ static_cast<float>(pos.x*fx/pos.z - cx),
+ static_cast<float>(pos.y*fy/pos.z - cy),
+ pos.z
+ );
+}
+
+template <> __device__ __host__
+inline float3 ftl::rgbd::Camera::unproject<ftl::rgbd::Projection::PERSPECTIVE>(const float3 &pos) const {
+ const float x = static_cast<float>((pos.x+cx) / fx);
+ const float y = static_cast<float>((pos.y+cy) / fy);
+ return make_float3(pos.z*x, pos.z*y, pos.z);
+}
+
+template <> __device__ __host__
+inline float3 ftl::rgbd::Camera::project<ftl::rgbd::Projection::ORTHOGRAPHIC>(const float3 &pos) const {
+ return make_float3(
+ static_cast<float>(pos.x*fx - cx),
+ static_cast<float>(pos.y*fy - cy),
+ pos.z
+ );
+}
+
+template <> __device__ __host__
+inline float3 ftl::rgbd::Camera::unproject<ftl::rgbd::Projection::ORTHOGRAPHIC>(const float3 &pos) const {
+ const float x = static_cast<float>((pos.x+cx) / fx);
+ const float y = static_cast<float>((pos.y+cy) / fy);
+ return make_float3(x, y, pos.z);
+}
+
template <> __device__ __host__
inline float2 ftl::rgbd::Camera::camToScreen<float2>(const float3 &pos) const {
return make_float2(
- static_cast<float>(pos.x*fx/pos.z - cx),
+ static_cast<float>(pos.x*fx/pos.z - cx),
static_cast<float>(pos.y*fy/pos.z - cy)
);
}
@@ -97,7 +187,7 @@ inline float3 ftl::rgbd::Camera::screenToCam(uint ux, uint uy, float depth) cons
return make_float3(depth*x, depth*y, depth);
}
-__device__
+__device__ __host__
inline float3 ftl::rgbd::Camera::screenToCam(int ux, int uy, float depth) const {
const float x = static_cast<float>(((float)ux+cx) / fx);
const float y = static_cast<float>(((float)uy+cy) / fy);
diff --git a/components/rgbd-sources/include/ftl/rgbd/capabilities.hpp b/components/rgbd-sources/include/ftl/rgbd/capabilities.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..dacab1e522d841900bf2fd864f3db536d3af46e5
--- /dev/null
+++ b/components/rgbd-sources/include/ftl/rgbd/capabilities.hpp
@@ -0,0 +1,37 @@
+#ifndef _FTL_RGBD_CAPABILITIES_HPP_
+#define _FTL_RGBD_CAPABILITIES_HPP_
+
+#include <ftl/utility/msgpack.hpp>
+
+namespace ftl {
+namespace rgbd {
+
+/**
+ * To be added to the capabilities channel to indicate what the source device
+ * is capable of. These properties should be features of the source that
+ * cannot be determined by simply checking for channels, and may include
+ * status information about processing that has been performed.
+ */
+enum class Capability : int {
+ MOVABLE=0, // Is a pose controllable camera
+ ACTIVE, // An active depth sensor
+ VIDEO, // Is video and not just static
+ ADJUSTABLE, // Camera properties can be changed (exposure etc)
+ VIRTUAL, // Is not a physical camera
+ TOUCH, // Touch related feedback supported
+ VR, // Is a VR device, so provides own active pose etc
+ LIVE, // Live, not recorded (removed from ftl file sources)
+ FUSED, // Reconstruction has been performed
+ STREAMED, // Means it came from a stream and not device
+ EQUI_RECT, // 360 rendered (Equirectangular Render)
+ STEREO // Side-by-side stereo render
+};
+
+std::string capabilityName(Capability);
+
+}
+}
+
+MSGPACK_ADD_ENUM(ftl::rgbd::Capability);
+
+#endif
\ No newline at end of file
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 b3d809784abdf9a3f1bdb362c2dcc3a88b1a9e3e..0000000000000000000000000000000000000000
--- 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 995848ff01fdcd87b1e0d1e01e0b9cde61e267f3..0000000000000000000000000000000000000000
--- 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/detail/source.hpp b/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp
deleted file mode 100644
index a5949ff51683199e40104e943b195d02323b3277..0000000000000000000000000000000000000000
--- a/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp
+++ /dev/null
@@ -1,75 +0,0 @@
-#ifndef _FTL_RGBD_DETAIL_SOURCE_HPP_
-#define _FTL_RGBD_DETAIL_SOURCE_HPP_
-
-#include <Eigen/Eigen>
-#include <ftl/cuda_util.hpp>
-//#include <opencv2/opencv.hpp>
-#include <ftl/rgbd/camera.hpp>
-#include <ftl/rgbd/frame.hpp>
-
-namespace ftl{
-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 = 0x0008; // Has right RGB
-static const capability_t kCapDepth = 0x0010; // Has depth capabilities
-
-
-namespace detail {
-
-class Source {
- public:
- friend class ftl::rgbd::Source;
-
- public:
- explicit Source(ftl::rgbd::Source *host) : capabilities_(0), host_(host), params_(state_.getLeft()), timestamp_(0) { }
- virtual ~Source() {}
-
- /**
- * Perform hardware data capture.
- */
- virtual bool capture(int64_t ts)=0;
-
- /**
- * Perform IO operation to get the data.
- */
- virtual bool retrieve()=0;
-
- /**
- * Do any processing from previously captured frames...
- * @param n Number of frames to request in batch. Default -1 means automatic (10)
- * @param b Bit rate setting. -1 = automatic, 0 = best quality, 9 = lowest quality
- */
- virtual bool compute(int n, int b)=0;
-
- /**
- * Between frames, or before next frame, do any buffer swapping operations.
- */
- virtual void swap() {}
-
- virtual bool isReady() { return false; };
- virtual void setPose(const Eigen::Matrix4d &pose) { state_.setPose(pose); };
-
- virtual Camera parameters(ftl::codecs::Channel) { return params_; };
-
- protected:
- ftl::rgbd::FrameState state_;
- capability_t capabilities_;
- ftl::rgbd::Source *host_;
- ftl::rgbd::Camera ¶ms_;
- ftl::rgbd::Frame frame_;
- int64_t timestamp_;
- //Eigen::Matrix4d &pose_;
-};
-
-}
-}
-}
-
-#endif // _FTL_RGBD_DETAIL_SOURCE_HPP_
diff --git a/components/rgbd-sources/include/ftl/rgbd/format.hpp b/components/rgbd-sources/include/ftl/rgbd/format.hpp
index 032e2948d9b3456fe641b3fb6e3ee90100cdad06..11390f14cfeea5cfddbc5a29dd08fb091101b04d 100644
--- a/components/rgbd-sources/include/ftl/rgbd/format.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/format.hpp
@@ -18,7 +18,7 @@ struct FormatBase {
int cvType; // OpenCV Mat type
inline bool empty() const { return width == 0 || height == 0; }
- inline cv::Size size() const { return cv::Size(width, height); }
+ inline cv::Size size() const { return cv::Size(static_cast<int>(width), static_cast<int>(height)); }
};
template <typename T>
diff --git a/components/rgbd-sources/include/ftl/rgbd/frame.hpp b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
index 8fc747cd7f968bef73a09161619774bb9c607ed6..99cbd5a1a9e8eeb207bc57d9b161d9dc514971d5 100644
--- a/components/rgbd-sources/include/ftl/rgbd/frame.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
@@ -8,7 +8,7 @@
#include <opencv2/core/cuda.hpp>
#include <opencv2/core/cuda_stream_accessor.hpp>
-#include <ftl/data/frame.hpp>
+#include <ftl/data/new_frame.hpp>
#include <ftl/codecs/channels.hpp>
#include <ftl/rgbd/format.hpp>
@@ -16,8 +16,8 @@
#include <ftl/codecs/codecs.hpp>
#include <ftl/codecs/packet.hpp>
#include <ftl/utility/vectorbuffer.hpp>
-#include <ftl/data/framestate.hpp>
#include <ftl/cuda_common.hpp>
+#include <ftl/rgbd/capabilities.hpp>
#include <type_traits>
#include <array>
@@ -26,266 +26,213 @@
#include <Eigen/Eigen>
namespace ftl {
+namespace calibration {
+struct CalibrationData;
+}
+
namespace rgbd {
-typedef ftl::data::FrameState<ftl::rgbd::Camera,2> FrameState;
+//typedef ftl::data::Frame Frame;
-struct VideoData {
- ftl::cuda::TextureObjectBase tex;
- cv::cuda::GpuMat gpu;
- cv::Mat host;
- bool isgpu;
- bool validhost;
- std::list<ftl::codecs::Packet> encoded;
+/*inline const ftl::rgbd::Camera &getLeftCamera(const Frame &f) { return f.get<ftl::rgbd::Camera>(ftl::codecs::Channel::Calibration); }
+inline const ftl::rgbd::Camera &getRightCamera(const Frame &f) { return f.get<ftl::rgbd::Camera>(ftl::codecs::Channel::Calibration2); }
+inline const ftl::rgbd::Camera &getLeft(const Frame &f) { return f.get<ftl::rgbd::Camera>(ftl::codecs::Channel::Calibration); }
+inline const ftl::rgbd::Camera &getRight(const Frame &f) { return f.get<ftl::rgbd::Camera>(ftl::codecs::Channel::Calibration2); }
+inline const Eigen::Matrix4d &getPose(const Frame &f) { return f.get<Eigen::Matrix4d>(ftl::codecs::Channel::Pose); }*/
- template <typename T>
- T &as() {
- throw FTL_Error("Unsupported type for Video data channel");
- };
+class VideoFrame {
+ public:
+ VideoFrame() {}
+
+ // Manually add copy constructor since default is removed
+ VideoFrame(const VideoFrame &);
+ VideoFrame &operator=(const VideoFrame &);
template <typename T>
- const T &as() const {
- throw FTL_Error("Unsupported type for Video data channel");
- };
+ ftl::cuda::TextureObject<T> &createTexture(const ftl::rgbd::Format<T> &f, bool interpolated);
template <typename T>
- T &make() {
- throw FTL_Error("Unsupported type for Video data channel");
- };
+ ftl::cuda::TextureObject<T> &createTexture(bool interpolated=false) const;
- inline void reset() {
- validhost = false;
- encoded.clear();
- }
-};
+ cv::cuda::GpuMat &createGPU();
+ cv::cuda::GpuMat &createGPU(const ftl::rgbd::FormatBase &f);
-// Specialisations for cv mat types
-template <> cv::Mat &VideoData::as<cv::Mat>();
-template <> const cv::Mat &VideoData::as<cv::Mat>() const;
-template <> cv::cuda::GpuMat &VideoData::as<cv::cuda::GpuMat>();
-template <> const cv::cuda::GpuMat &VideoData::as<cv::cuda::GpuMat>() const;
-
-template <> cv::Mat &VideoData::make<cv::Mat>();
-template <> cv::cuda::GpuMat &VideoData::make<cv::cuda::GpuMat>();
-
-/**
- * Manage a set of image channels corresponding to a single camera frame.
- */
-class Frame : public ftl::data::Frame<0,32,ftl::rgbd::FrameState,VideoData> {
-//class Frame {
-public:
- using ftl::data::Frame<0,32,ftl::rgbd::FrameState,VideoData>::create;
-
- Frame();
- Frame(Frame &&f);
- ~Frame();
-
- Frame &operator=(Frame &&f);
-
- // Prevent frame copy, instead use a move.
- //Frame(const Frame &)=delete;
- //Frame &operator=(const Frame &)=delete;
-
- void download(ftl::codecs::Channel c, cv::cuda::Stream stream);
- void upload(ftl::codecs::Channel c, cv::cuda::Stream stream);
- void download(ftl::codecs::Channels<0> c, cv::cuda::Stream stream);
- void upload(ftl::codecs::Channels<0> c, cv::cuda::Stream stream);
-
- inline void download(ftl::codecs::Channel c, cudaStream_t stream=0) { download(c, cv::cuda::StreamAccessor::wrapStream(stream)); };
- inline void upload(ftl::codecs::Channel c, cudaStream_t stream=0) { upload(c, cv::cuda::StreamAccessor::wrapStream(stream)); };
- inline void download(const ftl::codecs::Channels<0> &c, cudaStream_t stream=0) { download(c, cv::cuda::StreamAccessor::wrapStream(stream)); };
- inline void upload(const ftl::codecs::Channels<0> &c, cudaStream_t stream=0) { upload(c, cv::cuda::StreamAccessor::wrapStream(stream)); };
-
- /**
- * Special case optional download. If a host memory version still exists,
- * use that. Only download if no host version exists. This assumes that
- * the GPU version has not been modified since the host version was created,
- * in otherwords that both version are still the same. It also does not
- * actually mark the channel as downloaded.
- */
- cv::Mat &fastDownload(ftl::codecs::Channel c, cv::cuda::Stream stream);
-
- /**
- * Get an existing CUDA texture object.
- */
- template <typename T> const ftl::cuda::TextureObject<T> &getTexture(ftl::codecs::Channel) const;
-
- /**
- * Get an existing CUDA texture object.
- */
- template <typename T> ftl::cuda::TextureObject<T> &getTexture(ftl::codecs::Channel);
-
- /**
- * Create a channel with a given format. This will discard any existing
- * data associated with the channel and ensure all data structures and
- * memory allocations match the new format.
- */
- template <typename T> T &create(ftl::codecs::Channel c, const ftl::rgbd::FormatBase &f);
-
- /**
- * Create a CUDA texture object for a channel. This version takes a format
- * argument to also create (or recreate) the associated GpuMat.
- */
- template <typename T>
- ftl::cuda::TextureObject<T> &createTexture(ftl::codecs::Channel c, const ftl::rgbd::Format<T> &f, bool interpolated=false);
+ template <typename T> ftl::cuda::TextureObject<T> &getTexture(ftl::codecs::Channel) const;
- /**
- * Create a CUDA texture object for a channel. With this version the GpuMat
- * must already exist and be of the correct type.
- */
- template <typename T>
- ftl::cuda::TextureObject<T> &createTexture(ftl::codecs::Channel c, bool interpolated=false);
-
- /**
- * Append encoded data for a channel. This will move the data, invalidating
- * the original packet structure. It is to be used to allow data that is
- * already encoded to be transmitted or saved again without re-encoding.
- * A called to `create` will clear all encoded data for that channel.
- */
- void pushPacket(ftl::codecs::Channel c, ftl::codecs::Packet &pkt);
-
- /**
- * Obtain a list of any existing encodings for this channel.
- */
- const std::list<ftl::codecs::Packet> &getPackets(ftl::codecs::Channel c) const;
-
- /**
- * Clear any existing encoded packets. Used when the channel data is
- * modified and the encodings are therefore out-of-date.
- */
- void clearPackets(ftl::codecs::Channel c);
-
- /**
- * Packets from multiple frames are merged together in sequence. An example
- * case is if a frame gets dropped but the original encoding is inter-frame
- * and hence still requires the dropped frames encoding data.
- */
- void mergeEncoding(ftl::rgbd::Frame &f);
-
- void resetTexture(ftl::codecs::Channel c);
-
- /**
- * Check if any specified channels are empty or missing.
- */
- bool empty(ftl::codecs::Channels<0> c);
-
- /**
- * Check if a specific channel is missing or has no memory allocated.
- */
- inline bool empty(ftl::codecs::Channel c) {
- auto &m = getData(c);
- return !hasChannel(c) || (m.host.empty() && m.gpu.empty());
- }
+ cv::Mat &createCPU();
+ cv::Mat &createCPU(const ftl::rgbd::FormatBase &f);
- /**
- * Obtain a mask of all available channels in the frame.
- */
- inline ftl::codecs::Channels<0> getVideoChannels() const { return getChannels(); }
+ const cv::Mat &getCPU() const;
+ const cv::cuda::GpuMat &getGPU() const;
- inline const ftl::rgbd::Camera &getLeftCamera() const { return getLeft(); }
- inline const ftl::rgbd::Camera &getRightCamera() const { return getRight(); }
+ /// gets cv::Mat for
+ cv::Mat &setCPU();
+ cv::cuda::GpuMat &setGPU();
- /**
- * Is the channel data currently located on GPU. This also returns false if
- * the channel does not exist.
- */
- inline bool isGPU(ftl::codecs::Channel channel) const {
- return hasChannel(channel) && getData(channel).isgpu;
- }
+ inline bool isGPU() const { return isgpu; };
- /**
- * Is the channel data currently located on CPU memory. This also returns
- * false if the channel does not exist.
- */
- inline bool isCPU(ftl::codecs::Channel channel) const {
- return hasChannel(channel) && !getData(channel).isgpu;
- }
+ inline bool hasOpenGL() const { return opengl_id != 0; }
+ inline void setOpenGL(unsigned int id) { opengl_id = id; }
+ inline unsigned int getOpenGL() const { return opengl_id; }
+
+
+ private:
+ mutable ftl::cuda::TextureObjectBase tex;
+ cv::cuda::GpuMat gpu;
+ mutable cv::Mat host;
+ unsigned int opengl_id=0;
+ bool isgpu=false;
+ mutable bool validhost=false;
};
-// Specialisations
+class Frame : public ftl::data::Frame {
+ public:
+ const ftl::rgbd::Camera &getLeftCamera() const;
+ const ftl::rgbd::Camera &getRightCamera() const;
+ inline const ftl::rgbd::Camera &getLeft() const { return getLeftCamera(); }
+ inline const ftl::rgbd::Camera &getRight() const { return getRightCamera(); }
+ const Eigen::Matrix4d &getPose() const;
+ ftl::rgbd::Camera &setLeft();
+ ftl::rgbd::Camera &setRight();
+ Eigen::Matrix4d &setPose();
-template <> cv::Mat &Frame::create(ftl::codecs::Channel c, const ftl::rgbd::FormatBase &);
-template <> cv::cuda::GpuMat &Frame::create(ftl::codecs::Channel c, const ftl::rgbd::FormatBase &);
+ cv::Size getSize(ftl::codecs::Channel c=ftl::codecs::Channel::Left) const;
-template <typename T>
-ftl::cuda::TextureObject<T> &Frame::getTexture(ftl::codecs::Channel c) {
- if (!hasChannel(c)) throw FTL_Error("Texture channel does not exist: " << (int)c);
+ ftl::calibration::CalibrationData& setCalibration();
+ const ftl::calibration::CalibrationData& getCalibration() const;
+
+ std::string serial() const;
+ std::string device() const;
+
+ /** Note, this throws exception if channel is missing */
+ const std::unordered_set<ftl::rgbd::Capability> &capabilities() const;
- auto &m = getData(c);
- if (!m.isgpu) throw FTL_Error("Texture channel is not on GPU");
+ /** Does not throw exception */
+ bool hasCapability(ftl::rgbd::Capability) const;
+
+ inline bool isLive() const { return hasCapability(ftl::rgbd::Capability::LIVE); }
+ inline bool isVirtual() const { return hasCapability(ftl::rgbd::Capability::VIRTUAL); }
+ inline bool isMovable() const { return hasCapability(ftl::rgbd::Capability::MOVABLE); }
+ inline bool isTouchable() const { return hasCapability(ftl::rgbd::Capability::TOUCH); }
+ inline bool isVR() const { return hasCapability(ftl::rgbd::Capability::VR); }
+ inline bool is360() const { return hasCapability(ftl::rgbd::Capability::EQUI_RECT); }
+ inline bool isSideBySideStereo() const { return hasCapability(ftl::rgbd::Capability::STEREO); }
+
+ void upload(ftl::codecs::Channel c);
+
+ bool isGPU(ftl::codecs::Channel c) const;
+ bool hasOpenGL(ftl::codecs::Channel c) const;
+ unsigned int getOpenGL(ftl::codecs::Channel c) const;
+
+ template <typename T>
+ ftl::cuda::TextureObject<T> &getTexture(ftl::codecs::Channel c) { return this->get<VideoFrame>(c).getTexture<T>(c); }
- if (m.tex.cvType() != ftl::traits::OpenCVType<T>::value || m.tex.width() != static_cast<size_t>(m.gpu.cols) || m.tex.height() != static_cast<size_t>(m.gpu.rows) || m.gpu.type() != m.tex.cvType()) {
- throw FTL_Error("Texture has not been created properly for this channel: " << (int)c);
+ template <typename T>
+ ftl::cuda::TextureObject<T> &createTexture(ftl::codecs::Channel c, bool interpolated=false) { return this->get<VideoFrame>(c).createTexture<T>(interpolated); }
+
+ template <typename T>
+ ftl::cuda::TextureObject<T> &createTexture(ftl::codecs::Channel c, const ftl::rgbd::Format<T> &fmt, bool interpolated=false) { return this->create<VideoFrame>(c).createTexture<T>(fmt, interpolated); }
+
+};
+
+
+template <typename T>
+ftl::cuda::TextureObject<T> &VideoFrame::getTexture(ftl::codecs::Channel c) const {
+ if (!isgpu) throw FTL_Error("Texture channel is not on GPU");
+
+ if (tex.cvType() != ftl::traits::OpenCVType<T>::value || tex.width() != static_cast<size_t>(gpu.cols) || tex.height() != static_cast<size_t>(gpu.rows) || gpu.type() != tex.cvType()) {
+ throw FTL_Error("Texture has not been created properly " << int(c));
}
- return ftl::cuda::TextureObject<T>::cast(m.tex);
+ return ftl::cuda::TextureObject<T>::cast(tex);
}
template <typename T>
-ftl::cuda::TextureObject<T> &Frame::createTexture(ftl::codecs::Channel c, const ftl::rgbd::Format<T> &f, bool interpolated) {
- //if (!hasChannel(c)) channels_ += c;
- //using ftl::data::Frame<0,32,ftl::rgbd::FrameState,VideoData>::create;
-
- create<cv::cuda::GpuMat>(c);
- auto &m = getData(c);
+ftl::cuda::TextureObject<T> &VideoFrame::createTexture(const ftl::rgbd::Format<T> &f, bool interpolated) {
+ createGPU();
if (f.empty()) {
throw FTL_Error("createTexture needs a non-empty format");
} else {
- m.gpu.create(f.size(), f.cvType);
+ gpu.create(f.size(), f.cvType);
}
- if (m.gpu.type() != ftl::traits::OpenCVType<T>::value) {
- throw FTL_Error("Texture type mismatch: " << (int)c << " " << m.gpu.type() << " != " << ftl::traits::OpenCVType<T>::value);
+ if (gpu.type() != ftl::traits::OpenCVType<T>::value) {
+ throw FTL_Error("Texture type mismatch: " << gpu.type() << " != " << ftl::traits::OpenCVType<T>::value);
}
// TODO: Check tex cvType
- if (m.tex.devicePtr() == nullptr) {
+ if (tex.devicePtr() == nullptr) {
//LOG(INFO) << "Creating texture object";
- m.tex = ftl::cuda::TextureObject<T>(m.gpu, interpolated);
- } else if (m.tex.cvType() != ftl::traits::OpenCVType<T>::value || m.tex.width() != static_cast<size_t>(m.gpu.cols) || m.tex.height() != static_cast<size_t>(m.gpu.rows)) {
+ tex = ftl::cuda::TextureObject<T>(gpu, interpolated);
+ } else if (tex.cvType() != ftl::traits::OpenCVType<T>::value || tex.width() != static_cast<size_t>(gpu.cols) || tex.height() != static_cast<size_t>(gpu.rows)) {
//LOG(INFO) << "Recreating texture object for '" << ftl::codecs::name(c) << "'";
- m.tex.free();
- m.tex = ftl::cuda::TextureObject<T>(m.gpu, interpolated);
+ tex.free();
+ tex = ftl::cuda::TextureObject<T>(gpu, interpolated);
}
- return ftl::cuda::TextureObject<T>::cast(m.tex);
+ return ftl::cuda::TextureObject<T>::cast(tex);
}
template <typename T>
-ftl::cuda::TextureObject<T> &Frame::createTexture(ftl::codecs::Channel c, bool interpolated) {
- if (!hasChannel(c)) throw FTL_Error("createTexture needs a format if the channel does not exist: " << (int)c);
-
- auto &m = getData(c);
-
- if (!m.isgpu && !m.host.empty()) {
- m.gpu.create(m.host.size(), m.host.type());
+ftl::cuda::TextureObject<T> &VideoFrame::createTexture(bool interpolated) const {
+ if (!isgpu && !host.empty()) {
+ //gpu.create(host.size(), host.type());
// TODO: Should this upload to GPU or not?
//gpu_ += c;
- } else if (!m.isgpu || (m.isgpu && m.gpu.empty())) {
+ throw FTL_Error("Cannot create a texture on a host frame");
+ } else if (!isgpu || (isgpu && gpu.empty())) {
throw FTL_Error("createTexture needs a format if no memory is allocated");
}
- if (m.gpu.type() != ftl::traits::OpenCVType<T>::value) {
- throw FTL_Error("Texture type mismatch: " << (int)c << " " << m.gpu.type() << " != " << ftl::traits::OpenCVType<T>::value);
+ if (gpu.type() != ftl::traits::OpenCVType<T>::value) {
+ throw FTL_Error("Texture type mismatch: " << gpu.type() << " != " << ftl::traits::OpenCVType<T>::value);
}
// TODO: Check tex cvType
- if (m.tex.devicePtr() == nullptr) {
+ if (tex.devicePtr() == nullptr) {
//LOG(INFO) << "Creating texture object";
- m.tex = ftl::cuda::TextureObject<T>(m.gpu, interpolated);
- } else if (m.tex.cvType() != ftl::traits::OpenCVType<T>::value || m.tex.width() != static_cast<size_t>(m.gpu.cols) || m.tex.height() != static_cast<size_t>(m.gpu.rows) || m.tex.devicePtr() != m.gpu.data) {
+ tex = ftl::cuda::TextureObject<T>(gpu, interpolated);
+ } else if (tex.cvType() != ftl::traits::OpenCVType<T>::value || tex.width() != static_cast<size_t>(gpu.cols) || tex.height() != static_cast<size_t>(gpu.rows) || tex.devicePtr() != gpu.data) {
//LOG(INFO) << "Recreating texture object for '" << ftl::codecs::name(c) << "'.";
- m.tex.free();
- m.tex = ftl::cuda::TextureObject<T>(m.gpu, interpolated);
+ tex.free();
+ tex = ftl::cuda::TextureObject<T>(gpu, interpolated);
}
- return ftl::cuda::TextureObject<T>::cast(m.tex);
+ return ftl::cuda::TextureObject<T>::cast(tex);
}
}
}
-#endif // _FTL_RGBD_FRAME_HPP_
\ No newline at end of file
+template <>
+cv::Mat &ftl::data::Frame::create<cv::Mat, 0>(ftl::codecs::Channel c);
+
+template <>
+cv::cuda::GpuMat &ftl::data::Frame::create<cv::cuda::GpuMat, 0>(ftl::codecs::Channel c);
+
+template <>
+const cv::Mat &ftl::data::Frame::get<cv::Mat>(ftl::codecs::Channel c) const;
+
+template <>
+const cv::cuda::GpuMat &ftl::data::Frame::get<cv::cuda::GpuMat>(ftl::codecs::Channel c) const;
+
+template <>
+cv::Mat &ftl::data::Frame::set<cv::Mat, 0>(ftl::codecs::Channel c);
+
+template <>
+cv::cuda::GpuMat &ftl::data::Frame::set<cv::cuda::GpuMat, 0>(ftl::codecs::Channel c);
+
+template <>
+inline bool ftl::data::make_type<ftl::rgbd::VideoFrame>() {
+ return false;
+}
+
+template <>
+inline bool ftl::data::decode_type<ftl::rgbd::VideoFrame>(std::any &a, const std::vector<uint8_t> &data) {
+ return false;
+}
+
+#endif // _FTL_RGBD_FRAME_HPP_
diff --git a/components/rgbd-sources/include/ftl/rgbd/frameset.hpp b/components/rgbd-sources/include/ftl/rgbd/frameset.hpp
index 1c4f7da20ddf8a392405a054c1b808bb865e70ae..02f638e7b6767824a89a1edac1b66659340592eb 100644
--- a/components/rgbd-sources/include/ftl/rgbd/frameset.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/frameset.hpp
@@ -4,7 +4,7 @@
#include <ftl/threads.hpp>
#include <ftl/timer.hpp>
#include <ftl/rgbd/frame.hpp>
-#include <ftl/data/frameset.hpp>
+#include <ftl/data/new_frameset.hpp>
//#include <opencv2/core.hpp>
#include <vector>
@@ -16,176 +16,7 @@ namespace rgbd {
static const size_t kMaxFramesets = 15;
static const size_t kMaxFramesInSet = 32;
-class Source;
-
-typedef ftl::data::FrameSet<ftl::rgbd::Frame> FrameSet;
-
-/**
- * Represents a set of synchronised frames, each with two channels. This is
- * used to collect all frames from multiple computers that have the same
- * timestamp.
- */
-//struct FrameSet {
-// int id=0;
-// int64_t timestamp; // Millisecond timestamp of all frames
-// std::vector<ftl::rgbd::Frame> frames;
-// std::atomic<int> count; // Number of valid frames
-// std::atomic<unsigned int> mask; // Mask of all sources that contributed
-// bool stale; // True if buffers have been invalidated
-// SHARED_MUTEX mtx;
-
- /**
- * Upload all specified host memory channels to GPU memory.
- */
-// void upload(ftl::codecs::Channels<0>, cudaStream_t stream=0);
-
- /**
- * Download all specified GPU memory channels to host memory.
- */
-// void download(ftl::codecs::Channels<0>, cudaStream_t stream=0);
-
- /**
- * Move the entire frameset to another frameset object. This will
- * invalidate the current frameset object as all memory buffers will be
- * moved.
- */
-// void swapTo(ftl::rgbd::FrameSet &);
-
- /**
- * Clear all channels and all memory allocations within those channels.
- * This will perform a resetFull on all frames in the frameset.
- */
-// void resetFull();
-//};
-
-/**
- * Callback type for receiving video frames.
- */
-typedef std::function<bool(ftl::rgbd::FrameSet &)> VideoCallback;
-
-/**
- * Abstract class for any generator of FrameSet structures. A generator
- * produces (decoded) frame sets at regular frame intervals depending on the
- * global timer settings. The `onFrameSet` callback may be triggered from any
- * thread and also may drop frames and not be called for a given timestamp.
- */
-class Generator {
- public:
- Generator() {}
- virtual ~Generator() {}
-
- /** Number of frames in last frameset. This can change over time. */
- virtual size_t size()=0;
-
- /**
- * Get the persistent state object for a frame. An exception is thrown
- * for a bad index.
- */
- virtual ftl::rgbd::FrameState &state(size_t ix)=0;
-
- inline ftl::rgbd::FrameState &operator[](int ix) { return state(ix); }
-
- /** Register a callback to receive new frame sets. */
- virtual void onFrameSet(const ftl::rgbd::VideoCallback &)=0;
-};
-
-/**
- * Accept frames and generate framesets as they become completed. This can
- * directly act as a generator of framesets, each frameset being generated
- * by the global timer. Once the expected number of frames have been received,
- * a frameset is marked as complete and can then be passed to the callback at
- * the appropriate time. If frames are generated faster than consumed then they
- * are buffered and merged into a single frameset. The buffer has a limited size
- * so a longer delay in a callback will cause buffer failures. If frames are
- * generated below framerate then the on frameset callback is just not called.
- */
-class Builder : public Generator {
- public:
- Builder();
- ~Builder();
-
- size_t size() override;
-
- ftl::rgbd::FrameState &state(size_t ix) override;
-
- inline void setID(int id) { id_ = id; }
-
- void onFrameSet(const ftl::rgbd::VideoCallback &) override;
-
- /**
- * Add a new frame at a given timestamp.
- */
- //void push(int64_t timestamp, size_t ix, ftl::rgbd::Frame &f);
-
- /**
- * Instead of pushing a frame, find or create a direct reference to one.
- */
- ftl::rgbd::Frame &get(int64_t timestamp, size_t ix);
-
- /**
- * Get the entire frameset for a given timestamp.
- */
- ftl::rgbd::FrameSet *get(int64_t timestamp);
-
- /**
- * Mark a frame as completed.
- */
- void completed(int64_t ts, size_t ix);
-
- void markPartial(int64_t ts);
-
- void setName(const std::string &name);
-
- void setBufferSize(size_t n) { bufferSize_ = n; }
-
- /**
- * Retrieve an fps + latency pair, averaged since last call to this
- * function.
- */
- static std::pair<float,float> getStatistics();
-
- private:
- std::list<FrameSet*> framesets_; // Active framesets
- std::list<FrameSet*> allocated_; // Keep memory allocations
-
- size_t head_;
- ftl::rgbd::VideoCallback cb_;
- MUTEX mutex_;
- int mspf_;
- int64_t last_ts_;
- int64_t last_frame_;
- int id_;
- std::atomic<int> jobs_;
- volatile bool skip_;
- ftl::timer::TimerHandle main_id_;
- size_t size_;
- size_t bufferSize_;
- std::vector<ftl::rgbd::FrameState*> states_;
-
- std::string name_;
-
- static MUTEX msg_mutex__;
- static float latency__;
- static float fps__;
- static int stats_count__;
-
- /* Insert a new frameset into the buffer, along with all intermediate
- * framesets between the last in buffer and the new one.
- */
- ftl::rgbd::FrameSet *_addFrameset(int64_t timestamp);
-
- /* Find a frameset with given latency in frames. */
- ftl::rgbd::FrameSet *_getFrameset();
- ftl::rgbd::FrameSet *_get(int64_t timestamp);
-
- /* Search for a matching frameset. */
- ftl::rgbd::FrameSet *_findFrameset(int64_t ts);
- void _freeFrameset(ftl::rgbd::FrameSet *);
-
- void _schedule();
-
- void _recordStats(float fps, float latency);
-};
+typedef ftl::data::FrameSet FrameSet;
}
}
diff --git a/components/rgbd-sources/include/ftl/rgbd/group.hpp b/components/rgbd-sources/include/ftl/rgbd/group.hpp
index b339511a219abf0f7bff3f76461b6e8c1cf07fd5..1b227ead08078fe1919a09ab5fc12fe07cd913bf 100644
--- a/components/rgbd-sources/include/ftl/rgbd/group.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/group.hpp
@@ -103,15 +103,16 @@ class Group : public ftl::rgbd::Generator {
ftl::operators::Graph *pipeline_;
std::atomic<int> jobs_;
+ std::atomic<int> cjobs_;
volatile bool skip_;
- ftl::timer::TimerHandle cap_id_;
- ftl::timer::TimerHandle swap_id_;
- ftl::timer::TimerHandle main_id_;
+ ftl::Handle cap_id_;
+ ftl::Handle swap_id_;
+ ftl::Handle main_id_;
std::string name_;
MUTEX mutex_;
void _retrieveJob(ftl::rgbd::Source *);
- void _computeJob(ftl::rgbd::Source *);
+ void _dispatchJob(ftl::rgbd::Source *, int64_t);
};
}
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 8e1fa5960b6f00ceeccd163f5e0433f4afca5ab6..0000000000000000000000000000000000000000
--- 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/source.hpp b/components/rgbd-sources/include/ftl/rgbd/source.hpp
index 41d9e88b0a811ae487a308cbf15668da2734498f..c7cc7d574d833f1ed5a7cc80926265a223c68301 100644
--- a/components/rgbd-sources/include/ftl/rgbd/source.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/source.hpp
@@ -7,15 +7,15 @@
#include <ftl/net/universe.hpp>
#include <ftl/uri.hpp>
#include <ftl/rgbd/camera.hpp>
-#include <ftl/rgbd/detail/source.hpp>
-#include <ftl/codecs/packet.hpp>
#include <opencv2/core/mat.hpp>
#include <Eigen/Eigen>
#include <string>
#include <map>
#include <ftl/cuda_common.hpp>
-#include <ftl/rgbd/frame.hpp>
+#include <ftl/data/new_frame.hpp>
+#include <ftl/data/new_frameset.hpp>
+#include <ftl/data/creators.hpp>
namespace ftl {
@@ -25,29 +25,23 @@ class Universe;
namespace rgbd {
-static inline bool isValidDepth(float d) { return (d > 0.01f) && (d < 39.99f); }
-
-class SnapshotReader;
-class VirtualSource;
-class Player;
+class BaseSourceImpl;
-typedef std::function<void(ftl::rgbd::Source*, const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt)> RawCallback;
-typedef std::function<void(int64_t,ftl::rgbd::Frame&)> FrameCallback;
+static inline bool isValidDepth(float d) { return (d > 0.01f) && (d < 39.99f); }
/**
* RGBD Generic data source configurable entity. This class hides the
* internal implementation of an RGBD source by providing accessor functions
* and by automatically changing the implementation in response to any URI
* changes.
- *
+ *
* Cannot be constructed directly, use ftl::create<Source>(...).
* @see ftl::create
*/
-class Source : public ftl::Configurable {
+class Source : public ftl::Configurable, public ftl::data::DiscreteSource {
public:
template <typename T, typename... ARGS>
friend T *ftl::config::create(ftl::config::json_t &, ARGS ...);
- friend class VirtualSource;
// This class cannot be constructed directly, use ftl::create
Source()=delete;
@@ -58,229 +52,52 @@ class Source : public ftl::Configurable {
protected:
explicit Source(ftl::config::json_t &cfg);
- Source(ftl::config::json_t &cfg, ftl::rgbd::SnapshotReader *);
- Source(ftl::config::json_t &cfg, ftl::net::Universe *net);
- virtual ~Source();
public:
+ virtual ~Source();
+
/**
* Is this source valid and ready to grab?.
*/
- bool isReady() { return (impl_) ? impl_->isReady() : false; }
-
- /**
- * Change the second channel source.
- */
- bool setChannel(ftl::codecs::Channel c);
-
- /**
- * Get the channel allocated to the second source.
- */
- ftl::codecs::Channel getChannel() const { return channel_; }
+ bool isReady();
/**
* Perform the hardware or virtual frame grab operation. This should be
- * fast and non-blocking.
+ * fast and non-blocking.
*/
- bool capture(int64_t ts);
+ bool capture(int64_t ts) override;
/**
* Download captured frame. This could be a blocking IO operation.
*/
- bool retrieve();
-
- /**
- * Between frames, do any required buffer swaps.
- */
- void swap() { if (impl_) impl_->swap(); }
-
- /**
- * Do any post-grab processing. This function
- * may take considerable time to return, especially for sources requiring
- * software stereo correspondance.
- */
- bool compute(int N=-1, int B=-1);
-
- /**
- * Wrapper grab that performs capture, swap and computation steps in one.
- * It is more optimal to perform capture and compute in parallel.
- */
- bool grab(int N=-1, int B=-1) {
- bool c = capture(0);
- c = c && retrieve();
- swap();
- return c && compute(N,B);
- }
-
- /**
- * Get a copy of both colour and depth frames. Note that this does a buffer
- * swap rather than a copy, so the parameters should be persistent buffers for
- * best performance.
- */
- [[deprecated]] void getFrames(cv::Mat &c, cv::Mat &d);
-
- /**
- * Directly upload source RGB and Depth to GPU.
- */
- void upload(cv::cuda::GpuMat&, cv::cuda::GpuMat&);
-
- void uploadColour(cv::cuda::GpuMat&);
- void uploadDepth(cv::cuda::GpuMat&);
-
- //bool isVirtual() const { return impl_ == nullptr; }
-
- /**
- * Get the source's camera intrinsics.
- */
- const Camera ¶meters() const {
- if (impl_) return impl_->params_;
- else throw FTL_Error("Cannot get parameters for bad source");
- }
-
- /**
- * Get camera intrinsics for another channel. For example the right camera
- * in a stereo pair.
- */
- const Camera parameters(ftl::codecs::Channel) const;
-
- cv::Mat cameraMatrix() const;
-
- /**
- * Change the camera extrinsics by providing a new pose matrix. For virtual
- * cameras this will move the camera, for physical cameras it is set by the
- * registration process as it attempts to work out a cameras relative pose.
- */
- virtual void setPose(const Eigen::Matrix4d &pose);
-
- /**
- * Get the camera position as a pose matrix.
- */
- [[deprecated]] const Eigen::Matrix4d &getPose() const;
-
- /**
- * Check what features this source has available.
- */
- bool hasCapabilities(capability_t);
-
- capability_t getCapabilities() const;
+ bool retrieve(ftl::data::Frame &) override;
/**
* Force the internal implementation to be reconstructed.
*/
void reset();
- ftl::net::Universe *getNet() const { return net_; }
-
std::string getURI() { return value("uri", std::string("")); }
- ftl::rgbd::FrameState &state() { return impl_->state_; }
-
- //void customImplementation(detail::Source *);
-
SHARED_MUTEX &mutex() { return mutex_; }
- const FrameCallback &callback() { return callback_; }
-
- /**
- * Set the callback that receives decoded frames as they are generated.
- * There can be only a single such callback as the buffers can be swapped
- * by the callback.
- */
- void setCallback(const FrameCallback &cb);
- void removeCallback() { callback_ = nullptr; }
-
- /**
- * Add a callback to immediately receive any raw data from this source.
- * Currently this only works for a net source since other sources don't
- * produce raw encoded data.
- */
- void addRawCallback(const RawCallback &);
-
- /**
- * THIS DOES NOT WORK CURRENTLY.
- */
- void removeRawCallback(const RawCallback &);
-
- /**
- * INTERNAL. Used to send raw data to callbacks.
- */
- void notifyRaw(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt);
-
/**
- * Notify of a decoded or available pair of frames. This calls the source
- * callback after having verified the correct resolution of the frames.
+ * Check whether a given device URI is supported. This will check hardware
+ * for physical availability of devices.
*/
- //void notify(int64_t ts, cv::cuda::GpuMat &c1, cv::cuda::GpuMat &c2);
- void notify(int64_t ts, ftl::rgbd::Frame &f);
+ static bool supports(const std::string &uri);
- // ==== Inject Data into stream ============================================
- /**
- * Generate a stream packet with arbitrary data. The data is packed using
- * msgpack and is given the timestamp of the most recent frame.
- */
- template <typename... ARGS>
- void inject(ftl::codecs::Channel c, ARGS... args);
-
- void inject(const Eigen::Matrix4d &pose);
-
- protected:
- detail::Source *impl_;
- Eigen::Matrix4d pose_;
- ftl::net::Universe *net_;
+ private:
+ BaseSourceImpl *impl_;
SHARED_MUTEX mutex_;
- ftl::codecs::Channel channel_;
cudaStream_t stream_;
- FrameCallback callback_;
- std::list<RawCallback> rawcallbacks_;
-
- detail::Source *_createImplementation();
- detail::Source *_createFileImpl(const ftl::URI &uri);
- detail::Source *_createNetImpl(const ftl::URI &uri);
- detail::Source *_createDeviceImpl(const ftl::URI &uri);
-
- static ftl::rgbd::Player *__createReader(const std::string &path);
+ std::atomic_bool is_retrieving;
- static std::map<std::string, ftl::rgbd::Player*> readers__;
+ void _swap();
};
}
}
-class VectorBuffer {
- public:
- inline explicit VectorBuffer(std::vector<unsigned char> &v) : vector_(v) {}
-
- inline void write(const char *data, std::size_t size) {
- vector_.insert(vector_.end(), (const unsigned char*)data, (const unsigned char*)data+size);
- }
-
- private:
- std::vector<unsigned char> &vector_;
-};
-
-template <typename... ARGS>
-void ftl::rgbd::Source::inject(ftl::codecs::Channel c, ARGS... args) {
- if (!impl_) return;
- auto data = std::make_tuple(args...);
-
- ftl::codecs::StreamPacket spkt;
- ftl::codecs::Packet pkt;
-
- spkt.timestamp = impl_->timestamp_;
- spkt.channel = c;
- spkt.frame_number = 0;
- spkt.streamID = 0;
- pkt.codec = ftl::codecs::codec_t::MSGPACK;
- pkt.bitrate = 0;
- pkt.frame_count = 1;
- pkt.definition = ftl::codecs::definition_t::Any;
- pkt.flags = 0;
-
- VectorBuffer buf(pkt.data);
- msgpack::pack(buf, data);
-
- notifyRaw(spkt, pkt);
-}
-
#endif // _FTL_RGBD_SOURCE_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 f6fc1a044a98cd0faa5235772617741920d7ca21..0000000000000000000000000000000000000000
--- 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 f9bf5e7f599f5c27aebc3ad8ca6af5d3cf4f7e7a..0000000000000000000000000000000000000000
--- 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 c065e6e19dcce61f94cbfe6b085c421239bd9297..0000000000000000000000000000000000000000
--- 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 d387cde26990f5e5acc1d38530375f73733d3789..0000000000000000000000000000000000000000
--- 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/basesource.hpp b/components/rgbd-sources/src/basesource.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..294154cdbaf0d3e10a9d016536bb1880c02ba303
--- /dev/null
+++ b/components/rgbd-sources/src/basesource.hpp
@@ -0,0 +1,62 @@
+#ifndef _FTL_RGBD_DETAIL_SOURCE_HPP_
+#define _FTL_RGBD_DETAIL_SOURCE_HPP_
+
+#include <Eigen/Eigen>
+#include <ftl/cuda_util.hpp>
+#include <ftl/rgbd/camera.hpp>
+#include <ftl/rgbd/frame.hpp>
+
+namespace ftl{
+namespace rgbd {
+
+class Source;
+
+/**
+ * Base class for source device implementations. Each device provides a capture
+ * and retrieve functionality. `capture` is called with a high resolution timer
+ * at a precise timestamp to ensure synchronisation. In another thread the
+ * `retrieve` function is called after `capture` to download any data into the
+ * provided frame object. The frame object is then dispatched for further
+ * processing, such as disparity calculation, or is discarded if a previous
+ * processing dispatch is still on going.
+ *
+ * @see ftl::rgbd::Group
+ */
+class BaseSourceImpl {
+ public:
+ // TODO: Remove this
+ friend class ftl::rgbd::Source;
+
+ public:
+ explicit BaseSourceImpl(ftl::rgbd::Source *host) : capabilities_(0), host_(host) { }
+ virtual ~BaseSourceImpl() {}
+
+ /**
+ * Perform hardware data capture. This should be low latency (<1ms).
+ */
+ virtual bool capture(int64_t ts)=0;
+
+ /**
+ * Perform slow IO operation to get the data into the given frame object.
+ * This can take up to 1 fps (eg. ~40ms), but should be faster. It occurs
+ * in a different thread to the `capture` call but will never occur at the
+ * same time as `capture`. If `capture` fails then this will not be called.
+ */
+ virtual bool retrieve(ftl::rgbd::Frame &frame)=0;
+
+ /**
+ * Is the source ready to capture and retrieve?
+ */
+ virtual bool isReady() { return false; };
+
+ ftl::rgbd::Source *host() { return host_; }
+
+ protected:
+ capability_t capabilities_; // To be deprecated
+ ftl::rgbd::Source *host_;
+};
+
+}
+}
+
+#endif // _FTL_RGBD_DETAIL_SOURCE_HPP_
diff --git a/components/rgbd-sources/src/bitrate_settings.hpp b/components/rgbd-sources/src/bitrate_settings.hpp
deleted file mode 100644
index 3dbd23bc10129398d878cae0501bbc73d22bb3a8..0000000000000000000000000000000000000000
--- 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/camera.cpp b/components/rgbd-sources/src/camera.cpp
index 96ac0be4cc5f154fc9fd50fef5040f76998d16a0..ef4c084cc8754fcef287589a95ac7c4250a1f7e1 100644
--- a/components/rgbd-sources/src/camera.cpp
+++ b/components/rgbd-sources/src/camera.cpp
@@ -1,6 +1,24 @@
#include <ftl/rgbd/camera.hpp>
+#include <ftl/rgbd/capabilities.hpp>
using ftl::rgbd::Camera;
+using ftl::rgbd::Capability;
+
+// TODO: Put in better place?
+std::string ftl::rgbd::capabilityName(Capability c) {
+ switch (c) {
+ case Capability::MOVABLE : return "movable";
+ case Capability::ACTIVE : return "active";
+ case Capability::VIDEO : return "video";
+ case Capability::ADJUSTABLE : return "adjustable";
+ case Capability::VIRTUAL : return "virtual";
+ case Capability::TOUCH : return "touch";
+ case Capability::VR : return "vr";
+ case Capability::LIVE : return "live";
+ case Capability::FUSED : return "fused";
+ default: return "Unknown";
+ }
+}
Camera Camera::from(ftl::Configurable *cfg) {
Camera r;
@@ -17,11 +35,49 @@ Camera Camera::from(ftl::Configurable *cfg) {
return r;
}
-cv::Mat Camera::getCameraMatrix() const {
- cv::Mat K = cv::Mat::eye(cv::Size(3, 3), CV_64FC1);
- K.at<double>(0,0) = fx;
- K.at<double>(0,2) = -cx;
- K.at<double>(1,1) = fy;
- K.at<double>(1,2) = -cy;
- return K;
+cv::Mat Camera::getCameraMatrix(const cv::Size& sz) const {
+ if (sz == cv::Size{0, 0}) {
+ cv::Mat K = cv::Mat::eye(cv::Size(3, 3), CV_64FC1);
+ K.at<double>(0,0) = fx;
+ K.at<double>(0,2) = -cx;
+ K.at<double>(1,1) = fy;
+ K.at<double>(1,2) = -cy;
+ return K;
+ }
+ else {
+ return scaled(sz.width, sz.height).getCameraMatrix();
+ }
+}
+
+/*
+ * Scale camera parameters to match resolution.
+ */
+Camera Camera::scaled(int width, int height) const {
+ const auto &cam = *this;
+ float scaleX = (float)width / (float)cam.width;
+ float scaleY = (float)height / (float)cam.height;
+
+ //CHECK( abs(scaleX - scaleY) < 0.00000001f );
+
+ Camera newcam = cam;
+ newcam.width = width;
+ newcam.height = height;
+ newcam.fx *= scaleX;
+ newcam.fy *= scaleY;
+ newcam.cx *= scaleX;
+ newcam.cy *= scaleY;
+ newcam.doffs *= scaleX;
+
+ return newcam;
}
+
+/*Eigen::Vector4f ftl::rgbd::Camera::eigenScreenToCam(int ux, int uy, float depth) const {
+ const float x = static_cast<float>(((float)ux+cx) / fx);
+ const float y = static_cast<float>(((float)uy+cy) / fy);
+ Eigen::Vector4f v;
+ v[0] = depth*x;
+ v[1] = depth*y;
+ v[2] = depth;
+ v[3] = 1.0f;
+ return v;
+}*/
diff --git a/components/rgbd-sources/src/cb_segmentation.cpp b/components/rgbd-sources/src/cb_segmentation.cpp
deleted file mode 100644
index 5fd0f7571dfdd0f5517d465a91d2bf085c09c0fd..0000000000000000000000000000000000000000
--- a/components/rgbd-sources/src/cb_segmentation.cpp
+++ /dev/null
@@ -1,216 +0,0 @@
-#include "ftl/cb_segmentation.hpp"
-
-#include<algorithm>
-#include <math.h>
-
-using cv::Mat;
-using cv::Vec3f, cv::Vec4f;
-
-using std::vector;
-using std::min;
-using std::max;
-using std::pair;
-
-using namespace ftl;
-
-CBSegmentation::Pixel::Pixel(const int &index, const uchar *bgr, const int &depth, const long &time) {
- idx = index;
- r = bgr[2];
- g = bgr[1];
- b = bgr[0];
- i = sqrt(r*r + g*g + b*b);
- d = depth;
- t = time;
-}
-
-
-void CBSegmentation::Codeword::set(CBSegmentation::Pixel &px) {
- r = px.r;
- g = px.g;
- b = px.b;
- i_min = px.i;
- i_max = px.i;
- f = px.t;
- lambda = px.t - 1;
- p = px.t;
- q = px.t;
-
- d_m = px.d;
- d_S = 0.0;
- d_f = 1.0;
-}
-
-void CBSegmentation::Codeword::update(CBSegmentation::Pixel &px) {
- r = (f * r + px.r) / (f + 1);
- g = (f * g + px.g) / (f + 1);
- b = (f * b + px.b) / (f + 1);
- i_min = min(px.i, i_min);
- i_max = max(px.i, i_max);
- f = f + 1;
- lambda = max(lambda, px.t - q);
- q = px.t;
-
- if (false /*isValidDepth(px.d)*/) { // check value valid
- float d_prev = d_m;
- d_f = d_f + 1;
- d_m = d_m + (px.d - d_m) / d_f;
- d_S = d_S + (px.d - d_m) * (px.d - d_prev);
- }
-}
-
-// eq (2) and BSG
-//
-bool CBSegmentation::Codeword::colordiff(CBSegmentation::Pixel &px, float epsilon) {
- float x_2 = px.r * px.r + px.g * px.g + px.b * px.b;
- float v_2 = r*r + g*g + b*b;
- float xv_2 = pow(px.r * r + px.g * g + px.b * b, 2);
- float p_2 = xv_2 / v_2;
- return sqrt(x_2 - p_2) < epsilon;
-}
-
-// eq (3)
-// note: ||x_t|| in the article is equal to I defined in
-// "Algorithm for codebook construction"
-//
-bool CBSegmentation::Codeword::brightness(CBSegmentation::Pixel &px, float alpha, float beta) {
- return true;
- /*float i_low = alpha * i_max;
- float i_hi = min(beta * i_max, i_min / alpha);
- return (i_low <= px.i) && (px.i <= i_hi);*/
-}
-
-CBSegmentation::CBSegmentation(
- char codebook_size, size_t width, size_t height,
- float alpha, float beta, float epsilon, float sigma,
- int T_add, int T_del, int T_h) :
- size_(codebook_size + 1), width_(width), height_(height),
- alpha_(alpha), beta_(beta), epsilon_(epsilon), sigma_(sigma),
- T_add_(T_add), T_del_(T_del), T_h_(T_h) {
-
- cb_ = vector<Entry>(width * height * size_);
- for (size_t i = 0; i < cb_.size(); i += size_) {
- cb_[i].size = 0;
- }
-}
-
-bool CBSegmentation::processPixel(CBSegmentation::Pixel &px, CBSegmentation::Codeword *codeword) {
- char &size = cb_[size_ * px.idx].size;
- size_t idx_begin = size_ * px.idx + 1;
-
- CBSegmentation::Entry::Data *start = &(cb_[idx_begin].data);
- CBSegmentation::Entry::Data *entry = start;
-
- CBSegmentation::Entry::Data *lru = nullptr;
- CBSegmentation::Entry::Data *lfu = nullptr;
-
- // TODO: benchmark sorting
-
- // if value is found (in M or H), loop exits early and no further maintenance
- // is done. Maintenance may happen when codeword is not found and all entries
- // are evaluated.
-
- for (int i = 0; i < size; i++) {
- if (entry->type == M) {
- // matching codeword, update and return
- if (entry->cw.brightness(px, alpha_, beta_) && entry->cw.colordiff(px, epsilon_)) {
- entry->cw.update(px);
- codeword = &(entry->cw);
- return true;
- }
-
- // delete (move last to here) if not accessed for longer time than T_del
- if ((px.t - entry->cw.atime()) > T_del_) {
- size--;
- *entry = *(start + size);
- //std::sort( cb_.begin() + idx_begin,
- // cb_.begin() + idx_begin + size,
- // CompareEntry());
- continue;
- }
-
- // update LFU
- if (!lfu || lfu->cw.freq() > entry->cw.freq()) {
- lfu = entry;
- }
- }
- else if (entry->type == H) {
- // matching codeword, update and return
- if (entry->cw.brightness(px, alpha_, beta_) && entry->cw.colordiff(px, epsilon_)) {
- entry->cw.update(px);
-
- // should be moved to M? if so, move and return true
- if ((px.t - entry->cw.ctime()) > T_add_) {
- entry->type = M;
- //std::sort( cb_.begin() + idx_begin,
- // cb_.begin() + idx_begin + size,
- // CompareEntry());
- return true;
- }
- else {
- return false;
- }
- }
-
- // delete if lambda lt T_h
- if (entry->cw.getLambda() < T_h_) {
- size--;
- *entry = *(start + size);
- continue;
- }
-
- // update LRU
- if (!lru || lru->cw.atime() > entry->cw.atime()) {
- lru = entry;
- }
- }
- }
-
- // not found, create new codeword (to empty position or lru h or lfu m)
- // TODO: Should not prefer H codewords over M codewords?
- if ((size_t)size < (size_ - 1)) {
- entry = start + size;
- // size++; FIXME: This doesn't do anything (nick)
- entry->type = H;
- entry->cw.set(px);
- }
- else if (lru) {
- lru->type = H;
- lru->cw.set(px);
- }
- else {
- lfu->type = H;
- lfu->cw.set(px);
- }
-
- // sort anyways (frequencies may have changed during earlier iterations)
- //std::sort(cb_.begin() + idx_begin, cb_.begin() + idx_begin + size, CompareEntry());
-
- return false;
-}
-
-void CBSegmentation::apply(Mat &in, Mat &out) {
- if (((size_t)out.rows != height_) || ((size_t)out.cols != width_)
- || (out.type() != CV_8UC1) || !out.isContinuous()) {
- out = Mat(height_, width_, CV_8UC1, cv::Scalar(0));
- }
-
- // TODO: thread pool, queue N rows
- // #pragma omp parallel for - FIXME: Use thread pool. (nick)
- for (size_t y = 0; y < height_; ++y) {
- size_t idx = y * width_;
- uchar *ptr_in = in.ptr<uchar>(y);
- uchar *ptr_out = out.ptr<uchar>(y);
-
- for (size_t x = 0; x < width_; ++x, ++idx, ptr_in += 3) {
- auto px = Pixel(idx, ptr_in, 0, t_);
- if(processPixel(px)) {
- ptr_out[x] = 0;
- }
- else {
- ptr_out[x] = 255;
- }
- }
- }
-
- t_++;
-}
diff --git a/components/rgbd-sources/src/disparity.cpp b/components/rgbd-sources/src/disparity.cpp
deleted file mode 100644
index 7d9089c1ab5a2e47bd26ed87591ddb411dabf7f8..0000000000000000000000000000000000000000
--- 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 2152378c1b779a24e6fc06d6052032f3caa44790..0000000000000000000000000000000000000000
--- 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/frame.cpp b/components/rgbd-sources/src/frame.cpp
index 8c809c026650015ca28b3a2074faaa9ab4fffb29..496c48807a693e44409b4e59f4de1bdc5ca7c80f 100644
--- a/components/rgbd-sources/src/frame.cpp
+++ b/components/rgbd-sources/src/frame.cpp
@@ -1,221 +1,225 @@
#include <ftl/rgbd/frame.hpp>
+#include <ftl/calibration/structures.hpp>
#define LOGURU_REPLACE_GLOG 1
#include <loguru.hpp>
-using ftl::rgbd::Frame;
-using ftl::rgbd::FrameState;
using ftl::codecs::Channels;
using ftl::codecs::Channel;
-using ftl::rgbd::VideoData;
+using ftl::rgbd::VideoFrame;
-static cv::Mat none;
-static cv::cuda::GpuMat noneGPU;
-static std::atomic<int> frame_count = 0;
-
-template <>
-cv::Mat &VideoData::as<cv::Mat>() {
- if (isgpu) throw FTL_Error("Host request for GPU data without download");
- return host;
+VideoFrame::VideoFrame(const VideoFrame &f) {
+ gpu = f.gpu;
+ host = f.host;
+ isgpu = f.isgpu;
+ validhost = f.validhost;
}
-template <>
-const cv::Mat &VideoData::as<cv::Mat>() const {
- if (isgpu) throw FTL_Error("Host request for GPU data without download");
- return host;
+VideoFrame &VideoFrame::operator=(const VideoFrame &f) {
+ gpu = f.gpu;
+ host = f.host;
+ isgpu = f.isgpu;
+ validhost = f.validhost;
+ return *this;
}
-template <>
-cv::cuda::GpuMat &VideoData::as<cv::cuda::GpuMat>() {
- if (!isgpu) throw FTL_Error("GPU request for Host data without upload");
- return gpu;
-}
-template <>
-const cv::cuda::GpuMat &VideoData::as<cv::cuda::GpuMat>() const {
- if (!isgpu) throw FTL_Error("GPU request for Host data without upload");
- return gpu;
-}
+/*cv::Mat &Frame::fastDownload(ftl::codecs::Channel c, cv::cuda::Stream stream) {
+ if (hasChannel(c)) {
+ auto &data = getData(static_cast<Channel>(c));
+ if (!data.isgpu) return data.host;
-template <>
-cv::Mat &VideoData::make<cv::Mat>() {
- validhost = true;
+ if (data.validhost && !data.host.empty()) return data.host;
+
+ // TODO: Perhaps allocated page locked here?
+ data.gpu.download(data.host, stream);
+ data.validhost = true;
+ return data.host;
+ }
+ throw FTL_Error("Fast download channel does not exist: " << (int)c);
+}*/
+
+cv::Mat &VideoFrame::createCPU() {
isgpu = false;
- encoded.clear();
return host;
}
-template <>
-cv::cuda::GpuMat &VideoData::make<cv::cuda::GpuMat>() {
+cv::cuda::GpuMat &VideoFrame::createGPU() {
isgpu = true;
- encoded.clear();
+ validhost = false;
return gpu;
}
-// =============================================================================
+cv::Mat &VideoFrame::createCPU(const ftl::rgbd::FormatBase &f) {
+ if (!f.empty()) {
+ host.create(f.size(), f.cvType);
+ }
+ isgpu = false;
+
+ return host;
+}
-/*void Frame::reset() {
- origin_ = nullptr;
- channels_.clear();
- gpu_.clear();
- data_channels_.clear();
- for (size_t i=0u; i<Channels<0>::kMax; ++i) {
- data_[i].encoded.clear();
+cv::cuda::GpuMat &VideoFrame::createGPU(const ftl::rgbd::FormatBase &f) {
+ if (!f.empty()) {
+ gpu.create(f.size(), f.cvType);
}
-}*/
+ isgpu = true;
+ validhost = false;
+
+ return gpu;
+}
-/*void Frame::resetFull() {
- origin_ = nullptr;
- channels_.clear();
- gpu_.clear();
- for (size_t i=0u; i<Channels<0>::kMax; ++i) {
- data_[i].gpu = cv::cuda::GpuMat();
- data_[i].host = cv::Mat();
- data_[i].encoded.clear();
+const cv::Mat &VideoFrame::getCPU() const {
+ if (!validhost) {
+ // TODO: Use stream and page locked mem.
+ gpu.download(host);
+ validhost = true;
}
-}*/
+ return host;
+}
-Frame::Frame() {
- ++frame_count;
- //LOG(INFO) << "Frames: " << frame_count;
+const cv::cuda::GpuMat &VideoFrame::getGPU() const {
+ // TODO: Upload?
+ return gpu;
}
-Frame::Frame(Frame &&f) : ftl::data::Frame<0,32,ftl::rgbd::FrameState,VideoData>(std::move(f)) {
+cv::Mat &VideoFrame::setCPU() {
+ validhost = true;
+ return host;
+}
+cv::cuda::GpuMat &VideoFrame::setGPU() {
+ validhost = false;
+ return gpu;
}
-Frame &Frame::operator=(Frame &&f) {
- ftl::data::Frame<0,32,ftl::rgbd::FrameState,VideoData>::operator=(std::move(f));
- return *this;
+void ftl::rgbd::Frame::upload(ftl::codecs::Channel c) {
+ auto &vframe = set<VideoFrame>(c);
+ const auto &cpumat = vframe.getCPU();
+ LOG(WARNING) << "Sync Upload: " << int(c);
+ vframe.createGPU().upload(cpumat);
}
-Frame::~Frame() {
- --frame_count;
+bool ftl::rgbd::Frame::isGPU(ftl::codecs::Channel c) const {
+ const auto &vframe = get<VideoFrame>(c);
+ return vframe.isGPU();
}
-void Frame::download(Channel c, cv::cuda::Stream stream) {
- download(Channels(c), stream);
+bool ftl::rgbd::Frame::hasOpenGL(ftl::codecs::Channel c) const {
+ const auto &vframe = get<VideoFrame>(c);
+ return vframe.hasOpenGL();
}
-void Frame::upload(Channel c, cv::cuda::Stream stream) {
- upload(Channels(c), stream);
+unsigned int ftl::rgbd::Frame::getOpenGL(ftl::codecs::Channel c) const {
+ const auto &vframe = get<VideoFrame>(c);
+ return vframe.getOpenGL();
}
-void Frame::download(Channels<0> c, cv::cuda::Stream stream) {
- for (size_t i=0u; i<Channels<0>::kMax; ++i) {
- if (c.has(i) && hasChannel(static_cast<Channel>(i)) && isGPU(static_cast<Channel>(i))) {
- auto &data = getData(static_cast<Channel>(i));
- data.validhost = true;
- data.gpu.download(data.host, stream);
- data.isgpu = false;
+cv::Size ftl::rgbd::Frame::getSize(ftl::codecs::Channel c) const {
+ if (hasChannel(c)) {
+ const auto &f = get<VideoFrame>(c);
+ if (f.isGPU()) {
+ return f.getGPU().size();
+ } else {
+ return f.getCPU().size();
}
+ } else {
+ //throw FTL_Error("Channel does not exists: " << int(c));
+ return cv::Size(0,0);
}
}
-void Frame::upload(Channels<0> c, cv::cuda::Stream stream) {
- for (size_t i=0u; i<Channels<0>::kMax; ++i) {
- if (c.has(i) && hasChannel(static_cast<Channel>(i)) && !isGPU(static_cast<Channel>(i))) {
- auto &data = getData(static_cast<Channel>(i));
- data.gpu.upload(data.host, stream);
- data.isgpu = true;
- }
- }
+const ftl::rgbd::Camera &ftl::rgbd::Frame::getLeftCamera() const {
+ return std::get<0>(this->get<std::tuple<ftl::rgbd::Camera, ftl::codecs::Channel, int>>(ftl::codecs::Channel::Calibration));
}
-cv::Mat &Frame::fastDownload(ftl::codecs::Channel c, cv::cuda::Stream stream) {
- if (hasChannel(c)) {
- auto &data = getData(static_cast<Channel>(c));
- if (!data.isgpu) return data.host;
+const ftl::rgbd::Camera &ftl::rgbd::Frame::getRightCamera() const {
+ return std::get<0>(this->get<std::tuple<ftl::rgbd::Camera, ftl::codecs::Channel, int>>(ftl::codecs::Channel::Calibration2));
+}
- if (data.validhost && !data.host.empty()) return data.host;
+const Eigen::Matrix4d &ftl::rgbd::Frame::getPose() const {
+ return this->get<Eigen::Matrix4d>(ftl::codecs::Channel::Pose);
+}
- // TODO: Perhaps allocated page locked here?
- data.gpu.download(data.host, stream);
- data.validhost = true;
- return data.host;
- }
- throw FTL_Error("Fast download channel does not exist: " << (int)c);
+ftl::rgbd::Camera &ftl::rgbd::Frame::setLeft() {
+ return std::get<0>(this->create<std::tuple<ftl::rgbd::Camera, ftl::codecs::Channel, int>>(ftl::codecs::Channel::Calibration));
}
-void Frame::pushPacket(ftl::codecs::Channel c, ftl::codecs::Packet &pkt) {
- if (hasChannel(c)) {
- auto &m1 = getData(c);
- m1.encoded.emplace_back() = std::move(pkt);
- } else {
- throw FTL_Error("Channel " << (int)c << " doesn't exist for packet push");
- }
+ftl::rgbd::Camera &ftl::rgbd::Frame::setRight() {
+ return std::get<0>(this->create<std::tuple<ftl::rgbd::Camera, ftl::codecs::Channel, int>>(ftl::codecs::Channel::Calibration2));
}
-const std::list<ftl::codecs::Packet> &Frame::getPackets(ftl::codecs::Channel c) const {
- if (!hasChannel(c)) {
- throw FTL_Error("Frame channel does not exist: " << (int)c);
- }
+Eigen::Matrix4d &ftl::rgbd::Frame::setPose() {
+ return this->create<Eigen::Matrix4d>(ftl::codecs::Channel::Pose);
+}
- auto &m1 = getData(c);
- return m1.encoded;
+const ftl::calibration::CalibrationData& ftl::rgbd::Frame::getCalibration() const {
+ return this->get<ftl::calibration::CalibrationData>(Channel::CalibrationData);
}
-void Frame::mergeEncoding(ftl::rgbd::Frame &f) {
- //LOG(INFO) << "MERGE " << (unsigned int)f.channels_;
- for (auto c : getChannels()) {
- //if (!f.hasChannel(c)) f.create<cv::cuda::GpuMat>(c);
- if (f.hasChannel(c)) {
- auto &m1 = getData(c);
- auto &m2 = f.getData(c);
- m1.encoded.splice(m1.encoded.begin(), m2.encoded);
- //LOG(INFO) << "SPLICED: " << m1.encoded.size();
- }
- }
+ftl::calibration::CalibrationData& ftl::rgbd::Frame::setCalibration() {
+ return this->create<ftl::calibration::CalibrationData>(Channel::CalibrationData);
}
-bool Frame::empty(ftl::codecs::Channels<0> channels) {
- for (auto c : channels) {
- if (empty(c)) return true;
+std::string ftl::rgbd::Frame::serial() const {
+ if (hasChannel(Channel::MetaData)) {
+ const auto &meta = get<std::map<std::string,std::string>>(Channel::MetaData);
+ auto i = meta.find("serial");
+ if (i != meta.end()) return i->second;
}
- return false;
+ return "";
}
-template <> cv::Mat &Frame::create(ftl::codecs::Channel c, const ftl::rgbd::FormatBase &f) {
- if (c == Channel::None) {
- throw FTL_Error("Cannot create a None channel");
+std::string ftl::rgbd::Frame::device() const {
+ if (hasChannel(Channel::MetaData)) {
+ const auto &meta = get<std::map<std::string,std::string>>(Channel::MetaData);
+ auto i = meta.find("device");
+ if (i != meta.end()) return i->second;
}
-
- create<cv::Mat>(c);
- auto &m = getData(c);
+ return "";
+}
- m.encoded.clear(); // Remove all old encoded data
+const std::unordered_set<ftl::rgbd::Capability> &ftl::rgbd::Frame::capabilities() const {
+ return get<std::unordered_set<ftl::rgbd::Capability>>(Channel::Capabilities);
+}
- if (!f.empty()) {
- m.host.create(f.size(), f.cvType);
+bool ftl::rgbd::Frame::hasCapability(ftl::rgbd::Capability c) const {
+ if (hasChannel(Channel::Capabilities)) {
+ const auto &cap = get<std::unordered_set<ftl::rgbd::Capability>>(Channel::Capabilities);
+ return cap.count(c) > 0;
}
-
- return m.host;
+ return false;
}
-template <> cv::cuda::GpuMat &Frame::create(ftl::codecs::Channel c, const ftl::rgbd::FormatBase &f) {
- if (c == Channel::None) {
- throw FTL_Error("Cannot create a None channel");
- }
- create<cv::cuda::GpuMat>(c);
- auto &m = getData(c);
+template <>
+cv::Mat &ftl::data::Frame::create<cv::Mat, 0>(ftl::codecs::Channel c) {
+ return create<ftl::rgbd::VideoFrame>(c).createCPU();
+}
- m.encoded.clear(); // Remove all old encoded data
+template <>
+cv::cuda::GpuMat &ftl::data::Frame::create<cv::cuda::GpuMat, 0>(ftl::codecs::Channel c) {
+ return create<ftl::rgbd::VideoFrame>(c).createGPU();
+}
- if (!f.empty()) {
- m.gpu.create(f.size(), f.cvType);
- }
+template <>
+const cv::Mat &ftl::data::Frame::get<cv::Mat>(ftl::codecs::Channel c) const {
+ return get<ftl::rgbd::VideoFrame>(c).getCPU();
+}
- return m.gpu;
+template <>
+const cv::cuda::GpuMat &ftl::data::Frame::get<cv::cuda::GpuMat>(ftl::codecs::Channel c) const {
+ return get<ftl::rgbd::VideoFrame>(c).getGPU();
}
-void Frame::clearPackets(ftl::codecs::Channel c) {
- auto &m = getData(c);
- m.encoded.clear();
+template <>
+cv::Mat &ftl::data::Frame::set<cv::Mat, 0>(ftl::codecs::Channel c) {
+ return set<ftl::rgbd::VideoFrame>(c).setCPU();
}
-void Frame::resetTexture(ftl::codecs::Channel c) {
- auto &m = getData(c);
- m.tex.free();
+template <>
+cv::cuda::GpuMat &ftl::data::Frame::set<cv::cuda::GpuMat, 0>(ftl::codecs::Channel c) {
+ return set<ftl::rgbd::VideoFrame>(c).setGPU();
}
+
diff --git a/components/rgbd-sources/src/group.cpp b/components/rgbd-sources/src/group.cpp
index 70c8402fc2e7784ec90b32aeee1d35a2fa302efc..55fd3c411fcbd0f51f8bdfc319a9fa4e7e4804f6 100644
--- a/components/rgbd-sources/src/group.cpp
+++ b/components/rgbd-sources/src/group.cpp
@@ -20,8 +20,11 @@ using ftl::codecs::Channels;
Group::Group() : pipeline_(nullptr) {
jobs_ = 0;
+ cjobs_ = 0;
skip_ = false;
name_ = "NoName";
+
+ builder_.setBufferSize(0);
}
Group::~Group() {
@@ -74,15 +77,15 @@ void Group::_retrieveJob(ftl::rgbd::Source *src) {
}
}
-void Group::_computeJob(ftl::rgbd::Source *src) {
+void Group::_dispatchJob(ftl::rgbd::Source *src, int64_t ts) {
try {
- src->compute();
+ src->dispatch(ts);
} catch (std::exception &ex) {
- LOG(ERROR) << "Exception when computing frame";
+ LOG(ERROR) << "Exception when dispatching frame";
LOG(ERROR) << ex.what();
}
catch (...) {
- LOG(ERROR) << "Unknown exception when computing frame";
+ LOG(ERROR) << "Unknown exception when dispatching frame";
}
}
@@ -94,10 +97,6 @@ int Group::streamID(const ftl::rgbd::Source *s) const {
}
void Group::onFrameSet(const ftl::rgbd::VideoCallback &cb) {
- //if (latency_ == 0) {
- // callback_ = cb;
- //}
-
// 1. Capture camera frames with high precision
cap_id_ = ftl::timer::add(ftl::timer::kTimerHighPrecision, [this](int64_t ts) {
skip_ = jobs_ != 0; // Last frame not finished so skip all steps
@@ -105,41 +104,26 @@ void Group::onFrameSet(const ftl::rgbd::VideoCallback &cb) {
if (skip_) return true;
for (auto s : sources_) {
- s->capture(ts);
+ skip_ &= s->capture(ts);
}
return true;
});
- // 2. After capture, swap any internal source double buffers
- swap_id_ = ftl::timer::add(ftl::timer::kTimerSwap, [this](int64_t ts) {
- if (skip_) return true;
- for (auto s : sources_) {
- s->swap();
- }
- return true;
- });
-
- // 3. Issue IO retrieve ad compute jobs before finding a valid
+ // 2. Issue IO retrieve ad compute jobs before finding a valid
// frame at required latency to pass to callback.
main_id_ = ftl::timer::add(ftl::timer::kTimerMain, [this,cb](int64_t ts) {
- //if (skip_) LOG(ERROR) << "SKIPPING TIMER JOB " << ts;
if (skip_) return true;
- //jobs_++;
for (auto s : sources_) {
- jobs_ += 2;
+ jobs_++;
- ftl::pool.push([this,s](int id) {
+ //ftl::pool.push([this,s,ts](int id) {
_retrieveJob(s);
- //if (jobs_ == 0) LOG(INFO) << "LAST JOB = Retrieve";
+ //LOG(INFO) << "Retrieve latency: " << ftl::timer::get_time()-ts;
--jobs_;
- });
- ftl::pool.push([this,s](int id) {
- _computeJob(s);
- //if (jobs_ == 0) LOG(INFO) << "LAST JOB = Compute";
- --jobs_;
- });
+ _dispatchJob(s, ts);
+ //});
}
return true;
});
@@ -150,18 +134,6 @@ void Group::onFrameSet(const ftl::rgbd::VideoCallback &cb) {
});
}
-void Group::addRawCallback(const std::function<void(ftl::rgbd::Source*, const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt)> &f) {
- for (auto s : sources_) {
- s->addRawCallback(f);
- }
-}
-
-/*void Group::removeRawCallback(const std::function<void(ftl::rgbd::Source*, const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt)> &f) {
- for (auto s : sources_) {
- s->removeRawCallback(f);
- }
-}*/
-
void Group::setName(const std::string &name) {
name_ = name;
builder_.setName(name);
diff --git a/components/rgbd-sources/src/init.cpp b/components/rgbd-sources/src/init.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..712b933cae220e3a88e1ddada193b263fbb03d9e
--- /dev/null
+++ b/components/rgbd-sources/src/init.cpp
@@ -0,0 +1,16 @@
+#include <ftl/data/new_frame.hpp>
+#include <ftl/rgbd/camera.hpp>
+#include <ftl/codecs/channels.hpp>
+
+using ftl::codecs::Channel;
+using ftl::data::StorageMode;
+
+bool ftl_video_init =
+ ftl::data::make_channel<ftl::rgbd::Camera>(Channel::Calibration, "calibration", ftl::data::StorageMode::PERSISTENT) &&
+ ftl::data::make_channel<ftl::rgbd::Camera>(Channel::Pose, "pose", ftl::data::StorageMode::PERSISTENT) &&
+ ftl::data::make_channel<ftl::rgbd::Camera>(Channel::Calibration2, "calibration_right", ftl::data::StorageMode::PERSISTENT); // &&
+ //ftl::data::make_channel<ftl::rgbd::Camera>(Channel::Name, "name", ftl::data::StorageMode::PERSISTENT);
+
+bool ftl_video_initialised() {
+ return ftl_video_init;
+}
diff --git a/components/rgbd-sources/src/source.cpp b/components/rgbd-sources/src/source.cpp
index 06470b21d513003fdc1d4b8accdcfcd6cb869c4c..83792c34cc16f157691d86cf72dfe64aa576e741 100644
--- a/components/rgbd-sources/src/source.cpp
+++ b/components/rgbd-sources/src/source.cpp
@@ -1,5 +1,8 @@
#include <loguru.hpp>
+#include <ftl/file.hpp>
+
#include <ftl/rgbd/source.hpp>
+#include "basesource.hpp"
#include <ftl/threads.hpp>
//#include "sources/net/net.hpp"
@@ -8,11 +11,6 @@
#include "sources/middlebury/middlebury_source.hpp"
#include "sources/screencapture/screencapture.hpp"
-#ifdef HAVE_LIBARCHIVE
-#include <ftl/rgbd/snapshot.hpp>
-#include "sources/snapshot/snapshot_source.hpp"
-#endif
-
//#include "sources/ftlfile/file_source.hpp"
#ifdef HAVE_REALSENSE
@@ -30,34 +28,18 @@ using ftl::rgbd::detail::StereoVideoSource;
using ftl::rgbd::detail::ImageSource;
using ftl::rgbd::detail::MiddleburySource;
using ftl::rgbd::detail::ScreenCapture;
-using ftl::rgbd::capability_t;
using ftl::codecs::Channel;
-//using ftl::rgbd::detail::FileSource;
using ftl::rgbd::Camera;
-using ftl::rgbd::RawCallback;
-using ftl::rgbd::FrameCallback;
-std::map<std::string, ftl::rgbd::Player*> Source::readers__;
+using ftl::file::is_file;
-Source::Source(ftl::config::json_t &cfg) : Configurable(cfg), pose_(Eigen::Matrix4d::Identity()), net_(nullptr) {
+Source::Source(ftl::config::json_t &cfg) : Configurable(cfg) {
impl_ = nullptr;
- //params_ = {};
stream_ = 0;
+ is_retrieving = false;
reset();
- on("uri", [this](const ftl::config::Event &e) {
- LOG(INFO) << "URI change for source: " << getURI();
- reset();
- });
-}
-
-Source::Source(ftl::config::json_t &cfg, ftl::net::Universe *net) : Configurable(cfg), pose_(Eigen::Matrix4d::Identity()), net_(net) {
- impl_ = nullptr;
- //params_ = {};
- stream_ = 0;
- reset();
-
- on("uri", [this](const ftl::config::Event &e) {
+ on("uri", [this]() {
LOG(INFO) << "URI change for source: " << getURI();
reset();
});
@@ -67,36 +49,9 @@ Source::~Source() {
if (impl_) delete impl_;
}
-cv::Mat Source::cameraMatrix() const {
- cv::Mat m = (cv::Mat_<float>(3,3) << parameters().fx, 0.0, -parameters().cx, 0.0, parameters().fy, -parameters().cy, 0.0, 0.0, 1.0);
- return m;
-}
-
-ftl::rgbd::detail::Source *Source::_createImplementation() {
- auto uristr = get<string>("uri");
- if (!uristr) {
- //LOG(WARNING) << "Missing URI for source";
- return nullptr;
- }
-
- ftl::URI uri(*uristr);
- if (!uri.isValid()) {
- LOG(WARNING) << "Invalid URI for source: " << *uristr;
- return nullptr;
- }
-
- switch (uri.getScheme()) {
- case ftl::URI::SCHEME_FILE : return _createFileImpl(uri);
- case ftl::URI::SCHEME_FTL : return _createNetImpl(uri);
- case ftl::URI::SCHEME_DEVICE : return _createDeviceImpl(uri);
- default: break;
- }
+bool Source::isReady() { return (impl_) ? impl_->isReady() : false; }
- LOG(WARNING) << "Unrecognised source URI: " << *uristr;
- return nullptr;
-}
-
-ftl::rgbd::detail::Source *Source::_createFileImpl(const ftl::URI &uri) {
+static ftl::rgbd::BaseSourceImpl *createFileImpl(const ftl::URI &uri, Source *host) {
std::string path = uri.getPath();
// Note: This is non standard
if (uri.getHost() == "." || uri.getHost() == "~") path = uri.getHost()+path;
@@ -106,8 +61,8 @@ ftl::rgbd::detail::Source *Source::_createFileImpl(const ftl::URI &uri) {
if (eix == string::npos) {
// Might be a directory
if (ftl::is_directory(path)) {
- if (ftl::is_file(path + "/video.mp4")) {
- return new StereoVideoSource(this, path);
+ if (is_file(path + "/video.mp4")) {
+ return new StereoVideoSource(host, path);
// } else if (ftl::is_file(path + "/im0.png")) {
// return new MiddleburySource(this, path);
} else {
@@ -116,7 +71,7 @@ ftl::rgbd::detail::Source *Source::_createFileImpl(const ftl::URI &uri) {
} else {
return nullptr;
}
- } else if (ftl::is_file(path)) {
+ } else if (is_file(path)) {
string ext = path.substr(eix+1);
if (ext == "ftl") {
@@ -126,20 +81,11 @@ ftl::rgbd::detail::Source *Source::_createFileImpl(const ftl::URI &uri) {
LOG(FATAL) << "File sources not supported";
return nullptr;
} else if (ext == "png" || ext == "jpg") {
- return new ImageSource(this, path);
+ return new ImageSource(host, path);
} else if (ext == "mp4") {
- return new StereoVideoSource(this, path);
- } else if (ext == "tar" || ext == "gz") {
-#ifdef HAVE_LIBARCHIVE
- ftl::rgbd::SnapshotReader reader(path);
- auto snapshot = reader.readArchive();
- return new ftl::rgbd::detail::SnapshotSource(this, snapshot, value("index", std::string("0"))); // TODO: Use URI fragment
-#else
- LOG(ERROR) << "Cannot read snapshots, libarchive not installed";
- return nullptr;
-#endif // HAVE_LIBARCHIVE
+ return new StereoVideoSource(host, path);
} else {
- LOG(WARNING) << "Unrecognised file type: " << path;
+ LOG(WARNING) << "Unrecognised file type: " << path;
}
} else {
LOG(WARNING) << "File does not exist: " << path;
@@ -148,189 +94,101 @@ ftl::rgbd::detail::Source *Source::_createFileImpl(const ftl::URI &uri) {
return nullptr;
}
-/*ftl::rgbd::Player *Source::__createReader(const std::string &path) {
- if (readers__.find(path) != readers__.end()) {
- return readers__[path];
- }
-
- std::ifstream *file = new std::ifstream;
- file->open(path);
-
- // FIXME: This is a memory leak, must delete ifstream somewhere.
-
- auto *r = new ftl::rgbd::Player(*file);
- readers__[path] = r;
- r->begin();
- return r;
-}*/
-
-ftl::rgbd::detail::Source *Source::_createNetImpl(const ftl::URI &uri) {
- LOG(FATAL) << "Net sources no longer supported";
- //return new NetSource(this);
- return nullptr;
-}
-
-ftl::rgbd::detail::Source *Source::_createDeviceImpl(const ftl::URI &uri) {
- if (uri.getPathSegment(0) == "video") {
- return new StereoVideoSource(this);
+static ftl::rgbd::BaseSourceImpl *createDeviceImpl(const ftl::URI &uri, Source *host) {
+ if (uri.getPathSegment(0) == "stereo" || uri.getPathSegment(0) == "video" || uri.getPathSegment(0) == "camera" || uri.getPathSegment(0) == "pylon") {
+ return new StereoVideoSource(host);
} else if (uri.getPathSegment(0) == "realsense") {
#ifdef HAVE_REALSENSE
- return new RealsenseSource(this);
+ return new RealsenseSource(host);
#else
LOG(ERROR) << "You do not have 'librealsense2' installed";
#endif
} else if (uri.getPathSegment(0) == "screen") {
- return new ScreenCapture(this);
- } else {
- /*params_.width = value("width", 1280);
- params_.height = value("height", 720);
- params_.fx = value("focal", 700.0f);
- params_.fy = params_.fx;
- params_.cx = -(double)params_.width / 2.0;
- params_.cy = -(double)params_.height / 2.0;
- params_.minDepth = value("minDepth", 0.1f);
- params_.maxDepth = value("maxDepth", 20.0f);
- params_.doffs = 0;
- params_.baseline = value("baseline", 0.0f);*/
+ return new ScreenCapture(host);
}
return nullptr;
}
-void Source::getFrames(cv::Mat &rgb, cv::Mat &depth) {
- if (bool(callback_)) LOG(WARNING) << "Cannot use getFrames and callback in source";
- SHARED_LOCK(mutex_,lk);
- //rgb_.copyTo(rgb);
- //depth_.copyTo(depth);
- //rgb = rgb_;
- //depth = depth_;
-}
-
-
-void Source::setPose(const Eigen::Matrix4d &pose) {
- pose_ = pose;
- if (impl_) impl_->setPose(pose);
-}
-
-const Eigen::Matrix4d &Source::getPose() const {
- return pose_;
-}
+static ftl::rgbd::BaseSourceImpl *createImplementation(const std::string &uristr, Source *host) {
+ ftl::URI uri(uristr);
+ if (!uri.isValid()) {
+ LOG(WARNING) << "Invalid URI for source: " << uristr;
+ return nullptr;
+ }
-bool Source::hasCapabilities(capability_t c) {
- return (getCapabilities() & c) == c;
-}
+ switch (uri.getScheme()) {
+ case ftl::URI::SCHEME_FILE : return createFileImpl(uri, host);
+ case ftl::URI::SCHEME_DEVICE : return createDeviceImpl(uri, host);
+ default: break;
+ }
-capability_t Source::getCapabilities() const {
- if (impl_) return impl_->capabilities_;
- else return kCapMovable | kCapVideo | kCapStereo; // FIXME: Don't assume these
+ LOG(WARNING) << "Unrecognised source URI: " << uristr;
+ return nullptr;
}
void Source::reset() {
UNIQUE_LOCK(mutex_,lk);
- channel_ = Channel::None;
if (impl_) delete impl_;
- impl_ = _createImplementation();
-}
-
-bool Source::capture(int64_t ts) {
- //timestamp_ = ts;
- if (impl_) return impl_->capture(ts);
- else return true;
-}
+ impl_ = nullptr;
-bool Source::retrieve() {
- if (impl_) return impl_->retrieve();
- else return true;
-}
+ auto uristr = get<string>("uri");
+ if (!uristr) return;
-bool Source::compute(int N, int B) {
- UNIQUE_LOCK(mutex_,lk);
- return impl_ && impl_->compute(N,B);
-}
+ ftl::URI uri(*uristr);
-bool Source::setChannel(ftl::codecs::Channel c) {
- channel_ = c;
- // FIXME:(Nick) Verify channel is supported by this source...
- return true;
-}
+ restore(uri.getBaseURI(), {
+ "min_depth",
+ "max_depth",
+ "name",
+ "offset_z",
+ "size",
+ "focal",
+ "device_left",
+ "enable_touch",
+ "feed",
+ "pipeline",
+ "pose"
+ });
-const ftl::rgbd::Camera Source::parameters(ftl::codecs::Channel chan) const {
- return (impl_) ? impl_->parameters(chan) : parameters();
-}
+ uri.to_json(getConfig());
-void Source::setCallback(const FrameCallback &cb) {
- if (bool(callback_)) LOG(ERROR) << "Source already has a callback: " << getURI();
- callback_ = cb;
+ impl_ = createImplementation(*uristr, this);
}
-void Source::addRawCallback(const RawCallback &f) {
- UNIQUE_LOCK(mutex_,lk);
- rawcallbacks_.push_back(f);
+bool Source::capture(int64_t ts) {
+ if (impl_) return impl_->capture(ts);
+ else return true;
}
-void Source::removeRawCallback(const std::function<void(ftl::rgbd::Source*, const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt)> &f) {
- UNIQUE_LOCK(mutex_,lk);
- for (auto i=rawcallbacks_.begin(); i!=rawcallbacks_.end(); ++i) {
- const auto targ = (*i).target<void(*)(ftl::rgbd::Source*, const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)>();
- if (targ && targ == f.target<void(*)(ftl::rgbd::Source*, const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)>()) {
- rawcallbacks_.erase(i);
- LOG(INFO) << "Removing RAW callback";
- return;
- }
- }
+bool Source::retrieve(ftl::data::Frame &f) {
+ if (is_retrieving) return false;
+ is_retrieving = true;
+ bool status = false;
+ if (impl_) status = impl_->retrieve(f.cast<ftl::rgbd::Frame>());
+ is_retrieving = false;
+ return status;
}
-void Source::notifyRaw(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
- SHARED_LOCK(mutex_,lk);
+bool Source::supports(const std::string &puri) {
+ ftl::URI uri(puri);
- for (auto &i : rawcallbacks_) {
- i(this, spkt, pkt);
+ if (uri.getPathSegment(0) == "video") {
+ return StereoVideoSource::supported(uri.getPathSegment(0));
+ } else if (uri.getPathSegment(0) == "camera" || uri.getPathSegment(0) == "stereo") {
+ return StereoVideoSource::supported(uri.getPathSegment(0));
+ } else if (uri.getPathSegment(0) == "pylon") {
+ return StereoVideoSource::supported(uri.getPathSegment(0));
+ } else if (uri.getPathSegment(0) == "realsense") {
+ #ifdef HAVE_REALSENSE
+ return RealsenseSource::supported();
+ #endif
+ } else if (uri.getPathSegment(0) == "screen") {
+ #ifndef WIN32
+ return true;
+ #endif
}
-}
-/*
- * Scale camera parameters to match resolution.
- */
-Camera Camera::scaled(int width, int height) const {
- const auto &cam = *this;
- float scaleX = (float)width / (float)cam.width;
- float scaleY = (float)height / (float)cam.height;
-
- //CHECK( abs(scaleX - scaleY) < 0.00000001f );
-
- Camera newcam = cam;
- newcam.width = width;
- newcam.height = height;
- newcam.fx *= scaleX;
- newcam.fy *= scaleY;
- newcam.cx *= scaleX;
- newcam.cy *= scaleY;
- newcam.doffs *= scaleX;
-
- return newcam;
+ return false;
}
-void Source::notify(int64_t ts, ftl::rgbd::Frame &f) {
- //if (impl_) f.setOrigin(&impl_->state_);
- if (callback_) callback_(ts, f);
-}
-void Source::inject(const Eigen::Matrix4d &pose) {
- ftl::codecs::StreamPacket spkt;
- ftl::codecs::Packet pkt;
-
- spkt.timestamp = impl_->timestamp_;
- spkt.frame_number = 0;
- spkt.channel = Channel::Pose;
- spkt.streamID = 0;
- pkt.codec = ftl::codecs::codec_t::MSGPACK;
- pkt.definition = ftl::codecs::definition_t::Any;
- pkt.bitrate = 0;
- pkt.frame_count = 1;
- pkt.flags = 0;
-
- std::vector<double> data(pose.data(), pose.data() + 4*4*sizeof(double));
- VectorBuffer buf(pkt.data);
- msgpack::pack(buf, data);
-
- notifyRaw(spkt, pkt);
-}
diff --git a/components/rgbd-sources/src/sources/image/image.hpp b/components/rgbd-sources/src/sources/image/image.hpp
index 2e2391b7cb95b0c7b120d2992cf3e66c91ad3a1a..9bf4f4f69d070b59d204e772fed2a8f3c691f903 100644
--- a/components/rgbd-sources/src/sources/image/image.hpp
+++ b/components/rgbd-sources/src/sources/image/image.hpp
@@ -1,22 +1,23 @@
#ifndef _FTL_RGBD_IMAGE_HPP_
#define _FTL_RGBD_IMAGE_HPP_
+#include "../../basesource.hpp"
+
namespace ftl {
namespace rgbd {
namespace detail {
-class ImageSource : public ftl::rgbd::detail::Source {
+class ImageSource : public ftl::rgbd::BaseSourceImpl {
public:
- explicit ImageSource(ftl::rgbd::Source *host) : ftl::rgbd::detail::Source(host) {
+ explicit ImageSource(ftl::rgbd::Source *host) : ftl::rgbd::BaseSourceImpl(host) {
}
- ImageSource(ftl::rgbd::Source *host, const std::string &f) : ftl::rgbd::detail::Source(host) {
+ ImageSource(ftl::rgbd::Source *host, const std::string &f) : ftl::rgbd::BaseSourceImpl(host) {
}
- bool capture(int64_t ts) { timestamp_ = ts; return true; }
- bool retrieve() { return true; }
- bool compute(int n, int b) { return false; };
+ bool capture(int64_t ts) { return true; }
+ bool retrieve(ftl::rgbd::Frame &) { return true; }
bool isReady() { return false; };
};
diff --git a/components/rgbd-sources/src/sources/middlebury/middlebury_source.cpp b/components/rgbd-sources/src/sources/middlebury/middlebury_source.cpp
index 229895049061f2308f1a982eab46005a26940548..eee884d2f9e62c6c8a42b98d681b19b2463ac14b 100644
--- a/components/rgbd-sources/src/sources/middlebury/middlebury_source.cpp
+++ b/components/rgbd-sources/src/sources/middlebury/middlebury_source.cpp
@@ -10,7 +10,7 @@ using ftl::rgbd::detail::Disparity;
using std::string;
MiddleburySource::MiddleburySource(ftl::rgbd::Source *host)
- : ftl::rgbd::detail::Source(host), ready_(false) {
+ : ftl::rgbd::BaseSourceImpl(host), ready_(false) {
// Not VALID
}
@@ -62,7 +62,7 @@ static bool loadMiddleburyCalib(const std::string &filename, ftl::rgbd::Camera &
}
MiddleburySource::MiddleburySource(ftl::rgbd::Source *host, const string &dir)
- : ftl::rgbd::detail::Source(host), ready_(false) {
+ : ftl::rgbd::BaseSourceImpl(host), ready_(false) {
double scaling = host->value("scaling", 0.5);
@@ -91,20 +91,20 @@ MiddleburySource::MiddleburySource(ftl::rgbd::Source *host, const string &dir)
host_->getConfig()["doffs"] = params_.doffs;
// Add event handlers to allow calibration changes...
- host_->on("baseline", [this](const ftl::config::Event &e) {
+ host_->on("baseline", [this]() {
params_.baseline = host_->value("baseline", params_.baseline);
});
- host_->on("focal", [this](const ftl::config::Event &e) {
+ host_->on("focal", [this]() {
params_.fx = host_->value("focal", params_.fx);
params_.fy = params_.fx;
});
- host_->on("doffs", [this](const ftl::config::Event &e) {
+ host_->on("doffs", [this]() {
params_.doffs = host_->value("doffs", params_.doffs);
});
- host_->on("centre_x", [this](const ftl::config::Event &e) {
+ host_->on("centre_x", [this]() {
params_.cx = host_->value("centre_x", params_.cx);
});
@@ -159,8 +159,4 @@ void MiddleburySource::_performDisparity() {
//disparityToDepthTRUE(depth_, depth_, params_);
}
-bool MiddleburySource::compute(int n, int b) {
- //_performDisparity();
- return true;
-}
diff --git a/components/rgbd-sources/src/sources/middlebury/middlebury_source.hpp b/components/rgbd-sources/src/sources/middlebury/middlebury_source.hpp
index d273d23a66d67c6618c0ac4a2062a780d9a3bddb..051df8d2c686ba768776a8b40d4aecc9248f930d 100644
--- a/components/rgbd-sources/src/sources/middlebury/middlebury_source.hpp
+++ b/components/rgbd-sources/src/sources/middlebury/middlebury_source.hpp
@@ -2,9 +2,9 @@
#ifndef _FTL_RGBD_MIDDLEBURY_SOURCE_HPP_
#define _FTL_RGBD_MIDDLEBURY_SOURCE_HPP_
-#include <loguru.hpp>
+//#include <loguru.hpp>
-#include <ftl/rgbd/source.hpp>
+#include "../../basesource.hpp"
#include <ftl/cuda_common.hpp>
namespace ftl {
@@ -13,15 +13,14 @@ namespace detail {
class Disparity;
-class MiddleburySource : public detail::Source {
+class MiddleburySource : public BaseSourceImpl {
public:
explicit MiddleburySource(ftl::rgbd::Source *);
MiddleburySource(ftl::rgbd::Source *, const std::string &dir);
~MiddleburySource() {};
- bool capture(int64_t ts) { timestamp_ = ts; return true; }
- bool retrieve() { return true; }
- bool compute(int n, int b);
+ bool capture(int64_t ts) { return true; }
+ bool retrieve(ftl::rgbd::Frame &) { return true; }
bool isReady() { return ready_; }
private:
diff --git a/components/rgbd-sources/src/sources/realsense/realsense_source.cpp b/components/rgbd-sources/src/sources/realsense/realsense_source.cpp
index ea061ba2c2145fa51c788059e61274570cc84101..5b3ee5b6d34e22b50108f45c2d722a34ee6f887d 100644
--- a/components/rgbd-sources/src/sources/realsense/realsense_source.cpp
+++ b/components/rgbd-sources/src/sources/realsense/realsense_source.cpp
@@ -2,14 +2,34 @@
#include <loguru.hpp>
#include <ftl/threads.hpp>
#include <ftl/rgbd/source.hpp>
+#include <ftl/rgbd/capabilities.hpp>
using ftl::rgbd::detail::RealsenseSource;
using std::string;
using ftl::codecs::Channel;
using cv::cuda::GpuMat;
+using ftl::rgbd::Capability;
+
+static std::string get_device_name(const rs2::device& dev) {
+ // Each device provides some information on itself, such as name:
+ std::string name = "Unknown Device";
+ if (dev.supports(RS2_CAMERA_INFO_NAME))
+ name = dev.get_info(RS2_CAMERA_INFO_NAME);
+
+ return name;
+}
+
+static std::string get_device_serial(const rs2::device& dev) {
+ // the serial number of the device:
+ std::string sn = "########";
+ if (dev.supports(RS2_CAMERA_INFO_SERIAL_NUMBER))
+ sn = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
+
+ return sn;
+}
RealsenseSource::RealsenseSource(ftl::rgbd::Source *host)
- : ftl::rgbd::detail::Source(host), align_to_depth_(RS2_STREAM_COLOR) {
+ : ftl::rgbd::BaseSourceImpl(host), align_to_depth_(RS2_STREAM_COLOR) {
capabilities_ = kCapVideo;
rs2::config cfg;
@@ -20,11 +40,14 @@ RealsenseSource::RealsenseSource(ftl::rgbd::Source *host)
//pipe_.start(cfg);
rs2::pipeline_profile profile = pipe_.start(cfg);
rs2::device dev = profile.get_device();
+ name_ = get_device_name(dev);
+ serial_ = get_device_serial(dev);
rs2_intrinsics intrin = profile.get_stream(rs2_stream::RS2_STREAM_DEPTH).as<rs2::video_stream_profile>().get_intrinsics();
rs2::depth_sensor ds = dev.query_sensors().front().as<rs2::depth_sensor>();
scale_ = ds.get_depth_scale();
- LOG(INFO) << "RS Scale = " << scale_;
+
+ LOG(INFO) << "Realsense device: " << name_ << " #" << serial_;
params_.width = intrin.width;
params_.height = intrin.height;
@@ -35,22 +58,65 @@ RealsenseSource::RealsenseSource(ftl::rgbd::Source *host)
params_.maxDepth = 3.0;
params_.minDepth = 0.1;
params_.doffs = 0.0;
+ params_.baseline = 0.055f; // TODO: Get from device extrinsics
- state_.getLeft() = params_;
+ do_update_params_ = true;
LOG(INFO) << "Realsense Intrinsics: " << params_.fx << "," << params_.fy << " - " << params_.cx << "," << params_.cy << " - " << params_.width;
}
RealsenseSource::~RealsenseSource() {
+
+}
+
+static bool rs_supported = false;
+static bool rs_init = false;
+bool RealsenseSource::supported() {
+ if (rs_init) return rs_supported;
+ rs_init = true;
+
+ rs2::context ctx;
+ auto devs = ctx.query_devices();
+ rs_supported = devs.size() > 0;
+ return rs_supported;
+}
+
+bool RealsenseSource::capture(int64_t ts) {
+ return true;
}
-bool RealsenseSource::compute(int n, int b) {
- frame_.reset();
- frame_.setOrigin(&state_);
+bool RealsenseSource::retrieve(ftl::rgbd::Frame &frame) {
+ if (do_update_params_) {
+ do_update_params_ = false;
+ frame.setLeft() = params_;
+ frame.setPose() = Eigen::Matrix4d::Identity();
+
+ auto &meta = frame.create<std::map<std::string,std::string>>(Channel::MetaData);
+ meta["name"] = host_->value("name", host_->getID());
+ meta["id"] = host_->getID();
+ meta["uri"] = host_->value("uri", std::string(""));
+ meta["device"] = name_;
+ meta["serial"] = serial_;
+
+ if (!frame.has(Channel::Capabilities)) {
+ auto &cap = frame.create<std::unordered_set<Capability>>(Channel::Capabilities);
+ cap.emplace(Capability::VIDEO);
+ cap.emplace(Capability::LIVE);
+ cap.emplace(Capability::ACTIVE);
+ cap.emplace(Capability::ADJUSTABLE);
+ }
+ }
rs2::frameset frames;
- if (!pipe_.poll_for_frames(&frames)) return false; //wait_for_frames();
+ //if (!pipe_.poll_for_frames(&frames)) return false; //wait_for_frames();
+
+ // TODO: Move to capture function
+ try {
+ frames = pipe_.wait_for_frames(10);
+ } catch (const std::exception &e) {
+ return false;
+ }
//std::this_thread::sleep_for(std::chrono::milliseconds(10000));
@@ -62,28 +128,32 @@ bool RealsenseSource::compute(int n, int b) {
if (params_.width != w) {
params_.width = w;
params_.height = h;
- state_.getLeft() = params_;
+ //state_.getLeft() = params_;
}
cv::Mat tmp_rgb(cv::Size(w, h), CV_8UC4, (void*)cframe.get_data(), cv::Mat::AUTO_STEP);
- frame_.create<GpuMat>(Channel::Colour).upload(tmp_rgb);
+ frame.create<GpuMat>(Channel::Colour).upload(tmp_rgb);
} else {
+ auto cframe = frames.get_color_frame(); //first(RS2_STREAM_COLOR);
+ size_t w = cframe.get_width();
+ size_t h = cframe.get_height();
+ cv::Mat wrap_rgb(cv::Size(w, h), CV_8UC4, (void*)cframe.get_data(), cv::Mat::AUTO_STEP);
+ frame.create<GpuMat>(Channel::Colour).upload(wrap_rgb, stream_);
+
frames = align_to_depth_.process(frames);
rs2::depth_frame depth = frames.get_depth_frame();
- float w = depth.get_width();
- float h = depth.get_height();
- rscolour_ = frames.first(RS2_STREAM_COLOR); //.get_color_frame();
-
- cv::Mat tmp_depth(cv::Size((int)w, (int)h), CV_16UC1, (void*)depth.get_data(), depth.get_stride_in_bytes());
- tmp_depth.convertTo(tmp_depth, CV_32FC1, scale_);
- frame_.create<GpuMat>(Channel::Depth).upload(tmp_depth);
- cv::Mat tmp_rgb(cv::Size(w, h), CV_8UC4, (void*)rscolour_.get_data(), cv::Mat::AUTO_STEP);
- frame_.create<GpuMat>(Channel::Colour).upload(tmp_rgb);
+ w = depth.get_width();
+ h = depth.get_height();
+
+ cv::Mat wrap_depth(cv::Size((int)w, (int)h), CV_16UC1, (void*)depth.get_data(), depth.get_stride_in_bytes());
+ tmp_depth_.upload(wrap_depth, stream_);
+ tmp_depth_.convertTo(frame.create<GpuMat>(Channel::Depth), CV_32FC1, scale_, stream_);
+
+ stream_.waitForCompletion();
}
- host_->notify(timestamp_, frame_);
- return true;
+ return true;
}
bool RealsenseSource::isReady() {
diff --git a/components/rgbd-sources/src/sources/realsense/realsense_source.hpp b/components/rgbd-sources/src/sources/realsense/realsense_source.hpp
index 371d305b7d27fc73ad85bba83965f58dcd28c45b..37f5436642ea3444e28c1b3ed9552c72444d506c 100644
--- a/components/rgbd-sources/src/sources/realsense/realsense_source.hpp
+++ b/components/rgbd-sources/src/sources/realsense/realsense_source.hpp
@@ -2,7 +2,7 @@
#ifndef _FTL_RGBD_REALSENSE_HPP_
#define _FTL_RGBD_REALSENSE_HPP_
-#include <ftl/rgbd/detail/source.hpp>
+#include "../../basesource.hpp"
#include <librealsense2/rs.hpp>
#include <string>
@@ -12,22 +12,29 @@ namespace rgbd {
namespace detail {
-class RealsenseSource : public ftl::rgbd::detail::Source {
+class RealsenseSource : public ftl::rgbd::BaseSourceImpl {
public:
explicit RealsenseSource(ftl::rgbd::Source *host);
~RealsenseSource();
- bool capture(int64_t ts) { timestamp_ = ts; return true; }
- bool retrieve() { return true; }
- bool compute(int n=-1, int b=-1);
- bool isReady();
+ bool capture(int64_t ts) override;
+ bool retrieve(ftl::rgbd::Frame &frame) override;
+ bool isReady() override;
+
+ static bool supported();
private:
bool ready_;
+ bool do_update_params_ = false;
float scale_;
rs2::pipeline pipe_;
rs2::align align_to_depth_;
rs2::frame rscolour_;
+ ftl::rgbd::Camera params_;
+ std::string name_;
+ std::string serial_;
+ cv::cuda::GpuMat tmp_depth_;
+ cv::cuda::Stream stream_;
};
}
diff --git a/components/rgbd-sources/src/sources/screencapture/screencapture.cpp b/components/rgbd-sources/src/sources/screencapture/screencapture.cpp
index 5a6af978f83f4f4bb47204d62a4381f37b08ecbe..dff3510141530c014c22414e8cd79b23e495cc59 100644
--- a/components/rgbd-sources/src/sources/screencapture/screencapture.cpp
+++ b/components/rgbd-sources/src/sources/screencapture/screencapture.cpp
@@ -7,16 +7,26 @@
#include <opencv2/calib3d.hpp>
#include <Eigen/Eigen>
#include <opencv2/core/eigen.hpp>
+#include <ftl/rgbd/capabilities.hpp>
+#include <ftl/codecs/touch.hpp>
+
+#include <opencv2/imgproc.hpp>
+
+#include <nlohmann/json.hpp>
using ftl::rgbd::detail::ScreenCapture;
using ftl::codecs::Channel;
using cv::cuda::GpuMat;
+using ftl::rgbd::Capability;
+using ftl::codecs::Touch;
+using ftl::codecs::TouchType;
#ifdef HAVE_X11
#include <X11/Xlib.h>
#include <X11/Xutil.h>
#include <X11/extensions/XShm.h>
+#include <X11/extensions/XTest.h>
#include <sys/ipc.h>
#include <sys/shm.h>
@@ -55,10 +65,11 @@ static Eigen::Matrix4d matrix(const cv::Vec3d &rvec, const cv::Vec3d &tvec) {
ScreenCapture::ScreenCapture(ftl::rgbd::Source *host)
- : ftl::rgbd::detail::Source(host) {
+ : ftl::rgbd::BaseSourceImpl(host) {
capabilities_ = kCapVideo;
ready_ = false;
+ primary_touch_.id = -1;
#ifdef HAVE_X11
@@ -162,26 +173,51 @@ ScreenCapture::ScreenCapture(ftl::rgbd::Source *host)
params_.doffs = 0.0;
params_.baseline = 0.1f;
- state_.getLeft() = params_;
- state_.set("name", std::string("[ScreenCapture] ") + host_->value("name", host_->getID()));
+ do_update_params_ = true;
+
+ //state_.getLeft() = params_;
+ //state_.set("name", std::string("[ScreenCapture] ") + host_->value("name", host_->getID()));
float offsetz = host_->value("offset_z",0.0f);
- state_.setPose(matrix(cv::Vec3d(0.0, 3.14159, 0.0), cv::Vec3d(0.0,0.0,params_.maxDepth+offsetz)));
+ //state_.setPose(matrix(cv::Vec3d(0.0, 3.14159, 0.0), cv::Vec3d(0.0,0.0,params_.maxDepth+offsetz)));
+
+ if (host_->getConfig().contains("pose") && host_->getConfig()["pose"].is_array()) {
+ LOG(INFO) << "Loading saved screen pose.";
+ std::vector<double> d = host_->getConfig()["pose"].get<std::vector<double>>();
+ for (int i=0; i<16; ++i) {
+ pose_.data()[i] = d[i];
+ }
+ } else {
+ pose_ = matrix(cv::Vec3d(0.0, 3.14159, 0.0), cv::Vec3d(0.0,0.0,params_.maxDepth+offsetz));
+ }
+
+ host_->on("size", [this]() {
+ float offsetz = host_->value("offset_z",0.0f);
+ params_.maxDepth = host_->value("size", 1.0f);
+ //state_.getLeft() = params_;
+ pose_ = matrix(cv::Vec3d(0.0, 3.14159, 0.0), cv::Vec3d(0.0,0.0,params_.maxDepth+offsetz));
+ do_update_params_ = true;
+ });
- host_->on("size", [this](const ftl::config::Event &e) {
+ host_->on("offset_z", [this]() {
float offsetz = host_->value("offset_z",0.0f);
params_.maxDepth = host_->value("size", 1.0f);
- state_.getLeft() = params_;
- state_.setPose(matrix(cv::Vec3d(0.0, 3.14159, 0.0), cv::Vec3d(0.0,0.0,params_.maxDepth+offsetz)));
+ //state_.getLeft() = params_;
+ pose_ = matrix(cv::Vec3d(0.0, 3.14159, 0.0), cv::Vec3d(0.0,0.0,params_.maxDepth+offsetz));
+ do_update_params_ = true;
});
- host_->on("offset_x", [this](const ftl::config::Event &e) {
+ host_->on("offset_x", [this]() {
offset_x_ = host_->value("offset_x", 0);
});
- host_->on("offset_y", [this](const ftl::config::Event &e) {
+ host_->on("offset_y", [this]() {
offset_y_ = host_->value("offset_y", 0);
});
+
+ host_->on("enable_touch", [this]() {
+ do_update_params_ = true;
+ });
}
ScreenCapture::~ScreenCapture() {
@@ -190,31 +226,166 @@ ScreenCapture::~ScreenCapture() {
#endif
}
-void ScreenCapture::swap() {
+/*void ScreenCapture::_mouseClick(int button, int x, int y) {
+ #ifdef HAVE_X11
+
+ auto &s = *impl_state_;
+
+ XTestFakeMotionEvent (s.display, 0, x, y, CurrentTime);
+ XSync(s.display, 0);
+
+ XTestFakeButtonEvent (s.display, Button1, True, CurrentTime);
+ XTestFakeButtonEvent (s.display, Button1, False, CurrentTime);
+
+ #endif
+}*/
+
+void ScreenCapture::_release() {
+ pressed_ = false;
+ #ifdef HAVE_X11
+ auto &s = *impl_state_;
+ XTestFakeButtonEvent (s.display, Button1, False, CurrentTime);
+ #endif
}
-bool ScreenCapture::retrieve() {
- return true;
+void ScreenCapture::_press() {
+ pressed_ = true;
+ #ifdef HAVE_X11
+ auto &s = *impl_state_;
+ XTestFakeButtonEvent (s.display, Button1, True, CurrentTime);
+ #endif
+
+ LOG(INFO) << "PRESS";
+}
+
+void ScreenCapture::_move(int x, int y) {
+ #ifdef HAVE_X11
+
+ auto &s = *impl_state_;
+ XTestFakeMotionEvent (s.display, 0, x, y, CurrentTime);
+ XSync(s.display, 0);
+ #endif
+}
+
+void ScreenCapture::_noTouch() {
+ if (primary_touch_.id >= 0 && primary_touch_.strength > 0) {
+ // RELEASE BUTTON
+ _release();
+ }
+ primary_touch_.id = -1;
+}
+
+void ScreenCapture::_singleTouch(const ftl::codecs::Touch &t) {
+ // Ignore right clicks currently
+ if (t.type != TouchType::MOUSE_LEFT && t.type != TouchType::COLLISION) return;
+
+ if ((primary_touch_.id >= 0 && primary_touch_.id != t.id) || (primary_touch_.id == t.id && primary_touch_.strength > 0 && t.strength == 0)) {
+ // RELEASE BUTTON
+ _release();
+ }
+
+ // Move mouse if no primary or ID is the same.
+ if (primary_touch_.id == -1 || t.id == primary_touch_.id) {
+ // But only if changed...?
+ // MOVE MOUSE
+ _move(t.x, t.y);
+ }
+
+ // If no primary or same and intensity is > 0, then press
+ if ((primary_touch_.id == -1 && t.strength > 0) || (primary_touch_.id == t.id && primary_touch_.strength == 0 && t.strength > 0)) {
+ // PRESS EVENT
+ _press();
+ }
+
+ primary_touch_ = t;
}
-bool ScreenCapture::compute(int n, int b) {
+void ScreenCapture::_multiTouch(const std::vector<ftl::codecs::Touch> &touches) {
+
+}
+
+bool ScreenCapture::retrieve(ftl::rgbd::Frame &frame) {
if (!ready_) return false;
cv::Mat img;
+ // TODO: Proper, press, release and motion behaviour
+ // Also, render the cursor location
+
#ifdef HAVE_X11
XShmGetImage(impl_state_->display, impl_state_->root, impl_state_->ximg, getOffsetX(), getOffsetY(), 0x00ffffff);
img = cv::Mat(params_.height, params_.width, CV_8UC4, impl_state_->ximg->data);
#endif
- frame_.reset();
- frame_.setOrigin(&state_);
+ if (host_->value("enable_touch", false)) {
+ if (frame.changed(Channel::Touch)) {
+ const auto &touches = frame.get<std::vector<ftl::codecs::Touch>>(Channel::Touch);
+ //LOG(INFO) << "GOT TOUCH DATA " << touches.size();
+
+ /*for (const auto &t : touches) {
+ LOG(INFO) << " -- " << t.x << "," << t.y;
+ }*/
+
+ if (touches.size() == 0) {
+ _noTouch();
+ } else if (touches.size() == 1) {
+ //_mouseClick(1, touches[0].x, touches[0].y);
+ _singleTouch(touches[0]);
+ } else if (touches.size() == 2) {
+ _multiTouch(touches);
+ } else {
+ // Too many touches, not supported
+ }
+ } else {
+ _noTouch();
+ }
+
+ // If there is a touch, render it.
+ if (primary_touch_.id >= 0) {
+ if (pressed_) {
+ cv::circle(img, cv::Point(primary_touch_.x, primary_touch_.y), 10, cv::Scalar(0,0,255), 5);
+ } else {
+ cv::circle(img, cv::Point(primary_touch_.x, primary_touch_.y), 10, cv::Scalar(0,0,255), 3);
+ }
+ }
+ }
+
+ if (frame.changed(Channel::Pose)) {
+ LOG(INFO) << "Pose has been updated...";
+ Eigen::Matrix4d p = frame.getPose();
+ std::vector<double> d;
+ d.resize(16);
+ for (int i=0; i<16; ++i) {
+ d[i] = p.data()[i];
+ }
+ host_->getConfig()["pose"] = d;
+ }
+
+ if (do_update_params_) {
+ frame.setPose() = pose_;
+ frame.setLeft() = params_;
+
+ auto &meta = frame.create<std::map<std::string,std::string>>(Channel::MetaData);
+ meta["name"] = host_->value("name", host_->getID());
+ meta["id"] = host_->getID();
+ meta["uri"] = host_->value("uri", std::string(""));
+ meta["device"] = std::string("X11 Screen Capture");
+
+ //if (!frame.has(Channel::Capabilities)) {
+ auto &cap = frame.create<std::unordered_set<Capability>>(Channel::Capabilities);
+ cap.clear();
+ cap.emplace(Capability::VIDEO);
+ cap.emplace(Capability::LIVE);
+ if (host_->value("enable_touch", false)) cap.emplace(Capability::TOUCH);
+ //}
+
+ do_update_params_ = false;
+ }
if (!img.empty()) {
- frame_.create<cv::Mat>(Channel::Colour) = img;
+ frame.create<cv::cuda::GpuMat>(Channel::Colour).upload(img);
}
- host_->notify(timestamp_, frame_);
- return true;
+ return true;
}
bool ScreenCapture::isReady() {
diff --git a/components/rgbd-sources/src/sources/screencapture/screencapture.hpp b/components/rgbd-sources/src/sources/screencapture/screencapture.hpp
index 8480359e68c9551b872277f50c9aebf0d43bc37a..3bcd84eba9673176c345a9a40fa09fd9367ecb2a 100644
--- a/components/rgbd-sources/src/sources/screencapture/screencapture.hpp
+++ b/components/rgbd-sources/src/sources/screencapture/screencapture.hpp
@@ -1,8 +1,9 @@
#ifndef _FTL_RGBD_SCREENCAPTURE_HPP_
#define _FTL_RGBD_SCREENCAPTURE_HPP_
-#include <ftl/rgbd/detail/source.hpp>
+#include "../../basesource.hpp"
#include <ftl/config.h>
+#include <ftl/codecs/touch.hpp>
namespace ftl {
@@ -17,16 +18,14 @@ typedef X11State ImplState;
typedef int ImplState;
#endif
-class ScreenCapture : public ftl::rgbd::detail::Source {
+class ScreenCapture : public ftl::rgbd::BaseSourceImpl {
public:
explicit ScreenCapture(ftl::rgbd::Source *host);
~ScreenCapture();
- bool capture(int64_t ts) { timestamp_ = ts; return true; };
- void swap() override;
- bool retrieve();
- bool compute(int n=-1, int b=-1);
- bool isReady();
+ bool capture(int64_t ts) override { return true; };
+ bool retrieve(ftl::rgbd::Frame &frame) override;
+ bool isReady() override;
size_t getOffsetX() const { return (offset_x_ > full_width_-params_.width) ? full_width_-params_.width : offset_x_; }
size_t getOffsetY() const { return (offset_y_ > full_height_-params_.height) ? full_height_-params_.height : offset_y_; }
@@ -35,14 +34,27 @@ class ScreenCapture : public ftl::rgbd::detail::Source {
bool ready_;
int64_t cap_ts_;
int64_t cur_ts_;
- ftl::rgbd::Frame sframe_;
+ //ftl::rgbd::Frame sframe_;
size_t full_width_;
size_t full_height_;
size_t offset_x_;
size_t offset_y_;
+ Eigen::Matrix4d pose_;
+ bool do_update_params_ = false;
+ bool pressed_ = false;
+ ftl::codecs::Touch primary_touch_;
ImplState *impl_state_;
+ ftl::rgbd::Camera params_;
+ //void _mouseClick(int button, int x, int y);
+
+ void _singleTouch(const ftl::codecs::Touch &t);
+ void _press();
+ void _release();
+ void _move(int x, int y);
+ void _noTouch();
+ void _multiTouch(const std::vector<ftl::codecs::Touch> &);
};
}
diff --git a/components/rgbd-sources/src/sources/snapshot/snapshot_source.cpp b/components/rgbd-sources/src/sources/snapshot/snapshot_source.cpp
index 95d8b9e078bf4904e66b70adc0f2df31591f4848..2179b2719a136b7e64ad4f8c24524d6168ae8cc1 100644
--- a/components/rgbd-sources/src/sources/snapshot/snapshot_source.cpp
+++ b/components/rgbd-sources/src/sources/snapshot/snapshot_source.cpp
@@ -15,7 +15,7 @@ using ftl::codecs::Channel;
using std::string;
using std::vector;
-SnapshotSource::SnapshotSource(ftl::rgbd::Source *host, Snapshot &snapshot, const string &id) : detail::Source(host) {
+SnapshotSource::SnapshotSource(ftl::rgbd::Source *host, Snapshot &snapshot, const string &id) : BaseSourceImpl(host) {
snapshot_ = snapshot;
camera_idx_ = std::atoi(id.c_str());
frame_idx_ = 0;
diff --git a/components/rgbd-sources/src/sources/snapshot/snapshot_source.hpp b/components/rgbd-sources/src/sources/snapshot/snapshot_source.hpp
index 80a0bf392b39fb9d5215dd80034768d806ac7957..a6149dec3b2f82b0fd10f7a70758250a951ed72b 100644
--- a/components/rgbd-sources/src/sources/snapshot/snapshot_source.hpp
+++ b/components/rgbd-sources/src/sources/snapshot/snapshot_source.hpp
@@ -11,7 +11,7 @@ namespace ftl {
namespace rgbd {
namespace detail {
-class SnapshotSource : public detail::Source {
+class SnapshotSource : public BaseSourceImpl {
public:
explicit SnapshotSource(ftl::rgbd::Source *);
SnapshotSource(ftl::rgbd::Source *, ftl::rgbd::Snapshot &snapshot, const std::string &id);
diff --git a/components/rgbd-sources/src/sources/stereovideo/calibrate.cpp b/components/rgbd-sources/src/sources/stereovideo/calibrate.cpp
deleted file mode 100644
index 07115839ce2166d152575ae32b6ae92c5613c8d0..0000000000000000000000000000000000000000
--- a/components/rgbd-sources/src/sources/stereovideo/calibrate.cpp
+++ /dev/null
@@ -1,334 +0,0 @@
-/*
- * Copyright 2019 Nicolas Pope
- */
-
-#include <loguru.hpp>
-#include <ftl/config.h>
-#include <ftl/configuration.hpp>
-#include <ftl/threads.hpp>
-#include <ftl/calibration/parameters.hpp>
-
-#include "calibrate.hpp"
-#include "ftl/exception.hpp"
-
-#include <opencv2/core.hpp>
-#include <opencv2/core/utility.hpp>
-#include <opencv2/imgproc.hpp>
-#include <opencv2/calib3d.hpp>
-#include <opencv2/cudawarping.hpp>
-
-using ftl::rgbd::detail::Calibrate;
-
-using cv::FileStorage;
-
-using cv::INTER_LINEAR;
-
-using cv::FileNode;
-using cv::FileNodeIterator;
-
-using cv::Mat;
-using cv::cuda::GpuMat;
-using cv::cuda::Stream;
-
-using cv::Size;
-
-using cv::Point2f;
-using cv::Point3f;
-using cv::Matx33d;
-using cv::Scalar;
-
-using std::string;
-using std::vector;
-
-Calibrate::Calibrate(nlohmann::json &config, Size image_size, cv::cuda::Stream &stream) :
- ftl::Configurable(config) {
-
- img_size_ = image_size;
- calib_size_ = image_size;
-
- K_ = vector<Mat>(2);
- K_[0] = Mat::eye(Size(3, 3), CV_64FC1);
- K_[1] = Mat::eye(Size(3, 3), CV_64FC1);
- D_ = vector<Mat>(2);
- D_[0] = Mat::zeros(Size(5, 1), CV_64FC1);
- D_[1] = Mat::zeros(Size(5, 1), CV_64FC1);
- pose_ = Mat::eye(Size(4, 4), CV_64FC1);
- pose_adjustment_ = Mat::eye(Size(4, 4), CV_64FC1);
- Q_ = Mat::eye(Size(4, 4), CV_64FC1);
- Q_.at<double>(3, 2) = -1;
- Q_.at<double>(2, 3) = 1;
-
- setRectify(true);
-}
-
-Mat Calibrate::_getK(size_t idx, Size size) {
- CHECK(idx < K_.size());
- CHECK(!size.empty());
- return ftl::calibration::scaleCameraMatrix(K_[idx], size, calib_size_);
-}
-
-Mat Calibrate::_getK(size_t idx) {
- return _getK(idx, img_size_);
-}
-
-double Calibrate::getBaseline() const {
- if (t_.empty()) { return 0.0; }
- return cv::norm(t_);
-}
-
-double Calibrate::getDoff() const {
- return -(Q_.at<double>(3,3) * getBaseline());
-}
-
-double Calibrate::getDoff(const Size& size) const {
- return getDoff() * ((double) size.width / (double) img_size_.width);
-}
-
-Mat Calibrate::getCameraMatrixLeft(const cv::Size res) {
- if (rectify_) {
- return ftl::calibration::scaleCameraMatrix(Mat(P1_, cv::Rect(0, 0, 3, 3)), res, img_size_);
- } else {
- return ftl::calibration::scaleCameraMatrix(K_[0], res, calib_size_);
- }
-}
-
-Mat Calibrate::getCameraMatrixRight(const cv::Size res) {
- if (rectify_) {
- return ftl::calibration::scaleCameraMatrix(Mat(P2_, cv::Rect(0, 0, 3, 3)), res, img_size_);
- } else {
- return ftl::calibration::scaleCameraMatrix(K_[1], res, calib_size_);
- }
-}
-
-Mat Calibrate::getCameraDistortionLeft() {
- if (rectify_) { return Mat::zeros(Size(5, 1), CV_64FC1); }
- else { return D_[0]; }
-}
-
-Mat Calibrate::getCameraDistortionRight() {
- if (rectify_) { return Mat::zeros(Size(5, 1), CV_64FC1); }
- else { return D_[1]; }
-}
-
-Mat Calibrate::getPose() const {
- Mat T;
- if (rectify_) {
- Mat R1 = Mat::eye(4, 4, CV_64FC1);
- R1_.copyTo(R1(cv::Rect(0, 0, 3, 3)));
- T = pose_ * R1.inv();
- }
- else {
- pose_.copyTo(T);
- }
- return pose_adjustment_ * T;
-}
-
-bool Calibrate::setRectify(bool enabled) {
- if (t_.empty() || R_.empty()) { enabled = false; }
- if (enabled) {
- rectify_ = calculateRectificationParameters();
- }
- else {
- rectify_ = false;
- }
- return rectify_;
-}
-
-bool Calibrate::setDistortion(const vector<Mat> &D) {
- if (D.size() != 2) { return false; }
- for (const auto d : D) { if (d.size() != Size(5, 1)) { return false; }}
- D[0].copyTo(D_[0]);
- D[1].copyTo(D_[1]);
- return true;
-}
-
-bool Calibrate::setIntrinsics(const Size &size, const vector<Mat> &K) {
- if (K.size() != 2) { return false; }
- if (size.empty() || size.width <= 0 || size.height <= 0) { return false; }
- for (const auto k : K) {
- if (!ftl::calibration::validate::cameraMatrix(k)) {
- return false;
- }
- }
-
- calib_size_ = Size(size);
- K[0].copyTo(K_[0]);
- K[1].copyTo(K_[1]);
- return true;
-}
-
-bool Calibrate::setExtrinsics(const Mat &R, const Mat &t) {
- if (!ftl::calibration::validate::rotationMatrix(R) ||
- !ftl::calibration::validate::translationStereo(t)) { return false; }
-
- R.copyTo(R_);
- t.copyTo(t_);
- return true;
-}
-
-bool Calibrate::setPose(const Mat &P) {
- if (!ftl::calibration::validate::pose(P)) { return false; }
- P.copyTo(pose_);
- return true;
-}
-
-bool Calibrate::setPoseAdjustment(const Mat &T) {
- if (!ftl::calibration::validate::pose(T)) { return false; }
- pose_adjustment_ = T * pose_adjustment_;
- return true;
-}
-
-bool Calibrate::loadCalibration(const string &fname) {
- FileStorage fs;
-
- fs.open((fname).c_str(), FileStorage::READ);
- if (!fs.isOpened()) {
- LOG(WARNING) << "Could not open calibration file";
- return false;
- }
-
- Size calib_size;
- vector<Mat> K;
- vector<Mat> D;
- Mat R;
- Mat t;
- Mat pose;
- Mat pose_adjustment;
-
- fs["resolution"] >> calib_size;
- fs["K"] >> K;
- fs["D"] >> D;
- fs["R"] >> R;
- fs["t"] >> t;
- fs["P"] >> pose;
- fs["adjustment"] >> pose_adjustment;
- fs.release();
-
- bool retval = true;
- if (calib_size.empty()) {
- LOG(ERROR) << "calibration resolution missing in calibration file";
- retval = false;
- }
- if (!setIntrinsics(calib_size, K)) {
- LOG(ERROR) << "invalid intrinsics in calibration file";
- retval = false;
- }
- if (!setDistortion(D)) {
- LOG(ERROR) << "invalid distortion parameters in calibration file";
- retval = false;
- }
- if (!setExtrinsics(R, t)) {
- LOG(ERROR) << "invalid extrinsics in calibration file";
- retval = false;
- }
- if (!setPose(pose)) {
- LOG(ERROR) << "invalid pose in calibration file";
- retval = false;
- }
- if (!setPoseAdjustment(pose_adjustment)) {
- LOG(WARNING) << "invalid pose adjustment in calibration file (using identity)";
- }
-
- LOG(INFO) << "calibration loaded from: " << fname;
- return retval;
-}
-
-bool Calibrate::writeCalibration( const string &fname, const Size &size,
- const vector<Mat> &K, const vector<Mat> &D,
- const Mat &R, const Mat &t, const Mat &pose,
- const Mat &pose_adjustment) {
-
- cv::FileStorage fs(fname, cv::FileStorage::WRITE);
- if (!fs.isOpened()) { return false; }
-
- fs << "resolution" << size
- << "K" << K
- << "D" << D
- << "R" << R
- << "t" << t
- << "P" << pose
- << "adjustment" << pose_adjustment;
- ;
-
- fs.release();
- return true;
-}
-
-bool Calibrate::saveCalibration(const string &fname) {
- // note: never write rectified parameters!
-
- // TODO: make a backup of old file
- //if (std::filesystem::is_regular_file(fname)) {
- // // copy to fname + ".bak"
- //}
-
- return writeCalibration(fname, calib_size_, K_, D_, R_, t_, pose_, pose_adjustment_);
-}
-
-bool Calibrate::calculateRectificationParameters() {
-
- Mat K1 = _getK(0, img_size_);
- Mat D1 = D_[0];
- Mat K2 = _getK(1, img_size_);
- Mat D2 = D_[1];
- double alpha = value("alpha", 0.0);
-
- try {
- cv::stereoRectify( K1, D1, K2, D2,
- img_size_, R_, t_,
- R1_, R2_, P1_, P2_, Q_, 0, alpha);
-
- initUndistortRectifyMap(K1, D1, R1_, P1_, img_size_, CV_32FC1, map1_.first, map2_.first);
- initUndistortRectifyMap(K2, D2, R2_, P2_, img_size_, CV_32FC1, map1_.second, map2_.second);
-
- // CHECK Is this thread safe!!!!
- map1_gpu_.first.upload(map1_.first);
- map1_gpu_.second.upload(map1_.second);
- map2_gpu_.first.upload(map2_.first);
- map2_gpu_.second.upload(map2_.second);
-
- Mat map0 = map1_.first.clone();
- Mat map1 = map2_.first.clone();
- cv::convertMaps(map0, map1, map1_.first, map2_.first, CV_16SC2);
-
- map0 = map1_.second.clone();
- map1 = map2_.second.clone();
- cv::convertMaps(map0, map1, map1_.second, map2_.second, CV_16SC2);
- }
- catch (cv::Exception &ex) {
- LOG(ERROR) << ex.what();
- return false;
- }
-
- return true;
-}
-
-void Calibrate::rectifyStereo(GpuMat &l, GpuMat &r, Stream &stream) {
- if (!rectify_) { return; }
- // cv::cuda::remap() can not use same Mat for input and output
- // TODO: create tmp buffers only once
- GpuMat l_tmp(l.size(), l.type());
- GpuMat r_tmp(r.size(), r.type());
- cv::cuda::remap(l, l_tmp, map1_gpu_.first, map2_gpu_.first, cv::INTER_LINEAR, 0, cv::Scalar(), stream);
- cv::cuda::remap(r, r_tmp, map1_gpu_.second, map2_gpu_.second, cv::INTER_LINEAR, 0, cv::Scalar(), stream);
- stream.waitForCompletion();
- l = l_tmp;
- r = r_tmp;
-}
-
-void Calibrate::rectifyStereo(cv::Mat &l, cv::Mat &r) {
- if (!rectify_) { return; }
- // cv::cuda::remap() can not use same Mat for input and output
- cv::remap(l, l, map1_.first, map2_.first, cv::INTER_LINEAR, 0, cv::Scalar());
- cv::remap(r, r, map1_.second, map2_.second, cv::INTER_LINEAR, 0, cv::Scalar());
-}
-
-void Calibrate::rectifyLeft(cv::Mat &l) {
- if (!rectify_) { return; }
- cv::remap(l, l, map1_.first, map2_.first, cv::INTER_LINEAR, 0, cv::Scalar());
-}
-
-void Calibrate::rectifyRight(cv::Mat &r) {
- if (!rectify_) { return; }
- cv::remap(r, r, map1_.second, map2_.second, cv::INTER_LINEAR, 0, cv::Scalar());
-}
diff --git a/components/rgbd-sources/src/sources/stereovideo/calibrate.hpp b/components/rgbd-sources/src/sources/stereovideo/calibrate.hpp
deleted file mode 100644
index 523608a044b2712f797a653da45a09aea3368caa..0000000000000000000000000000000000000000
--- a/components/rgbd-sources/src/sources/stereovideo/calibrate.hpp
+++ /dev/null
@@ -1,242 +0,0 @@
-/*
- * Copyright 2019 Nicolas Pope
- */
-
-#ifndef _FTL_CALIBRATION_HPP_
-#define _FTL_CALIBRATION_HPP_
-
-#include <opencv2/core.hpp>
-#include <opencv2/core/cuda.hpp>
-#include "local.hpp"
-#include <string>
-#include <vector>
-#include <ftl/rgbd/camera.hpp>
-
-namespace cv {
-class FileStorage;
-class FileNode;
-};
-
-namespace ftl {
-namespace rgbd {
-namespace detail {
-
-/**
- * Manage local calibration details: undistortion, rectification and camera
- * parameters.
- */
-class Calibrate : public ftl::Configurable {
- public:
- Calibrate(nlohmann::json &config, cv::Size image_size, cv::cuda::Stream &stream);
-
- /**
- * @brief Rectify and undistort stereo pair images (GPU)
- */
- void rectifyStereo(cv::cuda::GpuMat &l, cv::cuda::GpuMat &r, cv::cuda::Stream &stream);
-
- /**
- * @brief Rectify and undistort stereo pair images (CPU)
- */
- void rectifyStereo(cv::Mat &l, cv::Mat &r);
-
- /**
- * @brief Rectify and undistort left image (CPU)
- */
- void rectifyLeft(cv::Mat &l);
-
- /**
- * @brief Rectify and undistort right image (CPU)
- */
- void rectifyRight(cv::Mat &r);
-
- void updateCalibration(const ftl::rgbd::Camera &p);
-
- /**
- * @brief Get disparity to depth matrix
- * @note Disparity offset is in image_size (scale)
- *
- * 2020/01/15: StereoVideoSource creates a Camera object which is used to
- * calculate depth from disparity (disp2depth.cu). Seems to be
- * used only in StereoVideoSource to get doff and baseline
- * parameter values in updateParameters()
- */
- [[deprecated]]
- const cv::Mat &getQ() const { return Q_; }
-
- /**
- * @brief Get camera pair baseline
- */
- double getBaseline() const;
-
- /**
- * @brief Get camera pair disparity offset
- * @param size (optional) scale to given resolution.
- *
- * Returns disparity offset for image_size resolution if size not provided.
- */
- double getDoff() const;
- double getDoff(const cv::Size& size) const;
-
- /**
- * @brief Get intrinsic paramters. If rectification is enabled, returns
- * rectified intrinsic parameters, otherwise returns values from
- * calibration. Parameters are scaled for given resolution.
- * @param res camera resolution
- */
- cv::Mat getCameraMatrixLeft(const cv::Size res);
- /** @brief Same as getCameraMatrixLeft() for right camera */
- cv::Mat getCameraMatrixRight(const cv::Size res);
-
- /** @brief Get camera distortion parameters. If rectification is enabled,
- * returns zeros. Otherwise returns calibrated distortion
- * parameters values.
- */
- cv::Mat getCameraDistortionLeft();
- /** @brief Same as getCameraDistortionLeft() for right camera */
- cv::Mat getCameraDistortionRight();
-
- /**
- * @brief Get camera pose from calibration. Returns pose to rectified
- * camera if rectification is enabled.
- */
- cv::Mat getPose() const;
-
- /**
- * @brief Enable/disable recitification. If disabled, instance returns
- * original camera intrinsic parameters (getCameraMatrixLeft() and
- * getCameraMatrixRight() methods). When enabled (default), those
- * methods return camera parameters for rectified images. Does not
- * enable rectification, if valid parameters are missing.
- * @param Rectification on/off
- * @returns Status after call
- */
- bool setRectify(bool enabled);
-
- /**
- * @brief Set intrinsic parameters for both cameras.
- *
- * @param size calibration size
- * @param K 2 camera matricies (3x3)
- * @returns true if valid parameters
- */
- bool setIntrinsics(const cv::Size &size, const std::vector<cv::Mat> &K);
-
- /**
- * @brief Set lens distortion parameters
- * @param D 2 distortion parameters (5x1)
- */
- bool setDistortion(const std::vector<cv::Mat> &D);
-
- /**
- * @brief Set extrinsic parameters.
- *
- * @param R Rotation matrix (3x3) from left to right camera
- * @param t Translation vector (1x3) from left to right camera
- * @returns true if valid parameters
- */
- bool setExtrinsics(const cv::Mat &R, const cv::Mat &t);
-
- /**
- * @brief Set pose
- * @param pose Pose for left camera
- * @returns true if valid pose
- */
- bool setPose(const cv::Mat &P);
-
- /**
- * @brief Set adjustment, which is applied to pose: T_update*T_pose
- */
- bool setPoseAdjustment(const cv::Mat &T);
-
- /**
- * @brief Calculate rectification parameters and maps. Can fail if
- * calibration parameters are invalid.
- * @returns true if successful
- */
- bool calculateRectificationParameters();
-
- /**
- * @brief Load calibration from file
- * @param fname File name
- */
- bool loadCalibration(const std::string &fname);
-
- /**
- * @brief Write calibration parameters to file
- *
- * Assumes two cameras and intrinsic calibration parameters have the same
- * resolution.
- *
- * @todo Validate loaded values
- *
- * @param fname file name
- * @param size calibration resolution (intrinsic parameters)
- * @param K intrinsic matrices
- * @param D distortion coefficients
- * @param R rotation from first camera to second
- * @param t translation from first camera to second
- * @param pose first camera's pose
- */
- static bool writeCalibration(const std::string &fname,
- const cv::Size &size,
- const std::vector<cv::Mat> &K,
- const std::vector<cv::Mat> &D,
- const cv::Mat &R, const cv::Mat &t,
- const cv::Mat &pose,
- const cv::Mat &pose_adjustment);
-
- /* @brief Save current calibration to file
- * @param File name
- */
- bool saveCalibration(const std::string &fname);
-
-private:
- // rectification enabled/disabled
- volatile bool rectify_;
-
- /**
- * @brief Get intrinsic matrix saved in calibration.
- * @param Camera index (0 left, 1 right)
- * @param Resolution
- */
- cv::Mat _getK(size_t idx, cv::Size size);
- cv::Mat _getK(size_t idx);
-
- // calibration resolution (loaded from file by loadCalibration)
- cv::Size calib_size_;
- // camera resolution
- cv::Size img_size_;
-
- // rectification maps
- std::pair<cv::Mat, cv::Mat> map1_;
- std::pair<cv::Mat, cv::Mat> map2_;
- std::pair<cv::cuda::GpuMat, cv::cuda::GpuMat> map1_gpu_;
- std::pair<cv::cuda::GpuMat, cv::cuda::GpuMat> map2_gpu_;
-
- // parameters for rectification, see cv::stereoRectify() documentation
- cv::Mat R1_;
- cv::Mat P1_;
- cv::Mat R2_;
- cv::Mat P2_;
-
- // disparity to depth matrix
- cv::Mat Q_;
-
- // intrinsic parameters and distortion coefficients
- std::vector<cv::Mat> K_;
- std::vector<cv::Mat> D_;
-
- // transformation from left to right camera: R_ and T_
- cv::Mat R_;
- cv::Mat t_;
- // pose for left camera
- cv::Mat pose_;
- cv::Mat pose_adjustment_;
-};
-
-}
-}
-}
-
-#endif // _FTL_CALIBRATION_HPP_
-
diff --git a/components/rgbd-sources/src/sources/stereovideo/device.hpp b/components/rgbd-sources/src/sources/stereovideo/device.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..0b7d4effb35643ae0fddc90db3240da6d938775b
--- /dev/null
+++ b/components/rgbd-sources/src/sources/stereovideo/device.hpp
@@ -0,0 +1,54 @@
+#ifndef _FTL_RGBD_STEREOVIDEO_DEVICE_HPP_
+#define _FTL_RGBD_STEREOVIDEO_DEVICE_HPP_
+
+#include <ftl/configurable.hpp>
+#include <ftl/cuda_common.hpp>
+#include <string>
+
+namespace ftl {
+namespace rgbd {
+class Frame;
+
+namespace detail {
+
+class StereoRectification;
+
+struct DeviceDetails {
+ std::string name;
+ int id;
+ size_t maxwidth;
+ size_t maxheight;
+};
+
+/**
+ * Abstract base class for camera or stereo camera sources. Just wraps the
+ * basic grab and retrieve functionality with rectification.
+ *
+ * @see OpenCVDevice
+ * @see PylonDevice
+ */
+class Device : public Configurable {
+ public:
+ explicit Device(nlohmann::json &config);
+ virtual ~Device();
+
+ //virtual const std::vector<DeviceDetails> &listDevices()=0;
+
+ virtual bool grab()=0;
+ virtual bool get(ftl::rgbd::Frame &frame, StereoRectification *c, cv::cuda::Stream &stream)=0;
+
+ virtual unsigned int width() const =0;
+ virtual unsigned int height() const =0;
+
+ virtual double getTimestamp() const =0;
+
+ virtual bool isStereo() const =0;
+
+ virtual void populateMeta(std::map<std::string,std::string> &meta) const {}
+};
+
+}
+}
+}
+
+#endif
diff --git a/components/rgbd-sources/src/sources/stereovideo/local.hpp b/components/rgbd-sources/src/sources/stereovideo/local.hpp
deleted file mode 100644
index 243df4c4787ea83707b70d12520baeee5b0f42bb..0000000000000000000000000000000000000000
--- a/components/rgbd-sources/src/sources/stereovideo/local.hpp
+++ /dev/null
@@ -1,83 +0,0 @@
-#ifndef _FTL_LOCAL_HPP_
-#define _FTL_LOCAL_HPP_
-
-#include <ftl/configurable.hpp>
-#include <ftl/cuda_common.hpp>
-#include <string>
-
-namespace cv {
- class Mat;
- class VideoCapture;
-};
-
-namespace ftl {
-namespace rgbd {
-namespace detail {
-
-class Calibrate;
-
-struct DeviceDetails {
- std::string name;
- int id;
- size_t maxwidth;
- size_t maxheight;
-};
-
-class LocalSource : public Configurable {
- public:
- explicit LocalSource(nlohmann::json &config);
- LocalSource(nlohmann::json &config, const std::string &vid);
-
- //bool left(cv::Mat &m);
- //bool right(cv::Mat &m);
- bool grab();
- bool get(cv::cuda::GpuMat &l, cv::cuda::GpuMat &r, cv::cuda::GpuMat &h_l, cv::Mat &h_r, Calibrate *c, cv::cuda::Stream &stream);
-
- unsigned int width() const { return dwidth_; }
- unsigned int height() const { return dheight_; }
-
- unsigned int fullWidth() const { return width_; }
- unsigned int fullHeight() const { return height_; }
-
- inline bool hasHigherRes() const { return dwidth_ != width_; }
-
- //void setFramerate(float fps);
- //float getFramerate() const;
-
- double getTimestamp() const;
-
- bool isStereo() const;
-
- private:
- double timestamp_;
- //double tps_;
- bool stereo_;
- //float fps_;
- //bool flip_;
- //bool flip_v_;
- bool nostereo_;
- //float downsize_;
- cv::VideoCapture *camera_a_;
- cv::VideoCapture *camera_b_;
- unsigned int width_;
- unsigned int height_;
- unsigned int dwidth_;
- unsigned int dheight_;
-
- cv::cuda::HostMem left_hm_;
- cv::cuda::HostMem right_hm_;
- cv::cuda::HostMem hres_hm_;
- cv::Mat rtmp_;
-
- cv::Mat frame_l_;
- cv::Mat frame_r_;
-
- std::vector<DeviceDetails> _selectDevices();
-};
-
-}
-}
-}
-
-#endif // _FTL_LOCAL_HPP_
-
diff --git a/components/rgbd-sources/src/sources/stereovideo/local.cpp b/components/rgbd-sources/src/sources/stereovideo/opencv.cpp
similarity index 72%
rename from components/rgbd-sources/src/sources/stereovideo/local.cpp
rename to components/rgbd-sources/src/sources/stereovideo/opencv.cpp
index a6f4017485756498086b84638b1ea99d112c5e60..a781765a821df181ff8e34381d7ffd70d7ede103 100644
--- a/components/rgbd-sources/src/sources/stereovideo/local.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/opencv.cpp
@@ -8,12 +8,14 @@
#include <chrono>
#include <ftl/threads.hpp>
#include <ftl/profiler.hpp>
+#include <ftl/rgbd/frame.hpp>
-#include "local.hpp"
-#include "calibrate.hpp"
+#include "opencv.hpp"
+#include "rectification.hpp"
#include <opencv2/core.hpp>
#include <opencv2/opencv.hpp>
#include <opencv2/xphoto.hpp>
+#include <opencv2/imgcodecs.hpp>
#include <ftl/timer.hpp>
@@ -30,8 +32,9 @@
#pragma comment(lib, "mfuuid.lib")
#endif
-using ftl::rgbd::detail::LocalSource;
-using ftl::rgbd::detail::Calibrate;
+using ftl::rgbd::detail::OpenCVDevice;
+using ftl::rgbd::detail::StereoRectification;
+using ftl::codecs::Channel;
using cv::Mat;
using cv::VideoCapture;
using cv::Rect;
@@ -42,18 +45,19 @@ using std::chrono::high_resolution_clock;
using std::chrono::milliseconds;
using std::this_thread::sleep_for;
-LocalSource::LocalSource(nlohmann::json &config)
- : Configurable(config), timestamp_(0.0) {
+OpenCVDevice::OpenCVDevice(nlohmann::json &config, bool stereo)
+ : ftl::rgbd::detail::Device(config), timestamp_(0.0),
+ interpolation_(cv::INTER_CUBIC) {
- std::vector<ftl::rgbd::detail::DeviceDetails> devices = _selectDevices();
+ std::vector<ftl::rgbd::detail::DeviceDetails> devices_ = getDevices();
int device_left = 0;
int device_right = -1;
- LOG(INFO) << "Found " << devices.size() << " cameras";
+ LOG(INFO) << "Found " << devices_.size() << " cameras";
if (Configurable::get<std::string>("device_left")) {
- for (auto &d : devices) {
+ for (auto &d : devices_) {
if (d.name.find(*Configurable::get<std::string>("device_left")) != std::string::npos) {
device_left = d.id;
LOG(INFO) << "Device left = " << device_left;
@@ -61,11 +65,11 @@ LocalSource::LocalSource(nlohmann::json &config)
}
}
} else {
- device_left = value("device_left", (devices.size() > 0) ? devices[0].id : 0);
+ device_left = value("device_left", (devices_.size() > 0) ? devices_[0].id : 0);
}
if (Configurable::get<std::string>("device_right")) {
- for (auto &d : devices) {
+ for (auto &d : devices_) {
if (d.name.find(*Configurable::get<std::string>("device_right")) != std::string::npos) {
if (d.id == device_left) continue;
device_right = d.id;
@@ -73,16 +77,19 @@ LocalSource::LocalSource(nlohmann::json &config)
}
}
} else {
- device_right = value("device_right", (devices.size() > 1) ? devices[1].id : 1);
+ device_right = value("device_right", (devices_.size() > 1) ? devices_[1].id : 1);
}
- nostereo_ = value("nostereo", false);
+ nostereo_ = value("nostereo", !stereo);
if (device_left < 0) {
LOG(ERROR) << "No available cameras";
return;
}
+ dev_ix_left_ = device_left;
+ dev_ix_right_ = device_right;
+
// Use cameras
camera_a_ = new VideoCapture;
LOG(INFO) << "Cameras check... ";
@@ -125,7 +132,7 @@ LocalSource::LocalSource(nlohmann::json &config)
camera_a_->set(cv::CAP_PROP_FRAME_HEIGHT, value("height", 720));
camera_a_->set(cv::CAP_PROP_FPS, 1000 / ftl::timer::getInterval());
//camera_a_->set(cv::CAP_PROP_BUFFERSIZE, 0); // Has no effect
-
+
Mat frame;
if (!camera_a_->grab()) LOG(ERROR) << "Could not grab a video frame";
camera_a_->retrieve(frame);
@@ -133,21 +140,28 @@ LocalSource::LocalSource(nlohmann::json &config)
width_ = frame.cols;
height_ = frame.rows;
- dwidth_ = value("depth_width", width_);
- dheight_ = value("depth_height", height_);
-
// Allocate page locked host memory for fast GPU transfer
- left_hm_ = cv::cuda::HostMem(dheight_, dwidth_, CV_8UC4);
- right_hm_ = cv::cuda::HostMem(dheight_, dwidth_, CV_8UC4);
- hres_hm_ = cv::cuda::HostMem(height_, width_, CV_8UC4);
+ left_hm_ = cv::cuda::HostMem(height_, width_, CV_8UC4);
+ right_hm_ = cv::cuda::HostMem(height_, width_, CV_8UC4);
+
+ interpolation_ = value("inter_cubic", true) ? cv::INTER_CUBIC : cv::INTER_LINEAR;
+ on("inter_cubic", [this](){
+ interpolation_ = value("inter_cubic_", true) ?
+ cv::INTER_CUBIC : cv::INTER_LINEAR;
+ });
}
-LocalSource::LocalSource(nlohmann::json &config, const string &vid)
- : Configurable(config), timestamp_(0.0) {
- LOG(FATAL) << "Stereo video file sources no longer supported";
+OpenCVDevice::~OpenCVDevice() {
+
}
-std::vector<ftl::rgbd::detail::DeviceDetails> LocalSource::_selectDevices() {
+static std::vector<ftl::rgbd::detail::DeviceDetails> opencv_devices;
+static bool opencv_dev_init = false;
+
+std::vector<ftl::rgbd::detail::DeviceDetails> OpenCVDevice::getDevices() {
+ if (opencv_dev_init) return opencv_devices;
+ opencv_dev_init = true;
+
std::vector<ftl::rgbd::detail::DeviceDetails> devices;
#ifdef WIN32
@@ -208,7 +222,7 @@ std::vector<ftl::rgbd::detail::DeviceDetails> LocalSource::_selectDevices() {
}
else
{
-
+
}
}
@@ -220,7 +234,7 @@ std::vector<ftl::rgbd::detail::DeviceDetails> LocalSource::_selectDevices() {
#else
int fd;
- v4l2_capability video_cap;
+ v4l2_capability video_cap;
v4l2_frmsizeenum video_fsize;
LOG(INFO) << "Video Devices:";
@@ -291,11 +305,12 @@ std::vector<ftl::rgbd::detail::DeviceDetails> LocalSource::_selectDevices() {
#endif
+ opencv_devices = devices;
return devices;
}
-bool LocalSource::grab() {
+bool OpenCVDevice::grab() {
if (!camera_a_) return false;
if (camera_b_) {
@@ -312,47 +327,34 @@ bool LocalSource::grab() {
return true;
}
-bool LocalSource::get(cv::cuda::GpuMat &l_out, cv::cuda::GpuMat &r_out,
- cv::cuda::GpuMat &l_hres_out, cv::Mat &r_hres_out, Calibrate *c, cv::cuda::Stream &stream) {
-
+bool OpenCVDevice::get(ftl::rgbd::Frame &frame, StereoRectification *c, cv::cuda::Stream &stream) {
+
Mat l, r ,hres;
// Use page locked memory
l = left_hm_.createMatHeader();
r = right_hm_.createMatHeader();
- hres = hres_hm_.createMatHeader();
-
- Mat &lfull = (!hasHigherRes()) ? l : hres;
- Mat &rfull = (!hasHigherRes()) ? r : rtmp_;
if (!camera_a_) return false;
- std::future<bool> future_b;
if (camera_b_) {
- future_b = std::move(ftl::pool.push([this,&rfull,&r,c,&r_out,&r_hres_out,&stream](int id) {
- if (!camera_b_->retrieve(frame_r_)) {
- LOG(ERROR) << "Unable to read frame from camera B";
- return false;
- }
-
- cv::cvtColor(frame_r_, rfull, cv::COLOR_BGR2BGRA);
+ if (!camera_b_->retrieve(frame_r_)) {
+ LOG(ERROR) << "Unable to read frame from camera B";
+ return false;
+ }
+ else {
+ cv::cvtColor(frame_r_, rtmp_, cv::COLOR_BGR2BGRA);
- if (stereo_) {
- c->rectifyRight(rfull);
-
- if (hasHigherRes()) {
- // TODO: Use threads?
- cv::resize(rfull, r, r.size(), 0.0, 0.0, cv::INTER_CUBIC);
- r_hres_out = rfull;
- }
- else {
- r_hres_out = Mat();
- }
- }
+ //if (stereo_) {
+ c->rectify(rtmp_, r, Channel::Right);
+ //}
+ auto& f_right = frame.create<ftl::rgbd::VideoFrame>(Channel::Right);
+ cv::cuda::GpuMat& r_out = f_right.createGPU();
+ cv::Mat &r_host = f_right.setCPU();
r_out.upload(r, stream);
- return true;
- }));
+ r.copyTo(r_host);
+ }
}
if (camera_b_) {
@@ -363,58 +365,52 @@ bool LocalSource::get(cv::cuda::GpuMat &l_out, cv::cuda::GpuMat &r_out,
return false;
}
- /*if (camera_b_ && !camera_b_->retrieve(rfull)) {
- LOG(ERROR) << "Unable to read frame from camera B";
- return false;
- }*/
- } else {
+ }
+ else {
if (!camera_a_->read(frame_l_)) {
LOG(ERROR) << "Unable to read frame from camera A";
return false;
}
}
- cv::cvtColor(frame_l_, lfull, cv::COLOR_BGR2BGRA);
-
if (stereo_) {
- //FTL_Profile("Rectification", 0.01);
- //c->rectifyStereo(lfull, rfull);
- c->rectifyLeft(lfull);
-
- // Need to resize
- //if (hasHigherRes()) {
- // TODO: Use threads?
- // cv::resize(rfull, r, r.size(), 0.0, 0.0, cv::INTER_CUBIC);
- //}
+ cv::cvtColor(frame_l_, ltmp_, cv::COLOR_BGR2BGRA);
+ c->rectify(ltmp_, l, Channel::Left);
}
-
- if (hasHigherRes()) {
- //FTL_Profile("Frame Resize", 0.01);
- cv::resize(lfull, l, l.size(), 0.0, 0.0, cv::INTER_CUBIC);
- l_hres_out.upload(hres, stream);
- } else {
- l_hres_out = cv::cuda::GpuMat();
+ else {
+ cv::cvtColor(frame_l_, l, cv::COLOR_BGR2BGRA);
}
{
- //FTL_Profile("Upload", 0.05);
+ auto& f_left = frame.create<ftl::rgbd::VideoFrame>(Channel::Left);
+ cv::cuda::GpuMat& l_out = f_left.createGPU();
+ cv::Mat &l_host = f_left.setCPU();
l_out.upload(l, stream);
+ l.copyTo(l_host);
}
- //r_out.upload(r, stream);
- if (camera_b_) {
- //FTL_Profile("WaitCamB", 0.05);
- future_b.wait();
+ if (!frame.hasChannel(Channel::Thumbnail)) {
+ cv::Mat thumb;
+ cv::resize(l, thumb, cv::Size(320,240));
+ auto &thumbdata = frame.create<std::vector<uint8_t>>(Channel::Thumbnail);
+ std::vector<int> params = {cv::IMWRITE_JPEG_QUALITY, 70};
+ cv::imencode(".jpg", thumb, thumbdata, params);
}
return true;
}
-double LocalSource::getTimestamp() const {
+double OpenCVDevice::getTimestamp() const {
return timestamp_;
}
-bool LocalSource::isStereo() const {
+bool OpenCVDevice::isStereo() const {
return stereo_ && !nostereo_;
}
+void OpenCVDevice::populateMeta(std::map<std::string,std::string> &meta) const {
+ if (dev_ix_left_ >= 0 && dev_ix_left_ < static_cast<int>(opencv_devices.size())) {
+ meta["device"] = opencv_devices[dev_ix_left_].name;
+ }
+}
+
diff --git a/components/rgbd-sources/src/sources/stereovideo/opencv.hpp b/components/rgbd-sources/src/sources/stereovideo/opencv.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..607360591b168b15c3d1b452f1c039b3827cb2f6
--- /dev/null
+++ b/components/rgbd-sources/src/sources/stereovideo/opencv.hpp
@@ -0,0 +1,72 @@
+#ifndef _FTL_LOCAL_HPP_
+#define _FTL_LOCAL_HPP_
+
+#include "device.hpp"
+
+namespace cv {
+ class Mat;
+ class VideoCapture;
+};
+
+namespace ftl {
+namespace rgbd {
+namespace detail {
+
+class OpenCVDevice : public ftl::rgbd::detail::Device {
+ public:
+ explicit OpenCVDevice(nlohmann::json &config, bool stereo);
+ ~OpenCVDevice();
+
+ static std::vector<DeviceDetails> listDevices();
+
+ bool grab() override;
+ bool get(ftl::rgbd::Frame &frame, StereoRectification *c, cv::cuda::Stream &stream) override;
+
+ unsigned int width() const override { return width_; }
+ unsigned int height() const override { return height_; }
+
+ double getTimestamp() const override;
+
+ bool isStereo() const override;
+
+ void populateMeta(std::map<std::string,std::string> &meta) const override;
+
+ static std::vector<DeviceDetails> getDevices();
+
+ private:
+ std::vector<ftl::rgbd::detail::DeviceDetails> devices_;
+ int dev_ix_left_ = -1;
+ int dev_ix_right_ = -1;
+ double timestamp_;
+ //double tps_;
+ bool stereo_;
+ //float fps_;
+ //bool flip_;
+ //bool flip_v_;
+ bool nostereo_;
+ //float downsize_;
+ cv::VideoCapture *camera_a_;
+ cv::VideoCapture *camera_b_;
+ unsigned int width_;
+ unsigned int height_;
+ unsigned int dwidth_;
+ unsigned int dheight_;
+
+ cv::cuda::HostMem left_hm_;
+ cv::cuda::HostMem right_hm_;
+ cv::cuda::HostMem hres_hm_;
+ cv::Mat rtmp_;
+ cv::Mat rtmp2_;
+ cv::Mat ltmp_;
+
+ cv::Mat frame_l_;
+ cv::Mat frame_r_;
+ int interpolation_;
+};
+
+}
+}
+}
+
+#endif // _FTL_LOCAL_HPP_
+
diff --git a/components/rgbd-sources/src/sources/stereovideo/pylon.cpp b/components/rgbd-sources/src/sources/stereovideo/pylon.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..6901837f693a07398ea95383002e69101084ad43
--- /dev/null
+++ b/components/rgbd-sources/src/sources/stereovideo/pylon.cpp
@@ -0,0 +1,381 @@
+#include "pylon.hpp"
+
+#include "rectification.hpp"
+
+#include <loguru.hpp>
+#include <ftl/threads.hpp>
+#include <ftl/rgbd/source.hpp>
+#include <ftl/profiler.hpp>
+#include <ftl/rgbd/frame.hpp>
+
+#include <pylon/PylonIncludes.h>
+#include <pylon/BaslerUniversalInstantCamera.h>
+
+#include <opencv2/imgproc.hpp>
+
+#include <nlohmann/json.hpp>
+
+using ftl::rgbd::detail::StereoRectification;
+using ftl::rgbd::detail::PylonDevice;
+using std::string;
+using ftl::codecs::Channel;
+using cv::cuda::GpuMat;
+using cv::Mat;
+using namespace Pylon;
+
+PylonDevice::PylonDevice(nlohmann::json &config)
+ : ftl::rgbd::detail::Device(config), ready_(false), lcam_(nullptr), rcam_(nullptr),
+ interpolation_(cv::INTER_CUBIC) {
+
+ auto &inst = CTlFactory::GetInstance();
+
+ Pylon::DeviceInfoList_t devices;
+ inst.EnumerateDevices(devices);
+
+ int dev_left_num = -1;
+ std::string dev_left;
+
+ if (getConfig()["device_left"].is_number()) {
+ dev_left = std::to_string(value("device_left",0));
+ } else {
+ dev_left = value("device_left", std::string("default"));
+ }
+
+ if (devices.size() == 0) {
+ LOG(ERROR) << "No Pylon devices attached";
+ return;
+ } else {
+ int i=0;
+ for (auto d : devices) {
+ if (std::string(d.GetSerialNumber()) == dev_left) {
+ dev_left_num = i;
+ }
+
+ if (dev_left_num == i) {
+ LOG(INFO) << " - found Pylon device - " << d.GetSerialNumber() << " (" << d.GetModelName() << ") [primary]";
+ } else {
+ LOG(INFO) << " - found Pylon device - " << d.GetSerialNumber() << " (" << d.GetModelName() << ")";
+ }
+
+ ++i;
+ }
+ }
+
+ if (dev_left_num == -1) dev_left_num = 0;
+
+ name_ = devices[dev_left_num].GetModelName();
+ serial_ = devices[dev_left_num].GetSerialNumber();
+
+ try {
+ lcam_ = new CBaslerUniversalInstantCamera( CTlFactory::GetInstance().CreateDevice(devices[dev_left_num]));
+ lcam_->RegisterConfiguration( new Pylon::CSoftwareTriggerConfiguration, Pylon::RegistrationMode_ReplaceAll, Pylon::Cleanup_Delete);
+ lcam_->Open();
+
+ if (devices.size() >= 2) {
+ int dev_right = (dev_left_num == 0) ? 1 : 0;
+ rcam_ = new CBaslerUniversalInstantCamera( CTlFactory::GetInstance().CreateDevice(devices[dev_right]));
+ rcam_->RegisterConfiguration( new Pylon::CSoftwareTriggerConfiguration, Pylon::RegistrationMode_ReplaceAll, Pylon::Cleanup_Delete);
+ rcam_->Open();
+ }
+
+ _configureCamera(lcam_);
+ if (rcam_) _configureCamera(rcam_);
+
+ lcam_->StartGrabbing( Pylon::GrabStrategy_OneByOne);
+ if (rcam_) rcam_->StartGrabbing( Pylon::GrabStrategy_OneByOne);
+
+ if (rcam_) rcam_->WaitForFrameTriggerReady( 300, Pylon::TimeoutHandling_ThrowException);
+ lcam_->WaitForFrameTriggerReady( 300, Pylon::TimeoutHandling_ThrowException);
+
+ ready_ = true;
+ } catch (const Pylon::GenericException &e) {
+ // Error handling.
+ LOG(ERROR) << "Pylon: An exception occurred - " << e.GetDescription();
+ }
+
+ // Choose a good default depth res
+ //width_ = value("depth_width", std::min(1280u,fullwidth_)) & 0xFFFe;
+ //float aspect = float(fullheight_) / float(fullwidth_);
+ //height_ = value("depth_height", std::min(uint32_t(aspect*float(width_)), fullheight_)) & 0xFFFe;
+
+ //LOG(INFO) << "Depth resolution: " << width_ << "x" << height_;
+
+ // Allocate page locked host memory for fast GPU transfer
+ left_hm_ = cv::cuda::HostMem(fullheight_, fullwidth_, CV_8UC4);
+ right_hm_ = cv::cuda::HostMem(fullheight_, fullwidth_, CV_8UC4);
+ //hres_hm_ = cv::cuda::HostMem(fullheight_, fullwidth_, CV_8UC4);
+ //rtmp_.create(fullheight_, fullwidth_, CV_8UC4);
+
+ on("exposure", [this]() {
+ if (lcam_->GetDeviceInfo().GetModelName() != "Emulation") {
+ lcam_->ExposureTime.SetValue(value("exposure", 24000.0f)); // Exposure time in microseconds
+ }
+ if (rcam_ && rcam_->GetDeviceInfo().GetModelName() != "Emulation") {
+ rcam_->ExposureTime.SetValue(value("exposure", 24000.0f)); // Exposure time in microseconds
+ }
+ });
+
+ on("buffer_size", buffer_size_, 1);
+
+ interpolation_ = value("inter_cubic", true) ? cv::INTER_CUBIC : cv::INTER_LINEAR;
+ on("inter_cubic", [this](){
+ interpolation_ = value("inter_cubic", true) ?
+ cv::INTER_CUBIC : cv::INTER_LINEAR;
+ });
+
+ monitor_ = true;
+ temperature_monitor_ = ftl::timer::add(ftl::timer::timerlevel_t::kTimerIdle1, 10.0, [this](int64_t ts) {
+ float temperature = (rcam_) ? std::max(lcam_->DeviceTemperature(), rcam_->DeviceTemperature()) : lcam_->DeviceTemperature();
+
+ // Note: this is core not housing temperature
+ LOG_IF(WARNING, temperature > 60.0)
+ << "Camera temperature over 60C (value: " << temperature << ")";
+
+ // TODO: check actual temperature status.
+ if (temperature > 70.0) {
+ LOG(FATAL) << "Cameras are overheating";
+ }
+
+ return true;
+ });
+}
+
+PylonDevice::~PylonDevice() {
+ monitor_ = false;
+ temperature_monitor_.cancel();
+
+ lcam_->Close();
+ rcam_->Close();
+}
+
+static std::vector<ftl::rgbd::detail::DeviceDetails> pylon_devices;
+static bool pylon_dev_init = false;
+
+std::vector<ftl::rgbd::detail::DeviceDetails> PylonDevice::listDevices() {
+ if (pylon_dev_init) return pylon_devices;
+ pylon_dev_init = true;
+
+ auto &inst = CTlFactory::GetInstance();
+
+ Pylon::DeviceInfoList_t devices;
+ inst.EnumerateDevices(devices);
+
+ std::vector<ftl::rgbd::detail::DeviceDetails> results;
+
+ int count=0;
+ for (auto d : devices) {
+ //LOG(INFO) << " - found Pylon device - " << d.GetFullName() << "(" << d.GetModelName() << ")";
+ auto &r = results.emplace_back();
+ r.id = count++;
+ r.name = d.GetModelName();
+ r.maxheight = 0;
+ r.maxwidth = 0;
+ }
+
+ pylon_devices = results;
+ return results;
+}
+
+void PylonDevice::_configureCamera(CBaslerUniversalInstantCamera *cam) {
+ // Get the camera control object.
+ GenApi::INodeMap& nodemap = cam->GetNodeMap();
+ // Get the parameters for setting the image area of interest (Image AOI).
+ CIntegerParameter width(nodemap, "Width");
+ CIntegerParameter height(nodemap, "Height");
+ CIntegerParameter offsetX(nodemap, "OffsetX");
+ CIntegerParameter offsetY(nodemap, "OffsetY");
+
+ fullwidth_ = width.GetValue();
+ fullheight_ = height.GetValue();
+
+ LOG(INFO) << "Camera resolution = " << fullwidth_ << "x" << fullheight_;
+
+ // Set the pixel data format.
+ CEnumParameter format(nodemap, "PixelFormat");
+ LOG(INFO) << "Camera format: " << format.GetValue();
+
+ if (format.CanSetValue("BayerBG8")) { // YCbCr422_8
+ format.SetValue("BayerBG8");
+ } else {
+ LOG(WARNING) << "Could not change pixel format";
+ }
+
+ if (cam->GetDeviceInfo().GetModelName() != "Emulation") {
+ // Emulated device throws exception with these
+ cam->ExposureTime.SetValue(value("exposure", 24000.0f)); // Exposure time in microseconds
+ cam->AutoTargetBrightness.SetValue(0.3);
+ cam->LightSourcePreset.SetValue(Basler_UniversalCameraParams::LightSourcePreset_Tungsten2800K); // White balance option
+ cam->BalanceWhiteAuto.SetValue(Basler_UniversalCameraParams::BalanceWhiteAuto_Once);
+ cam->GainAuto.SetValue(Basler_UniversalCameraParams::GainAuto_Once);
+ cam->DeviceTemperatureSelector.SetValue(Basler_UniversalCameraParams::DeviceTemperatureSelector_Coreboard);
+ }
+}
+
+bool PylonDevice::grab() {
+ if (!isReady()) return false;
+
+ //int dev;
+ //cudaGetDevice(&dev);
+ //LOG(INFO) << "Current cuda device = " << dev;
+
+ try {
+ FTL_Profile("Frame Capture", 0.001);
+ if (rcam_) rcam_->WaitForFrameTriggerReady( 0, Pylon::TimeoutHandling_ThrowException);
+ lcam_->WaitForFrameTriggerReady( 0, Pylon::TimeoutHandling_ThrowException);
+
+ lcam_->ExecuteSoftwareTrigger();
+ if (rcam_) rcam_->ExecuteSoftwareTrigger();
+ } catch (const GenericException &e) {
+ LOG(ERROR) << "Pylon: Trigger exception - " << e.GetDescription();
+ return false;
+ }
+
+ return true;
+}
+
+bool PylonDevice::_retrieveFrames(Pylon::CGrabResultPtr &result, Pylon::CBaslerUniversalInstantCamera *cam) {
+ do {
+ if (cam->RetrieveResult(0, result, Pylon::TimeoutHandling_Return)) {
+ if (!result->GrabSucceeded()) {
+ LOG(ERROR) << "Retrieve failed " << result->GetErrorDescription();
+ }
+ } else {
+ LOG(ERROR) << "Pylon frame missing";
+ return false;
+ }
+ } while (!result->GrabSucceeded());
+ return true;
+}
+
+bool PylonDevice::get(ftl::rgbd::Frame &frame, StereoRectification *c, cv::cuda::Stream &stream) {
+ if (!isReady()) return false;
+
+ Mat l, r;
+
+ // Use page locked memory
+ l = left_hm_.createMatHeader();
+ r = right_hm_.createMatHeader();
+
+ if (isStereo()) {
+ auto lcount = lcam_->NumReadyBuffers.GetValue();
+ auto rcount = rcam_->NumReadyBuffers.GetValue();
+
+ /*if (left_fail_) {
+ left_fail_ = 0;
+ Pylon::CGrabResultPtr tmp_result;
+ lcam_->RetrieveResult(0, tmp_result, Pylon::TimeoutHandling_Return);
+ }
+ if (rcam_ && right_fail_) {
+ right_fail_ = 0;
+ Pylon::CGrabResultPtr tmp_result;
+ rcam_->RetrieveResult(0, tmp_result, Pylon::TimeoutHandling_Return);
+ }*/
+
+ if (rcount < buffer_size_ || lcount < buffer_size_) {
+ LOG(WARNING) << "Retrieve failed for L+R";
+ return false;
+ }
+
+ if (rcount > buffer_size_ && lcount > buffer_size_) {
+ LOG(WARNING) << "Pylon buffer latency problem : " << lcount << " vs " << rcount << " frames";
+ Pylon::CGrabResultPtr tmp_result;
+ //lcam_->RetrieveResult(0, tmp_result, Pylon::TimeoutHandling_Return);
+ //rcam_->RetrieveResult(0, tmp_result, Pylon::TimeoutHandling_Return);
+ _retrieveFrames(tmp_result, lcam_);
+ _retrieveFrames(tmp_result, rcam_);
+ } else if (rcount > buffer_size_) LOG(ERROR) << "Buffers (R) out of sync by " << rcount;
+ else if (lcount > buffer_size_) LOG(ERROR) << "Buffers (L) out of sync by " << lcount;
+ } else {
+ if (lcam_->NumReadyBuffers.GetValue() == 0) {
+ LOG(INFO) << "Retrieve failed for L";
+ return false;
+ }
+ }
+
+ try {
+ FTL_Profile("Frame Retrieve", 0.005);
+ bool res_r = false;
+
+ if (rcam_) {
+ Pylon::CGrabResultPtr result_right;
+
+ if (_retrieveFrames(result_right, rcam_)) {
+
+ cv::Mat wrap_right(
+ result_right->GetHeight(),
+ result_right->GetWidth(),
+ CV_8UC1,
+ (uint8_t*)result_right->GetBuffer());
+
+ {
+ FTL_Profile("Bayer Colour (R)", 0.005);
+ cv::cvtColor(wrap_right, rtmp_, cv::COLOR_BayerRG2BGRA);
+ }
+
+ {
+ FTL_Profile("Rectify (R)", 0.005);
+ c->rectify(rtmp_, r, Channel::Right);
+ }
+
+ auto& f_right = frame.create<ftl::rgbd::VideoFrame>(Channel::Right);
+ cv::cuda::GpuMat& r_out = f_right.createGPU();
+ cv::Mat &r_host = f_right.setCPU();
+
+ r_out.upload(r, stream);
+ r.copyTo(r_host);
+ res_r = true;
+ }
+ }
+
+ Pylon::CGrabResultPtr result_left;
+
+ if (!_retrieveFrames(result_left, lcam_)) {
+ return false;
+ }
+
+ cv::Mat wrap_left(
+ result_left->GetHeight(),
+ result_left->GetWidth(),
+ CV_8UC1,
+ (uint8_t*)result_left->GetBuffer());
+
+ {
+ FTL_Profile("Bayer Colour (L)", 0.005);
+ if (isStereo()) cv::cvtColor(wrap_left, ltmp_, cv::COLOR_BayerRG2BGRA);
+ else cv::cvtColor(wrap_left, l, cv::COLOR_BayerRG2BGRA);
+ }
+
+ {
+ FTL_Profile("Rectify (L)", 0.005);
+ if (isStereo()) {
+ c->rectify(ltmp_, l, Channel::Left);
+ }
+ }
+
+ auto& f_left = frame.create<ftl::rgbd::VideoFrame>(Channel::Left);
+ cv::cuda::GpuMat& l_out = f_left.createGPU();
+ cv::Mat &l_host = f_left.setCPU();
+
+ l_out.upload(l, stream);
+ l.copyTo(l_host);
+
+ if (rcam_) {
+ if (!res_r) return false;
+ }
+
+ } catch (const GenericException &e) {
+ LOG(ERROR) << "Pylon: An exception occurred - " << e.GetDescription();
+ }
+
+ return true;
+}
+
+bool PylonDevice::isReady() const {
+ return lcam_ && lcam_->IsOpen();
+}
+
+void PylonDevice::populateMeta(std::map<std::string,std::string> &meta) const {
+ meta["device"] = name_;
+ meta["serial"] = serial_;
+}
+
diff --git a/components/rgbd-sources/src/sources/stereovideo/pylon.hpp b/components/rgbd-sources/src/sources/stereovideo/pylon.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..096d504acf71c97e7600ed86b5ea9e811bd54a00
--- /dev/null
+++ b/components/rgbd-sources/src/sources/stereovideo/pylon.hpp
@@ -0,0 +1,68 @@
+#pragma once
+#ifndef _FTL_RGBD_PYLONDEVICE_HPP_
+#define _FTL_RGBD_PYLONDEVICE_HPP_
+
+#include "device.hpp"
+#include <string>
+
+namespace Pylon {
+class CBaslerUniversalInstantCamera;
+class CGrabResultPtr;
+}
+
+namespace ftl {
+namespace rgbd {
+namespace detail {
+
+class PylonDevice : public ftl::rgbd::detail::Device {
+ public:
+ explicit PylonDevice(nlohmann::json &config);
+ ~PylonDevice();
+
+ static std::vector<DeviceDetails> listDevices();
+
+ bool grab() override;
+ bool get(ftl::rgbd::Frame &frame, StereoRectification *c, cv::cuda::Stream &stream) override;
+
+ unsigned int width() const override { return fullwidth_; }
+ unsigned int height() const override { return fullheight_; }
+
+ double getTimestamp() const override { return 0.0; }
+
+ bool isStereo() const override { return lcam_ && rcam_; }
+
+ bool isReady() const;
+
+ void populateMeta(std::map<std::string,std::string> &meta) const override;
+
+ private:
+ bool ready_;
+ Pylon::CBaslerUniversalInstantCamera *lcam_;
+ Pylon::CBaslerUniversalInstantCamera *rcam_;
+ cv::Mat tmp_;
+ uint32_t fullwidth_;
+ uint32_t fullheight_;
+ std::string name_;
+ std::string serial_;
+ int left_fail_=0;
+ int right_fail_=0;
+ int buffer_size_=1;
+
+ cv::cuda::HostMem left_hm_;
+ cv::cuda::HostMem right_hm_;
+ cv::Mat rtmp_;
+ cv::Mat ltmp_;
+ int interpolation_;
+
+ std::atomic_bool monitor_;
+ ftl::Handle temperature_monitor_;
+
+ void _configureCamera(Pylon::CBaslerUniversalInstantCamera *cam);
+ bool _retrieveFrames(Pylon::CGrabResultPtr &result, Pylon::CBaslerUniversalInstantCamera *cam);
+};
+
+}
+}
+}
+
+#endif // _FTL_RGBD_PYLON_HPP_
diff --git a/components/rgbd-sources/src/sources/stereovideo/rectification.cpp b/components/rgbd-sources/src/sources/stereovideo/rectification.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..6e1ef7df3d1384fbc7cefd5ca218b9a8d7c7f4c6
--- /dev/null
+++ b/components/rgbd-sources/src/sources/stereovideo/rectification.cpp
@@ -0,0 +1,210 @@
+/*
+ * Copyright 2019 Nicolas Pope
+ */
+
+#include <loguru.hpp>
+#include <ftl/config.h>
+#include <ftl/configuration.hpp>
+#include <ftl/calibration/parameters.hpp>
+
+#include "rectification.hpp"
+#include "ftl/exception.hpp"
+
+#include <opencv2/core.hpp>
+#include <opencv2/core/utility.hpp>
+#include <opencv2/imgproc.hpp>
+#include <opencv2/calib3d.hpp>
+
+using ftl::rgbd::detail::StereoRectification;
+using ftl::calibration::CalibrationData;
+using ftl::codecs::Channel;
+
+StereoRectification::StereoRectification(nlohmann::json &config, cv::Size image_size) :
+ ftl::Configurable(config), image_resolution_(image_size),
+ enabled_(false), valid_(false), interpolation_(cv::INTER_LINEAR),
+ baseline_(0.0) {
+
+ map_l_.first.create(image_resolution_, map_format_);
+ map_l_.second.create(image_resolution_, map_format_);
+ map_r_.first.create(image_resolution_, map_format_);
+ map_r_.second.create(image_resolution_, map_format_);
+}
+
+void StereoRectification::setInterpolation(int interpolation) {
+ interpolation_ = interpolation;
+}
+
+void StereoRectification::setEnabled(bool value) {
+ enabled_ = value;
+}
+
+bool StereoRectification::enabled() {
+ return enabled_;
+}
+
+bool StereoRectification::calibrated() {
+ return valid_;
+}
+
+void StereoRectification::setCalibration(CalibrationData &calib) {
+ if (calib.hasCalibration(Channel::Left) && calib.hasCalibration(Channel::Right)) {
+ calib_left_ = calib.get(Channel::Left);
+ calib_right_ = calib.get(Channel::Right);
+ updateCalibration_();
+ }
+}
+
+void StereoRectification::updateCalibration_() {
+ using namespace ftl::calibration;
+ // TODO: lock
+ {
+ bool valid = true;
+ valid &= calib_left_.intrinsic.resolution != cv::Size{0, 0};
+ valid &= calib_right_.intrinsic.resolution != cv::Size{0, 0};
+ valid &= validate::cameraMatrix(calib_left_.intrinsic.matrix());
+ valid &= validate::cameraMatrix(calib_right_.intrinsic.matrix());
+ valid &= (calib_left_.extrinsic.tvec != calib_right_.extrinsic.tvec);
+ if (!valid) { return; }
+ }
+
+ valid_ = false;
+
+ // calculate rotation and translation from left to right using calibration
+ cv::Mat T_l = calib_left_.extrinsic.matrix();
+ cv::Mat T_r = calib_right_.extrinsic.matrix();
+ cv::Mat T = T_r * transform::inverse(T_l);
+
+ transform::getRotationAndTranslation(T, R_, t_);
+ baseline_ = cv::norm(t_);
+
+ if (baseline_ == 0.0) { return; }
+ valid_ = true;
+ calculateParameters_();
+}
+
+void StereoRectification::calculateParameters_() {
+ // cv::stereoRectify() throws an exception if parameters are invalid
+ if (!valid_) { return; }
+
+ cv::Mat K_l = calib_left_.intrinsic.matrix(image_resolution_);
+ cv::Mat K_r = calib_right_.intrinsic.matrix(image_resolution_);
+ cv::Mat dc_l = calib_left_.intrinsic.distCoeffs.Mat();
+ cv::Mat dc_r = calib_right_.intrinsic.distCoeffs.Mat();
+
+ cv::stereoRectify( K_l, dc_l, K_r, dc_r, image_resolution_,
+ R_, t_, R_l_, R_r_, P_l_, P_r_, Q_, 0, 0);
+
+ cv::initUndistortRectifyMap(K_l, dc_l, R_l_, P_l_, image_resolution_,
+ map_format_, map_l_.first, map_l_.second);
+ cv::initUndistortRectifyMap(K_r, dc_r, R_r_, P_r_, image_resolution_,
+ map_format_, map_r_.first, map_r_.second);
+}
+
+void StereoRectification::rectify(cv::InputArray im, cv::OutputArray im_out, Channel c) {
+
+ if (!enabled_ || !valid_) {
+ im.copyTo(im_out);
+ return;
+ }
+
+ if (im.size() != image_resolution_) {
+ throw ftl::exception("Input has wrong size");
+ }
+
+ if (im.isMat()) {
+ if (!im_out.isMat()) {
+ throw ftl::exception( "Input and Output arrays must have same "
+ "type (cv::Mat expected)");
+ }
+ cv::Mat in = im.getMat();
+ cv::Mat &out = im_out.getMatRef(); // assumes valid size/type
+
+ if (c == Channel::Left) {
+ cv::remap(in, out, map_l_.first, map_l_.second, interpolation_);
+ }
+ else if (c == Channel::Right) {
+ cv::remap(in, out, map_r_.first, map_r_.second, interpolation_);
+ }
+ else {
+ throw ftl::exception("Bad channel for rectification");
+ }
+ }
+ else if (im.isGpuMat()) {
+ throw ftl::exception("GPU rectification not implemented");
+ }
+ else {
+ throw ftl::exception("Input not Mat/GpuMat");
+ }
+}
+
+cv::Mat StereoRectification::getPose(Channel c) {
+ // NOTE: FTL poses are camera-to-world transformations while the parameters
+ // in calibration are world-to-camera. cv::stereoRectify() rotation
+ // is unrectified-to-rectified.
+
+ using ftl::calibration::transform::inverse;
+
+ if (enabled_ && valid_) {
+ cv::Mat R = cv::Mat::eye(4, 4, CV_64FC1);
+ if (c == Channel::Left) {
+ R_l_.copyTo(R(cv::Rect(0, 0, 3, 3)));
+ return inverse(R * calib_left_.extrinsic.matrix());
+ }
+ else if (c == Channel::Right) {
+ R_r_.copyTo(R(cv::Rect(0, 0, 3, 3)));
+ return inverse(R * calib_right_.extrinsic.matrix());
+ }
+ }
+ else {
+ // unrectified pose not used anywhere (and isn't necessarily valid).
+ if (c == Channel::Left) {
+ return inverse(calib_left_.extrinsic.matrix());
+ }
+ else if (c == Channel::Right) {
+ return inverse(calib_right_.extrinsic.matrix());
+ }
+ }
+ throw ftl::exception("Invalid channel, expected Left or Right");
+}
+
+double StereoRectification::baseline() {
+ return baseline_;
+}
+
+double StereoRectification::doff() {
+ if (!enabled_ || !valid_) return 0.0;
+ return -(Q_.at<double>(3,3) * baseline_);
+}
+
+double StereoRectification::doff(cv::Size size) {
+ return doff() * double(size.width)/double(image_resolution_.width);
+}
+
+cv::Mat StereoRectification::cameraMatrix(Channel c) {
+ if (enabled_ && valid_) {
+ if (c == Channel::Left) {
+ // P_l_: Left camera is origin in rectified system, there extrinsic
+ // is no rotation and intrinsic matrix can be directly extracted.
+ return cv::Mat(P_l_, cv::Rect(0, 0, 3, 3)).clone();
+ }
+ else if (c == Channel::Right) {
+ // Extrinsics are included in P_r_, can't do same as above
+ throw ftl::exception("Not implemented");
+ // not tested!
+ return cv::Mat(P_r_(cv::Rect(0, 0, 3, 3)) * R_r_.t());
+ }
+ }
+ else {
+ if (c == Channel::Left) {
+ return CalibrationData::Intrinsic(calib_left_.intrinsic, image_resolution_).matrix();
+ }
+ else if (c == Channel::Right) {
+ return CalibrationData::Intrinsic(calib_right_.intrinsic, image_resolution_).matrix();
+ }
+ }
+ throw ftl::exception("Invalid channel, expected Left or Right");
+}
+
+cv::Mat StereoRectification::cameraMatrix(cv::Size size, Channel c) {
+ return ftl::calibration::scaleCameraMatrix(cameraMatrix(c), image_resolution_, size);
+}
diff --git a/components/rgbd-sources/src/sources/stereovideo/rectification.hpp b/components/rgbd-sources/src/sources/stereovideo/rectification.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..edbb66fc4370cb26d21e52808866c3f4f2fc2999
--- /dev/null
+++ b/components/rgbd-sources/src/sources/stereovideo/rectification.hpp
@@ -0,0 +1,106 @@
+/*
+ * Copyright 2019 Nicolas Pope
+ */
+
+#ifndef _FTL_CALIBRATION_HPP_
+#define _FTL_CALIBRATION_HPP_
+
+#include <opencv2/core.hpp>
+#include <opencv2/core/cuda.hpp>
+
+#include <string>
+#include <vector>
+
+#include <ftl/codecs/channels.hpp>
+#include <ftl/rgbd/camera.hpp>
+#include <ftl/calibration/structures.hpp>
+
+namespace ftl {
+namespace rgbd {
+namespace detail {
+
+/**
+ * Stereo rectification. Performs rectification for left and right channels.
+ * Rectified image is same size as input image. Camera parameters reported by
+ * getPose() and cameraMatrix() are for rectified camera (if enabled and valid
+ * calibration set).
+ */
+class StereoRectification : public ftl::Configurable {
+public:
+ StereoRectification(nlohmann::json &config, cv::Size image_size);
+
+ /** Set OpenCV interpolation mode, see cv::InterpolationFlags.
+ * NOTE: Artifacts possible if modified and rectify() is called in another
+ * thread (no synchronization)
+ */
+ void setInterpolation(int interpolation);
+
+ /** Calculate rectification parameters from given calibration.
+ */
+ void setCalibration(ftl::calibration::CalibrationData &calib);
+ bool calibrated();
+
+ /** Rectify image. Valid channels Left and Right. No-op if disabled with
+ * setEnabled() or calibration parameters have not been set.
+ */
+ void rectify(cv::InputArray im, cv::OutputArray out, ftl::codecs::Channel c);
+
+ /** Enable/disable rectification. TODO: move outside (to stereovideo)?
+ */
+ void setEnabled(bool enabled);
+ bool enabled();
+
+ /** Get camera pose (camera to world). Returns rectified pose if
+ * rectification is enabled (and valid calibration is set).
+ */
+ cv::Mat getPose(ftl::codecs::Channel c = ftl::codecs::Channel::Left);
+
+ /** Get intrinsic matrix. Not implemented for right channel. */
+ cv::Mat cameraMatrix(ftl::codecs::Channel c = ftl::codecs::Channel::Left);
+ cv::Mat cameraMatrix(cv::Size size, ftl::codecs::Channel c = ftl::codecs::Channel::Left);
+
+ /** Stereo baseline. In same unit as calibration (usually meters) */
+ double baseline();
+ /** Disparity offset (pixels) */
+ double doff();
+ double doff(cv::Size);
+
+protected:
+ void updateCalibration_(); // update calibration and calculate new params
+ void calculateParameters_(); // re-calculate rectification maps and params
+
+private:
+ ftl::calibration::CalibrationData::Calibration calib_left_;
+ ftl::calibration::CalibrationData::Calibration calib_right_;
+
+ cv::Size image_resolution_;
+
+ // rectification parameters
+ bool enabled_; // rectification enabled
+ bool valid_; // instance contains valid parameters
+ int interpolation_;
+ double baseline_;
+ cv::Mat R_; // rotation left to right
+ cv::Mat t_; // translation left to right
+ cv::Mat Q_; // disparity to depth matrix
+ cv::Mat R_l_; // rotation for left camera: unrectified to rectified
+ cv::Mat R_r_; // rotation for right camera: unrectified to rectified
+ cv::Mat P_l_; // rectified projection matrix for left camera
+ cv::Mat P_r_; // rectified projection matrix for right camera
+
+ // rectification maps for cv::remap(); should be CV_16SC2 if remap done on
+ // CPU and CV_32SC2 for GPU (generated by calculateParameters(), used by
+ // rectify())
+ // https://docs.opencv.org/master/da/d54/group__imgproc__transform.html
+ int map_format_ = CV_16SC2;
+ std::pair<cv::Mat,cv::Mat> map_l_;
+ std::pair<cv::Mat,cv::Mat> map_r_;
+
+};
+
+}
+}
+}
+
+#endif // _FTL_CALIBRATION_HPP_
+
diff --git a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
index 8f8297c588f59bef62ab3d5b711be531e972beb4..192697d2ac240ad434e3a21b9ad35ff816cfffe4 100644
--- a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
@@ -1,344 +1,378 @@
#include <loguru.hpp>
+#include <ftl/file.hpp>
+
+#include <unordered_set>
+
#include <Eigen/Eigen>
#include <opencv2/core/eigen.hpp>
-#include "stereovideo.hpp"
-
#include <ftl/configuration.hpp>
#include <ftl/profiler.hpp>
#include <nlohmann/json.hpp>
#ifdef HAVE_OPTFLOW
-#include "ftl/operators/opticalflow.hpp"
+#include <ftl/operators/opticalflow.hpp>
#endif
-#include "ftl/operators/smoothing.hpp"
-#include "ftl/operators/colours.hpp"
-#include "ftl/operators/normals.hpp"
-#include "ftl/operators/filling.hpp"
-#include "ftl/operators/segmentation.hpp"
-#include "ftl/operators/disparity.hpp"
-#include "ftl/operators/mask.hpp"
+#include <ftl/operators/smoothing.hpp>
+#include <ftl/operators/colours.hpp>
+#include <ftl/operators/normals.hpp>
+#include <ftl/operators/filling.hpp>
+#include <ftl/operators/segmentation.hpp>
+#include <ftl/operators/disparity.hpp>
+#include <ftl/operators/mask.hpp>
+
+#include <ftl/rgbd/capabilities.hpp>
+#include <ftl/codecs/shapes.hpp>
+#include <ftl/calibration/structures.hpp>
+#include <ftl/calibration/parameters.hpp>
+#include "stereovideo.hpp"
#include "ftl/threads.hpp"
-#include "calibrate.hpp"
-#include "local.hpp"
-#include "disparity.hpp"
+#include "rectification.hpp"
+
+#include "opencv.hpp"
+
+#ifdef HAVE_PYLON
+#include "pylon.hpp"
+#endif
-using ftl::rgbd::detail::Calibrate;
-using ftl::rgbd::detail::LocalSource;
using ftl::rgbd::detail::StereoVideoSource;
using ftl::codecs::Channel;
using std::string;
+using ftl::rgbd::Capability;
+
+using ftl::file::config_dir;
+
+static cv::Mat rmat(const cv::Vec3d &rvec) {
+ cv::Mat R(cv::Size(3, 3), CV_64FC1);
+ cv::Rodrigues(rvec, R);
+ return R;
+}
+
+static Eigen::Matrix4d matrix(const cv::Vec3d &rvec, const cv::Vec3d &tvec) {
+ cv::Mat M = cv::Mat::eye(cv::Size(4, 4), CV_64FC1);
+ rmat(rvec).copyTo(M(cv::Rect(0, 0, 3, 3)));
+ M.at<double>(0, 3) = tvec[0];
+ M.at<double>(1, 3) = tvec[1];
+ M.at<double>(2, 3) = tvec[2];
+ Eigen::Matrix4d r;
+ cv::cv2eigen(M,r);
+ return r;
+}
+
+
+ftl::rgbd::detail::Device::Device(nlohmann::json &config) : Configurable(config) {
+
+}
+
+ftl::rgbd::detail::Device::~Device() {
+
+}
StereoVideoSource::StereoVideoSource(ftl::rgbd::Source *host)
- : ftl::rgbd::detail::Source(host), ready_(false) {
- init("");
+ : ftl::rgbd::BaseSourceImpl(host), ready_(false) {
+
+ cudaSafeCall( cudaStreamCreateWithFlags(&stream_, cudaStreamNonBlocking) );
+
+ auto uri = host->get<std::string>("uri");
+ if (uri) {
+ init(*uri);
+ } else {
+ init("");
+ }
+
}
StereoVideoSource::StereoVideoSource(ftl::rgbd::Source *host, const string &file)
- : ftl::rgbd::detail::Source(host), ready_(false) {
+ : ftl::rgbd::BaseSourceImpl(host), ready_(false) {
+ cudaSafeCall( cudaStreamCreateWithFlags(&stream_, cudaStreamNonBlocking) );
init(file);
}
StereoVideoSource::~StereoVideoSource() {
- delete calib_;
+ cudaStreamDestroy(stream_);
+
delete lsrc_;
+ //if (pipeline_input_) delete pipeline_input_;
+}
+
+bool StereoVideoSource::supported(const std::string &dev) {
+ if (dev == "pylon") {
+ #ifdef HAVE_PYLON
+ auto pylon_devices = ftl::rgbd::detail::PylonDevice::listDevices();
+ return pylon_devices.size() > 0;
+ #else
+ return false;
+ #endif
+ } else if (dev == "video") {
+ return true;
+ } else if (dev == "camera") {
+ return ftl::rgbd::detail::OpenCVDevice::getDevices().size() > 0;
+ } else if (dev == "stereo") {
+ return ftl::rgbd::detail::OpenCVDevice::getDevices().size() > 1;
+ }
+
+ return false;
}
void StereoVideoSource::init(const string &file) {
capabilities_ = kCapVideo | kCapStereo;
- if (ftl::is_video(file)) {
- // Load video file
- LOG(INFO) << "Using video file...";
- lsrc_ = ftl::create<LocalSource>(host_, "feed", file);
- } else if (ftl::is_directory(file)) {
- // FIXME: This is not an ideal solution...
- ftl::config::addPath(file);
-
- auto vid = ftl::locateFile("video.mp4");
- if (!vid) {
- LOG(FATAL) << "No video.mp4 file found in provided paths (" << file << ")";
- } else {
- LOG(INFO) << "Using test directory...";
- lsrc_ = ftl::create<LocalSource>(host_, "feed", *vid);
+ ftl::URI uri(file);
+
+ if (uri.getScheme() == ftl::URI::SCHEME_DEVICE) {
+ if (uri.getPathSegment(0) == "pylon") {
+ #ifdef HAVE_PYLON
+ LOG(INFO) << "Using Pylon...";
+ lsrc_ = ftl::create<ftl::rgbd::detail::PylonDevice>(host_, "feed");
+ #else
+ throw FTL_Error("Not built with pylon support");
+ #endif
+ } else if (uri.getPathSegment(0) == "opencv") {
+ // Use cameras
+ LOG(INFO) << "Using OpenCV cameras...";
+ lsrc_ = ftl::create<ftl::rgbd::detail::OpenCVDevice>(host_, "feed", true);
+ } else if (uri.getPathSegment(0) == "video" || uri.getPathSegment(0) == "camera") {
+ // Use cameras
+ LOG(INFO) << "Using OpenCV camera...";
+ lsrc_ = ftl::create<ftl::rgbd::detail::OpenCVDevice>(host_, "feed", false);
+ } else if (uri.getPathSegment(0) == "stereo") {
+ // Use cameras
+ LOG(INFO) << "Using OpenCV cameras...";
+ lsrc_ = ftl::create<ftl::rgbd::detail::OpenCVDevice>(host_, "feed", true);
}
}
- else {
- // Use cameras
- LOG(INFO) << "Using cameras...";
- lsrc_ = ftl::create<LocalSource>(host_, "feed");
- }
- color_size_ = cv::Size(lsrc_->width(), lsrc_->height());
- frames_ = std::vector<Frame>(2);
+ if (!lsrc_) return; // throw?
+
+ cv::Size size_full = cv::Size(lsrc_->width(), lsrc_->height());
+
+ // Choose a good default depth res
+ int w = lsrc_->value("depth_width", std::min(1280,size_full.width)) & 0xFFFe;
+ float aspect = float(size_full.height) / float(size_full.width);
+ int h = lsrc_->value("depth_height", std::min(int(aspect*float(w)), size_full.height)) & 0xFFFe;
+
+ depth_size_ = cv::Size(w, h);
- pipeline_input_ = ftl::config::create<ftl::operators::Graph>(host_, "input");
- #ifdef HAVE_OPTFLOW
- pipeline_input_->append<ftl::operators::NVOpticalFlow>("optflow");
- #endif
- pipeline_input_->append<ftl::operators::ColourChannels>("colour");
+ //pipeline_input_ = ftl::config::create<ftl::operators::Graph>(host_, "input");
+ //#ifdef HAVE_OPTFLOW
+ //pipeline_input_->append<ftl::operators::NVOpticalFlow>("optflow");
+ //#endif
+ //pipeline_input_->append<ftl::operators::ColourChannels>("colour");
- calib_ = ftl::create<Calibrate>(host_, "calibration", cv::Size(lsrc_->fullWidth(), lsrc_->fullHeight()), stream_);
+ rectification_ = std::unique_ptr<StereoRectification>
+ (ftl::create<StereoRectification>(host_, "rectification", size_full));
string fname_default = "calibration.yml";
- auto fname_config = calib_->get<string>("calibration");
+ auto fname_config = host_->get<string>("calibration");
string fname = fname_config ? *fname_config : fname_default;
auto calibf = ftl::locateFile(fname);
if (calibf) {
- fname = *calibf;
- if (calib_->loadCalibration(fname)) {
- calib_->calculateRectificationParameters();
- calib_->setRectify(true);
- }
+ fname_calib_ = *calibf;
+ calibration_ = ftl::calibration::CalibrationData::readFile(fname_calib_);
+ calibration_.enabled = host_->value("rectify", calibration_.enabled);
+ rectification_->setCalibration(calibration_);
+ rectification_->setEnabled(calibration_.enabled);
}
else {
- fname = fname_config ? *fname_config :
- string(FTL_LOCAL_CONFIG_ROOT) + "/"
- + std::string("calibration.yml");
-
- LOG(ERROR) << "No calibration, default path set to " + fname;
+ fname_calib_ = fname_config ? *fname_config :
+ (config_dir() / "ftl" / "calibration.yml").string();
- // set use config file/set (some) default values
+ LOG(ERROR) << "No calibration file found in "
+ << fname_calib_
+ << ". Calibration will be saved to "
+ << fname;
+ }
- cv::Mat K = cv::Mat::eye(cv::Size(3, 3), CV_64FC1);
- K.at<double>(0,0) = host_->value("focal", 800.0);
- K.at<double>(1,1) = host_->value("focal", 800.0);
- K.at<double>(0,2) = host_->value("centre_x", color_size_.width/2.0f);
- K.at<double>(1,2) = host_->value("centre_y", color_size_.height/2.0f);
+ // Generate camera parameters for next frame
+ do_update_params_ = true;
- calib_->setIntrinsics(color_size_, {K, K});
- }
+ LOG(INFO) << "StereoVideo source ready...";
+ ready_ = true;
- ////////////////////////////////////////////////////////////////////////////
- // RPC callbacks to update calibration
- // Should only be used by calibration app (interface may change)
- // Tries to follow interface of ftl::Calibrate
-
- host_->getNet()->bind("set_pose",
- [this](cv::Mat pose){
- if (!calib_->setPose(pose)) {
- LOG(ERROR) << "invalid pose received (bad value)";
- return false;
- }
- updateParameters();
- LOG(INFO) << "new pose";
- return true;
+ host_->on("size", [this]() {
+ do_update_params_ = true;
});
- host_->getNet()->bind("set_pose_adjustment",
- [this](cv::Mat T){
- if (!calib_->setPoseAdjustment(T)) {
- LOG(ERROR) << "invalid pose received (bad value)";
- return false;
- }
- updateParameters();
- LOG(INFO) << "new pose adjustment";
- return true;
+ host_->on("rectify", [this]() {
+ calibration_.enabled = host_->value("rectify", true);
+ rectification_->setEnabled(calibration_.enabled);
+ do_update_params_ = true;
});
+ rectification_->setInterpolation(
+ host_->value("rectify_inter_cubic", false) ? cv::INTER_CUBIC : cv::INTER_LINEAR);
- host_->getNet()->bind("set_intrinsics",
- [this](cv::Size size, cv::Mat K_l, cv::Mat D_l, cv::Mat K_r, cv::Mat D_r) {
-
- if (!calib_->setIntrinsics(size, {K_l, K_r})) {
- LOG(ERROR) << "bad intrinsic parameters (bad values)";
- return false;
- }
-
- if (!D_l.empty() && !D_r.empty()) {
- if (!calib_->setDistortion({D_l, D_r})) {
- LOG(ERROR) << "bad distortion parameters (bad values)";
- return false;
- }
- }
- updateParameters();
- LOG(INFO) << "new intrinsic parameters";
- return true;
+ host_->on("rectify_inter_cubic", [this]() {
+ bool v = host_->value("rectify_inter_cubic", false);
+ rectification_->setInterpolation(v ? cv::INTER_CUBIC : cv::INTER_LINEAR);
});
- host_->getNet()->bind("set_extrinsics",
- [this](cv::Mat R, cv::Mat t){
- if (!calib_->setExtrinsics(R, t)) {
- LOG(ERROR) << "invalid extrinsic parameters (bad values)";
- return false;
- }
- updateParameters();
- LOG(INFO) << "new extrinsic (stereo) parameters";
- return true;
+ host_->on("offset_z", [this]() {
+ do_update_params_ = true;
});
+}
- host_->getNet()->bind("save_calibration",
- [this, fname](){
- LOG(INFO) << "saving calibration to " << fname;
- return calib_->saveCalibration(fname);
- });
+void StereoVideoSource::updateParameters(ftl::rgbd::Frame &frame) {
+ auto &meta = frame.create<std::map<std::string,std::string>>(Channel::MetaData);
+ meta["name"] = host_->value("name", host_->getID());
+ meta["id"] = host_->getID();
+ meta["uri"] = host_->value("uri", std::string(""));
- host_->getNet()->bind("set_rectify",
- [this](bool enable){
- bool retval = calib_->setRectify(enable);
- updateParameters();
- LOG(INFO) << "rectification " << (retval ? "on" : "off");
- return retval;
- });
+ if (lsrc_) lsrc_->populateMeta(meta);
- host_->getNet()->bind("get_distortion", [this]() {
- return std::vector<cv::Mat>{
- cv::Mat(calib_->getCameraDistortionLeft()),
- cv::Mat(calib_->getCameraDistortionRight()) };
- });
+ if (!frame.has(Channel::Capabilities)) {
+ auto &cap = frame.create<std::unordered_set<Capability>>(Channel::Capabilities);
+ cap.emplace(Capability::VIDEO);
+ cap.emplace(Capability::LIVE);
+ }
- ////////////////////////////////////////////////////////////////////////////
+ frame.create<ftl::calibration::CalibrationData>(Channel::CalibrationData) = calibration_;
- // Generate camera parameters from camera matrix
- updateParameters();
+ calibration_change_ = frame.onChange(Channel::CalibrationData, [this]
+ (ftl::data::Frame& frame, ftl::codecs::Channel) {
- LOG(INFO) << "StereoVideo source ready...";
- ready_ = true;
+ if (!lsrc_->isStereo()) return true;
- state_.set("name", host_->value("name", host_->getID()));
-}
+ auto &change = frame.get<ftl::calibration::CalibrationData>(Channel::CalibrationData);
+ try {
+ change.writeFile(fname_calib_);
+ }
+ catch (...) {
+ LOG(ERROR) << "Saving calibration to file failed";
+ }
-ftl::rgbd::Camera StereoVideoSource::parameters(Channel chan) {
- if (chan == Channel::Right) {
- return state_.getRight();
- } else {
- return state_.getLeft();
- }
-}
+ calibration_ = ftl::calibration::CalibrationData(change);
+ rectification_->setCalibration(calibration_);
+ rectification_->setEnabled(change.enabled);
-void StereoVideoSource::updateParameters() {
- Eigen::Matrix4d pose;
- cv::cv2eigen(calib_->getPose(), pose);
- setPose(pose);
-
- cv::Mat K;
-
- // same for left and right
- float baseline = static_cast<float>(calib_->getBaseline());
- float doff = calib_->getDoff(color_size_);
-
- double d_resolution = this->host_->getConfig().value<double>("depth_resolution", 0.0);
- float min_depth = this->host_->getConfig().value<double>("min_depth", 0.45);
- float max_depth = this->host_->getConfig().value<double>("max_depth", 12.0);
-
- // left
-
- K = calib_->getCameraMatrixLeft(color_size_);
- float fx = static_cast<float>(K.at<double>(0,0));
-
- if (d_resolution > 0.0) {
- // Learning OpenCV p. 442
- // TODO: remove, should not be used here
- float max_depth_new = sqrt(d_resolution * fx * baseline);
- max_depth = (max_depth_new > max_depth) ? max_depth : max_depth_new;
- }
+ do_update_params_ = true;
+ return true;
+ });
- state_.getLeft() = {
- fx,
- static_cast<float>(K.at<double>(1,1)), // Fy
- static_cast<float>(-K.at<double>(0,2)), // Cx
- static_cast<float>(-K.at<double>(1,2)), // Cy
- (unsigned int) color_size_.width,
- (unsigned int) color_size_.height,
- min_depth,
- max_depth,
- baseline,
- doff
- };
-
- host_->getConfig()["focal"] = params_.fx;
- host_->getConfig()["centre_x"] = params_.cx;
- host_->getConfig()["centre_y"] = params_.cy;
- host_->getConfig()["baseline"] = params_.baseline;
- host_->getConfig()["doffs"] = params_.doffs;
-
- // right
-
- K = calib_->getCameraMatrixRight(color_size_);
- state_.getRight() = {
- static_cast<float>(K.at<double>(0,0)), // Fx
- static_cast<float>(K.at<double>(1,1)), // Fy
- static_cast<float>(-K.at<double>(0,2)), // Cx
- static_cast<float>(-K.at<double>(1,2)), // Cy
- (unsigned int) color_size_.width,
- (unsigned int) color_size_.height,
- min_depth,
- max_depth,
- baseline,
- doff
- };
-}
+ if (lsrc_->isStereo()) {
+ Eigen::Matrix4d pose;
+ // NOTE: pose update (new origin/rotation)
+ cv::cv2eigen(calibration_.origin * rectification_->getPose(Channel::Left), pose);
+ frame.setPose() = pose;
-bool StereoVideoSource::capture(int64_t ts) {
- timestamp_ = ts;
- lsrc_->grab();
- return true;
-}
+ cv::Mat K = rectification_->cameraMatrix(depth_size_);
+ float fx = static_cast<float>(K.at<double>(0,0));
-bool StereoVideoSource::retrieve() {
- FTL_Profile("Stereo Retrieve", 0.03);
-
- auto &frame = frames_[0];
- frame.reset();
- frame.setOrigin(&state_);
+ float baseline = static_cast<float>(rectification_->baseline());
+ float doff = rectification_->doff(depth_size_);
- cv::cuda::GpuMat gpu_dummy;
- cv::Mat dummy;
- auto &hres = (lsrc_->hasHigherRes()) ? frame.create<cv::cuda::GpuMat>(Channel::ColourHighRes) : gpu_dummy;
- auto &hres_r = (lsrc_->hasHigherRes()) ? frame.create<cv::Mat>(Channel::RightHighRes) : dummy;
+ double d_resolution = this->host_->getConfig().value<double>("depth_resolution", 0.0);
+ float min_depth = this->host_->getConfig().value<double>("min_depth", 0.45);
+ float max_depth = this->host_->getConfig().value<double>("max_depth", (lsrc_->isStereo()) ? 12.0 : 1.0);
- if (lsrc_->isStereo()) {
- cv::cuda::GpuMat &left = frame.create<cv::cuda::GpuMat>(Channel::Left);
- cv::cuda::GpuMat &right = frame.create<cv::cuda::GpuMat>(Channel::Right);
- lsrc_->get(left, right, hres, hres_r, calib_, stream2_);
- }
- else {
- cv::cuda::GpuMat &left = frame.create<cv::cuda::GpuMat>(Channel::Left);
- cv::cuda::GpuMat right;
- lsrc_->get(left, right, hres, hres_r, calib_, stream2_);
- }
+ if (d_resolution > 0.0) {
+ // Learning OpenCV p. 442; TODO: remove. should not be applied here
+ float max_depth_new = sqrt(d_resolution * fx * baseline);
+ max_depth = (max_depth_new > max_depth) ? max_depth : max_depth_new;
+ }
- //LOG(INFO) << "Channel size: " << hres.size();
+ auto& params = frame.setLeft();
+ params = {
+ fx,
+ static_cast<float>(K.at<double>(1,1)), // Fy
+ static_cast<float>(-K.at<double>(0,2)), // Cx
+ static_cast<float>(-K.at<double>(1,2)), // Cy
+ (unsigned int) depth_size_.width,
+ (unsigned int) depth_size_.height,
+ min_depth,
+ max_depth,
+ baseline,
+ doff
+ };
+
+ host_->getConfig()["focal"] = params.fx;
+ host_->getConfig()["centre_x"] = params.cx;
+ host_->getConfig()["centre_y"] = params.cy;
+ host_->getConfig()["baseline"] = params.baseline;
+ host_->getConfig()["doffs"] = params.doffs;
- pipeline_input_->apply(frame, frame, cv::cuda::StreamAccessor::getStream(stream2_));
- stream2_.waitForCompletion();
+ } else {
+ Eigen::Matrix4d pose;
+ auto& params = frame.setLeft();
+
+ params.cx = -(depth_size_.width / 2.0);
+ params.cy = -(depth_size_.height / 2.0);
+ params.fx = 700.0;
+ params.fy = 700.0;
+ params.maxDepth = host_->value("size", 1.0f);
+ params.minDepth = 0.0f;
+ params.doffs = 0.0;
+ params.baseline = 0.1f;
+ params.width = depth_size_.width;
+ params.height = depth_size_.height;;
+
+ float offsetz = host_->value("offset_z", 0.0f);
+ //state_.setPose(matrix(cv::Vec3d(0.0, 3.14159, 0.0), cv::Vec3d(0.0,0.0,params_.maxDepth+offsetz)));
+ pose = matrix(cv::Vec3d(0.0, 3.14159, 0.0), cv::Vec3d(0.0,0.0,params.maxDepth + offsetz));
+
+ /*host_->on("size", [this](const ftl::config::Event &e) {
+ float offsetz = host_->value("offset_z",0.0f);
+ params_.maxDepth = host_->value("size", 1.0f);
+ //state_.getLeft() = params_;
+ pose_ = matrix(cv::Vec3d(0.0, 3.14159, 0.0), cv::Vec3d(0.0,0.0,params_.maxDepth+offsetz));
+ do_update_params_ = true;
+ });*/
+
+ frame.setPose() = pose;
+ }
- return true;
+ const auto& params = frame.getLeft();
+ CHECK(params.fx > 0) << "focal length must be positive";
+ CHECK(params.fy > 0) << "focal length must be positive";
+ CHECK(params.cx < 0) << "bad principal point coordinate (negative value)";
+ CHECK(-params.cx < params.width) << "principal point must be inside image";
+ CHECK(params.cy < 0) << "bad principal point coordinate (negative value)";
+ CHECK(-params.cy < params.height) << "principal point must be inside image";
+ CHECK(params.baseline >= 0.0) << "baseline must be positive";
}
-void StereoVideoSource::swap() {
- auto tmp = std::move(frames_[0]);
- frames_[0] = std::move(frames_[1]);
- frames_[1] = std::move(tmp);
+bool StereoVideoSource::capture(int64_t ts) {
+ cap_status_ = lsrc_->grab();
+ if (!cap_status_) LOG(WARNING) << "Capture failed";
+ return cap_status_;
}
-bool StereoVideoSource::compute(int n, int b) {
- auto &frame = frames_[1];
+bool StereoVideoSource::retrieve(ftl::rgbd::Frame &frame) {
+ FTL_Profile("Stereo Retrieve", 0.03);
- if (lsrc_->isStereo()) {
- if (!frame.hasChannel(Channel::Left) ||
- !frame.hasChannel(Channel::Right)) {
+ if (!cap_status_) return false;
+
+ if (host_->value("add_right_pose", false)) {
+ auto shapes = frame.create<std::list<ftl::codecs::Shape3D>>(Channel::Shapes3D);
+ Eigen::Matrix4d pose;
+ cv::cv2eigen(rectification_->getPose(Channel::Right), pose);
+ Eigen::Matrix4f posef = pose.cast<float>();
+ shapes.list.push_back(ftl::codecs::Shape3D{
+ 1,
+ ftl::codecs::Shape3DType::CAMERA,
+ Eigen::Vector3f{0.2, 0.2, 0.2},
+ posef,
+ std::string("Right Camera")
+ });
+ }
- return false;
- }
+ if (do_update_params_) {
+ updateParameters(frame);
+ do_update_params_ = false;
+ }
- cv::cuda::GpuMat& left = frame.get<cv::cuda::GpuMat>(Channel::Left);
- cv::cuda::GpuMat& right = frame.get<cv::cuda::GpuMat>(Channel::Right);
+ auto cvstream = cv::cuda::StreamAccessor::wrapStream(frame.stream());
- if (left.empty() || right.empty()) { return false; }
- //stream_.waitForCompletion();
+ lsrc_->get(frame, rectification_.get(), cvstream);
- }
- else {
- if (!frame.hasChannel(Channel::Left)) { return false; }
- }
+ cudaSafeCall(cudaEventRecord(frame.uploadEvent(), frame.stream()));
+ // FIXME: Currently possible that previous upload not finished
- host_->notify(timestamp_, frame);
return true;
}
diff --git a/components/rgbd-sources/src/sources/stereovideo/stereovideo.hpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.hpp
index 4b6b60e63a522c8031f5cc386fe6211eba064b9f..abd8652432eb6b9dbd8e876ef3fd03f86a791495 100644
--- a/components/rgbd-sources/src/sources/stereovideo/stereovideo.hpp
+++ b/components/rgbd-sources/src/sources/stereovideo/stereovideo.hpp
@@ -2,60 +2,64 @@
#ifndef _FTL_RGBD_STEREOVIDEO_HPP_
#define _FTL_RGBD_STEREOVIDEO_HPP_
-#include <ftl/rgbd/source.hpp>
+#include "../../basesource.hpp"
#include <ftl/operators/operator.hpp>
+#include <ftl/calibration/structures.hpp>
#include <string>
+#include <memory>
namespace ftl {
namespace rgbd {
namespace detail {
-class LocalSource;
-class Calibrate;
+class Device;
+class StereoRectification;
class Disparity;
/**
* RGBD source from either a stereo video file with left + right images, or
- * direct from two camera devices.
+ * direct from two camera devices.
*/
-class StereoVideoSource : public detail::Source {
- public:
+class StereoVideoSource : public BaseSourceImpl {
+public:
explicit StereoVideoSource(ftl::rgbd::Source*);
StereoVideoSource(ftl::rgbd::Source*, const std::string &);
~StereoVideoSource();
- void swap();
- bool capture(int64_t ts);
- bool retrieve();
- bool compute(int n, int b);
- bool isReady();
+ bool capture(int64_t ts) override;
+ bool retrieve(ftl::rgbd::Frame &frame) override;
+ bool isReady() override;
- Camera parameters(ftl::codecs::Channel chan) override;
+ static bool supported(const std::string &dev);
- private:
- void updateParameters();
+private:
+ void updateParameters(ftl::rgbd::Frame &);
- LocalSource *lsrc_;
- Calibrate *calib_;
+ Device *lsrc_;
+ std::unique_ptr<StereoRectification> rectification_;
+ ftl::calibration::CalibrationData calibration_;
- cv::Size color_size_;
+ int64_t capts_;
+
+ //cv::Size color_size_;
cv::Size depth_size_;
- ftl::operators::Graph *pipeline_input_;
+ ftl::operators::Graph *pipeline_input_=nullptr;
ftl::operators::Graph *pipeline_depth_;
cv::cuda::GpuMat fullres_left_;
cv::cuda::GpuMat fullres_right_;
bool ready_;
-
- cv::cuda::Stream stream_;
- cv::cuda::Stream stream2_;
-
- std::vector<Frame> frames_;
+ bool do_update_params_ = false;
+ bool cap_status_ = false;
cv::Mat mask_l_;
+ cudaStream_t stream_;
+
+ ftl::Handle calibration_change_;
+ std::string fname_calib_;
void init(const std::string &);
};
diff --git a/components/rgbd-sources/test/CMakeLists.txt b/components/rgbd-sources/test/CMakeLists.txt
index b0d54ac91c82d8f798c7510ab4d86ac6ebaf97b9..16a83e404c1045ebd611dbdac3665b2383513220 100644
--- a/components/rgbd-sources/test/CMakeLists.txt
+++ b/components/rgbd-sources/test/CMakeLists.txt
@@ -6,18 +6,7 @@ $<TARGET_OBJECTS:CatchTest>
)
target_include_directories(source_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
target_link_libraries(source_unit
- ftlcommon ftlcodecs ftlnet Eigen3::Eigen ftldata ${CUDA_LIBRARIES})
+ ftlcommon ftlcalibration ftlcodecs ftlnet Eigen3::Eigen ftldata ${CUDA_LIBRARIES})
add_test(SourceUnitTest source_unit)
-### Frame Unit #################################################################
-add_executable(frame_unit
-$<TARGET_OBJECTS:CatchTest>
- ./frame_unit.cpp
- ../src/frame.cpp
-)
-target_include_directories(frame_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
-target_link_libraries(frame_unit
- ftlcommon ftlcodecs ftldata)
-
-add_test(FrameUnitTest frame_unit)
diff --git a/components/rgbd-sources/test/source_unit.cpp b/components/rgbd-sources/test/source_unit.cpp
index c1dbd76f5daf060f20fb8f09a7e1357dc783e4c7..fa6e861f7a23fac196d120fbda9a001b9204d728 100644
--- a/components/rgbd-sources/test/source_unit.cpp
+++ b/components/rgbd-sources/test/source_unit.cpp
@@ -3,6 +3,7 @@
//---- Mocks -------------------------------------------------------------------
#include <ftl/rgbd/source.hpp>
+#include "../src/basesource.hpp"
#include <ftl/config.h>
#include <nlohmann/json.hpp>
@@ -30,105 +31,101 @@ class Player {
namespace detail {
-class ImageSource : public ftl::rgbd::detail::Source {
+class ImageSource : public ftl::rgbd::BaseSourceImpl {
public:
- explicit ImageSource(ftl::rgbd::Source *host) : ftl::rgbd::detail::Source(host) {
+ explicit ImageSource(ftl::rgbd::Source *host) : ftl::rgbd::BaseSourceImpl(host) {
last_type = "image";
}
- ImageSource(ftl::rgbd::Source *host, const std::string &f) : ftl::rgbd::detail::Source(host) {
+ ImageSource(ftl::rgbd::Source *host, const std::string &f) : ftl::rgbd::BaseSourceImpl(host) {
last_type = "image";
}
bool capture(int64_t ts) { return true; }
- bool retrieve() { return true; }
- bool compute(int n, int b) { return true; };
+ bool retrieve(ftl::rgbd::Frame &) { return true; }
bool isReady() { return true; };
};
-class ScreenCapture : public ftl::rgbd::detail::Source {
+class ScreenCapture : public ftl::rgbd::BaseSourceImpl {
public:
- explicit ScreenCapture(ftl::rgbd::Source *host) : ftl::rgbd::detail::Source(host) {
+ explicit ScreenCapture(ftl::rgbd::Source *host) : ftl::rgbd::BaseSourceImpl(host) {
last_type = "screen";
}
bool capture(int64_t ts) { return true; }
- bool retrieve() { return true; }
- bool compute(int n, int b) { return true; };
+ bool retrieve(ftl::rgbd::Frame &) { return true; }
bool isReady() { return true; };
};
-class StereoVideoSource : public ftl::rgbd::detail::Source {
+class StereoVideoSource : public ftl::rgbd::BaseSourceImpl {
public:
- explicit StereoVideoSource(ftl::rgbd::Source *host) : ftl::rgbd::detail::Source(host) {
+ explicit StereoVideoSource(ftl::rgbd::Source *host) : ftl::rgbd::BaseSourceImpl(host) {
last_type = "video";
}
- StereoVideoSource(ftl::rgbd::Source *host, const std::string &f) : ftl::rgbd::detail::Source(host) {
+ StereoVideoSource(ftl::rgbd::Source *host, const std::string &f) : ftl::rgbd::BaseSourceImpl(host) {
last_type = "video";
}
bool capture(int64_t ts) { return true; }
- bool retrieve() { return true; }
- bool compute(int n, int b) { return true; };
+ bool retrieve(ftl::rgbd::Frame &) { return true; }
bool isReady() { return true; };
+
+ static bool supported(const std::string &dev) { return true; }
};
-class NetSource : public ftl::rgbd::detail::Source {
+class NetSource : public ftl::rgbd::BaseSourceImpl {
public:
- explicit NetSource(ftl::rgbd::Source *host) : ftl::rgbd::detail::Source(host) {
+ explicit NetSource(ftl::rgbd::Source *host) : ftl::rgbd::BaseSourceImpl(host) {
last_type = "net";
}
bool capture(int64_t ts) { return true; }
- bool retrieve() { return true; }
- bool compute(int n, int b) { return true; };
+ bool retrieve(ftl::rgbd::Frame &) { return true; }
bool isReady() { return true; };
};
-class SnapshotSource : public ftl::rgbd::detail::Source {
+class SnapshotSource : public ftl::rgbd::BaseSourceImpl {
public:
- SnapshotSource(ftl::rgbd::Source *host, ftl::rgbd::Snapshot &r, const std::string &) : ftl::rgbd::detail::Source(host) {
+ SnapshotSource(ftl::rgbd::Source *host, ftl::rgbd::Snapshot &r, const std::string &) : ftl::rgbd::BaseSourceImpl(host) {
last_type = "snapshot";
}
bool capture(int64_t ts) { return true; }
- bool retrieve() { return true; }
- bool compute(int n, int b) { return true; };
+ bool retrieve(ftl::rgbd::Frame &) { return true; }
bool isReady() { return true; };
};
-class FileSource : public ftl::rgbd::detail::Source {
+class FileSource : public ftl::rgbd::BaseSourceImpl {
public:
- FileSource(ftl::rgbd::Source *host, ftl::rgbd::Player *r, int) : ftl::rgbd::detail::Source(host) {
+ FileSource(ftl::rgbd::Source *host, ftl::rgbd::Player *r, int) : ftl::rgbd::BaseSourceImpl(host) {
last_type = "filesource";
}
bool capture(int64_t ts) { return true; }
- bool retrieve() { return true; }
- bool compute(int n, int b) { return true; };
+ bool retrieve(ftl::rgbd::Frame &) { return true; }
bool isReady() { return true; };
};
-class RealsenseSource : public ftl::rgbd::detail::Source {
+class RealsenseSource : public ftl::rgbd::BaseSourceImpl {
public:
- explicit RealsenseSource(ftl::rgbd::Source *host) : ftl::rgbd::detail::Source(host) {
+ explicit RealsenseSource(ftl::rgbd::Source *host) : ftl::rgbd::BaseSourceImpl(host) {
last_type = "realsense";
}
bool capture(int64_t ts) { return true; }
- bool retrieve() { return true; }
- bool compute(int n, int b) { return true; };
+ bool retrieve(ftl::rgbd::Frame &) { return true; }
bool isReady() { return true; };
+
+ static bool supported() { return true; }
};
-class MiddleburySource : public ftl::rgbd::detail::Source {
+class MiddleburySource : public ftl::rgbd::BaseSourceImpl {
public:
- MiddleburySource(ftl::rgbd::Source *host, const std::string &dir) : ftl::rgbd::detail::Source(host) {
+ MiddleburySource(ftl::rgbd::Source *host, const std::string &dir) : ftl::rgbd::BaseSourceImpl(host) {
last_type = "middlebury";
}
bool capture(int64_t ts) { return true; }
- bool retrieve() { return true; }
- bool compute(int n, int b) { return true; };
+ bool retrieve(ftl::rgbd::Frame &) { return true; }
bool isReady() { return true; };
};
diff --git a/components/streams/CMakeLists.txt b/components/streams/CMakeLists.txt
index 43722b88881e64e3517a63b225811437bcce7f05..59afb96f6e9869cad49673e8bc9e135a99515d4c 100644
--- a/components/streams/CMakeLists.txt
+++ b/components/streams/CMakeLists.txt
@@ -1,4 +1,4 @@
-#add_library(FtlStream OBJECT src/stream.cpp)
+#add_library(FtlStream OBJECT src/stream.cpp)
#target_include_directories(FtlStream PUBLIC
# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
# $<INSTALL_INTERFACE:include>
@@ -10,9 +10,16 @@ set(STREAMSRC
src/filestream.cpp
src/receiver.cpp
src/sender.cpp
+ src/feed.cpp
src/netstream.cpp
+ src/adaptive.cpp
src/injectors.cpp
src/parsers.cpp
+ src/builder.cpp
+ src/renderer.cpp
+ src/renderers/screen_render.cpp
+ src/renderers/openvr_render.cpp
+ src/renderers/collisions.cpp
)
add_library(ftlstreams ${STREAMSRC})
@@ -26,7 +33,9 @@ target_include_directories(ftlstreams PUBLIC
PRIVATE src)
#target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
-target_link_libraries(ftlstreams ftlrgbd ftlcommon ${OpenCV_LIBS} Eigen3::Eigen ftlnet ftlcodecs ftlaudio)
+target_link_libraries(ftlstreams ftlrgbd ftlrender ftlcommon ${OpenCV_LIBS} Eigen3::Eigen ftlnet ftlcodecs ftlaudio openvr)
+
+target_precompile_headers(ftlstreams REUSE_FROM ftldata)
if (BUILD_TESTS)
add_subdirectory(test)
diff --git a/components/streams/include/ftl/streams/builder.hpp b/components/streams/include/ftl/streams/builder.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..34572770485e9b0cafe3d79609bc234078469d1a
--- /dev/null
+++ b/components/streams/include/ftl/streams/builder.hpp
@@ -0,0 +1,189 @@
+#ifndef _FTL_STREAM_BUILDER_HPP_
+#define _FTL_STREAM_BUILDER_HPP_
+
+#include <ftl/data/new_frameset.hpp>
+#include <ftl/data/framepool.hpp>
+#include <ftl/handle.hpp>
+#include <ftl/transactional.hpp>
+#include <list>
+
+namespace ftl {
+namespace streams {
+
+using LockedFrameSet = ftl::Transactional<ftl::data::FrameSet*>;
+
+/**
+ * An abstract base class for a FrameSet database. A builder stores incomplete
+ * framesets whilst they are being created, allowing partial data to be buffered
+ * and searched for using timestamp and frameset id. One instance of a builder
+ * should be created for each frameset id.
+ */
+class BaseBuilder : public ftl::data::Generator {
+ public:
+ BaseBuilder(ftl::data::Pool *pool, int id);
+ BaseBuilder();
+ virtual ~BaseBuilder();
+
+ virtual LockedFrameSet get(int64_t timestamp, size_t ix)=0;
+
+ virtual LockedFrameSet get(int64_t timestamp)=0;
+
+ //void setName(const std::string &name);
+
+ void setID(uint32_t id) { id_ = id; }
+ void setPool(ftl::data::Pool *p) { pool_ = p; }
+ void setBufferSize(size_t s) { bufferSize_ = s; }
+ void setMaxBufferSize(size_t s) { max_buffer_size_ = s; }
+ void setCompletionSize(size_t s) { completion_size_ = s; }
+
+ inline ftl::Handle onFrameSet(const ftl::data::FrameSetCallback &cb) override { return cb_.on(cb); }
+
+ /**
+ * Retrieve an fps + latency pair, averaged since last call to this
+ * function.
+ */
+ static std::pair<float,float> getStatistics();
+
+ inline size_t size() const { return size_; }
+
+ inline const int id() const { return id_; }
+
+ inline const ftl::data::ChangeType changeType() const { return ctype_; }
+
+ protected:
+ ftl::data::Pool *pool_;
+ int id_;
+ size_t size_;
+ size_t bufferSize_ = 1;
+ size_t max_buffer_size_ = 16;
+ size_t completion_size_ = 8;
+ ftl::Handler<const ftl::data::FrameSetPtr&> cb_;
+ ftl::data::ChangeType ctype_ = ftl::data::ChangeType::COMPLETED;
+};
+
+/**
+ * A version of the frameset database that is used by sources or renderers to
+ * obtain new frames. Timestamps are not used in this version as only a single
+ * frameset is being buffered.
+ */
+class LocalBuilder : public BaseBuilder {
+ public:
+ LocalBuilder(ftl::data::Pool *pool, int id);
+ LocalBuilder();
+ virtual ~LocalBuilder();
+
+ LockedFrameSet get(int64_t timestamp, size_t ix) override;
+
+ LockedFrameSet get(int64_t timestamp) override;
+
+ void setFrameCount(size_t size);
+
+ /**
+ * Return a smart pointer to a new frameset. The frameset will have the
+ * number of frames set with `setFrameCount`, or 1 frame by default. Once
+ * called, another new frameset is buffered internally and ownership of the
+ * returned frameset is transfered.
+ */
+ std::shared_ptr<ftl::data::FrameSet> getNextFrameSet(int64_t ts);
+
+ private:
+ std::shared_ptr<ftl::data::FrameSet> frameset_;
+ SHARED_MUTEX mtx_;
+
+ std::shared_ptr<ftl::data::FrameSet> _allocate(int64_t timestamp);
+};
+
+/**
+ * A local builder that generates framesets using a timer and populates the
+ * frames using a discrete source object before generating a callback.
+ */
+class IntervalSourceBuilder : public LocalBuilder {
+ public:
+ IntervalSourceBuilder(ftl::data::Pool *pool, int id, ftl::data::DiscreteSource *src);
+ IntervalSourceBuilder(ftl::data::Pool *pool, int id, const std::list<ftl::data::DiscreteSource*> &srcs);
+ IntervalSourceBuilder();
+ ~IntervalSourceBuilder();
+
+ void start();
+ void stop();
+
+ private:
+ ftl::Handle capture_;
+ ftl::Handle retrieve_;
+ std::list<ftl::data::DiscreteSource *> srcs_;
+};
+
+/**
+ * A local builder that generates framesets manually and populates the
+ * frames using a discrete source object before generating a callback.
+ */
+class ManualSourceBuilder : public LocalBuilder {
+ public:
+ ManualSourceBuilder(ftl::data::Pool *pool, int id, ftl::data::DiscreteSource *src);
+ ManualSourceBuilder();
+ ~ManualSourceBuilder();
+
+ void tick();
+
+ inline void setFrameRate(int fps) { mspf_ = 1000/fps; };
+
+ private:
+ ftl::data::DiscreteSource *src_;
+ int mspf_ = 30;
+ int64_t last_timestamp_=0;
+};
+
+class ForeignBuilder : public BaseBuilder {
+ public:
+ ForeignBuilder(ftl::data::Pool *pool, int id);
+ ForeignBuilder();
+ ~ForeignBuilder();
+
+ //inline void setID(int id) { id_ = id; }
+
+ LockedFrameSet get(int64_t timestamp, size_t ix) override;
+
+ LockedFrameSet get(int64_t timestamp) override;
+
+ private:
+ std::list<std::shared_ptr<ftl::data::FrameSet>> framesets_; // Active framesets
+ //std::list<ftl::data::FrameSet*> allocated_; // Keep memory allocations
+
+ size_t head_;
+ MUTEX mutex_;
+ int mspf_;
+ int64_t last_ts_;
+ int64_t last_frame_;
+ std::atomic<int> jobs_;
+ volatile bool skip_;
+ ftl::Handle main_id_;
+
+ std::string name_;
+
+ static MUTEX msg_mutex__;
+ static float latency__;
+ static float fps__;
+ static int stats_count__;
+
+ /* Insert a new frameset into the buffer, along with all intermediate
+ * framesets between the last in buffer and the new one.
+ */
+ std::shared_ptr<ftl::data::FrameSet> _addFrameset(int64_t timestamp);
+
+ /* Find a frameset with given latency in frames. */
+ std::shared_ptr<ftl::data::FrameSet> _getFrameset();
+ std::shared_ptr<ftl::data::FrameSet> _get(int64_t timestamp);
+
+ /* Search for a matching frameset. */
+ std::shared_ptr<ftl::data::FrameSet> _findFrameset(int64_t ts);
+ //void _freeFrameset(std::shared_ptr<ftl::data::FrameSet>);
+
+ void _schedule();
+
+ //void _recordStats(float fps, float latency);
+};
+
+}
+}
+
+#endif
diff --git a/components/streams/include/ftl/streams/feed.hpp b/components/streams/include/ftl/streams/feed.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..4d6a0ebc8a32edbabad3c860f37e433ffa11db80
--- /dev/null
+++ b/components/streams/include/ftl/streams/feed.hpp
@@ -0,0 +1,267 @@
+#ifndef _FTL_STREAM_FEED_HPP_
+#define _FTL_STREAM_FEED_HPP_
+
+#include <ftl/configurable.hpp>
+#include <ftl/net/universe.hpp>
+#include <ftl/handle.hpp>
+
+#include <ftl/operators/operator.hpp>
+
+#include <ftl/rgbd/source.hpp>
+#include <ftl/data/framepool.hpp>
+#include <ftl/audio/mixer.hpp>
+#include <ftl/audio/speaker.hpp>
+
+#include <ftl/streams/stream.hpp>
+#include <ftl/streams/receiver.hpp>
+#include <ftl/streams/sender.hpp>
+#include <ftl/data/new_frameset.hpp>
+
+#include <ftl/render/CUDARender.hpp>
+
+namespace ftl {
+namespace render { class Source; }
+namespace stream {
+
+struct SourceInfo {
+ std::string uri;
+ int64_t last_used;
+
+ inline bool operator<(const SourceInfo &o) const { return last_used >= o.last_used; }
+};
+
+class Feed : public ftl::Configurable {
+public:
+ /**
+ * "Filtered feed"
+ */
+ class Filter {
+ friend Feed;
+ public:
+ const std::unordered_set<ftl::codecs::Channel>& channels() const { return channels_; };
+ const std::unordered_set<ftl::codecs::Channel>& availableChannels() const { return channels_available_; };
+ const std::unordered_set<uint32_t>& sources() const { return sources_; };
+
+ Filter &select(const std::unordered_set<ftl::codecs::Channel> &cs);
+
+ void on(const ftl::data::FrameSetCallback &cb);
+
+ ftl::Handle onWithHandle(const ftl::data::FrameSetCallback &cb);
+
+ void onRemove(const std::function<bool(uint32_t)> &cb);
+
+ /**
+ * Safely obtain frameset pointers for all framesets matched by this
+ * filter. This will be the most recently seen frameset at the time of
+ * this call. Used by renderer, for example.
+ */
+ std::list<ftl::data::FrameSetPtr> getLatestFrameSets();
+
+ /** remove filter; any references/pointers become invalid */
+ void remove();
+
+ protected:
+ /** removes filters, releases framesets */
+ ~Filter();
+
+ private:
+ Filter(Feed* feed, const std::unordered_set<uint32_t>& sources, const std::unordered_set<ftl::codecs::Channel>& channels);
+ Feed* feed_;
+ std::unordered_set<ftl::codecs::Channel> channels_;
+ std::unordered_set<ftl::codecs::Channel> channels_available_;
+ std::unordered_set<uint32_t> sources_;
+ ftl::Handler<const ftl::data::FrameSetPtr&> handler_;
+ ftl::Handler<uint32_t> remove_handler_;
+ std::vector<ftl::Handle> handles_;
+ };
+
+public:
+
+ Feed(nlohmann::json &config, ftl::net::Universe *net);
+ ~Feed();
+
+ /** list possible channels
+ * BUG:/TODO: only returns requested + persistent
+ */
+ const std::unordered_set<ftl::codecs::Channel> availableChannels(ftl::data::FrameID);
+
+ /** Add source (file path, device path or URI) */
+ uint32_t add(const std::string &str);
+ uint32_t add(const ftl::URI &uri);
+ uint32_t getID(const std::string &source);
+ std::string getURI(uint32_t fsid);
+
+ /** Get current frameset (cached) */
+ ftl::data::FrameSetPtr getFrameSet(uint32_t);
+
+ /**
+ * Get the configurable ID that corresponds to the original source. For
+ * net stream sources this may be a remote configurable.
+ */
+ std::string getSourceURI(ftl::data::FrameID id);
+
+ /**
+ * Get the renderer used to generate a frameset. This will return a nullptr
+ * if the frameset is not from a local renderer.
+ */
+ ftl::render::Source *getRenderer(ftl::data::FrameID id);
+
+ /**
+ * Get the RGB-Depth source for a frame, if the source is a local device.
+ * It will return a nullptr if there is no local source object.
+ */
+ ftl::rgbd::Source *getRGBD(ftl::data::FrameID id);
+
+ std::list<ftl::Configurable*> getPipelines(ftl::data::FrameID id);
+ std::list<ftl::Configurable*> getOperators(ftl::data::FrameID id, const std::string &name);
+
+ void remove(const std::string &str);
+ void remove(uint32_t id);
+
+ std::vector<std::string> listSources();
+ std::vector<ftl::data::FrameID> listFrames();
+ std::vector<unsigned int> listFrameSets();
+
+ std::set<ftl::stream::SourceInfo> recentSources();
+ std::vector<std::string> knownHosts();
+ std::vector<std::string> availableNetworkSources();
+ std::vector<std::string> availableFileSources();
+ std::vector<std::string> availableDeviceSources();
+ std::vector<std::string> availableGroups();
+ bool sourceAvailable(const std::string &uri);
+ bool sourceActive(const std::string &uri);
+
+ void clearFileHistory();
+ void clearHostHistory();
+
+ /**
+ * Perform a render tick for all render sources. Note that this must be
+ * called from the GUI / OpenGL thread.
+ */
+ void render();
+
+ inline ftl::audio::StereoMixerF<100> &mixer() { return mixer_; }
+
+ ftl::audio::Speaker *speaker() { return speaker_; }
+
+ void startRecording(Filter *, const std::string &filename);
+ void startStreaming(Filter *, const std::string &filename);
+ void startStreaming(Filter *);
+ void stopRecording();
+ bool isRecording();
+
+ inline ftl::Handle onNewSources(const std::function<bool(const std::vector<std::string> &)> &cb) { return new_sources_cb_.on(cb); }
+
+ inline ftl::Handle onAdd(const std::function<bool(uint32_t)> &cb) { return add_src_cb_.on(cb); }
+
+ inline ftl::Handle onRemoveSources(const std::function<bool(uint32_t)> &cb) { return remove_sources_cb_.on(cb); }
+
+ cv::Mat getThumbnail(const std::string &uri);
+ std::string getName(const std::string &uri);
+
+ void setPipelineCreator(const std::function<void(ftl::operators::Graph*)> &cb);
+
+ ftl::operators::Graph* addPipeline(const std::string &name);
+ ftl::operators::Graph* addPipeline(uint32_t fsid);
+ /** Returns pointer to filter object. Pointers will be invalid after Feed
+ * is destroyed. User is required to call Filter::remove() when filter
+ * no longer required */
+ Filter* filter(const std::unordered_set<uint32_t> &framesets, const std::unordered_set<ftl::codecs::Channel> &channels);
+ Filter* filter(const std::unordered_set<std::string> &sources, const std::unordered_set<ftl::codecs::Channel> &channels);
+ /** all framesets, selected channels */
+ Filter* filter(const std::unordered_set<ftl::codecs::Channel> &channels);
+
+ void removeFilter(Filter* filter);
+
+ void autoConnect();
+
+ void lowLatencyMode();
+
+ ftl::stream::Muxer *muxer() const { return stream_.get(); }
+
+private:
+ // public methods acquire lock if necessary, private methods assume locking
+ // managed by caller
+ SHARED_MUTEX mtx_;
+ std::condition_variable cv_net_connect_;
+
+ ftl::net::Universe* const net_;
+ ftl::audio::Speaker *speaker_;
+ std::unique_ptr<ftl::data::Pool> pool_;
+ std::unique_ptr<ftl::stream::Intercept> interceptor_;
+ // multiple streams to single fs
+ std::unique_ptr<ftl::stream::Muxer> stream_;
+
+ // streams to fs
+ std::unique_ptr<ftl::stream::Receiver> receiver_;
+ ftl::Handle handle_receiver_;
+ ftl::Handle handle_rec_error_;
+
+ // framesets to stream
+ std::unique_ptr<ftl::stream::Sender> sender_;
+ ftl::Handle handle_sender_;
+
+ std::unique_ptr<ftl::stream::Sender> recorder_;
+ std::unique_ptr<ftl::stream::Broadcast> record_stream_;
+ ftl::Handle handle_record_;
+ ftl::Handle handle_record2_;
+ ftl::Handle record_recv_handle_;
+ ftl::Handle record_new_client_;
+ Filter *record_filter_;
+
+ //ftl::Handler<const ftl::data::FrameSetPtr&> frameset_cb_;
+ std::unordered_map<std::string, uint32_t> fsid_lookup_;
+ std::map<uint32_t, ftl::data::FrameSetPtr> latest_;
+ std::unordered_map<std::string, uint32_t> groups_;
+
+ std::unordered_map<uint32_t, std::list<ftl::stream::Stream*>> streams_;
+ std::unordered_map<uint32_t, ftl::rgbd::Source*> devices_;
+ std::unordered_map<uint32_t, ftl::render::Source*> renderers_;
+ std::unordered_map<uint32_t, ftl::operators::Graph*> pre_pipelines_;
+ std::list<ftl::streams::ManualSourceBuilder*> render_builders_;
+ std::function<void(ftl::operators::Graph*)> pipe_creator_;
+
+ std::unordered_set<std::string> netcams_;
+ ftl::Handler<const std::vector<std::string> &> new_sources_cb_;
+ ftl::Handler<uint32_t> add_src_cb_;
+ ftl::Handler<uint32_t> remove_sources_cb_;
+
+ std::vector<Filter*> filters_;
+
+ uint32_t fs_counter_ = 0;
+ uint32_t file_counter_ = 0;
+
+ struct AudioMixerMapping {
+ int64_t last_timestamp=0;
+ int track=-1;
+ };
+
+ std::unordered_map<uint32_t, AudioMixerMapping> mixmap_;
+ ftl::audio::StereoMixerF<100> mixer_;
+
+ uint32_t allocateFrameSetId(const std::string &group);
+
+ void add(uint32_t fsid, const std::string &uri, ftl::stream::Stream *s);
+ nlohmann::json &_add_recent_source(const ftl::URI &uri);
+ void _saveThumbnail(const ftl::data::FrameSetPtr& fs);
+
+ /** callback for network (adds new sorces on connect/...) */
+ void _updateNetSources(ftl::net::Peer *p, bool autoadd=false);
+ void _updateNetSources(ftl::net::Peer *p, const std::string &uri, bool autoadd=false);
+ /** select channels and sources based on current filters_; */
+ void select();
+
+ void _createPipeline(uint32_t fsid);
+ ftl::operators::Graph* _addPipeline(uint32_t fsid);
+ void _dispatch(const ftl::data::FrameSetPtr &fs);
+ void _processAudio(const ftl::data::FrameSetPtr &fs);
+
+ void _beginRecord(Filter *f);
+ void _stopRecording();
+ bool _isRecording();
+};
+
+}
+}
+
+#endif
diff --git a/components/streams/include/ftl/streams/filestream.hpp b/components/streams/include/ftl/streams/filestream.hpp
index d1fea1d9f53956211e7f4b543c0e1ec15bf383c1..a2888c86411328afbd850a5a26c3e71f37e257be 100644
--- a/components/streams/include/ftl/streams/filestream.hpp
+++ b/components/streams/include/ftl/streams/filestream.hpp
@@ -2,6 +2,7 @@
#define _FTL_STREAM_FILESTREAM_HPP_
#include <ftl/streams/stream.hpp>
+#include <ftl/handle.hpp>
namespace ftl {
namespace stream {
@@ -20,7 +21,7 @@ class File : public Stream {
File(nlohmann::json &config, std::ofstream *);
~File();
- bool onPacket(const std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> &) override;
+ //bool onPacket(const std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> &) override;
bool post(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &) override;
@@ -71,17 +72,30 @@ class File : public Stream {
int64_t first_ts_;
bool active_;
int version_;
- ftl::timer::TimerHandle timer_;
+ ftl::Handle timer_;
bool is_video_;
bool save_data_;
- StreamCallback cb_;
+ struct FramesetData {
+ size_t frame_count=0;
+ bool needs_endframe = true;
+ std::vector<int> packet_counts;
+ int64_t timestamp = 0;
+ int64_t first_ts=-1;
+ int interval=50;
+ };
+ std::unordered_map<int,FramesetData> framesets_;
+
+ //StreamCallback cb_;
MUTEX mutex_;
MUTEX data_mutex_;
std::atomic<int> jobs_;
bool _open();
bool _checkFile();
+
+ /* Apply version patches etc... */
+ void _patchPackets(ftl::codecs::StreamPacket &spkt, ftl::codecs::Packet &pkt);
};
}
diff --git a/components/streams/include/ftl/streams/injectors.hpp b/components/streams/include/ftl/streams/injectors.hpp
index 0d2a35aeee928d89362c133f641b7b8f118061a8..b1bd707457ebd8613d20d6916337dff0b4a91341 100644
--- a/components/streams/include/ftl/streams/injectors.hpp
+++ b/components/streams/include/ftl/streams/injectors.hpp
@@ -2,6 +2,7 @@
#define _FTL_STREAM_INJECTORS_HPP_
#include <ftl/streams/stream.hpp>
+#include <ftl/rgbd/frameset.hpp>
namespace ftl {
namespace stream {
diff --git a/components/streams/include/ftl/streams/netstream.hpp b/components/streams/include/ftl/streams/netstream.hpp
index 89330c34f20beb1516548e680c6c72b47ac97db1..e804ac44bad69545835d2d6effb876db48c1f68d 100644
--- a/components/streams/include/ftl/streams/netstream.hpp
+++ b/components/streams/include/ftl/streams/netstream.hpp
@@ -1,16 +1,18 @@
#ifndef _FTL_STREAM_NETSTREAM_HPP_
#define _FTL_STREAM_NETSTREAM_HPP_
-#include <ftl/config.h>
#include <ftl/net/universe.hpp>
#include <ftl/threads.hpp>
#include <ftl/codecs/packet.hpp>
#include <ftl/streams/stream.hpp>
+#include <ftl/handle.hpp>
#include <string>
namespace ftl {
namespace stream {
+class AdaptiveBitrate;
+
namespace detail {
struct StreamClient {
ftl::UUID peerid;
@@ -26,30 +28,15 @@ struct StreamClient {
static const int kMaxFrames = 100;
/**
- * 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.
+ * Send and receive packets over a network. This class manages the connection
+ * of clients or the discovery of a stream and deals with bitrate adaptations.
+ * Each packet post is forwarded to each connected client that is still active.
*/
class Net : public Stream {
public:
Net(nlohmann::json &config, ftl::net::Universe *net);
~Net();
- bool onPacket(const std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> &) override;
-
bool post(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &) override;
bool begin() override;
@@ -60,6 +47,8 @@ class Net : public Stream {
inline const ftl::UUID &getPeer() const { return peer_; }
+ inline ftl::Handle onClientConnect(const std::function<bool(ftl::net::Peer*)> &cb) { return connect_cb_.on(cb); }
+
/**
* Return the average bitrate of all streams since the last call to this
* function. Units are Mbps.
@@ -70,18 +59,29 @@ class Net : public Stream {
SHARED_MUTEX mutex_;
bool active_;
ftl::net::Universe *net_;
- bool late_;
int64_t clock_adjust_;
ftl::UUID time_peer_;
ftl::UUID peer_;
int64_t last_frame_;
- int64_t frame_no_;
int64_t last_ping_;
std::string uri_;
+ std::string base_uri_;
bool host_;
int tally_;
std::array<std::atomic<int>,32> reqtally_;
- ftl::codecs::Channels<0> last_selected_;
+ std::unordered_set<ftl::codecs::Channel> last_selected_;
+ uint8_t bitrate_=255;
+ std::atomic_int64_t bytes_received_ = 0;
+ int64_t last_completion_ = 0;
+ int64_t time_at_last_ = 0;
+ float required_bps_;
+ float actual_bps_;
+ bool abr_enabled_;
+ bool paused_ = false;
+
+ AdaptiveBitrate *abr_;
+
+ ftl::Handler<ftl::net::Peer*> connect_cb_;
static float req_bitrate__;
static float sample_count__;
@@ -90,16 +90,10 @@ class Net : public Stream {
std::list<detail::StreamClient> clients_;
- StreamCallback cb_;
-
- bool _processRequest(ftl::net::Peer &p, const ftl::codecs::Packet &pkt);
+ bool _processRequest(ftl::net::Peer &p, ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt);
void _checkDataRate(size_t tx_size, int64_t tx_latency, int64_t ts);
- bool _sendRequest(ftl::codecs::Channel c, uint8_t frameset, uint8_t frames, uint8_t count, uint8_t bitrate);
+ bool _sendRequest(ftl::codecs::Channel c, uint8_t frameset, uint8_t frames, uint8_t count, uint8_t bitrate, bool doreset=false);
void _cleanUp();
-
- //void _addClient(int N, int rate, const ftl::UUID &peer, const std::string &dest);
- //void _transmitPacket(const ftl::codecs::Packet &pkt, ftl::codecs::Channel chan, int count);
- //void _transmitPacket(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt);
};
}
diff --git a/components/streams/include/ftl/streams/receiver.hpp b/components/streams/include/ftl/streams/receiver.hpp
index 5ca29947ae54d8a89cf16e04f1b05c8bf07d3158..090014243695a08956eeaf12aade4ba50ac30a5d 100644
--- a/components/streams/include/ftl/streams/receiver.hpp
+++ b/components/streams/include/ftl/streams/receiver.hpp
@@ -6,6 +6,8 @@
#include <ftl/audio/frameset.hpp>
#include <ftl/streams/stream.hpp>
#include <ftl/codecs/decoder.hpp>
+#include <ftl/audio/decoder.hpp>
+#include <ftl/streams/builder.hpp>
namespace ftl {
namespace stream {
@@ -13,68 +15,71 @@ namespace stream {
/**
* Convert packet streams into framesets.
*/
-class Receiver : public ftl::Configurable, public ftl::rgbd::Generator {
+class Receiver : public ftl::Configurable, public ftl::data::Generator {
public:
- explicit Receiver(nlohmann::json &config);
+ explicit Receiver(nlohmann::json &config, ftl::data::Pool *);
~Receiver();
void setStream(ftl::stream::Stream*);
/**
- * Encode and transmit an entire frame set. Frames may already contain
- * an encoded form, in which case that is used instead.
+ * Loop a response frame back into a local buffer. Should only be called
+ * for local builder framesets and probably only by `Feed`. It takes all
+ * changes in the frame and puts them as `createChange` in the next
+ * buffered frame in builder. The response frame is empty afterwards as
+ * the data is moved, not copied.
*/
- //void post(const ftl::rgbd::FrameSet &fs);
-
- // void write(const ftl::audio::FrameSet &f);
-
- size_t size() override;
-
- ftl::rgbd::FrameState &state(size_t ix) override;
+ void loopback(ftl::data::Frame &, ftl::codecs::Channel);
/**
* Register a callback for received framesets. Sources are automatically
* created to match the data received.
*/
- void onFrameSet(const ftl::rgbd::VideoCallback &cb) override;
+ ftl::Handle onFrameSet(const ftl::data::FrameSetCallback &cb) override;
- /**
- * Add a frameset handler to a specific stream ID.
- */
- void onFrameSet(size_t s, const ftl::rgbd::VideoCallback &cb);
+ ftl::Handle onError(const std::function<bool(ftl::data::FrameID)> &cb) { return error_cb_.on(cb); }
- void onAudio(const ftl::audio::FrameSet::Callback &cb);
+ ftl::streams::BaseBuilder &builder(uint32_t id);
+
+ void registerBuilder(const std::shared_ptr<ftl::streams::BaseBuilder> &b);
+
+ void processPackets(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt);
+
+ void removeBuilder(uint32_t id);
private:
ftl::stream::Stream *stream_;
- ftl::rgbd::VideoCallback fs_callback_;
- ftl::audio::FrameSet::Callback audio_cb_;
- ftl::rgbd::Builder builder_[ftl::stream::kMaxStreams];
+ ftl::data::Pool *pool_;
+ ftl::SingletonHandler<const ftl::data::FrameSetPtr&> callback_;
+ ftl::Handler<ftl::data::FrameID> error_cb_;
+ std::unordered_map<uint32_t, std::shared_ptr<ftl::streams::BaseBuilder>> builders_;
+ std::unordered_map<uint32_t, ftl::Handle> handles_;
ftl::codecs::Channel second_channel_;
int64_t timestamp_;
SHARED_MUTEX mutex_;
unsigned int frame_mask_;
+ ftl::Handle handle_;
struct InternalVideoStates {
InternalVideoStates();
- int64_t timestamp;
- ftl::rgbd::FrameState state;
- ftl::rgbd::Frame frame;
+ int64_t timestamps[32];
ftl::codecs::Decoder* decoders[32];
cv::cuda::GpuMat surface[32];
- MUTEX mutex;
+ RECURSIVE_MUTEX mutex;
ftl::codecs::Channels<0> completed;
+ int width=0;
+ int height=0;
};
struct InternalAudioStates {
InternalAudioStates();
int64_t timestamp;
- ftl::audio::FrameState state;
- ftl::audio::Frame frame;
+ //ftl::audio::Frame frame;
MUTEX mutex;
ftl::codecs::Channels<0> completed;
+ ftl::audio::Decoder *decoder;
};
std::vector<InternalVideoStates*> video_frames_[ftl::stream::kMaxStreams];
@@ -86,8 +91,11 @@ class Receiver : public ftl::Configurable, public ftl::rgbd::Generator {
void _processAudio(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt);
void _processVideo(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt);
void _createDecoder(InternalVideoStates &frame, int chan, const ftl::codecs::Packet &pkt);
+ ftl::audio::Decoder *_createAudioDecoder(InternalAudioStates &frame, const ftl::codecs::Packet &pkt);
InternalVideoStates &_getVideoFrame(const ftl::codecs::StreamPacket &spkt, int ix=0);
InternalAudioStates &_getAudioFrame(const ftl::codecs::StreamPacket &spkt, int ix=0);
+ void _finishPacket(ftl::streams::LockedFrameSet &fs, size_t fix);
+ void _terminateVideoPacket(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt);
};
}
diff --git a/components/streams/include/ftl/streams/renderer.hpp b/components/streams/include/ftl/streams/renderer.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..0ae3e7242aefebcb79ef835b1c52f1cf0a60de08
--- /dev/null
+++ b/components/streams/include/ftl/streams/renderer.hpp
@@ -0,0 +1,46 @@
+#ifndef _FTL_RENDER_SOURCE_HPP_
+#define _FTL_RENDER_SOURCE_HPP_
+
+#include <ftl/data/creators.hpp>
+#include <ftl/data/new_frameset.hpp>
+#include <ftl/render/renderer.hpp>
+#include <ftl/render/CUDARender.hpp>
+#include <ftl/streams/feed.hpp>
+#include <ftl/audio/mixer.hpp>
+
+namespace ftl {
+namespace render {
+
+class BaseSourceImpl;
+
+/**
+ * Wrap a renderer into a source entity that manages it. This obtains the
+ * relevant framesets and can be triggered by a builder to generate frames.
+ */
+class Source : public ftl::Configurable, public ftl::data::DiscreteSource {
+ public:
+ Source(nlohmann::json &, ftl::stream::Feed*);
+ ~Source();
+
+ inline std::string getURI() { return value("uri", std::string("")); }
+
+ bool capture(int64_t ts) override;
+ bool retrieve(ftl::data::Frame &) override;
+
+ static bool supports(const std::string &uri);
+
+ ftl::audio::StereoMixerF<100> &mixer();
+
+ ftl::stream::Feed::Filter *filter() const;
+
+ private:
+ ftl::stream::Feed *feed_;
+ ftl::render::BaseSourceImpl *impl_;
+
+ void reset();
+};
+
+}
+}
+
+#endif
diff --git a/components/streams/include/ftl/streams/sender.hpp b/components/streams/include/ftl/streams/sender.hpp
index 677990711d02afae03aeae1b2e9aac86c73091cc..e8530860890ae3c0824bd02b834224a44443eb8d 100644
--- a/components/streams/include/ftl/streams/sender.hpp
+++ b/components/streams/include/ftl/streams/sender.hpp
@@ -6,6 +6,7 @@
#include <ftl/audio/frameset.hpp>
#include <ftl/streams/stream.hpp>
#include <ftl/codecs/encoder.hpp>
+#include <ftl/audio/encoder.hpp>
#include <unordered_map>
@@ -24,28 +25,57 @@ class Sender : public ftl::Configurable {
/**
* Encode and transmit an entire frame set. Frames may already contain
- * an encoded form, in which case that is used instead.
+ * an encoded form, in which case that is used instead. If `noencode` is
+ * set to true then encoding is not performed if required and instead the
+ * channel is sent with empty data to mark availability.
*/
- void post(ftl::rgbd::FrameSet &fs);
+ void post(ftl::data::FrameSet &fs, ftl::codecs::Channel c, bool noencode=false);
+
+ /**
+ * Mark channel as posted without sending anything.
+ */
+ void fakePost(ftl::data::FrameSet &fs, ftl::codecs::Channel c);
+
+ /**
+ * Make the channel available in the stream even if not available locally.
+ */
+ void forceAvailable(ftl::data::FrameSet &fs, ftl::codecs::Channel c);
+
+ void post(ftl::data::Frame &f, ftl::codecs::Channel c);
/**
* Encode and transmit a set of audio channels.
*/
- void post(const ftl::audio::FrameSet &fs);
+ //void post(const ftl::audio::FrameSet &fs);
//void onStateChange(const std::function<void(ftl::codecs::Channel, int, int)>&);
void onRequest(const ftl::stream::StreamCallback &);
+ inline void resetSender() { do_inject_.clear(); }
+
+ /**
+ * Force only these channels to be encoded. Any channels that already have
+ * encoders but are not in this set then have their encoders deallocated.
+ */
+ void setActiveEncoders(uint32_t fsid, const std::unordered_set<ftl::codecs::Channel> &);
+
+ void resetEncoders(uint32_t fsid);
+
private:
ftl::stream::Stream *stream_;
int64_t timestamp_;
+ int64_t injection_timestamp_=0;
SHARED_MUTEX mutex_;
std::atomic_flag do_inject_;
+ std::atomic_flag do_reinject_;
//std::function<void(ftl::codecs::Channel, int, int)> state_cb_;
ftl::stream::StreamCallback reqcb_;
int add_iframes_;
- int iframe_;
+ unsigned int iframe_;
+ ftl::Handle handle_;
+ int64_t last_ts_=0;
+ int min_frame_interval_=0;
struct EncodingState {
uint8_t bitrate;
@@ -54,14 +84,35 @@ class Sender : public ftl::Configurable {
cudaStream_t stream;
};
+ struct AudioState {
+ ftl::audio::Encoder *encoder;
+ };
+
std::unordered_map<int, EncodingState> state_;
+ std::unordered_map<int, AudioState> audio_state_;
+ std::map<uint8_t, std::pair<int64_t,unsigned int>> bitrate_map_;
+ SHARED_MUTEX bitrate_mtx_;
+ int bitrate_timeout_;
//ftl::codecs::Encoder *_getEncoder(int fsid, int fid, ftl::codecs::Channel c);
void _encodeChannel(ftl::rgbd::FrameSet &fs, ftl::codecs::Channel c, bool reset);
- int _generateTiles(const ftl::rgbd::FrameSet &fs, int offset, ftl::codecs::Channel c, cv::cuda::Stream &stream, bool, bool);
+ void _encodeChannel(ftl::data::Frame &f, ftl::codecs::Channel c, bool reset);
+ void _encodeVideoChannel(ftl::rgbd::FrameSet &fs, ftl::codecs::Channel c, bool reset);
+ void _encodeAudioChannel(ftl::rgbd::FrameSet &fs, ftl::codecs::Channel c, bool reset);
+ void _encodeDataChannel(ftl::rgbd::FrameSet &fs, ftl::codecs::Channel c, bool reset);
+ void _encodeDataChannel(ftl::data::Frame &fs, ftl::codecs::Channel c, bool reset);
+
+ int _generateTiles(const ftl::rgbd::FrameSet &fs, int offset, ftl::codecs::Channel c, cv::cuda::Stream &stream, bool);
EncodingState &_getTile(int fsid, ftl::codecs::Channel c);
cv::Rect _generateROI(const ftl::rgbd::FrameSet &fs, ftl::codecs::Channel c, int offset, bool stereo);
float _selectFloatMax(ftl::codecs::Channel c);
+ ftl::audio::Encoder *_getAudioEncoder(int fsid, int sid, ftl::codecs::Channel c, ftl::codecs::Packet &pkt);
+
+ void _sendPersistent(ftl::data::FrameSet &fs);
+ void _send(ftl::rgbd::FrameSet &fs, ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt);
+
+ bool _checkNeedsIFrame(int64_t ts, bool injecting);
+ uint8_t _getMinBitrate();
};
}
diff --git a/components/streams/include/ftl/streams/stream.hpp b/components/streams/include/ftl/streams/stream.hpp
index 4baa178a97c7abd8fec3d7d3a2777dd81751cac4..451acdf354d7dbe77b4ebe2393d0fea6a8f8abc1 100644
--- a/components/streams/include/ftl/streams/stream.hpp
+++ b/components/streams/include/ftl/streams/stream.hpp
@@ -3,26 +3,27 @@
#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/rgbd/source.hpp>
+//#include <ftl/rgbd/group.hpp>
#include <ftl/codecs/encoder.hpp>
+#include <ftl/handle.hpp>
#include <ftl/threads.hpp>
#include <string>
#include <vector>
#include <map>
+#include <unordered_set>
#include <atomic>
namespace ftl {
namespace stream {
-typedef std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> StreamCallback;
+typedef std::function<bool(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> StreamCallback;
/**
* Base stream class to be implemented. Provides encode and decode functionality
* around a generic packet read and write mechanism. Some specialisations will
* provide and automatically handle control signals.
- *
+ *
* Streams are bidirectional, frames can be both received and written.
*/
class Stream : public ftl::Configurable {
@@ -36,7 +37,7 @@ class Stream : public ftl::Configurable {
* callback even after the read function returns, for example with a
* NetStream.
*/
- virtual bool onPacket(const StreamCallback &)=0;
+ ftl::Handle onPacket(const StreamCallback &cb) { return cb_.on(cb); };
virtual bool post(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)=0;
@@ -65,18 +66,20 @@ class Stream : public ftl::Configurable {
/**
* Query available video channels for a frameset.
*/
- const ftl::codecs::Channels<0> &available(int fs) const;
+ const std::unordered_set<ftl::codecs::Channel> &available(int fs) const;
/**
* Query selected channels for a frameset. Channels not selected may not
* be transmitted, received or decoded.
*/
- const ftl::codecs::Channels<0> &selected(int fs) const;
+ const std::unordered_set<ftl::codecs::Channel> &selected(int fs) const;
+
+ std::unordered_set<ftl::codecs::Channel> selectedNoExcept(int fs) const;
/**
* Change the video channel selection for a frameset.
*/
- void select(int fs, const ftl::codecs::Channels<0> &, bool make=false);
+ void select(int fs, const std::unordered_set<ftl::codecs::Channel> &, bool make=false);
/**
* Number of framesets in stream.
@@ -84,17 +87,18 @@ class Stream : public ftl::Configurable {
inline size_t size() const { return state_.size(); }
protected:
+ ftl::Handler<const ftl::codecs::StreamPacket&, const ftl::codecs::Packet&> cb_;
/**
* Allow modification of available channels. Calling this with an invalid
* fs number will create that frameset and increase the size.
*/
- ftl::codecs::Channels<0> &available(int fs);
+ std::unordered_set<ftl::codecs::Channel> &available(int fs);
private:
struct FSState {
- ftl::codecs::Channels<0> selected;
- ftl::codecs::Channels<0> available;
+ std::unordered_set<ftl::codecs::Channel> selected;
+ std::unordered_set<ftl::codecs::Channel> available;
};
std::vector<FSState> state_;
@@ -114,9 +118,10 @@ class Muxer : public Stream {
explicit Muxer(nlohmann::json &config);
virtual ~Muxer();
- void add(Stream *, size_t fsid=0);
+ void add(Stream *, size_t fsid=0, const std::function<int()> &cb=nullptr);
+ void remove(Stream *);
- bool onPacket(const StreamCallback &) override;
+ //bool onPacket(const StreamCallback &) override;
bool post(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &) override;
@@ -126,22 +131,27 @@ class Muxer : public Stream {
void reset() override;
- int originStream(size_t fsid, int fid);
+ ftl::stream::Stream *originStream(size_t fsid, int fid);
private:
struct StreamEntry {
Stream *stream;
- std::vector<int> maps;
+ std::unordered_map<int, std::vector<int>> maps;
+ uint32_t original_fsid = 0;
+ ftl::Handle handle;
+ std::vector<int> ids;
};
- std::vector<StreamEntry> streams_;
- std::vector<std::pair<size_t,int>> revmap_[kMaxStreams];
+ std::list<StreamEntry> streams_;
+ std::vector<std::pair<StreamEntry*,int>> revmap_[kMaxStreams];
+ //std::list<ftl::Handle> handles_;
int nid_[kMaxStreams];
- StreamCallback cb_;
+ //StreamCallback cb_;
SHARED_MUTEX mutex_;
void _notify(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt);
- int _lookup(size_t fsid, int sid, int ssid);
+ int _lookup(size_t fsid, StreamEntry *se, int ssid, int count);
+ void _forward(const std::string &name);
};
/**
@@ -158,7 +168,7 @@ class Broadcast : public Stream {
void remove(Stream *);
void clear();
- bool onPacket(const std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> &) override;
+ //bool onPacket(const std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> &) override;
bool post(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &) override;
@@ -168,9 +178,12 @@ class Broadcast : public Stream {
void reset() override;
+ const std::list<Stream*> &streams() const { return streams_; }
+
private:
std::list<Stream*> streams_;
- StreamCallback cb_;
+ std::list<ftl::Handle> handles_;
+ //StreamCallback cb_;
SHARED_MUTEX mutex_;
};
@@ -184,7 +197,7 @@ class Intercept : public Stream {
void setStream(Stream *);
- bool onPacket(const StreamCallback &) override;
+ //bool onPacket(const StreamCallback &) override;
bool onIntercept(const StreamCallback &);
bool post(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &) override;
@@ -197,7 +210,8 @@ class Intercept : public Stream {
private:
Stream *stream_;
- StreamCallback cb_;
+ std::list<ftl::Handle> handles_;
+ //StreamCallback cb_;
StreamCallback intercept_;
SHARED_MUTEX mutex_;
};
@@ -205,4 +219,34 @@ class Intercept : public Stream {
}
}
+std::unordered_set<ftl::codecs::Channel> operator&(const std::unordered_set<ftl::codecs::Channel> &a, const std::unordered_set<ftl::codecs::Channel> &b);
+
+std::unordered_set<ftl::codecs::Channel> operator-(const std::unordered_set<ftl::codecs::Channel> &a, const std::unordered_set<ftl::codecs::Channel> &b);
+
+inline std::unordered_set<ftl::codecs::Channel> &operator+=(std::unordered_set<ftl::codecs::Channel> &t, ftl::codecs::Channel c) {
+ t.insert(c);
+ return t;
+}
+
+inline std::unordered_set<ftl::codecs::Channel> &operator-=(std::unordered_set<ftl::codecs::Channel> &t, ftl::codecs::Channel c) {
+ t.erase(c);
+ return t;
+}
+
+inline std::unordered_set<ftl::codecs::Channel> operator+(const std::unordered_set<ftl::codecs::Channel> &t, ftl::codecs::Channel c) {
+ auto r = t;
+ r.insert(c);
+ return r;
+}
+
+inline std::unordered_set<ftl::codecs::Channel> operator+(ftl::codecs::Channel a, ftl::codecs::Channel b) {
+ std::unordered_set<ftl::codecs::Channel> r;
+ r.insert(a);
+ r.insert(b);
+ return r;
+}
+
+bool operator!=(const std::unordered_set<ftl::codecs::Channel> &a, const std::unordered_set<ftl::codecs::Channel> &b);
+
+
#endif // _FTL_STREAM_STREAM_HPP_
diff --git a/components/streams/src/adaptive.cpp b/components/streams/src/adaptive.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e34d5f8276d448a8402becf9e8aae1430dcfced0
--- /dev/null
+++ b/components/streams/src/adaptive.cpp
@@ -0,0 +1,136 @@
+#include "adaptive.hpp"
+
+#include <loguru.hpp>
+
+using ftl::stream::AdaptiveBitrate;
+using ftl::stream::ABRState;
+using ftl::stream::ABRNetworkStatus;
+
+ABRNetworkStatus AdaptiveBitrate::status(int t_frame, int t_recv) {
+ diff_error += t_recv - t_frame;
+ if (diff_error < 0) diff_error = 0;
+
+ float avgdiff = avg_err_(diff_error);
+
+ int change_dir = 0;
+ if (avgdiff > previous_diff_) change_dir = 1;
+ else if (avgdiff < previous_diff_) change_dir = -1;
+ float changer = avg_change_(change_dir);
+ previous_diff_ = avgdiff;
+
+ //LOG(INFO) << "Status measure: " << avgdiff << ", " << diff_error << ", " << changer;
+
+ if (next_status_-- > 0) return ABRNetworkStatus::Pending;
+
+ if ((changer == 1.0f && avgdiff >= 100.0f) || avgdiff > 200.0f) {
+ next_status_ = 20;
+ return ABRNetworkStatus::Degrading;
+ } else if (changer < 0.0f && avgdiff >= 100.0f) {
+ next_status_ = 5;
+ return ABRNetworkStatus::Improving;
+ } else if (avgdiff > 50.0f) {
+ return ABRNetworkStatus::Pending;
+ }
+
+ return ABRNetworkStatus::Stable;
+}
+
+ABRState AdaptiveBitrate::nextState() {
+ return ABRState::Maintain;
+}
+
+int AdaptiveBitrate::adjustment(int t_frame, int t_recv, int cur_rate) {
+
+ auto s = status(t_frame, t_recv);
+
+ if (s == ABRNetworkStatus::Degrading) {
+ stable_ = false;
+ if (last_increase_ > 0) known_unstable_ = std::min(known_unstable_, bitrate_);
+ if (known_stable_ >= bitrate_) known_stable_ = std::max(0, bitrate_-10);
+ bitrate_ = std::max(0, (last_increase_ > 0) ? bitrate_ - (2*last_increase_) : bitrate_/2);
+ LOG(INFO) << "Degrade to " << bitrate_;
+ last_increase_ = 0;
+ }
+
+ if (s == ABRNetworkStatus::Stable) {
+ ++stable_count_;
+ } else {
+ stable_count_ = 0;
+ }
+
+ if (stable_count_ >= ((stable_) ? 400 : 100)) {
+ stable_count_ = 0;
+ known_stable_ = std::max(known_stable_, bitrate_);
+
+ if (known_stable_ < known_unstable_) {
+ if (known_unstable_ - known_stable_ > 10) {
+ bitrate_ += 10;
+ last_increase_ = 10;
+ } else if (known_unstable_ - known_stable_ > 2) {
+ bitrate_ += 2;
+ last_increase_ = 2;
+ } else {
+ known_unstable_ += 2;
+ last_increase_ = std::max(0, known_stable_ - bitrate_);
+ LOG(INFO) << "JUMP TO STABLE 1";
+ stable_ = true;
+ bitrate_ = known_stable_;
+ }
+ } else if (known_unstable_ < known_stable_) {
+ known_unstable_ += 2;
+ last_increase_ = std::max(0, known_stable_ - bitrate_);
+ LOG(INFO) << "JUMP TO STABLE 2";
+ bitrate_ += last_increase_;
+ } else {
+ last_increase_ = 2;
+ bitrate_ = known_stable_+2;
+ }
+
+ if (last_increase_ > 0) LOG(INFO) << "Bitrate increase by " << last_increase_ << " to " << bitrate_;
+ }
+
+ // Needs a mode
+ // First undo last change if incrementing, and then retry with smaller increment
+ // Need to wait after drop to work through the delayed buffer.
+ // If not working after N frames, decrement again
+ // Maintain record of max stable rate so far, if increasing causes problem then
+ // rapidly decrease and attempt to return to previous known stable position.
+ // If returning to known stable causes problems again, decrement known stable and try again.
+
+ /*if (roll_ratio > 60.0f) {
+ bitrate_ = std::max(0, bitrate_-20);
+ } else if (roll_ratio > 30.0f) {
+ bitrate_ = std::max(0, bitrate_-2);
+ } else if (roll_ratio < 5.0f && cur_rate == bitrate_) {
+ bitrate_ = std::min(255, bitrate_+10);
+ } else if (roll_ratio < 10.0f && cur_rate == bitrate_) {
+ bitrate_ = std::min(255, bitrate_+2);
+ }*/
+
+ /*if (next_adjustment_-- <= 0) {
+ if (roll_ratio < 1.0f) {
+ bitrate_ = std::max(0, cur_rate-10);
+ LOG(INFO) << "Fast decrease bitrate to " << int(bitrate_);
+ pos_bitrate_ratio_ = 0;
+ next_adjustment_ = 20;
+ } else if (roll_ratio < 0.8f) {
+ bitrate_ = std::max(0, cur_rate-2);
+ LOG(INFO) << "Slow decrease bitrate to " << int(bitrate_);
+ pos_bitrate_ratio_ = 0;
+ next_adjustment_ = 6;
+ } else if (roll_ratio > 2.0f) {
+ bitrate_ = std::min(255, cur_rate+2);
+ increase_max_ = bitrate_;
+ LOG(INFO) << "Increase bitrate to " << int(bitrate_);
+ pos_bitrate_ratio_ = 0;
+ next_adjustment_ = 20;
+ } else {
+ pos_bitrate_ratio_ = 0;
+ }
+ }*/
+ //LOG(INFO) << "Bandwidth Ratio = " << roll_ratio << " (" << bitrate_ << ")";
+
+ bitrate_ = std::min(bitrate_, max_rate_);
+ return bitrate_;
+}
+
diff --git a/components/streams/src/adaptive.hpp b/components/streams/src/adaptive.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..e6b0513e9e208015dc49e15ffd1316de56f75b69
--- /dev/null
+++ b/components/streams/src/adaptive.hpp
@@ -0,0 +1,65 @@
+#ifndef _FTL_STREAM_ADAPTIVE_HPP_
+#define _FTL_STREAM_ADAPTIVE_HPP_
+
+#include <ftl/utility/rollingavg.hpp>
+
+namespace ftl {
+namespace stream {
+
+enum class ABRNetworkStatus {
+ Stable=0, // Appears stable but not room to increase much
+ Improving, // Going in correct direction but not resolved
+ Pending, // Not enough information yet
+ Degrading, // Urgently decrease bitrate
+ Good // Could potentially increase bitrate
+};
+
+enum class ABRState {
+ Unknown, // Current network conditions unknown
+ Increased_Recover, // Moving back to past stable point
+ Increased_Wait, // Gentle increase, wait for network status
+ Maintain, // Stay at current rate for a while
+ Decreased_Wait, // Decrease and wait for network status
+ Decreased_50_Wait, // Rapid decrease and move to recover
+};
+
+class AdaptiveBitrate {
+ public:
+ explicit AdaptiveBitrate(int initial) : bitrate_(initial) {}
+
+ inline void setMaxRate(int m) { max_rate_ = m; };
+
+ inline int current() const { return bitrate_; }
+
+ int adjustment(int t_frame, int t_recv, int rec_rate);
+
+ ABRNetworkStatus status(int, int);
+
+ ABRState nextState();
+
+ private:
+ int max_rate_=200;
+ int bitrate_=32;
+ int increase_max_=-1;
+ int diff_error=0;
+ float previous_diff_=0.0f;
+ int next_status_=10;
+ int known_stable_=-1;
+ int known_unstable_=255;
+ int stable_count_=0;
+ int last_increase_=0;
+ bool stable_=false;
+
+ ftl::utility::RollingAvg<int, 8u> avg_err_;
+ ftl::utility::RollingAvg<int, 8u> avg_ahead_;
+ ftl::utility::RollingAvg<float, 4u> avg_change_;
+
+ int pos_bitrate_ratio_ = 0;
+ int delay_bitrate_increase_ = 20;
+ int next_adjustment_=0;
+};
+
+}
+}
+
+#endif
diff --git a/components/streams/src/baserender.hpp b/components/streams/src/baserender.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..72a51e1336693e7b54e92d47868580178acad0f7
--- /dev/null
+++ b/components/streams/src/baserender.hpp
@@ -0,0 +1,43 @@
+#ifndef _FTL_RENDER_DETAIL_SOURCE_HPP_
+#define _FTL_RENDER_DETAIL_SOURCE_HPP_
+
+#include <Eigen/Eigen>
+#include <ftl/cuda_util.hpp>
+#include <ftl/rgbd/camera.hpp>
+#include <ftl/rgbd/frame.hpp>
+#include <ftl/audio/mixer.hpp>
+
+namespace ftl{
+namespace render {
+
+class Source;
+
+class BaseSourceImpl {
+ public:
+ friend class ftl::render::Source;
+
+ public:
+ explicit BaseSourceImpl(ftl::render::Source *host) : host_(host) { }
+ virtual ~BaseSourceImpl() {}
+
+ virtual bool capture(int64_t ts)=0;
+
+ virtual bool retrieve(ftl::data::Frame &frame)=0;
+
+ virtual bool isReady() { return false; };
+
+ ftl::render::Source *host() { return host_; }
+
+ inline ftl::audio::StereoMixerF<100> &mixer() { return mixer_; }
+
+ virtual ftl::stream::Feed::Filter *filter()=0;
+
+ protected:
+ ftl::render::Source *host_;
+ ftl::audio::StereoMixerF<100> mixer_; // TODO: Remove
+};
+
+}
+}
+
+#endif // _FTL_RENDER_DETAIL_SOURCE_HPP_
diff --git a/components/streams/src/builder.cpp b/components/streams/src/builder.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..620225c427516e26ccc60311de80e2c83d390fe5
--- /dev/null
+++ b/components/streams/src/builder.cpp
@@ -0,0 +1,462 @@
+#include <ftl/streams/builder.hpp>
+#include <ftl/timer.hpp>
+
+#define LOGURU_REPLACE_GLOG 1
+#include <loguru.hpp>
+
+#include <chrono>
+#include <bitset>
+
+using ftl::streams::BaseBuilder;
+using ftl::streams::ForeignBuilder;
+using ftl::streams::LocalBuilder;
+using ftl::streams::IntervalSourceBuilder;
+using ftl::streams::ManualSourceBuilder;
+using ftl::streams::LockedFrameSet;
+using ftl::data::FrameSet;
+using ftl::data::Frame;
+using namespace std::chrono;
+using std::this_thread::sleep_for;
+
+
+/*float Builder::latency__ = 0.0f;
+float Builder::fps__ = 0.0f;
+int Builder::stats_count__ = 0;
+MUTEX Builder::msg_mutex__;*/
+
+BaseBuilder::BaseBuilder(ftl::data::Pool *pool, int id) : pool_(pool), id_(id) {
+ size_ = 1;
+}
+
+BaseBuilder::BaseBuilder() : pool_(nullptr), id_(0) {
+ size_ = 1;
+}
+
+BaseBuilder::~BaseBuilder() {
+
+}
+
+// =============================================================================
+
+LocalBuilder::LocalBuilder(ftl::data::Pool *pool, int id) : BaseBuilder(pool, id) {
+ // Host receives responses that must propagate
+ ctype_ = ftl::data::ChangeType::FOREIGN;
+}
+
+LocalBuilder::LocalBuilder() : BaseBuilder() {
+ // Host receives responses that must propagate
+ ctype_ = ftl::data::ChangeType::FOREIGN;
+}
+
+LocalBuilder::~LocalBuilder() {
+
+}
+
+LockedFrameSet LocalBuilder::get(int64_t timestamp, size_t ix) {
+ SHARED_LOCK(mtx_, lk);
+ if (!frameset_) {
+ frameset_ = _allocate(timestamp);
+ }
+
+ LockedFrameSet lfs(frameset_.get(), &frameset_->smtx);
+ return lfs;
+}
+
+LockedFrameSet LocalBuilder::get(int64_t timestamp) {
+ SHARED_LOCK(mtx_, lk);
+ if (!frameset_) {
+ frameset_ = _allocate(timestamp);
+ }
+
+ LockedFrameSet lfs(frameset_.get(), &frameset_->smtx);
+ return lfs;
+}
+
+void LocalBuilder::setFrameCount(size_t size) {
+ // TODO: Resize the buffered frame!?
+ size_ = size;
+}
+
+std::shared_ptr<ftl::data::FrameSet> LocalBuilder::getNextFrameSet(int64_t ts) {
+ UNIQUE_LOCK(mtx_, lk);
+ if (!frameset_) {
+ frameset_ = _allocate(ts);
+ }
+ auto fs = frameset_;
+ frameset_ = _allocate(ts+1);
+ lk.unlock();
+
+ // Must lock to ensure no updates can happen here
+ UNIQUE_LOCK(fs->smtx, lk2);
+ fs->changeTimestamp(ts);
+ fs->localTimestamp = ts;
+ fs->store();
+ //for (auto &f : fs->frames) {
+ // f.store();
+ //}
+ return fs;
+}
+
+std::shared_ptr<ftl::data::FrameSet> LocalBuilder::_allocate(int64_t timestamp) {
+ auto newf = std::make_shared<FrameSet>(pool_, ftl::data::FrameID(id_,255), timestamp);
+ for (size_t i=0; i<size_; ++i) {
+ newf->frames.push_back(std::move(pool_->allocate(ftl::data::FrameID(id_, i), timestamp)));
+ }
+
+ newf->mask = 0xFF;
+ newf->clearFlags();
+ return newf;
+}
+
+// =============================================================================
+
+IntervalSourceBuilder::IntervalSourceBuilder(ftl::data::Pool *pool, int id, ftl::data::DiscreteSource *src) : LocalBuilder(pool, id), srcs_({src}) {
+
+}
+
+IntervalSourceBuilder::IntervalSourceBuilder(ftl::data::Pool *pool, int id, const std::list<ftl::data::DiscreteSource*> &srcs) : LocalBuilder(pool, id), srcs_(srcs) {
+
+}
+
+IntervalSourceBuilder::IntervalSourceBuilder() : LocalBuilder() {
+
+}
+
+IntervalSourceBuilder::~IntervalSourceBuilder() {
+
+}
+
+void IntervalSourceBuilder::start() {
+ capture_ = std::move(ftl::timer::add(ftl::timer::timerlevel_t::kTimerHighPrecision, [this](int64_t ts) {
+ for (auto *s : srcs_) s->capture(ts);
+ return true;
+ }));
+
+ retrieve_ = std::move(ftl::timer::add(ftl::timer::timerlevel_t::kTimerMain, [this](int64_t ts) {
+ auto fs = getNextFrameSet(ts);
+
+ // TODO: Do in parallel...
+ for (auto *s : srcs_) {
+ if (!s->retrieve(fs->firstFrame())) {
+ LOG(WARNING) << "Frame is being skipped: " << ts;
+ fs->firstFrame().message(ftl::data::Message::Warning_FRAME_DROP, "Frame is being skipped");
+ }
+ }
+
+ cb_.trigger(fs);
+ return true;
+ }));
+}
+
+void IntervalSourceBuilder::stop() {
+ capture_.cancel();
+ retrieve_.cancel();
+}
+
+// =============================================================================
+
+ManualSourceBuilder::ManualSourceBuilder(ftl::data::Pool *pool, int id, ftl::data::DiscreteSource *src) : LocalBuilder(pool, id), src_(src) {
+
+}
+
+ManualSourceBuilder::ManualSourceBuilder() : LocalBuilder(), src_(nullptr) {
+
+}
+
+ManualSourceBuilder::~ManualSourceBuilder() {
+
+}
+
+void ManualSourceBuilder::tick() {
+ if (!src_) return;
+
+ int64_t ts = ftl::timer::get_time();
+ if (ts < last_timestamp_ + mspf_) return;
+ last_timestamp_ = ts;
+
+ src_->capture(ts);
+
+ auto fs = getNextFrameSet(ts);
+
+ if (!src_->retrieve(fs->firstFrame())) {
+ LOG(WARNING) << "Frame was skipping";
+ fs->firstFrame().message(ftl::data::Message::Warning_FRAME_DROP, "Frame is being skipped");
+ }
+
+ cb_.trigger(fs);
+}
+
+// =============================================================================
+
+ForeignBuilder::ForeignBuilder(ftl::data::Pool *pool, int id) : BaseBuilder(pool, id), head_(0) {
+ jobs_ = 0;
+ skip_ = false;
+ bufferSize_ = 0;
+ last_frame_ = 0;
+
+ mspf_ = ftl::timer::getInterval();
+}
+
+ForeignBuilder::ForeignBuilder() : BaseBuilder(), head_(0) {
+ jobs_ = 0;
+ skip_ = false;
+ bufferSize_ = 0;
+ last_frame_ = 0;
+
+ mspf_ = ftl::timer::getInterval();
+}
+
+ForeignBuilder::~ForeignBuilder() {
+ main_id_.cancel();
+
+ UNIQUE_LOCK(mutex_, lk);
+ // Make sure all jobs have finished
+ while (jobs_ > 0) {
+ sleep_for(milliseconds(10));
+ }
+
+ // Also make sure to get unique lock on any processing framesets.
+ for (auto &f : framesets_) {
+ UNIQUE_LOCK(f->smtx, lk);
+ }
+}
+
+LockedFrameSet ForeignBuilder::get(int64_t timestamp) {
+ if (timestamp <= 0) throw FTL_Error("Invalid frame timestamp");
+
+ UNIQUE_LOCK(mutex_, lk);
+
+ auto fs = _get(timestamp);
+
+ if (fs) {
+ LockedFrameSet lfs(fs.get(), &fs->smtx, [this,fs](ftl::data::FrameSet *d) {
+ if (fs->isComplete()) {
+ if (bufferSize_ == 0 && !fs->test(ftl::data::FSFlag::STALE)) {
+ UNIQUE_LOCK(mutex_, lk);
+ _schedule();
+ }
+ }
+ });
+ return lfs;
+ } else {
+ return LockedFrameSet();
+ }
+}
+
+std::shared_ptr<ftl::data::FrameSet> ForeignBuilder::_get(int64_t timestamp) {
+ if (timestamp <= last_frame_) {
+ //throw FTL_Error("Frameset already completed: " << timestamp << " (" << last_frame_ << ")");
+ LOG(ERROR) << "Frameset already completed: " << timestamp << " (" << last_frame_ << ")";
+ return nullptr;
+ }
+
+ auto fs = _findFrameset(timestamp);
+
+ if (!fs) {
+ // Add new frameset
+ fs = _addFrameset(timestamp);
+ if (!fs) throw FTL_Error("Could not add frameset");
+
+ _schedule();
+ }
+
+ /*if (fs->test(ftl::data::FSFlag::STALE)) {
+ throw FTL_Error("Frameset already completed");
+ }*/
+ return fs;
+}
+
+LockedFrameSet ForeignBuilder::get(int64_t timestamp, size_t ix) {
+ if (ix == 255) {
+ UNIQUE_LOCK(mutex_, lk);
+
+ if (timestamp <= 0) throw FTL_Error("Invalid frame timestamp (" << timestamp << ")");
+ auto fs = _get(timestamp);
+
+ if (fs) {
+ LockedFrameSet lfs(fs.get(), &fs->smtx);
+ return lfs;
+ } else {
+ return LockedFrameSet();
+ }
+ } else {
+ if (timestamp <= 0 || ix >= 32) throw FTL_Error("Invalid frame timestamp or index (" << timestamp << ", " << ix << ")");
+
+ UNIQUE_LOCK(mutex_, lk);
+
+ if (ix >= size_) {
+ size_ = ix+1;
+ }
+
+ auto fs = _get(timestamp);
+
+ if (fs) {
+ if (ix >= fs->frames.size()) {
+ // FIXME: Check that no access to frames can occur without lock
+ UNIQUE_LOCK(fs->smtx, flk);
+ while (fs->frames.size() < size_) {
+ fs->frames.push_back(std::move(pool_->allocate(ftl::data::FrameID(fs->frameset(), + fs->frames.size()), fs->timestamp())));
+ }
+ }
+
+ LockedFrameSet lfs(fs.get(), &fs->smtx, [this,fs](ftl::data::FrameSet *d) {
+ if (fs->isComplete()) {
+ if (bufferSize_ == 0 && !fs->test(ftl::data::FSFlag::STALE)) {
+ UNIQUE_LOCK(mutex_, lk);
+ _schedule();
+ }
+ }
+ });
+
+ return lfs;
+ } else {
+ return LockedFrameSet();
+ }
+ }
+}
+
+void ForeignBuilder::_schedule() {
+ if (size_ == 0) return;
+ std::shared_ptr<ftl::data::FrameSet> fs;
+
+ // Still working on a previously scheduled frame
+ if (jobs_ > 0) return;
+
+ // Find a valid / completed frameset to process
+ fs = _getFrameset();
+
+ // We have a frameset so create a thread job to call the onFrameset callback
+ if (fs) {
+ jobs_++;
+
+ ftl::pool.push([this,fs](int) {
+ fs->store();
+
+ if (!fs->isComplete()) {
+ fs->set(ftl::data::FSFlag::PARTIAL);
+ fs->frames[0].message(ftl::data::Message::Warning_INCOMPLETE_FRAME, "Frameset not complete");
+ }
+
+ //UNIQUE_LOCK(fs->mutex(), lk2);
+
+ try {
+ cb_.trigger(fs);
+ } catch(const ftl::exception &e) {
+ LOG(ERROR) << "Exception in frameset builder: " << e.what();
+ //LOG(ERROR) << "Trace = " << e.trace();
+ } catch(std::exception &e) {
+ LOG(ERROR) << "Exception in frameset builder: " << e.what();
+ }
+
+ UNIQUE_LOCK(mutex_, lk);
+ //_freeFrameset(fs);
+ jobs_--;
+
+ // Schedule another frame immediately (or try to)
+ _schedule();
+ });
+ }
+
+}
+
+std::pair<float,float> BaseBuilder::getStatistics() {
+ return {-1.0f, -1.0f};
+}
+
+std::shared_ptr<ftl::data::FrameSet> ForeignBuilder::_findFrameset(int64_t ts) {
+ // Search backwards to find match
+ for (auto f : framesets_) {
+ if (f->timestamp() == ts) {
+ return f;
+ } else if (f->timestamp() < ts) {
+ return nullptr;
+ }
+ }
+
+ return nullptr;
+}
+
+/*
+ * Get the most recent completed frameset that isn't stale.
+ * Note: Must occur inside a mutex lock.
+ */
+std::shared_ptr<ftl::data::FrameSet> ForeignBuilder::_getFrameset() {
+ ftl::data::FrameSetPtr f;
+ auto i = framesets_.begin();
+ int N = bufferSize_;
+
+ // Skip N frames to fixed buffer location
+ if (bufferSize_ > 0) {
+ while (N-- > 0 && i != framesets_.end()) ++i;
+ if (i != framesets_.end()) f = *i;
+ } else {
+ // Force complete of old frame
+ if (framesets_.size() >= completion_size_) {
+ LOG(WARNING) << "Forced completion (" << framesets_.back()->frameset() << "): " << framesets_.back()->timestamp();
+ framesets_.back()->mask = 0xFF;
+ }
+
+ // Always choose oldest frameset when it completes
+ if (framesets_.size() > 0 && framesets_.back()->isComplete()) f = framesets_.back();
+ }
+
+ if (f) {
+ // Lock to force completion of on going construction first
+ UNIQUE_LOCK(f->smtx, slk);
+ last_frame_ = f->timestamp();
+ f->set(ftl::data::FSFlag::STALE);
+ slk.unlock();
+
+ if (!f->isComplete()) LOG(WARNING) << "Dispatching incomplete frameset: " << f->timestamp() << " (" << std::bitset<16>( f->mask ).to_string() << ")";
+
+ // Remove all previous framesets
+ while (framesets_.size() > 0) {
+ ftl::data::FrameSetPtr &f2 = framesets_.back();
+ if (f2.get() == f.get()) break;
+
+ LOG(WARNING) << "FrameSet discarded: " << f2->timestamp() << " (" << f->timestamp() << ")";
+ f2->set(ftl::data::FSFlag::DISCARD);
+ {
+ // Ensure frame processing is finished first
+ UNIQUE_LOCK(f2->smtx, lk);
+ }
+
+ framesets_.pop_back();
+ }
+
+ framesets_.pop_back();
+ return f;
+ }
+
+ return nullptr;
+}
+
+std::shared_ptr<ftl::data::FrameSet> ForeignBuilder::_addFrameset(int64_t timestamp) {
+ if (framesets_.size() >= max_buffer_size_) {
+ LOG(WARNING) << "Frameset buffer full, resetting: " << timestamp;
+ framesets_.clear();
+ //framesets_.pop_back();
+ }
+
+ auto newf = std::make_shared<FrameSet>(pool_, ftl::data::FrameID(id_,255), timestamp, size_);
+ for (size_t i=0; i<size_; ++i) {
+ newf->frames.push_back(std::move(pool_->allocate(ftl::data::FrameID(id_, i), timestamp)));
+ }
+
+ newf->mask = 0;
+ newf->localTimestamp = timestamp;
+ newf->clearFlags();
+
+ // Insertion sort by timestamp
+ for (auto i=framesets_.begin(); i!=framesets_.end(); i++) {
+ auto f = *i;
+
+ if (timestamp > f->timestamp()) {
+ framesets_.insert(i, newf);
+ return newf;
+ }
+ }
+
+ framesets_.push_back(newf);
+ return newf;
+}
diff --git a/components/streams/src/feed.cpp b/components/streams/src/feed.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d5d5533b6a23064f5efafda322b6675e47433f4d
--- /dev/null
+++ b/components/streams/src/feed.cpp
@@ -0,0 +1,1243 @@
+#include <loguru.hpp>
+#include <nlohmann/json.hpp>
+#include <ftl/streams/feed.hpp>
+#include <ftl/streams/renderer.hpp>
+
+#include <ftl/streams/netstream.hpp>
+#include <ftl/streams/filestream.hpp>
+
+#include "ftl/operators/colours.hpp"
+#include "ftl/operators/segmentation.hpp"
+#include "ftl/operators/mask.hpp"
+#include "ftl/operators/antialiasing.hpp"
+#include <ftl/operators/smoothing.hpp>
+#include <ftl/operators/disparity.hpp>
+#include <ftl/operators/detectandtrack.hpp>
+#include <ftl/operators/weighting.hpp>
+#include <ftl/operators/mvmls.hpp>
+#include <ftl/operators/clipping.hpp>
+#include <ftl/operators/poser.hpp>
+#include <ftl/operators/gt_analysis.hpp>
+
+using ftl::stream::Feed;
+using ftl::codecs::Channel;
+
+//static nlohmann::json feed_config;
+
+////////////////////////////////////////////////////////////////////////////////
+
+Feed::Filter::Filter(Feed* feed, const std::unordered_set<uint32_t>& sources, const std::unordered_set<Channel>& channels) :
+ feed_(feed), channels_(channels), channels_available_(channels), sources_(sources) {
+
+};
+
+Feed::Filter::~Filter() {
+
+}
+
+void Feed::Filter::remove() {
+ return feed_->removeFilter(this);
+}
+
+void Feed::Filter::on(const ftl::data::FrameSetCallback &cb) {
+ UNIQUE_LOCK(feed_->mtx_, lk);
+
+ if (std::find(feed_->filters_.begin(), feed_->filters_.end(),this) == feed_->filters_.end()) {
+ throw ftl::exception("Filter does not belong to Feed; This should never happen!");
+ }
+
+ handles_.push_back(std::move(handler_.on(cb)));
+}
+
+ftl::Handle Feed::Filter::onWithHandle(const ftl::data::FrameSetCallback &cb) {
+ UNIQUE_LOCK(feed_->mtx_, lk);
+
+ if (std::find(feed_->filters_.begin(), feed_->filters_.end(),this) == feed_->filters_.end()) {
+ throw ftl::exception("Filter does not belong to Feed; This should never happen!");
+ }
+
+ return std::move(handler_.on(cb));
+}
+
+std::list<ftl::data::FrameSetPtr> Feed::Filter::getLatestFrameSets() {
+ std::list<ftl::data::FrameSetPtr> results;
+
+ SHARED_LOCK(feed_->mtx_, lk);
+ if (sources_.empty()) {
+ for (auto &i : feed_->latest_) {
+ if (i.second) results.emplace_back(std::atomic_load(&(i.second)));
+ }
+ } else {
+ for (auto &s : sources_) {
+ auto i = feed_->latest_.find(s);
+ if (i != feed_->latest_.end()) {
+ if (i->second) results.emplace_back(std::atomic_load(&(i->second)));
+ }
+ }
+ }
+ return results;
+}
+
+Feed::Filter &Feed::Filter::select(const std::unordered_set<ftl::codecs::Channel> &cs) {
+ UNIQUE_LOCK(feed_->mtx_, lk);
+ channels_ = cs;
+ feed_->select();
+ return *this;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
+Feed::Feed(nlohmann::json &config, ftl::net::Universe*net) :
+ ftl::Configurable(config), net_(net) {
+
+ //feed_config = ftl::loadJSON(FTL_LOCAL_CONFIG_ROOT "/feed.json");
+ restore(ftl::Configurable::getID(), {
+ "recent_files",
+ "recent_sources",
+ "known_hosts",
+ "known_groups",
+ "auto_host_connect",
+ "auto_host_sources",
+ "uri",
+ "recorder"
+ });
+
+ speaker_ = ftl::create<ftl::audio::Speaker>(this, "speaker");
+
+ pool_ = std::make_unique<ftl::data::Pool>(3,5);
+
+ stream_ = std::unique_ptr<ftl::stream::Muxer>
+ (ftl::create<ftl::stream::Muxer>(this, "muxer"));
+
+ interceptor_ = std::unique_ptr<ftl::stream::Intercept>
+ (ftl::create<ftl::stream::Intercept>(this, "intercept"));
+
+ receiver_ = std::unique_ptr<ftl::stream::Receiver>
+ (ftl::create<ftl::stream::Receiver>(this, "receiver", pool_.get()));
+
+ sender_ = std::unique_ptr<ftl::stream::Sender>
+ (ftl::create<ftl::stream::Sender>(this, "sender"));
+
+ recorder_ = std::unique_ptr<ftl::stream::Sender>
+ (ftl::create<ftl::stream::Sender>(this, "recorder"));
+ record_stream_ = std::unique_ptr<ftl::stream::Broadcast>
+ (ftl::create<ftl::stream::Broadcast>(this, "record_stream"));
+ recorder_->setStream(record_stream_.get());
+
+ record_recv_handle_ = record_stream_->onPacket([this](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ receiver_->processPackets(spkt, pkt);
+ return true;
+ });
+
+ record_filter_ = nullptr;
+
+ //interceptor_->setStream(stream_.get());
+ receiver_->setStream(stream_.get());
+ sender_->setStream(stream_.get());
+
+ handle_sender_ = pool_->onFlush([this]
+ (ftl::data::Frame &f, ftl::codecs::Channel c) {
+
+ // Send only reponse channels on a per frame basis
+ if (f.mode() == ftl::data::FrameMode::RESPONSE) {
+ // Remote sources need to use sender, otherwise loopback to local
+ if (streams_.find(f.frameset()) != streams_.end()) {
+ sender_->post(f, c);
+ } else {
+ receiver_->loopback(f, c);
+ }
+ }
+ return true;
+ });
+
+ net_->onConnect([this](ftl::net::Peer *p) {
+ ftl::pool.push([this,p](int id) {
+ _updateNetSources(p);
+ });
+ });
+
+ if (net_->isBound("add_stream")) net_->unbind("add_stream");
+ net_->bind("add_stream", [this](ftl::net::Peer &p, std::string uri){
+ //UNIQUE_LOCK(mtx_, lk);
+ _updateNetSources(&p, uri);
+ });
+
+ net_->onDisconnect([this](ftl::net::Peer *) {
+ // TODO: maintain map between peer and sources, on disconnect remove all
+ // peer's source. Also map between Peers and fsids?
+ //std::unique_lock<std::mutex> lk(mtx_);
+ });
+
+ handle_rec_error_ = receiver_->onError([this](ftl::data::FrameID fid) {
+ LOG(WARNING) << "Receiver error: resetting";
+ stream_->reset();
+ speaker_->reset();
+ mixer_.reset();
+ return true;
+ });
+
+ handle_receiver_ = receiver_->onFrameSet(
+ [this](const ftl::data::FrameSetPtr& fs) {
+ if (value("drop_partial_framesets", false)) {
+ if (!fs->isComplete()) {
+ LOG(WARNING) << "Dropping partial frameset: " << fs->timestamp();
+ return true;
+ }
+ }
+
+ ftl::operators::Graph *pipeline = nullptr;
+
+ SHARED_LOCK(mtx_, lk);
+ if (pre_pipelines_.count(fs->frameset()) == 1) {
+ pipeline = pre_pipelines_[fs->frameset()];
+ }
+
+ lk.unlock();
+
+ bool did_pipe = false;
+
+ if (pipeline) {
+ bool did_pipe = pipeline->queue(fs, [this,fs]() {
+ _dispatch(fs);
+ });
+
+ if (!did_pipe) {
+ LOG(WARNING) << "Feed Pipeline dropped (" << fs->frameset() << ")";
+ ftl::pool.push([this,fs](int id) {
+ _dispatch(fs);
+ });
+ }
+
+ _processAudio(fs);
+ } else {
+ _processAudio(fs);
+ _dispatch(fs);
+ }
+
+ return true;
+ });
+
+ stream_->begin();
+
+ //if (value("auto_host_connect", true)) autoConnect();
+}
+
+Feed::~Feed() {
+ UNIQUE_LOCK(mtx_, lk);
+ //ftl::saveJSON(FTL_LOCAL_CONFIG_ROOT "/feed.json", feed_config);
+
+ handle_receiver_.cancel();
+ handle_rec_error_.cancel();
+ handle_record_.cancel();
+ handle_sender_.cancel();
+ record_recv_handle_.cancel();
+
+ receiver_.reset(); // Note: Force destruction first to remove filters this way
+ sender_.reset();
+ recorder_.reset();
+
+ // TODO stop everything and clean up
+ // delete
+
+ for (auto &p : pre_pipelines_) {
+ delete p.second;
+ }
+ for (auto &d : devices_) {
+ delete d.second;
+ }
+ for (auto &r : renderers_) {
+ lk.unlock();
+ delete r.second;
+ lk.lock();
+ }
+
+ if (filters_.size() > 0) LOG(WARNING) << "Filters remain after feed destruct (" << filters_.size() << ")";
+ for (auto* filter : filters_) {
+ delete filter;
+ }
+ filters_.clear();
+
+ interceptor_.reset();
+ stream_.reset();
+
+ std::unordered_set<ftl::stream::Stream*> garbage;
+
+ for (auto &ls : streams_) {
+ for (auto *s : ls.second) {
+ //delete s;
+ garbage.insert(s);
+ }
+ }
+
+ for (auto *s : garbage) {
+ delete s;
+ }
+
+ delete speaker_;
+}
+
+void Feed::_processAudio(const ftl::data::FrameSetPtr &fs) {
+ if (mixer_.frames() > 50) {
+ mixer_.reset();
+ }
+
+ for (auto &f : fs->frames) {
+ // If audio is present, mix with the other frames
+ if (f.hasChannel(Channel::AudioStereo)) {
+ // Map a mixer track to this frame
+ auto &mixmap = mixmap_[f.id().id];
+ if (mixmap.track == -1) {
+ mixmap.track = mixer_.add(f.name());
+ }
+
+ // Do mix but must not mix same frame multiple times
+ if (mixmap.last_timestamp != f.timestamp()) {
+ const auto &audio = f.get<std::list<ftl::audio::Audio>>(Channel::AudioStereo).front();
+ mixer_.write(mixmap.track, audio.data());
+ mixmap.last_timestamp = f.timestamp();
+ }
+ }
+ }
+
+ mixer_.mix();
+}
+
+void Feed::_dispatch(const ftl::data::FrameSetPtr &fs) {
+ SHARED_LOCK(mtx_, lk);
+
+ std::atomic_store(&latest_.at(fs->frameset()), fs);
+
+ if (fs->hasAnyChanged(Channel::Thumbnail)) {
+ _saveThumbnail(fs);
+ }
+
+ for (auto* filter : filters_) {
+ // TODO: smarter update (update only when changed) instead of
+ // filter->channels_available_ = fs->channels();
+
+ if (filter->sources().empty()) {
+ //filter->channels_available_ = fs->channels();
+ filter->handler_.triggerParallel(fs);
+ }
+ else {
+ // TODO: process partial/complete sets here (drop), that is
+ // intersection filter->sources() and fs->sources() is
+ // same as filter->sources().
+
+ // TODO: reverse map source ids required here?
+ for (const auto& src : filter->sources()) {
+ //if (fs->hasFrame(src)) {
+ if (fs->frameset() == src) {
+ //filter->channels_available_ = fs->channels();
+ filter->handler_.triggerParallel(fs);
+ break;
+ }
+ }
+ }
+ }
+}
+
+void Feed::_saveThumbnail(const ftl::data::FrameSetPtr& fs) {
+ // TODO: Put thumb somewhere here...
+}
+
+uint32_t Feed::allocateFrameSetId(const std::string &group) {
+ if (group.size() == 0) {
+ return fs_counter_++;
+ } else {
+ auto i = groups_.find(group);
+ if (i == groups_.end()) {
+ uint32_t id = fs_counter_++;
+ groups_[group] = id;
+ return id;
+ } else {
+ return i->second;
+ }
+ }
+}
+
+void Feed::select() {
+ std::map<uint32_t, std::unordered_set<Channel>> selected_channels;
+ for (auto &filter : filters_) {
+ const auto& selected = filter->channels();
+
+ if (filter->sources().empty()) {
+ // no sources: select all sources with selected channels
+ for (const auto& [uri, fsid] : fsid_lookup_) {
+ std::ignore = uri;
+ selected_channels[fsid].insert(selected.begin(), selected.end());
+ }
+ }
+ else {
+ // sources given
+ for (const auto& fsid : filter->sources()) {
+ if (selected_channels.count(fsid) == 0) {
+ selected_channels.try_emplace(fsid);
+ }
+ selected_channels[fsid].insert(selected.begin(), selected.end());
+ }
+ }
+ }
+ for (auto& [fsid, channels] : selected_channels) {
+ stream_->select(fsid, channels, true);
+ LOG(INFO) << "Update selections";
+ for (auto c : channels) {
+ LOG(INFO) << " -- select " << (int)c;
+ }
+ }
+}
+
+std::vector<std::string> Feed::listSources() {
+ std::vector<std::string> sources;
+ SHARED_LOCK(mtx_, lk);
+ sources.reserve(fsid_lookup_.size());
+ for (auto& [uri, fsid] : fsid_lookup_) {
+ std::ignore = fsid;
+ sources.push_back(uri);
+ }
+ return sources;
+}
+
+Feed::Filter* Feed::filter(const std::unordered_set<uint32_t> &framesets,
+ const std::unordered_set<Channel> &channels) {
+
+ auto* filter = new Filter(this, framesets, channels);
+ UNIQUE_LOCK(mtx_, lk);
+ filters_.push_back(filter);
+ select();
+ return filter;
+}
+
+Feed::Filter* Feed::filter(const std::unordered_set<Channel> &channels) {
+ return filter(std::unordered_set<uint32_t>{}, channels);
+}
+
+Feed::Filter* Feed::filter(const std::unordered_set<std::string> &sources, const std::unordered_set<Channel> &channels) {
+ std::unordered_set<uint32_t> fsids;
+
+ SHARED_LOCK(mtx_, lk);
+ for (const auto &src : sources) {
+ ftl::URI uri(src);
+
+ auto i = fsid_lookup_.find(uri.getBaseURI());
+ if (i != fsid_lookup_.end()) {
+ fsids.emplace(i->second);
+ }
+ }
+ return filter(fsids, channels);
+}
+
+void Feed::remove(const std::string &str) {
+ uint32_t fsid;
+
+ {
+ UNIQUE_LOCK(mtx_, lk);
+ auto i = fsid_lookup_.find(str);
+ if (i != fsid_lookup_.end()) {
+ fsid = i->second;
+ } else {
+ return;
+ }
+ }
+
+ remove(fsid);
+}
+
+void Feed::remove(uint32_t id) {
+ UNIQUE_LOCK(mtx_, lk);
+
+ // First tell all filters
+ for (auto *f : filters_) {
+ if (f->sources_.empty() || f->sources_.count(id)) {
+ f->remove_handler_.trigger(id);
+ }
+ }
+
+ remove_sources_cb_.trigger(id);
+
+ // TODO: Actual delete of source
+ // If stream source, remove from muxer
+ if (streams_.count(id)) {
+ auto &streams = streams_[id];
+ for (auto *s : streams) {
+ stream_->remove(s);
+ delete s;
+ }
+
+ streams_.erase(id);
+ } else if (devices_.count(id)) {
+ receiver_->removeBuilder(id);
+ delete devices_[id];
+ devices_.erase(id);
+ } else if (renderers_.count(id)) {
+
+ }
+
+ if (latest_.count(id)) latest_.erase(id);
+
+ for (auto i = fsid_lookup_.begin(); i != fsid_lookup_.end();) {
+ if (i->second == id) {
+ i = fsid_lookup_.erase(i);
+ } else {
+ ++i;
+ }
+ }
+}
+
+ftl::operators::Graph* Feed::addPipeline(uint32_t fsid) {
+ UNIQUE_LOCK(mtx_, lk);
+ return _addPipeline(fsid);
+}
+
+ftl::operators::Graph* Feed::_addPipeline(uint32_t fsid) {
+ if (pre_pipelines_.count(fsid) != 0) {
+ delete pre_pipelines_[fsid];
+ }
+
+ if (devices_.count(fsid)) {
+ pre_pipelines_[fsid] = ftl::config::create<ftl::operators::Graph>
+ (devices_[fsid], std::string("pipeline_")+std::to_string(fsid));
+ } else if (renderers_.count(fsid)) {
+ pre_pipelines_[fsid] = ftl::config::create<ftl::operators::Graph>
+ (renderers_[fsid], std::string("pipeline")+std::to_string(fsid));
+ } else if (streams_.count(fsid)) {
+ pre_pipelines_[fsid] = ftl::config::create<ftl::operators::Graph>
+ (streams_[fsid].front(), std::string("pipeline")+std::to_string(fsid));
+ }
+
+ //pre_pipelines_[fsid] = ftl::config::create<ftl::operators::Graph>
+ // (this, std::string("pre_filters") + std::to_string(fsid));
+
+ return pre_pipelines_[fsid];
+}
+
+void Feed::_createPipeline(uint32_t fsid) {
+ // Don't recreate if already exists
+ if (pre_pipelines_.count(fsid)) return;
+
+ LOG(INFO) << "Creating pipeline: " << fsid;
+ auto *p = _addPipeline(fsid);
+
+ if (pipe_creator_) {
+ pipe_creator_(p);
+ } else {
+ p->append<ftl::operators::DepthChannel>("depth")->value("enabled", false);
+ p->append<ftl::operators::ClipScene>("clipping")->value("enabled", false);
+ p->append<ftl::operators::ColourChannels>("colour"); // Convert BGR to BGRA
+ //p->append<ftl::operators::HFSmoother>("hfnoise");
+ p->append<ftl::operators::CrossSupport>("cross");
+ p->append<ftl::operators::PixelWeights>("weights");
+ p->append<ftl::operators::CullWeight>("remove_weights")->value("enabled", false);
+ p->append<ftl::operators::DegradeWeight>("degrade");
+ p->append<ftl::operators::VisCrossSupport>("viscross")->set("enabled", false);
+ p->append<ftl::operators::BorderMask>("border_mask");
+ p->append<ftl::operators::CullDiscontinuity>("remove_discontinuity");
+ p->append<ftl::operators::MultiViewMLS>("mvmls")->value("enabled", false);
+ p->append<ftl::operators::DisplayMask>("display_mask")->value("enabled", false);
+ p->append<ftl::operators::Poser>("poser")->value("enabled", true);
+ p->append<ftl::operators::GTAnalysis>("gtanalyse");
+ p->append<ftl::operators::DetectAndTrack>("facedetection")->value("enabled", false);
+ p->append<ftl::operators::ArUco>("aruco")->value("enabled", false);
+ }
+}
+
+void Feed::setPipelineCreator(const std::function<void(ftl::operators::Graph*)> &cb) {
+ UNIQUE_LOCK(mtx_, lk);
+ pipe_creator_ = cb;
+}
+
+void Feed::removeFilter(Feed::Filter* filter) {
+ UNIQUE_LOCK(mtx_, lk);
+
+ if (record_filter_ == filter) {
+ _stopRecording();
+ }
+
+ auto iter = std::find(filters_.begin(), filters_.end(), filter);
+ if (iter != filters_.end()) {
+ filters_.erase(iter);
+ delete filter;
+ }
+}
+
+void Feed::_updateNetSources(ftl::net::Peer *p, const std::string &s, bool autoadd) {
+ UNIQUE_LOCK(mtx_, lk);
+ netcams_.insert(s);
+
+ // TODO: Auto add source
+
+ ftl::URI uri(s);
+ _add_recent_source(uri)["host"] = p->getURI();
+
+ if (autoadd || value("auto_host_sources", false)) {
+ add(uri);
+ }
+
+ std::vector<std::string> srcs{s};
+ new_sources_cb_.triggerAsync(srcs);
+}
+
+void Feed::_updateNetSources(ftl::net::Peer *p, bool autoadd) {
+ //auto netcams =
+ // net_->findAll<std::string>("list_streams");
+
+ // Peer may not have a list_streams binding yet
+ try {
+ auto peerstreams = p->call<std::vector<std::string>>("list_streams");
+
+
+ UNIQUE_LOCK(mtx_, lk);
+ //netcams_ = std::move(netcams);
+ netcams_.insert(peerstreams.begin(), peerstreams.end());
+
+ for (const auto &s : peerstreams) {
+ ftl::URI uri(s);
+ _add_recent_source(uri)["host"] = p->getURI();
+
+ if (autoadd || value("auto_host_sources", false)) {
+ ftl::pool.push([this, uri](int id) { add(uri); });
+ }
+ }
+
+ new_sources_cb_.triggerAsync(peerstreams);
+ } catch (const ftl::exception &e) {
+
+ }
+
+ /* done by add()
+ if (n > 0) {
+ stream_->begin();
+ }*/
+}
+
+std::vector<std::string> Feed::availableNetworkSources() {
+ SHARED_LOCK(mtx_, lk);
+ std::vector<std::string> result(netcams_.begin(), netcams_.end());
+ return result;;
+}
+
+std::vector<std::string> Feed::availableGroups() {
+ std::vector<std::string> groups;
+ auto &known = getConfig()["known_groups"];
+
+ for (auto &f : known.items()) {
+ groups.push_back(f.key());
+ }
+
+ return groups;
+}
+
+std::vector<std::string> Feed::availableFileSources() {
+ std::vector<std::string> files;
+ auto &recent_files = getConfig()["recent_files"];
+
+ for (auto &f : recent_files.items()) {
+ files.push_back(f.key());
+ }
+
+ return files;
+}
+
+void Feed::clearFileHistory() {
+ UNIQUE_LOCK(mtx_, lk);
+ auto &recent_files = getConfig()["recent_files"];
+ recent_files.clear();
+
+ auto &recent = getConfig()["recent_sources"];
+ for (auto i=recent.begin(); i != recent.end();) {
+ ftl::URI uri(i.key());
+ if (uri.getScheme() == ftl::URI::SCHEME_FILE) {
+ i = recent.erase(i);
+ } else {
+ ++i;
+ }
+ }
+}
+
+std::vector<std::string> Feed::knownHosts() {
+ std::vector<std::string> hosts;
+ auto &known = getConfig()["known_hosts"];
+
+ for (auto &f : known.items()) {
+ hosts.push_back(f.key());
+ }
+
+ return hosts;
+}
+
+void Feed::clearHostHistory() {
+ UNIQUE_LOCK(mtx_, lk);
+ auto &known = getConfig()["known_hosts"];
+ known.clear();
+
+ auto &recent = getConfig()["recent_sources"];
+ for (auto i=recent.begin(); i != recent.end();) {
+ ftl::URI uri(i.key());
+ if (uri.getScheme() == ftl::URI::SCHEME_TCP || uri.getScheme() == ftl::URI::SCHEME_WS) {
+ i = recent.erase(i);
+ } else {
+ ++i;
+ }
+ }
+}
+
+std::set<ftl::stream::SourceInfo> Feed::recentSources() {
+ std::set<ftl::stream::SourceInfo> result;
+
+ auto &recent = getConfig()["recent_sources"];
+
+ for (auto &f : recent.items()) {
+ ftl::stream::SourceInfo info;
+ info.uri = f.key();
+ if (f.value().contains("uri")) info.uri = f.value()["uri"].get<std::string>();
+ info.last_used = f.value()["last_open"].get<int64_t>();
+ result.insert(info);
+ }
+
+ return result;
+}
+
+std::vector<std::string> Feed::availableDeviceSources() {
+ std::vector<std::string> results;
+
+ //if (ftl::rgbd::Source::supports("device:pylon")) results.emplace_back("device:pylon");
+ if (ftl::rgbd::Source::supports("device:camera")) results.emplace_back("device:camera");
+ if (ftl::rgbd::Source::supports("device:stereo")) results.emplace_back("device:stereo");
+ if (ftl::rgbd::Source::supports("device:screen")) results.emplace_back("device:screen");
+ if (ftl::rgbd::Source::supports("device:realsense")) results.emplace_back("device:realsense");
+ if (ftl::render::Source::supports("device:render")) results.emplace_back("device:render");
+ if (ftl::render::Source::supports("device:openvr")) results.emplace_back("device:openvr");
+
+ return results;
+}
+
+void Feed::autoConnect() {
+ ftl::pool.push([this](int id) {
+ auto &known_hosts = getConfig()["known_hosts"];
+
+ for (auto &h : known_hosts.items()) {
+ net_->connect(h.key())->noReconnect();
+ }
+ });
+}
+
+bool Feed::sourceAvailable(const std::string &uri) {
+ return false;
+}
+
+bool Feed::sourceActive(const std::string &suri) {
+ ftl::URI uri(suri);
+
+ if (uri.getScheme() == ftl::URI::SCHEME_TCP || uri.getScheme() == ftl::URI::SCHEME_WS) {
+ return net_->isConnected(uri);
+ } else if (uri.getScheme() == ftl::URI::SCHEME_GROUP) {
+ // Check that every constituent source is active
+ auto &known = getConfig()["known_groups"];
+ if (known.contains(uri.getBaseURI())) {
+ auto &sources = known[uri.getBaseURI()]["sources"];
+
+ for (auto i=sources.begin(); i!=sources.end(); ++i) {
+ if (!sourceActive(i.key())) return false;
+ }
+ }
+ return true;
+ } else {
+ SHARED_LOCK(mtx_, lk);
+ return fsid_lookup_.count(uri.getBaseURI()) > 0;
+ }
+}
+
+std::string Feed::getName(const std::string &puri) {
+ ftl::URI uri(puri);
+
+ if (uri.isValid() == false) return "Invalid";
+
+ if (uri.getScheme() == ftl::URI::SCHEME_FTL) {
+ if (uri.hasAttribute("name")) return uri.getAttribute<std::string>("name");
+ try {
+ auto *cfgble = ftl::config::find(puri);
+ if (cfgble) {
+ auto &j = cfgble->getConfig();
+ std::string name = (j.is_structured()) ? j.value("name", j.value("uri", uri.getPathSegment(-1))) : uri.getPathSegment(-1);
+ return (name.size() == 0) ? uri.getHost() : name;
+ } else {
+ std::string name = uri.getPathSegment(-1);
+ return (name.size() == 0) ? uri.getHost() : name;
+ }
+ /*auto n = net_->findOne<std::string>("get_cfg", puri);
+ if (n) {
+ auto j = nlohmann::json::parse(*n);
+ return (j.is_structured()) ? j.value("name", j.value("uri", uri.getPathSegment(-1))) : uri.getPathSegment(-1);
+ }*/
+ } catch (const ftl::exception &e) {
+ e.ignore();
+ }
+ return puri;
+ } else if (uri.getScheme() == ftl::URI::SCHEME_DEVICE) {
+ if (uri.getPathSegment(0) == "pylon") return "Pylon";
+ if (uri.getPathSegment(0) == "camera") return "Web Cam";
+ if (uri.getPathSegment(0) == "stereo") return "Stereo";
+ if (uri.getPathSegment(0) == "realsense") return "Realsense";
+ if (uri.getPathSegment(0) == "screen") return "Screen Capture";
+ if (uri.getPathSegment(0) == "render") return "3D Virtual";
+ if (uri.getPathSegment(0) == "openvr") return "OpenVR";
+ return "Unknown Device";
+ } else if (uri.getScheme() == ftl::URI::SCHEME_FILE) {
+ auto &recent_files = getConfig()["recent_files"];
+ if (recent_files.is_structured() && recent_files.contains(uri.getBaseURI())) {
+ return recent_files[uri.getBaseURI()].value("name", uri.getPathSegment(-1));
+ } else {
+ LOG(INFO) << "Missing file: " << puri;
+ return uri.getPathSegment(-1);
+ }
+ } else if (uri.getScheme() == ftl::URI::SCHEME_TCP || uri.getScheme() == ftl::URI::SCHEME_WS) {
+ return uri.getBaseURI();
+ } else if (uri.getScheme() == ftl::URI::SCHEME_GROUP) {
+ auto &groups = getConfig()["known_groups"];
+ if (groups.contains(uri.getBaseURI())) {
+ return uri.getPathSegment(0) + std::string(" (") + std::to_string(groups[uri.getBaseURI()]["sources"].size()) + std::string(")");
+ } else {
+ return uri.getPathSegment(0);
+ }
+ }
+
+ return uri.getPathSegment(-1);
+}
+
+nlohmann::json &Feed::_add_recent_source(const ftl::URI &uri) {
+ auto &known = getConfig()["recent_sources"];
+ auto &details = known[uri.getBaseURI()];
+ std::string name = uri.getPathSegment(-1);
+
+ if (uri.hasAttribute("name")) {
+ name = uri.getAttribute<std::string>("name");
+ } else if (uri.getScheme() == ftl::URI::SCHEME_FILE) {
+ name = name.substr(0, name.find_last_of('.'));
+ }
+
+ details["uri"] = uri.to_string();
+ details["name"] = name;
+ details["last_open"] = ftl::timer::get_time();
+
+ if (uri.hasAttribute("group")) {
+ std::string grpname = uri.getAttribute<std::string>("group");
+ auto &groups = getConfig()["known_groups"];
+ auto &grpdetail = groups[std::string("group:")+grpname];
+ grpdetail["sources"][uri.getBaseURI()] = true;
+ }
+
+ return details;
+}
+
+void Feed::add(uint32_t fsid, const std::string &uri, ftl::stream::Stream* stream) {
+ fsid_lookup_[uri] = fsid;
+ latest_[fsid] = nullptr;
+ streams_[fsid].push_back(stream);
+
+ _createPipeline(fsid);
+
+ stream_->add(stream, fsid, [this,stream]() {
+ int fsid = 0;
+ {
+ UNIQUE_LOCK(mtx_, lk);
+ fsid = allocateFrameSetId("");
+ latest_[fsid] = nullptr;
+ streams_[fsid].push_back(stream);
+ _createPipeline(fsid);
+
+ stream_->begin();
+ stream_->select(fsid, {Channel::Colour}, true);
+ }
+ add_src_cb_.trigger(fsid);
+ return fsid;
+ });
+ stream_->begin();
+ stream_->select(fsid, {Channel::Colour}, true);
+}
+
+uint32_t Feed::add(const std::string &path) {
+ ftl::URI uri(path);
+ return add(uri);
+}
+
+uint32_t Feed::add(const ftl::URI &uri) {
+ UNIQUE_LOCK(mtx_, lk);
+
+ //if (!uri.isValid()) throw FTL_Error("Invalid URI: " << path);
+
+ if (fsid_lookup_.count(uri.getBaseURI()) > 0) return fsid_lookup_[uri.getBaseURI()];
+
+ const auto scheme = uri.getScheme();
+ const std::string group = uri.getAttribute<std::string>("group");
+
+ if ((scheme == ftl::URI::SCHEME_OTHER) || (scheme == ftl::URI::SCHEME_NONE) || // assumes relative path
+ (scheme == ftl::URI::SCHEME_FILE)) {
+
+ auto eix = ((scheme == ftl::URI::SCHEME_OTHER || scheme == ftl::URI::SCHEME_NONE) ? uri.getBaseURI() : uri.getPath()).find_last_of('.');
+ auto ext = ((scheme == ftl::URI::SCHEME_OTHER || scheme == ftl::URI::SCHEME_NONE) ? uri.getBaseURI() : uri.getPath()).substr(eix+1);
+
+ if (ext != "ftl") {
+ throw FTL_Error("Bad filename (expects .ftl) : " << uri.getBaseURI());
+ }
+
+ const int fsid = allocateFrameSetId(group);
+ auto* fstream = ftl::create<ftl::stream::File>
+ (this, std::string("ftlfile-") + std::to_string(file_counter_++));
+
+ if (scheme == ftl::URI::SCHEME_OTHER || scheme == ftl::URI::SCHEME_NONE) {
+ fstream->set("filename", uri.getBaseURI());
+ }
+ else {
+ // possible BUG: uri.getPath() might return (wrong) absolute paths
+ // for relative paths (extra / at beginning)
+#ifdef WIN32
+ fstream->set("filename", uri.getPath().substr(1));
+#else
+ fstream->set("filename", uri.getPath());
+#endif
+ }
+
+ fstream->set("uri", uri.to_string());
+
+ auto &recent_files = getConfig()["recent_files"];
+ auto &file_details = recent_files[uri.getBaseURI()];
+ std::string fname = uri.getPathSegment(-1);
+ file_details["name"] = fname.substr(0, fname.find_last_of('.'));
+ file_details["last_open"] = ftl::timer::get_time();
+
+ _add_recent_source(uri);
+
+ // TODO: URI normalization; should happen in add(,,) or add(,,,) take
+ // ftl::URI instead of std::string as argument. Note the bug above.
+ // TODO: write unit test for uri parsing
+ add(fsid, uri.getBaseURI(), fstream);
+
+ add_src_cb_.trigger(fsid);
+ return fsid;
+ }
+ else if (scheme == ftl::URI::SCHEME_DEVICE) {
+ int fsid = allocateFrameSetId(""); // TODO: Support groups with devices?
+ fsid_lookup_[uri.getBaseURI()] = fsid; // Manually add mapping
+
+ std::string srcname = std::string("source") + std::to_string(fsid);
+ uri.to_json(getConfig()[srcname]);
+
+ // Make the source object
+ ftl::data::DiscreteSource *source;
+
+ latest_[fsid] = nullptr;
+ lk.unlock();
+
+ if (uri.getBaseURI() == "device:render" || uri.getBaseURI() == "device:openvr") {
+ auto *rsource = ftl::create<ftl::render::Source>(this, srcname, this);
+ renderers_[fsid] = rsource;
+ source = rsource;
+
+ // Create local builder instance
+ auto *creator = new ftl::streams::ManualSourceBuilder(pool_.get(), fsid, source);
+ if (uri.getBaseURI() == "device:openvr") creator->setFrameRate(10000);
+ else creator->setFrameRate(30);
+
+ std::shared_ptr<ftl::streams::BaseBuilder> creatorptr(creator);
+ lk.lock();
+ receiver_->registerBuilder(creatorptr);
+
+ // FIXME: pointer is deleted when removed from receiver
+ render_builders_.push_back(creator);
+ } else {
+ auto *dsource = ftl::create<ftl::rgbd::Source>(this, srcname);
+ devices_[fsid] = dsource;
+ source = dsource;
+ _createPipeline(fsid);
+
+ // Create local builder instance
+ auto *creator = new ftl::streams::IntervalSourceBuilder(pool_.get(), fsid, {source});
+ std::shared_ptr<ftl::streams::BaseBuilder> creatorptr(creator);
+
+ lk.lock();
+ receiver_->registerBuilder(creatorptr);
+
+ creator->start();
+ }
+
+ _add_recent_source(uri);
+
+ add_src_cb_.trigger(fsid);
+ return fsid;
+ }
+
+ else if ((scheme == ftl::URI::SCHEME_TCP) ||
+ (scheme == ftl::URI::SCHEME_WS)) {
+
+ // just connect, onConnect callback will add the stream
+ // TODO: do not connect same uri twice
+ // TODO: write unit test
+
+ auto &known_hosts = getConfig()["known_hosts"];
+ auto &host_details = known_hosts[uri.getBaseURIWithUser()];
+ host_details["last_open"] = ftl::timer::get_time();
+
+ if (uri.getPathLength() == 1 && uri.getPathSegment(0) == "*") {
+ auto *p = net_->connect(uri.getBaseURIWithUser());
+ if (p->waitConnection()) {
+ ftl::pool.push([this,p](int id) {_updateNetSources(p, true); });
+ }
+ } else {
+ ftl::pool.push([this,path = uri.getBaseURIWithUser()](int id) { net_->connect(path)->noReconnect(); });
+ }
+
+ }
+ else if (scheme == ftl::URI::SCHEME_FTL) {
+ // Attempt to ensure connection first
+ auto &known = getConfig()["recent_sources"];
+ auto &details = known[uri.getBaseURI()];
+ if (details.contains("host")) {
+ auto *p = net_->connect(details["host"].get<std::string>());
+ p->noReconnect();
+ if (!p->waitConnection()) {
+ throw FTL_Error("Could not connect to host " << details["host"].get<std::string>() << " for stream " << uri.getBaseURI());
+ }
+ } else {
+ // See if it can otherwise be found?
+ LOG(WARNING) << "Could not find stream host";
+ }
+
+ auto *stream = ftl::create<ftl::stream::Net>
+ (this, std::string("netstream")
+ +std::to_string(fsid_lookup_.size()), net_);
+
+ int fsid = allocateFrameSetId(group);
+
+ stream->set("uri", uri.to_string());
+ add(fsid, uri.getBaseURI(), stream);
+
+ LOG(INFO) << "Add Stream: "
+ << stream->value("uri", std::string("NONE"))
+ << " (" << fsid << ")";
+
+ add_src_cb_.trigger(fsid);
+ return fsid;
+ } else if (scheme == ftl::URI::SCHEME_GROUP) {
+ auto &known = getConfig()["known_groups"];
+ if (known.contains(uri.getBaseURI())) {
+ auto &sources = known[uri.getBaseURI()]["sources"];
+
+ lk.unlock();
+ for (auto i=sources.begin(); i!=sources.end(); ++i) {
+ ftl::URI uri2(i.key());
+ uri2.setAttribute("group", uri.getPathSegment(0));
+ add(uri2);
+ }
+
+ lk.lock();
+ _add_recent_source(uri);
+ }
+ }
+ else{
+ throw FTL_Error("Bad feed uri: " << uri.getBaseURI());
+ }
+ return -1;
+}
+
+void Feed::render() {
+ SHARED_LOCK(mtx_, lk);
+ auto builders = render_builders_;
+ lk.unlock();
+
+ for (auto *r : builders) {
+ r->tick();
+ }
+}
+
+ftl::render::Source *Feed::getRenderer(ftl::data::FrameID id) {
+ auto i = renderers_.find(id.frameset());
+ if (i != renderers_.end()) {
+ return i->second;
+ } else {
+ return nullptr;
+ }
+}
+
+uint32_t Feed::getID(const std::string &source) {
+ return fsid_lookup_.at(source);
+}
+
+const std::unordered_set<Channel> Feed::availableChannels(ftl::data::FrameID id) {
+ ftl::data::FrameSetPtr fs;
+ // FIXME: Should this be locked?
+ std::atomic_store(&fs, latest_.at(id.frameset()));
+ if (fs && fs->hasFrame(id.source())) {
+ return (*fs.get())[id.source()].allChannels();
+ }
+ return {};
+}
+
+std::vector<ftl::data::FrameID> Feed::listFrames() {
+ std::vector<ftl::data::FrameID> result;
+ SHARED_LOCK(mtx_, lk);
+ result.reserve(fsid_lookup_.size());
+ for (const auto [k, fs] : latest_) {
+ if (fs) {
+ for (unsigned i = 0; i < fs->frames.size(); i++) {
+ result.push_back(ftl::data::FrameID(k, i));
+ }
+ }
+ }
+ return result;
+}
+
+std::string Feed::getURI(uint32_t fsid) {
+ SHARED_LOCK(mtx_, lk);
+ for (const auto& [k, v] : fsid_lookup_) {
+ if (v == fsid) {
+ return k;
+ }
+ }
+ return "";
+}
+
+std::string Feed::getSourceURI(ftl::data::FrameID id) {
+ /*if (streams_.count(id.frameset())) {
+ auto i = streams_.find(id.frameset());
+ return i->second->getID();
+ } else if (devices_.count(id.frameset())) {
+ auto i = devices_.find(id.frameset());
+ return i->second->getID();
+ } else if (renderers_.count(id.frameset())) {
+ auto i = renderers_.find(id.frameset());
+ return i->second->getID();
+ }*/
+
+ return "";
+}
+
+std::vector<unsigned int> Feed::listFrameSets() {
+ SHARED_LOCK(mtx_, lk);
+ std::vector<unsigned int> result;
+ result.reserve(fsid_lookup_.size());
+ for (const auto [k, fs] : latest_) {
+ if (fs) {
+ result.push_back(k);
+ }
+ }
+ return result;
+}
+
+void Feed::lowLatencyMode() {
+ receiver_->set("frameset_buffer_size", 0);
+}
+
+// ==== Record =================================================================
+
+void Feed::startRecording(Filter *f, const std::string &filename) {
+ {
+ UNIQUE_LOCK(mtx_, lk);
+ if (_isRecording()) throw FTL_Error("Already recording, cannot record " << filename);
+
+ record_filter_ = f;
+
+ auto *fstream = ftl::create<ftl::stream::File>(this, "record_file");
+ fstream->setMode(ftl::stream::File::Mode::Write);
+ fstream->set("filename", filename);
+ record_stream_->add(fstream);
+ record_stream_->begin();
+ recorder_->resetSender();
+ }
+ _beginRecord(f);
+}
+
+void Feed::startStreaming(Filter *f, const std::string &filename) {
+ if (_isRecording()) throw FTL_Error("Already recording, cannot live stream: " << filename);
+
+ // TODO: Allow net streaming
+}
+
+void Feed::startStreaming(Filter *f) {
+ {
+ UNIQUE_LOCK(mtx_, lk);
+ if (_isRecording()) throw FTL_Error("Already recording, cannot live stream");
+
+ record_filter_ = f;
+
+ auto *nstream = ftl::create<ftl::stream::Net>(this, "live_stream", net_);
+ nstream->set("uri", value("uri", std::string("ftl://vision.utu.fi/live")));
+
+ record_new_client_ = nstream->onClientConnect([this](ftl::net::Peer *p) {
+ LOG(INFO) << "Client connect, resetting streams";
+ stream_->reset();
+ return true;
+ });
+
+ record_stream_->add(nstream);
+ record_stream_->begin();
+ recorder_->resetSender();
+ }
+ _beginRecord(f);
+}
+
+void Feed::_beginRecord(Filter *f) {
+
+ handle_record_ = pool_->onFlushSet([this, f](ftl::data::FrameSet &fs, ftl::codecs::Channel c) {
+ // Skip framesets not in filter.
+ if (!f->sources().empty() && f->sources().count(fs.frameset()) == 0) return true;
+
+ if (f->channels().count(c)) {
+ recorder_->post(fs, c);
+ } else {
+ recorder_->post(fs, c, true);
+ }
+ return true;
+ });
+
+ handle_record2_ = f->onWithHandle([this, f](const ftl::data::FrameSetPtr &fs) {
+ record_stream_->select(fs->frameset(), f->channels(), true);
+ stream_->select(fs->frameset(), f->channels(), true);
+ ftl::pool.push([fs](int id) {
+ try {
+ fs->flush(); // Force now to reduce latency
+ } catch (const ftl::exception &e) {
+ LOG(ERROR) << "Exception when sending: " << e.what();
+ }
+ });
+ return true;
+ });
+}
+
+void Feed::stopRecording() {
+ UNIQUE_LOCK(mtx_, lk);
+ _stopRecording();
+}
+
+void Feed::_stopRecording() {
+ handle_record_.cancel();
+ handle_record2_.cancel();
+ record_new_client_.cancel();
+ record_stream_->end();
+
+ auto garbage = record_stream_->streams();
+
+ record_stream_->clear();
+
+ for (auto *s : garbage) {
+ delete s;
+ }
+
+ record_filter_ = nullptr;
+}
+
+bool Feed::isRecording() {
+ SHARED_LOCK(mtx_, lk);
+ return _isRecording();
+}
+
+bool Feed::_isRecording() {
+ return record_stream_->streams().size() != 0;
+}
+
+ftl::data::FrameSetPtr Feed::getFrameSet(uint32_t fsid) {
+ SHARED_LOCK(mtx_, lk);
+ if (latest_.count(fsid) == 0) {
+ throw ftl::exception("No FrameSet with given ID");
+ }
+ return std::atomic_load(&latest_[fsid]);
+}
diff --git a/components/streams/src/filestream.cpp b/components/streams/src/filestream.cpp
index ebfbdc6b053eca7b8a40bb5af561a4fba2c83780..0044d014233690dc683e6f5ca18ab7def86895b9 100644
--- a/components/streams/src/filestream.cpp
+++ b/components/streams/src/filestream.cpp
@@ -1,5 +1,6 @@
#include <fstream>
#include <ftl/streams/filestream.hpp>
+#include <ftl/timer.hpp>
#define LOGURU_REPLACE_GLOG 1
#include <loguru.hpp>
@@ -16,7 +17,7 @@ File::File(nlohmann::json &config) : Stream(config), ostream_(nullptr), istream_
checked_ = false;
save_data_ = value("save_data", false);
- on("save_data", [this](const ftl::config::Event &e) {
+ on("save_data", [this]() {
save_data_ = value("save_data", false);
});
}
@@ -34,7 +35,7 @@ File::File(nlohmann::json &config, std::ofstream *os) : Stream(config), ostream_
checked_ = false;
save_data_ = value("save_data", false);
- on("save_data", [this](const ftl::config::Event &e) {
+ on("save_data", [this]() {
save_data_ = value("save_data", false);
});
}
@@ -49,11 +50,13 @@ bool File::_checkFile() {
LOG(INFO) << "FTL format version " << version_;
// Read some packets to identify frame rate.
- int count = 10;
+ int count = 1000;
int64_t ts = -1000;
int min_ts_diff = 1000;
first_ts_ = 10000000000000ll;
+ std::unordered_set<ftl::codecs::codec_t> codecs_found;
+
while (count > 0) {
std::tuple<ftl::codecs::StreamPacket,ftl::codecs::Packet> data;
if (!readPacket(data)) {
@@ -61,9 +64,13 @@ bool File::_checkFile() {
}
auto &spkt = std::get<0>(data);
- //auto &pkt = std::get<1>(data);
+ auto &pkt = std::get<1>(data);
+
+ auto &fsdata = framesets_[spkt.streamID];
- if (spkt.timestamp < first_ts_) first_ts_ = spkt.timestamp;
+ codecs_found.emplace(pkt.codec);
+
+ if (fsdata.first_ts < 0) fsdata.first_ts = spkt.timestamp;
//LOG(INFO) << "TIMESTAMP: " << spkt.timestamp;
@@ -88,12 +95,17 @@ bool File::_checkFile() {
LOG(INFO) << " -- Frame rate = " << (1000 / min_ts_diff);
if (!is_video_) LOG(INFO) << " -- Static image";
- interval_ = min_ts_diff;
- return true;
-}
-bool File::onPacket(const std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> &f) {
- cb_ = f;
+ std::string codec_str = "";
+ for (auto c : codecs_found) {
+ codec_str += std::string(" ") + std::to_string(int(c));
+ }
+ LOG(INFO) << " -- Codecs:" << codec_str;
+
+ interval_ = min_ts_diff;
+ for (auto &f : framesets_) {
+ f.second.interval = interval_;
+ }
return true;
}
@@ -152,26 +164,31 @@ bool File::readPacket(std::tuple<ftl::codecs::StreamPacket,ftl::codecs::Packet>
msgpack::object obj = msg.get();
try {
- obj.convert(data);
+ // Older versions have a different SPKT structure.
+ if (version_ < 5) {
+ std::tuple<ftl::codecs::StreamPacketV4, ftl::codecs::Packet> datav4;
+ obj.convert(datav4);
+
+ auto &spkt = std::get<0>(data);
+ auto &spktv4 = std::get<0>(datav4);
+ spkt.streamID = spktv4.streamID;
+ spkt.channel = spktv4.channel;
+ spkt.frame_number = spktv4.frame_number;
+ spkt.timestamp = spktv4.timestamp;
+ spkt.flags = 0;
+
+ std::get<1>(data) = std::move(std::get<1>(datav4));
+ } else {
+ obj.convert(data);
+ }
} catch (std::exception &e) {
LOG(INFO) << "Corrupt message: " << buffer_in_.nonparsed_size() << " - " << e.what();
//active_ = false;
return false;
}
- // Fix to clear flags for version 2.
- if (version_ <= 2) {
- std::get<1>(data).flags = 0;
- }
- if (version_ < 4) {
- std::get<0>(data).frame_number = std::get<0>(data).streamID;
- std::get<0>(data).streamID = 0;
- if (isFloatChannel(std::get<0>(data).channel)) std::get<1>(data).flags |= ftl::codecs::kFlagFloat;
-
- auto codec = std::get<1>(data).codec;
- if (codec == ftl::codecs::codec_t::HEVC) std::get<1>(data).codec = ftl::codecs::codec_t::HEVC_LOSSLESS;
- }
- std::get<0>(data).version = 4;
+ // Correct for older version differences.
+ _patchPackets(std::get<0>(data), std::get<1>(data));
return true;
}
@@ -179,6 +196,28 @@ bool File::readPacket(std::tuple<ftl::codecs::StreamPacket,ftl::codecs::Packet>
return false;
}
+void File::_patchPackets(ftl::codecs::StreamPacket &spkt, ftl::codecs::Packet &pkt) {
+ // Fix to clear flags for version 2.
+ if (version_ <= 2) {
+ pkt.flags = 0;
+ }
+ if (version_ < 4) {
+ spkt.frame_number = spkt.streamID;
+ spkt.streamID = 0;
+ if (isFloatChannel(spkt.channel)) pkt.flags |= ftl::codecs::kFlagFloat;
+
+ auto codec = pkt.codec;
+ if (codec == ftl::codecs::codec_t::HEVC) pkt.codec = ftl::codecs::codec_t::HEVC_LOSSLESS;
+ }
+
+ spkt.version = 5;
+
+ // Fix for flags corruption
+ if (pkt.data.size() == 0) {
+ pkt.flags = 0;
+ }
+}
+
bool File::tick(int64_t ts) {
if (!active_) return false;
if (mode_ != Mode::Read) {
@@ -186,6 +225,9 @@ bool File::tick(int64_t ts) {
return false;
}
+ // Skip if paused
+ if (value("paused", false)) return true;
+
#ifdef DEBUG_MUTEX
UNIQUE_LOCK(mutex_, lk);
#else
@@ -194,23 +236,78 @@ bool File::tick(int64_t ts) {
#endif
if (jobs_ > 0) {
- //LOG(ERROR) << "STILL HAS JOBS";
return true;
}
+ bool has_data = false;
+
// Check buffer first for frames already read
{
- UNIQUE_LOCK(data_mutex_, dlk);
- for (auto i = data_.begin(); i != data_.end(); ++i) {
- if (std::get<0>(*i).timestamp <= timestamp_) {
+ //UNIQUE_LOCK(data_mutex_, dlk);
+ if (data_.size() > 0) has_data = true;
+
+ /*if (needs_endframe_) {
+ // Reset packet counts
+ for (auto &p : packet_counts_) p = 0;
+ }*/
+
+ size_t complete_count = 0;
+
+ for (auto i = data_.begin(); i != data_.end(); ) {
+ auto &fsdata = framesets_[std::get<0>(*i).streamID];
+ if (fsdata.timestamp == 0) fsdata.timestamp = std::get<0>(*i).timestamp;
+
+ // Limit to file framerate
+ if (std::get<0>(*i).timestamp > ts) {
+ break;
+ }
+
+ if (std::get<0>(*i).timestamp < fsdata.timestamp) {
+ LOG(WARNING) << "Received old packet: " << std::get<0>(*i).timestamp << " vs " << fsdata.timestamp << " ( channel = " << int(std::get<0>(*i).channel) << " )";
+ i = data_.erase(i);
+ continue;
+ }
+
+ if (std::get<0>(*i).timestamp <= fsdata.timestamp) {
+ auto &spkt = std::get<0>(*i);
+ auto &pkt = std::get<1>(*i);
+
+ //LOG(INFO) << "PACKET: " << spkt.timestamp << ", " << fsdata.timestamp << ", " << int(spkt.streamID) << ", " << int(spkt.channel);
+
+
++jobs_;
- std::get<0>(*i).timestamp = ts;
- ftl::pool.push([this,i](int id) {
+ //spkt.timestamp = ts;
+
+ if (spkt.channel == Channel::EndFrame) {
+ fsdata.needs_endframe = false;
+ }
+
+ if (fsdata.needs_endframe) {
+ if (spkt.frame_number < 255) {
+ fsdata.frame_count = std::max(fsdata.frame_count, static_cast<size_t>(spkt.frame_number + pkt.frame_count));
+ while (fsdata.packet_counts.size() < fsdata.frame_count) fsdata.packet_counts.push_back(0);
+ ++fsdata.packet_counts[spkt.frame_number];
+ } else {
+ // Add frameset packets to frame 0 counts
+ fsdata.frame_count = std::max(fsdata.frame_count, size_t(1));
+ while (fsdata.packet_counts.size() < fsdata.frame_count) fsdata.packet_counts.push_back(0);
+ ++fsdata.packet_counts[0];
+ }
+ }
+
+ auto j = i;
+ ++i;
+
+ ftl::pool.push([this,i=j](int id) {
auto &spkt = std::get<0>(*i);
auto &pkt = std::get<1>(*i);
+ spkt.localTimestamp = spkt.timestamp;
+
try {
- if (cb_) cb_(spkt, pkt);
+ cb_.trigger(spkt, pkt);
+ } catch (const ftl::exception &e) {
+ LOG(ERROR) << "Exception in packet callback: " << e.what() << e.trace();
} catch (std::exception &e) {
LOG(ERROR) << "Exception in packet callback: " << e.what();
}
@@ -219,11 +316,48 @@ bool File::tick(int64_t ts) {
data_.erase(i);
--jobs_;
});
+ } else {
+ ++complete_count;
+
+ if (fsdata.needs_endframe) {
+ // Send final frame packet.
+ StreamPacket spkt;
+ spkt.timestamp = fsdata.timestamp;
+ spkt.streamID = std::get<0>(*i).streamID;
+ spkt.flags = 0;
+ spkt.channel = Channel::EndFrame;
+
+ Packet pkt;
+ pkt.bitrate = 255;
+ pkt.codec = ftl::codecs::codec_t::Invalid;
+ pkt.packet_count = 1;
+ pkt.frame_count = 1;
+
+ for (size_t i=0; i<fsdata.frame_count; ++i) {
+ spkt.frame_number = i;
+ pkt.packet_count = fsdata.packet_counts[i]+1;
+ fsdata.packet_counts[i] = 0;
+
+ try {
+ cb_.trigger(spkt, pkt);
+ } catch (const ftl::exception &e) {
+ LOG(ERROR) << "Exception in packet callback: " << e.what() << e.trace();
+ } catch (std::exception &e) {
+ LOG(ERROR) << "Exception in packet callback: " << e.what();
+ }
+ }
+ } else {
+ }
+
+ fsdata.timestamp = std::get<0>(*i).timestamp; //fsdata.interval;
+ if (complete_count == framesets_.size()) break;
}
}
}
- int64_t extended_ts = timestamp_ + 200; // Buffer 200ms ahead
+ int64_t max_ts = 0;
+ for (auto &fsd : framesets_) max_ts = std::max(max_ts, (fsd.second.timestamp == 0) ? timestart_ : fsd.second.timestamp);
+ int64_t extended_ts = max_ts + 200; // Buffer 200ms ahead
while ((active_ && istream_->good()) || buffer_in_.nonparsed_size() > 0u) {
UNIQUE_LOCK(data_mutex_, dlk);
@@ -237,10 +371,14 @@ bool File::tick(int64_t ts) {
break;
}
+ auto &fsdata = framesets_[std::get<0>(data).streamID];
+
+ if (fsdata.first_ts < 0) LOG(WARNING) << "Bad first timestamp";
+
// Adjust timestamp
// FIXME: A potential bug where multiple times are merged into one?
- std::get<0>(data).timestamp = (((std::get<0>(data).timestamp) - first_ts_) / interval_) * interval_ + timestart_;
- std::get<0>(data).hint_capability = (is_video_) ? 0 : ftl::codecs::kStreamCap_Static;
+ std::get<0>(data).timestamp = (((std::get<0>(data).timestamp) - fsdata.first_ts)) + timestart_;
+ std::get<0>(data).hint_capability = ((is_video_) ? 0 : ftl::codecs::kStreamCap_Static) | ftl::codecs::kStreamCap_Recorded;
// Maintain availability of channels.
available(0) += std::get<0>(data).channel;
@@ -248,31 +386,41 @@ bool File::tick(int64_t ts) {
// This should only occur for first few frames, generally otherwise
// the data buffer is already several frames ahead so is processed
// above. Hence, no need to bother parallelising this bit.
- if (std::get<0>(data).timestamp <= timestamp_) {
+ /*if (std::get<0>(data).timestamp <= timestamp_) {
std::get<0>(data).timestamp = ts;
- if (cb_) {
+ //if (cb_) {
dlk.lock();
try {
- cb_(std::get<0>(data),std::get<1>(data));
+ LOG(INFO) << "EARLY TRIGGER: " << std::get<0>(data).timestamp << " - " << int(std::get<0>(data).channel);
+ cb_.trigger(std::get<0>(data),std::get<1>(data));
} catch (std::exception &e) {
LOG(ERROR) << "Exception in packet callback: " << e.what();
}
data_.pop_back();
- }
- } else if (std::get<0>(data).timestamp > extended_ts) {
+ //}
+ }*/
+ //if (version_ < 5 && lastData) {
+ // For versions < 5, add completed flag to previous data
+ // std::get<0>(*lastData).flags |= ftl::codecs::kFlagCompleted;
+ //}
+
+ if (std::get<0>(data).timestamp > extended_ts) {
break;
}
}
- timestamp_ += interval_;
+ //if (has_data) {
+ // for (auto &fsd : framesets_) fsd.second.timestamp += interval_;
+ //}
if (data_.size() == 0 && value("looping", true)) {
buffer_in_.reset();
buffer_in_.remove_nonparsed_buffer();
_open();
- timestart_ = (ftl::timer::get_time() / ftl::timer::getInterval()) * ftl::timer::getInterval();
- timestamp_ = timestart_;
+ timestart_ = ftl::timer::get_time(); // (ftl::timer::get_time() / ftl::timer::getInterval()) * ftl::timer::getInterval();
+ //timestamp_ = timestart_;
+ for (auto &fsd : framesets_) fsd.second.timestamp = 0;
return true;
}
@@ -315,15 +463,17 @@ bool File::run() {
}
bool File::begin(bool dorun) {
+ if (active_) return true;
if (mode_ == Mode::Read) {
if (!checked_) _checkFile();
_open();
// Capture current time to adjust timestamps
- timestart_ = (ftl::timer::get_time() / ftl::timer::getInterval()) * ftl::timer::getInterval();
+ timestart_ = ftl::timer::get_time(); //(ftl::timer::get_time() / ftl::timer::getInterval()) * ftl::timer::getInterval();
active_ = true;
//interval_ = 40;
- timestamp_ = timestart_;
+ //timestamp_ = timestart_;
+ //for (auto &fsd : framesets_) fsd.second.timestamp = timestart_;
tick(timestart_); // Do some now!
if (dorun) run();
@@ -348,18 +498,26 @@ bool File::begin(bool dorun) {
timestart_ = ftl::timer::get_time();
active_ = true;
interval_ = ftl::timer::getInterval();
- timestamp_ = timestart_;
+ //timestamp_ = timestart_;
+
+ //for (auto &fsd : framesets_) fsd.second.timestamp = timestart_;
}
return true;
}
bool File::end() {
- UNIQUE_LOCK(mutex_, lk);
if (!active_) return false;
active_ = false;
+
timer_.cancel();
+ UNIQUE_LOCK(mutex_, lk);
+
+ while (jobs_ > 0) {
+ std::this_thread::sleep_for(std::chrono::milliseconds(1));
+ }
+
if (mode_ == Mode::Read) {
if (istream_) {
istream_->close();
@@ -377,7 +535,7 @@ bool File::end() {
}
void File::reset() {
- UNIQUE_LOCK(mutex_, lk);
+ /*UNIQUE_LOCK(mutex_, lk);
// TODO: Find a better solution
while (jobs_ > 0) std::this_thread::sleep_for(std::chrono::milliseconds(2));
@@ -388,7 +546,8 @@ void File::reset() {
_open();
timestart_ = (ftl::timer::get_time() / ftl::timer::getInterval()) * ftl::timer::getInterval();
- timestamp_ = timestart_;
+ //timestamp_ = timestart_;
+ for (auto &fsd : framesets_) fsd.second.timestamp = timestart_;*/
}
bool File::active() {
diff --git a/components/streams/src/injectors.cpp b/components/streams/src/injectors.cpp
index 01dcbef368a8b642abbdf91b25aa31e3c8ee857c..1afcf5e8405c9c090ad55e7d630791815585d22d 100644
--- a/components/streams/src/injectors.cpp
+++ b/components/streams/src/injectors.cpp
@@ -5,17 +5,17 @@ using ftl::codecs::Channel;
using ftl::util::FTLVectorBuffer;
void ftl::stream::injectCalibration(ftl::stream::Stream *stream, const ftl::rgbd::FrameSet &fs, int ix, bool right) {
- ftl::stream::injectCalibration(stream, fs.frames[ix], fs.timestamp, fs.id, ix, right);
+ ftl::stream::injectCalibration(stream, fs.frames[ix].cast<ftl::rgbd::Frame>(), fs.timestamp(), fs.frameset(), ix, right);
}
void ftl::stream::injectPose(ftl::stream::Stream *stream, const ftl::rgbd::FrameSet &fs, int ix) {
- ftl::stream::injectPose(stream, fs.frames[ix], fs.timestamp, ix);
+ ftl::stream::injectPose(stream, fs.frames[ix].cast<ftl::rgbd::Frame>(), fs.timestamp(), ix);
}
void ftl::stream::injectConfig(ftl::stream::Stream *stream, const ftl::rgbd::FrameSet &fs, int ix) {
ftl::codecs::StreamPacket spkt = {
4,
- fs.timestamp,
+ fs.timestamp(),
0,
static_cast<uint8_t>(ix),
Channel::Configuration
@@ -23,13 +23,13 @@ void ftl::stream::injectConfig(ftl::stream::Stream *stream, const ftl::rgbd::Fra
ftl::codecs::Packet pkt;
pkt.codec = ftl::codecs::codec_t::MSGPACK;
- pkt.definition = ftl::codecs::definition_t::Any;
+ //pkt.definition = ftl::codecs::definition_t::Any;
pkt.bitrate = 0;
pkt.frame_count = 1;
pkt.flags = 0;
FTLVectorBuffer buf(pkt.data);
- msgpack::pack(buf, fs.frames[ix].getConfigString());
+ //msgpack::pack(buf, fs.frames[ix].getConfigString());
stream->post(spkt, pkt);
}
@@ -45,7 +45,7 @@ void ftl::stream::injectPose(ftl::stream::Stream *stream, const ftl::rgbd::Frame
ftl::codecs::Packet pkt;
pkt.codec = ftl::codecs::codec_t::MSGPACK;
- pkt.definition = ftl::codecs::definition_t::Any;
+ //pkt.definition = ftl::codecs::definition_t::Any;
pkt.bitrate = 0;
pkt.frame_count = 1;
pkt.flags = 0;
@@ -71,9 +71,11 @@ void ftl::stream::injectCalibration(ftl::stream::Stream *stream, const ftl::rgbd
std::make_tuple(f.getRightCamera(), Channel::Right, 0) :
std::make_tuple(f.getLeftCamera(), Channel::Left, 0);
+ //auto data = (right) ? f.getRightCamera() : f.getLeftCamera();
+
ftl::codecs::Packet pkt;
pkt.codec = ftl::codecs::codec_t::MSGPACK;
- pkt.definition = ftl::codecs::definition_t::Any;
+ //pkt.definition = ftl::codecs::definition_t::Any;
pkt.bitrate = 0;
pkt.frame_count = 1;
pkt.flags = 0;
diff --git a/components/streams/src/netstream.cpp b/components/streams/src/netstream.cpp
index 0484ed2e70ac13a4289d5b8af93c9f05bf25b0a8..5c0c3cf43f0f769347d9576b912917bc040e5bee 100644
--- a/components/streams/src/netstream.cpp
+++ b/components/streams/src/netstream.cpp
@@ -1,18 +1,22 @@
#include <ftl/streams/netstream.hpp>
+#include "adaptive.hpp"
#define LOGURU_REPLACE_GLOG 1
#include <loguru.hpp>
+#ifndef WIN32
+#include <unistd.h>
+#include <limits.h>
+#endif
+
using ftl::stream::Net;
using ftl::codecs::StreamPacket;
using ftl::codecs::Packet;
using ftl::codecs::Channel;
using ftl::codecs::codec_t;
-using ftl::codecs::definition_t;
using ftl::codecs::kAllFrames;
using ftl::codecs::kAllFramesets;
using std::string;
-using std::vector;
using std::optional;
static constexpr int kTallyScale = 10;
@@ -22,39 +26,75 @@ float Net::sample_count__ = 0.0f;
int64_t Net::last_msg__ = 0;
MUTEX Net::msg_mtx__;
+static std::list<std::string> net_streams;
+static std::atomic_flag has_bindings = ATOMIC_FLAG_INIT;
+static SHARED_MUTEX stream_mutex;
+
Net::Net(nlohmann::json &config, ftl::net::Universe *net) : Stream(config), active_(false), net_(net), clock_adjust_(0), last_ping_(0) {
- // TODO: Install "find_stream" binding if not installed...
- if (!net_->isBound("find_stream")) {
- net_->bind("find_stream", [this](const std::string &uri) -> optional<ftl::UUID> {
- LOG(INFO) << "REQUEST FIND STREAM: " << uri;
- if (uri_ == uri) {
- return net_->id();
- } else {
- return {};
+ // First net stream needs to register these RPC handlers
+ if (!has_bindings.test_and_set()) {
+ if (net_->isBound("find_stream")) net_->unbind("find_stream");
+ net_->bind("find_stream", [net = net_](const std::string &uri, bool proxy) -> optional<ftl::UUID> {
+ LOG(INFO) << "Request for stream: " << uri;
+
+ ftl::URI u1(uri);
+ std::string base = u1.getBaseURI();
+
+ SHARED_LOCK(stream_mutex, lk);
+ for (const auto &s : net_streams) {
+ ftl::URI u2(s);
+ // Don't compare query string components.
+ if (base == u2.getBaseURI()) {
+ return net->id();
+ }
}
+ return {};
});
- }
- if (!net_->isBound("list_streams")) {
+ if (net_->isBound("list_streams")) net_->unbind("list_streams");
net_->bind("list_streams", [this]() {
- LOG(INFO) << "REQUEST LIST STREAMS";
- vector<string> streams;
- streams.push_back(uri_);
- return streams;
+ SHARED_LOCK(stream_mutex, lk);
+ return net_streams;
});
}
last_frame_ = 0;
time_peer_ = ftl::UUID(0);
+
+ abr_ = new ftl::stream::AdaptiveBitrate(std::max(0, std::min(255, value("bitrate", 64))));
+
+ bitrate_ = abr_->current();
+ abr_->setMaxRate(static_cast<uint8_t>(std::max(0, std::min(255, value("max_bitrate", 200)))));
+ on("bitrate", [this]() {
+ abr_->setMaxRate(static_cast<uint8_t>(std::max(0, std::min(255, value("max_bitrate", 200)))));
+ });
+
+ abr_enabled_ = value("abr_enabled", false);
+ on("abr_enabled", [this]() {
+ abr_enabled_ = value("abr_enabled", false);
+ bitrate_ = (abr_enabled_) ?
+ abr_->current() :
+ static_cast<uint8_t>(std::max(0, std::min(255, value("bitrate", 64))));
+ tally_ = 0;
+ });
+
+ value("paused", false);
+ on("paused", [this]() {
+ paused_ = value("paused", false);
+ if (!paused_) {
+ reset();
+ }
+ });
}
Net::~Net() {
end();
-}
-bool Net::onPacket(const std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> &f) {
- cb_ = f;
- return true;
+ // FIXME: Wait to ensure no net callbacks are active.
+ // Do something better than this
+ std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+ delete abr_;
}
bool Net::post(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
@@ -63,10 +103,11 @@ bool Net::post(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet
// Check if the channel has been requested recently enough. If not then disable it.
if (host_ && pkt.data.size() > 0 && spkt.frame_number == 0 && static_cast<int>(spkt.channel) >= 0 && static_cast<int>(spkt.channel) < 32) {
if (reqtally_[static_cast<int>(spkt.channel)] == 0) {
+ --reqtally_[static_cast<int>(spkt.channel)];
auto sel = selected(0);
sel -= spkt.channel;
select(0, sel);
- LOG(INFO) << "Unselect Channel: " << (int)spkt.channel;
+ LOG(INFO) << "Unselect Channel: " << (int)spkt.channel << " (" << (int)spkt.streamID << ")";
} else {
--reqtally_[static_cast<int>(spkt.channel)];
}
@@ -82,18 +123,11 @@ bool Net::post(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet
while (c != clients_.end()) {
auto &client = *c;
- // Quality filter the packets
- if (pkt.bitrate > 0 && pkt.bitrate != client.quality) {
- //++c;
- //LOG(INFO) << "Incorrect quality: " << (int)pkt.bitrate << " but requested " << (int)client.quality;
- //continue;
- }
-
try {
- // FIXME: This doesn't work for file sources with file relative timestamps...
- short pre_transmit_latency = short(ftl::timer::get_time() - spkt.timestamp);
+ short pre_transmit_latency = short(ftl::timer::get_time() - spkt.localTimestamp);
+
if (!net_->send(client.peerid,
- uri_,
+ base_uri_,
pre_transmit_latency, // Time since timestamp for tx
spkt,
pkt)) {
@@ -111,15 +145,13 @@ bool Net::post(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet
}
} else {
try {
- short pre_transmit_latency = short(ftl::timer::get_time() - spkt.timestamp);
+ short pre_transmit_latency = short(ftl::timer::get_time() - spkt.localTimestamp);
if (!net_->send(peer_,
- uri_,
+ base_uri_,
pre_transmit_latency, // Time since timestamp for tx
spkt,
pkt)) {
- } else {
- // TODO: Some disconnect error
}
} catch(...) {
// TODO: Some disconnect error
@@ -127,6 +159,7 @@ bool Net::post(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet
}
}
+ // TODO: Don't always try and do this
_cleanUp();
return true;
@@ -135,37 +168,63 @@ bool Net::post(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet
bool Net::begin() {
if (active_) return true;
if (!get<string>("uri")) return false;
- active_ = true;
uri_ = *get<string>("uri");
- if (net_->isBound(uri_)) {
+ ftl::URI u(uri_);
+ if (!u.isValid() || !(u.getScheme() == ftl::URI::SCHEME_FTL)) return false;
+ base_uri_ = u.getBaseURI();
+
+ if (net_->isBound(base_uri_)) {
LOG(ERROR) << "Stream already exists! - " << uri_;
active_ = false;
return false;
}
- net_->bind(uri_, [this](ftl::net::Peer &p, short ttimeoff, const ftl::codecs::StreamPacket &spkt_raw, const ftl::codecs::Packet &pkt) {
+ // Add the RPC handler for the URI
+ net_->bind(base_uri_, [this](ftl::net::Peer &p, short ttimeoff, const ftl::codecs::StreamPacket &spkt_raw, const ftl::codecs::Packet &pkt) {
int64_t now = std::chrono::time_point_cast<std::chrono::milliseconds>(std::chrono::high_resolution_clock::now()).time_since_epoch().count();
if (!active_) return;
+ if (paused_) return;
StreamPacket spkt = spkt_raw;
- // FIXME: see #335
- //spkt.timestamp -= clock_adjust_;
- spkt.originClockDelta = clock_adjust_;
+ spkt.localTimestamp = now - int64_t(ttimeoff);
spkt.hint_capability = 0;
spkt.hint_source_total = 0;
- //LOG(INFO) << "LATENCY: " << ftl::timer::get_time() - spkt.localTimestamp() << " : " << spkt.timestamp << " - " << clock_adjust_;
spkt.version = 4;
+ spkt.hint_peerid = p.localID();
// Manage recuring requests
if (!host_ && last_frame_ != spkt.timestamp) {
UNIQUE_LOCK(mutex_, lk);
if (last_frame_ != spkt.timestamp) {
+
+ /*float bits_received = float(bytes_received_*8);
+ required_bps_ = (bits_received / float(spkt.timestamp - last_frame_)) * 1000.0f;
+ actual_bps_ = (bits_received / float(time_at_last_ - last_completion_)) * 1000.0f;
+
+ float ratio = actual_bps_ / required_bps_;*/
+
+ int tf = spkt.timestamp - last_frame_; // Milliseconds per frame
+ int tc = now - last_completion_; // Milliseconds since last frame completed
+ last_completion_ = now;
+ bytes_received_ = 0;
last_frame_ = spkt.timestamp;
+ lk.unlock();
+
+ // Apply adaptive bitrate adjustment if needed
+ if (abr_enabled_) {
+ int new_bitrate = abr_->adjustment(tf, tc, pkt.bitrate);
+ if (new_bitrate != bitrate_) {
+ bitrate_ = new_bitrate;
+ tally_ = 0; // Force request send
+ }
+ }
+
if (size() > 0) {
+ // TODO: For all framesets
auto sel = selected(0);
// A change in channel selections, so send those requests now
@@ -173,10 +232,8 @@ bool Net::begin() {
auto changed = sel - last_selected_;
last_selected_ = sel;
- if (size() > 0) {
- for (auto c : changed) {
- _sendRequest(c, kAllFramesets, kAllFrames, 30, 0);
- }
+ for (auto c : changed) {
+ _sendRequest(c, kAllFramesets, kAllFrames, 30, 255);
}
}
}
@@ -185,10 +242,10 @@ bool Net::begin() {
if (tally_ <= 5) {
// Yes, so send new requests
if (size() > 0) {
- auto sel = selected(0);
+ const auto &sel = selected(0);
for (auto c : sel) {
- _sendRequest(c, kAllFramesets, kAllFrames, 30, 0);
+ _sendRequest(c, kAllFramesets, kAllFrames, 30, 255);
}
}
tally_ = 30*kTallyScale;
@@ -198,10 +255,13 @@ bool Net::begin() {
}
}
+ bytes_received_ += pkt.data.size();
+ //time_at_last_ = now;
+
// If hosting and no data then it is a request for data
// Note: a non host can receive empty data, meaning data is available
// but that you did not request it
- if (host_ && pkt.data.size() == 0) {
+ if (host_ && pkt.data.size() == 0 && (spkt.flags & ftl::codecs::kFlagRequest)) {
// FIXME: Allow unselecting ...?
if (spkt.frameSetID() == 255) {
for (size_t i=0; i<size(); ++i) {
@@ -213,39 +273,67 @@ bool Net::begin() {
} else {
select(spkt.frameSetID(), selected(spkt.frameSetID()) + spkt.channel);
}
- _processRequest(p, pkt);
+
+ _processRequest(p, spkt, pkt);
} else {
// FIXME: Allow availability to change...
available(spkt.frameSetID()) += spkt.channel;
//LOG(INFO) << "AVAILABLE: " << (int)spkt.channel;
}
- if (cb_) {
- cb_(spkt, pkt);
- if (pkt.data.size() > 0) _checkDataRate(pkt.data.size(), now-(spkt.timestamp+ttimeoff), spkt.timestamp);
- }
+ cb_.trigger(spkt, pkt);
+ if (pkt.data.size() > 0) _checkDataRate(pkt.data.size(), now-(spkt.timestamp+ttimeoff), spkt.timestamp);
});
- auto p = net_->findOne<ftl::UUID>("find_stream", uri_);
+ // First find non-proxy version, then check for proxy version if no match
+ auto p = net_->findOne<ftl::UUID>("find_stream", uri_, false);
+ if (!p) p = net_->findOne<ftl::UUID>("find_stream", uri_, true);
+
if (!p) {
LOG(INFO) << "Hosting stream: " << uri_;
- // TODO: Register URI as available.
host_ = true;
+ // Alias the URI to the configurable if not already
+ // Allows the URI to be used to get config data.
+ if (ftl::config::find(uri_) == nullptr) {
+ ftl::config::alias(uri_, this);
+ }
+
+ {
+ // Add to list of available streams
+ UNIQUE_LOCK(stream_mutex, lk);
+ net_streams.push_back(uri_);
+ }
+
+ // Automatically set name if missing
+ if (!get<std::string>("name")) {
+ char hostname[1024] = {0};
+ #ifdef WIN32
+ DWORD size = 1024;
+ GetComputerName(hostname, &size);
+ #else
+ gethostname(hostname, 1024);
+ #endif
+
+ set("name", std::string(hostname));
+ }
+
+ active_ = true;
net_->broadcast("add_stream", uri_);
return true;
- } else {
- //LOG(INFO) << "Net cfg: " << net_->call<std::string>(*p, "get_cfg", uri_);
}
+ // Not hosting...
host_ = false;
peer_ = *p;
tally_ = 30*kTallyScale;
for (size_t i=0; i<reqtally_.size(); ++i) reqtally_[i] = 0;
+
+ active_ = true;
// Initially send a colour request just to create the connection
- _sendRequest(Channel::Colour, kAllFramesets, kAllFrames, 30, 0);
+ _sendRequest(Channel::Colour, kAllFramesets, kAllFrames, 30, 255, true);
return true;
}
@@ -257,36 +345,42 @@ void Net::reset() {
auto sel = selected(0);
for (auto c : sel) {
- _sendRequest(c, kAllFramesets, kAllFrames, 30, 0);
+ _sendRequest(c, kAllFramesets, kAllFrames, 30, 255, true);
}
}
tally_ = 30*kTallyScale;
}
-bool Net::_sendRequest(Channel c, uint8_t frameset, uint8_t frames, uint8_t count, uint8_t bitrate) {
+bool Net::_sendRequest(Channel c, uint8_t frameset, uint8_t frames, uint8_t count, uint8_t bitrate, bool doreset) {
if (!active_ || host_) return false;
//LOG(INFO) << "SENDING REQUEST FOR " << (int)c;
Packet pkt = {
codec_t::Any, // TODO: Allow specific codec requests
- definition_t::Any, // TODO: Allow specific definition requests
+ 0,
count,
- bitrate
+ //bitrate,
+ bitrate_,
+ 0
};
+ uint8_t sflags = ftl::codecs::kFlagRequest;
+ if (doreset) sflags |= ftl::codecs::kFlagReset;
+
StreamPacket spkt = {
- 4,
+ 5,
ftl::timer::get_time(),
- 0,
+ frameset,
frames,
c,
+ sflags,
0,
0,
0
};
- net_->send(peer_, uri_, (short)0, spkt, pkt);
+ net_->send(peer_, base_uri_, (short)0, spkt, pkt);
// FIXME: Find a way to use this for correct stream latency info
if (false) { //if (c == Channel::Colour) { // TODO: Not every time
@@ -331,11 +425,11 @@ void Net::_cleanUp() {
* batches (max 255 unique frames by timestamp). Requests are in the form
* of packets that match the request except the data component is empty.
*/
-bool Net::_processRequest(ftl::net::Peer &p, const ftl::codecs::Packet &pkt) {
- {
- UNIQUE_LOCK(mutex_,lk);
- bool found = false;
+bool Net::_processRequest(ftl::net::Peer &p, ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ bool found = false;
+ {
+ SHARED_LOCK(mutex_,lk);
// Does the client already exist
for (auto &c : clients_) {
if (c.peerid == p.id()) {
@@ -343,11 +437,16 @@ bool Net::_processRequest(ftl::net::Peer &p, const ftl::codecs::Packet &pkt) {
c.txcount = 0;
c.txmax = static_cast<int>(pkt.frame_count)*kTallyScale;
found = true;
+ // break;
}
}
+ }
+
+ // No existing client, so add a new one.
+ if (!found) {
+ {
+ UNIQUE_LOCK(mutex_,lk);
- // No existing client, so add a new one.
- if (!found) {
auto &client = clients_.emplace_back();
client.peerid = p.id();
client.quality = 255; // TODO: Use quality given in packet
@@ -355,31 +454,22 @@ bool Net::_processRequest(ftl::net::Peer &p, const ftl::codecs::Packet &pkt) {
client.txmax = static_cast<int>(pkt.frame_count)*kTallyScale;
}
- // First connected peer (or reconnecting peer) becomes a time server
- /*if (time_peer_ == ftl::UUID(0)) {
- time_peer_ = p.id();
- DLOG(INFO) << "Adding time peer";
- }*/
+ spkt.hint_capability |= ftl::codecs::kStreamCap_NewConnection;
+
+ try {
+ connect_cb_.trigger(&p);
+ } catch (const ftl::exception &e) {
+ LOG(ERROR) << "Exception in stream connect callback: " << e.what();
+ }
}
return false;
}
void Net::_checkDataRate(size_t tx_size, int64_t tx_latency, int64_t ts) {
- //float actual_mbps = (float(tx_size) * 8.0f * (1000.0f / float(tx_latency))) / 1048576.0f;
- //float min_mbps = (float(tx_size) * 8.0f * (1000.0f / float(ftl::timer::getInterval()))) / 1048576.0f;
- //if (actual_mbps > 0.0f && actual_mbps < min_mbps) LOG(WARNING) << "Bitrate = " << actual_mbps << "Mbps, min required = " << min_mbps << "Mbps";
-
UNIQUE_LOCK(msg_mtx__,lk);
req_bitrate__ += float(tx_size) * 8.0f;
sample_count__ += 1.0f;
-
- /*if (ts - last_msg_ >= 1000) {
- DLOG(INFO) << "Required Bitrate = " << (req_bitrate_ / float(ts - last_msg_) * 1000.0f / 1048576.0f) << "Mbps";
- last_msg_ = ts;
- req_bitrate_ = 0.0f;
- sample_count_ = 0.0f;
- }*/
}
float Net::getRequiredBitrate() {
@@ -394,8 +484,15 @@ float Net::getRequiredBitrate() {
bool Net::end() {
if (!active_) return false;
+
+ {
+ UNIQUE_LOCK(stream_mutex, lk);
+ auto i = std::find(net_streams.begin(), net_streams.end(), uri_);
+ if (i != net_streams.end()) net_streams.erase(i);
+ }
+
active_ = false;
- net_->unbind(uri_);
+ net_->unbind(base_uri_);
return true;
}
diff --git a/components/streams/src/parsers.cpp b/components/streams/src/parsers.cpp
index 29a3350ec1550f26a38856cfe3137758998c1032..1a8add33dca4a397e329eeb1c3b9d2cdeb06ae30 100644
--- a/components/streams/src/parsers.cpp
+++ b/components/streams/src/parsers.cpp
@@ -10,11 +10,11 @@ ftl::rgbd::Camera ftl::stream::parseCalibration(const ftl::codecs::Packet &pkt)
auto unpacked = msgpack::unpack((const char*)pkt.data.data(), pkt.data.size());
unpacked.get().convert(params);
- //LOG(INFO) << "Got Calibration: "
- // << std::get<0>(params).width << "x" << std::get<0>(params).height
- // << ", fx: " << std::get<0>(params).fx
- // << ", cx: " << std::get<0>(params).cx
- // << ", cy: " << std::get<0>(params).cy;
+ LOG(INFO) << "Got Calibration: "
+ << std::get<0>(params).width << "x" << std::get<0>(params).height
+ << ", fx: " << std::get<0>(params).fx
+ << ", cx: " << std::get<0>(params).cx
+ << ", cy: " << std::get<0>(params).cy;
return std::get<0>(params);
}
diff --git a/components/streams/src/receiver.cpp b/components/streams/src/receiver.cpp
index 6a274d56c3efc52007b996b20d0f8bdf7b6b67ef..97c58c7dcf8f727a8b8dd58321caf15e33170b88 100644
--- a/components/streams/src/receiver.cpp
+++ b/components/streams/src/receiver.cpp
@@ -1,8 +1,11 @@
#include <ftl/streams/receiver.hpp>
#include <ftl/codecs/depth_convert_cuda.hpp>
#include <ftl/profiler.hpp>
+#include <ftl/audio/software_decoder.hpp>
+#include <ftl/rgbd/capabilities.hpp>
#include <opencv2/cudaimgproc.hpp>
+#include <opencv2/highgui.hpp>
#include <ftl/streams/parsers.hpp>
#include <ftl/streams/injectors.hpp>
@@ -21,72 +24,102 @@ using ftl::stream::parsePose;
using ftl::stream::parseConfig;
using ftl::stream::injectCalibration;
using ftl::stream::injectPose;
-using ftl::codecs::definition_t;
+using ftl::rgbd::Capability;
-Receiver::Receiver(nlohmann::json &config) : ftl::Configurable(config), stream_(nullptr) {
+Receiver::Receiver(nlohmann::json &config, ftl::data::Pool *p) : ftl::Configurable(config), stream_(nullptr), pool_(p) {
timestamp_ = 0;
second_channel_ = Channel::Depth;
- frame_mask_ = value("frame_mask", 0xFFFFFFFFu);
- size_t bsize = value("frameset_buffer_size", 3);
- for (size_t i=0; i<ftl::stream::kMaxStreams; ++i) {
- builder_[i].setID(i);
- builder_[i].setBufferSize(bsize);
- }
+ on("frameset_buffer_size", [this]() {
+ size_t bsize = value("frameset_buffer_size", 0);
+ for (auto &i : builders_) {
+ i.second->setBufferSize(bsize);
+ }
+ });
- on("frameset_buffer_size", [this](const ftl::config::Event &e) {
- size_t bsize = value("frameset_buffer_size", 3);
- for (size_t i=0; i<ftl::stream::kMaxStreams; ++i) {
- builder_[i].setBufferSize(bsize);
+ on("max_buffer_size", [this]() {
+ size_t bsize = value("max_buffer_size", 16);
+ for (auto &i : builders_) {
+ i.second->setMaxBufferSize(bsize);
}
});
- on("frame_mask", [this](const ftl::config::Event &e) {
- frame_mask_ = value("frame_mask", 0xFFFFFFFFu);
+ on("completion_size", [this]() {
+ size_t bsize = value("completion_size", 8);
+ for (auto &i : builders_) {
+ i.second->setCompletionSize(bsize);
+ }
});
}
Receiver::~Receiver() {
- //if (stream_) {
- // stream_->onPacket(nullptr);
- //}
+}
- builder_[0].onFrameSet(nullptr);
+void Receiver::loopback(ftl::data::Frame &f, ftl::codecs::Channel c) {
+ auto &build = builder(f.frameset());
+ auto fs = build.get(f.timestamp(), f.source());
+ if (fs) fs->frames[f.source()].informChange(c, build.changeType(), f.getAnyMutable(c));
}
-void Receiver::onAudio(const ftl::audio::FrameSet::Callback &cb) {
- audio_cb_ = cb;
+ftl::streams::BaseBuilder &Receiver::builder(uint32_t id) {
+ auto i = builders_.find(id);
+ if (i == builders_.end()) {
+ auto fb = new ftl::streams::ForeignBuilder();
+ builders_[id] = std::shared_ptr<ftl::streams::BaseBuilder>(fb);
+ auto &b = builders_[id];
+ b->setID(id);
+ b->setPool(pool_);
+ fb->setBufferSize(value("frameset_buffer_size", 0));
+ fb->setMaxBufferSize(value("max_buffer_size", 16));
+ fb->setCompletionSize(value("completion_size", 8));
+ handles_[id] = std::move(fb->onFrameSet([this](const ftl::data::FrameSetPtr& fs) {
+ callback_.trigger(fs);
+ return true;
+ }));
+ return *b;
+ } else {
+ return *(i->second);
+ }
}
-/*void Receiver::_processConfig(InternalStates &frame, const ftl::codecs::Packet &pkt) {
- std::string cfg;
- auto unpacked = msgpack::unpack((const char*)pkt.data.data(), pkt.data.size());
- unpacked.get().convert(cfg);
+void Receiver::removeBuilder(uint32_t id) {
+ UNIQUE_LOCK(mutex_, lk);
+ auto i = builders_.find(id);
+ if (i != builders_.end()) {
+ handles_.erase(id);
+ builders_.erase(i);
+ }
+}
- LOG(INFO) << "Config Received: " << cfg;
- // TODO: This needs to be put in safer / better location
- //host_->set(std::get<0>(cfg), nlohmann::json::parse(std::get<1>(cfg)));
-}*/
+void Receiver::registerBuilder(const std::shared_ptr<ftl::streams::BaseBuilder> &b) {
+ auto i = builders_.find(b->id());
+ if (i != builders_.end()) throw FTL_Error("Builder already exists");
+ builders_[b->id()] = b;
+ handles_[b->id()] = std::move(b->onFrameSet([this](const ftl::data::FrameSetPtr& fs) {
+ callback_.trigger(fs);
+ return true;
+ }));
+}
void Receiver::_createDecoder(InternalVideoStates &frame, int chan, const ftl::codecs::Packet &pkt) {
UNIQUE_LOCK(frame.mutex,lk);
auto *decoder = frame.decoders[chan];
if (decoder) {
if (!decoder->accepts(pkt)) {
- //UNIQUE_LOCK(mutex_,lk);
ftl::codecs::free(frame.decoders[chan]);
} else {
return;
}
}
- //UNIQUE_LOCK(mutex_,lk);
frame.decoders[chan] = ftl::codecs::allocateDecoder(pkt);
}
Receiver::InternalVideoStates::InternalVideoStates() {
- for (int i=0; i<32; ++i) decoders[i] = nullptr;
- timestamp = -1;
+ for (int i=0; i<32; ++i) {
+ decoders[i] = nullptr;
+ timestamps[i] = 0;
+ }
}
Receiver::InternalVideoStates &Receiver::_getVideoFrame(const StreamPacket &spkt, int ix) {
@@ -94,17 +127,16 @@ Receiver::InternalVideoStates &Receiver::_getVideoFrame(const StreamPacket &spkt
UNIQUE_LOCK(mutex_, lk);
while (video_frames_[spkt.streamID].size() <= fn) {
- //frames_.resize(spkt.frameNumber()+1);
- video_frames_[spkt.streamID].push_back(new InternalVideoStates);
- video_frames_[spkt.streamID][video_frames_[spkt.streamID].size()-1]->state.set("name",std::string("Source ")+std::to_string(fn+1));
+ auto *ns = new InternalVideoStates;
+ video_frames_[spkt.streamID].push_back(ns);
}
+
auto &f = *video_frames_[spkt.streamID][fn];
- if (!f.frame.origin()) f.frame.setOrigin(&f.state);
return f;
}
-Receiver::InternalAudioStates::InternalAudioStates() {
-
+Receiver::InternalAudioStates::InternalAudioStates() : decoder(nullptr) {
+
}
Receiver::InternalAudioStates &Receiver::_getAudioFrame(const StreamPacket &spkt, int ix) {
@@ -112,312 +144,353 @@ Receiver::InternalAudioStates &Receiver::_getAudioFrame(const StreamPacket &spkt
UNIQUE_LOCK(mutex_, lk);
while (audio_frames_[spkt.streamID].size() <= fn) {
- //frames_.resize(spkt.frameNumber()+1);
audio_frames_[spkt.streamID].push_back(new InternalAudioStates);
- audio_frames_[spkt.streamID][audio_frames_[spkt.streamID].size()-1]->state.set("name",std::string("Source ")+std::to_string(fn+1));
}
+
auto &f = *audio_frames_[spkt.streamID][fn];
- //if (!f.frame.origin()) f.frame.setOrigin(&f.state);
return f;
}
-void Receiver::_processState(const StreamPacket &spkt, const Packet &pkt) {
- for (int i=0; i<pkt.frame_count; ++i) {
- InternalVideoStates &frame = _getVideoFrame(spkt,i);
-
- // Deal with the special channels...
- switch (spkt.channel) {
- case Channel::Configuration : ftl::config::parseJSON(frame.state.getConfig(), parseConfig(pkt)); break;
- case Channel::Calibration : frame.state.getLeft() = parseCalibration(pkt); break;
- case Channel::Calibration2 : frame.state.getRight() = parseCalibration(pkt); break;
- //case Channel::Pose : frame.state.getPose() = parsePose(pkt); break;
- case Channel::Pose : frame.state.setPose(parsePose(pkt)); break;
- default: break;
+void Receiver::_processData(const StreamPacket &spkt, const Packet &pkt) {
+ auto &build = builder(spkt.streamID);
+ auto fs = build.get(spkt.timestamp, spkt.frame_number);
+
+ if (fs) {
+ auto &f = (spkt.frame_number == 255) ? **fs : fs->frames[spkt.frame_number];
+
+ // Remove LIVE capability if stream hints it is recorded
+ if (spkt.channel == Channel::Capabilities && (spkt.hint_capability & ftl::codecs::kStreamCap_Recorded)) {
+ std::any data;
+ ftl::data::decode_type<std::unordered_set<Capability>>(data, pkt.data);
+
+ auto &cap = *std::any_cast<std::unordered_set<Capability>>(&data);
+ if (cap.count(Capability::LIVE)) {
+ cap.erase(Capability::LIVE);
+ }
+ cap.emplace(Capability::STREAMED);
+
+ f.informChange(spkt.channel, build.changeType(), data);
+ } else if (spkt.channel == Channel::Pose && pkt.codec == ftl::codecs::codec_t::POSE) {
+ // TODO: Remove this eventually, it allows old FTL files to work
+ std::any data;
+ auto &pose = data.emplace<Eigen::Matrix4d>();
+ pose = Eigen::Map<Eigen::Matrix4d>((double*)pkt.data.data());
+ f.informChange(spkt.channel, build.changeType(), data);
+ } else {
+ f.informChange(spkt.channel, build.changeType(), pkt);
+ }
+
+ if (spkt.channel == Channel::Calibration) {
+ const auto &calibration = std::get<0>(f.get<std::tuple<ftl::rgbd::Camera, ftl::codecs::Channel, int>>(Channel::Calibration));
+ InternalVideoStates &ividstate = _getVideoFrame(spkt);
+ ividstate.width = calibration.width;
+ ividstate.height = calibration.height;
+ }
+
+ // TODO: Adjust metadata also for recorded streams
+
+ fs->localTimestamp = spkt.localTimestamp;
+ _finishPacket(fs, spkt.frame_number);
+
+ // Still need to get the calibration data even if frameset is lost.
+ } else if (spkt.channel == Channel::Calibration) {
+ //LOG(WARNING) << "Calibration being missed in data";
+ InternalVideoStates &ividstate = _getVideoFrame(spkt);
+ std::any tany;
+ ftl::data::decode_type<std::tuple<ftl::rgbd::Camera, ftl::codecs::Channel, int>>(tany, pkt.data);
+ auto *cal = std::any_cast<std::tuple<ftl::rgbd::Camera, ftl::codecs::Channel, int>>(&tany);
+ if (cal) {
+ auto &calibration = std::get<0>(*cal);
+ ividstate.width = calibration.width;
+ ividstate.height = calibration.height;
}
}
}
-void Receiver::_processData(const StreamPacket &spkt, const Packet &pkt) {
- //InternalVideoStates &frame = _getVideoFrame(spkt);
- if (spkt.frameNumber() == 255) {
- auto *fs = builder_[spkt.streamID].get(spkt.timestamp);
- if (fs) {
- fs->createRawData(spkt.channel, pkt.data);
+ftl::audio::Decoder *Receiver::_createAudioDecoder(InternalAudioStates &frame, const ftl::codecs::Packet &pkt) {
+ if (!frame.decoder) frame.decoder = new ftl::audio::SoftwareDecoder();
+ return frame.decoder;
+}
+
+void Receiver::_processAudio(const StreamPacket &spkt, const Packet &pkt) {
+ // Audio Data
+ InternalAudioStates &state = _getAudioFrame(spkt);
+
+ state.timestamp = spkt.timestamp;
+
+ auto &build = builder(spkt.streamID);
+ auto fs = build.get(spkt.timestamp, spkt.frame_number+pkt.frame_count-1);
+
+ if (fs) {
+ auto &frame = fs->frames[spkt.frame_number];
+
+ auto &audiolist = frame.createChange<std::list<ftl::audio::Audio>>(spkt.channel, build.changeType(), pkt);
+ auto &audio = audiolist.emplace_back();
+
+ ftl::audio::Decoder *dec = _createAudioDecoder(state, pkt);
+ if (!dec) {
+ LOG(ERROR) << "Could get an audio decoder";
+ return;
+ }
+ if (!dec->decode(pkt, audio.data())) {
+ LOG(ERROR) << "Audio decode failed";
+ return;
}
+
+ fs->localTimestamp = spkt.localTimestamp;
+ _finishPacket(fs, spkt.frame_number);
} else {
- auto &frame = builder_[spkt.streamID].get(spkt.timestamp, spkt.frame_number);
- frame.createRawData(spkt.channel, pkt.data);
+ LOG(WARNING) << "Audio data being lost";
}
}
-void Receiver::_processAudio(const StreamPacket &spkt, const Packet &pkt) {
- // Audio Data
- InternalAudioStates &frame = _getAudioFrame(spkt);
-
- frame.frame.reset();
- frame.timestamp = spkt.timestamp;
- auto &audio = frame.frame.create<ftl::audio::Audio>(spkt.channel);
- size_t size = pkt.data.size()/sizeof(short);
- audio.data().resize(size);
- auto *ptr = (short*)pkt.data.data();
- for (size_t i=0; i<size; i++) audio.data()[i] = ptr[i];
-
- // Generate settings from packet data
- ftl::audio::AudioSettings settings;
- settings.channels = (spkt.channel == Channel::AudioStereo) ? 2 : 1;
- settings.frame_size = 256;
-
- switch (pkt.definition) {
- case definition_t::hz48000 : settings.sample_rate = 48000; break;
- case definition_t::hz44100 : settings.sample_rate = 44100; break;
- default: settings.sample_rate = 48000; break;
+namespace sgm {
+ namespace details {
+ void median_filter(const uint16_t* d_src, uint16_t* d_dst, int width, int height, int pitch, cudaStream_t stream);
}
+}
- frame.state.setLeft(settings);
- frame.frame.setOrigin(&frame.state);
-
- if (audio_cb_) {
- // Create an audio frameset wrapper.
- ftl::audio::FrameSet fs;
- fs.id = 0;
- fs.timestamp = frame.timestamp;
- //fs.originClockDelta;
- fs.count = 1;
- //fs.stale = false;
- fs.clear(ftl::data::FSFlag::STALE);
- frame.frame.swapTo(fs.frames.emplace_back());
-
- audio_cb_(fs);
+void Receiver::_terminateVideoPacket(const StreamPacket &spkt, const Packet &pkt) {
+ auto &build = builder(spkt.streamID);
+ auto fs = build.get(spkt.timestamp, spkt.frame_number+pkt.frame_count-1);
+ if (fs) {
+ fs->localTimestamp = spkt.localTimestamp;
+ _finishPacket(fs, spkt.frame_number);
}
}
void Receiver::_processVideo(const StreamPacket &spkt, const Packet &pkt) {
FTL_Profile("VideoPacket", 0.02);
- const ftl::codecs::Channel rchan = spkt.channel;
const unsigned int channum = (unsigned int)spkt.channel;
InternalVideoStates &ividstate = _getVideoFrame(spkt);
auto [tx,ty] = ftl::codecs::chooseTileConfig(pkt.frame_count);
- int width = ftl::codecs::getWidth(pkt.definition);
- int height = ftl::codecs::getHeight(pkt.definition);
- //LOG(INFO) << " CODEC = " << (int)pkt.codec << " " << (int)pkt.flags << " " << (int)spkt.channel;
- //LOG(INFO) << "Decode surface: " << (width*tx) << "x" << (height*ty);
+ if (tx == 0 || ty == 0) {
+ LOG(ERROR) << "No Packets";
+ _terminateVideoPacket(spkt, pkt);
+ return;
+ }
- auto &surface = ividstate.surface[static_cast<int>(spkt.channel)];
+ {
+ UNIQUE_LOCK(ividstate.mutex, lk);
- // Allocate a decode surface, this is a tiled image to be split later
- int cvtype = ftl::codecs::type(spkt.channel);
- if (cvtype == CV_32F) cvtype = (pkt.flags & 0x2) ? CV_16UC4 : CV_16U;
-
- //surface.create(height*ty, width*tx, ((isFloatChannel(spkt.channel)) ? ((pkt.flags & 0x2) ? CV_16UC4 : CV_16U) : CV_8UC4));
- surface.create(height*ty, width*tx, cvtype);
+ /*if (ividstate.timestamps[int(spkt.channel)] != 0 && spkt.timestamp > ividstate.timestamps[int(spkt.channel)] + ividstate.interval) {
+ if (spkt.timestamp > ividstate.timestamps[int(spkt.channel)] + 3*ividstate.interval) {
+ LOG(ERROR) << "Multiple frame delays or drops, discarding totally";
+ ividstate.timestamps[int(spkt.channel)] = std::max(ividstate.timestamps[int(spkt.channel)], spkt.timestamp);
+ return;
+ } else if (spkt.timestamp > ividstate.timestamps[int(spkt.channel)] + 2*ividstate.interval) {
+ LOG(WARNING) << "Frame was dropped, do the todo item now: " << ividstate.interval << "," << spkt.timestamp << "," << ividstate.timestamps[int(spkt.channel)];
+ if (ividstate.todos[int(spkt.channel)].first.timestamp > ividstate.timestamps[int(spkt.channel)]) {
+ _processVideo(ividstate.todos[int(spkt.channel)].first, ividstate.todos[int(spkt.channel)].second);
+ }
+ } else {
+ LOG(WARNING) << "Future frame received early: " << (spkt.timestamp - ividstate.timestamps[int(spkt.channel)] + ividstate.interval);
+ ividstate.todos[int(spkt.channel)].first = spkt;
+ ividstate.todos[int(spkt.channel)].second = pkt;
+ return;
+ }
+ }*/
+ if (spkt.timestamp < ividstate.timestamps[int(spkt.channel)]) {
+ lk.unlock();
+ LOG(ERROR) << "Out-of-order decode";
+ _terminateVideoPacket(spkt, pkt);
+ error_cb_.trigger(ftl::data::FrameID(spkt.streamID, spkt.frame_number));
+ return;
+ }// else if (spkt.timestamp > ividstate.timestamps[int(spkt.channel)]) {
+ // ividstate.interval = std::min(ividstate.interval, spkt.timestamp - ividstate.timestamps[int(spkt.channel)]);
+ //}
+ ividstate.timestamps[int(spkt.channel)] = std::max(ividstate.timestamps[int(spkt.channel)], spkt.timestamp);
+ }
- bool is_static = ividstate.decoders[channum] && (spkt.hint_capability & ftl::codecs::kStreamCap_Static);
+ cv::cuda::GpuMat surface;
+ //bool is_static = ividstate.decoders[channum] && (spkt.hint_capability & ftl::codecs::kStreamCap_Static);
// Find or create the decoder
_createDecoder(ividstate, channum, pkt);
auto *decoder = ividstate.decoders[channum];
if (!decoder) {
LOG(ERROR) << "No frame decoder available";
+ _terminateVideoPacket(spkt, pkt);
return;
}
// Do the actual decode into the surface buffer
- if (!is_static) {
- try {
- FTL_Profile("Decode", 0.015);
- if (!decoder->decode(pkt, surface)) {
- LOG(ERROR) << "Decode failed on channel " << (int)spkt.channel;
- return;
- }
- } catch (std::exception &e) {
- LOG(ERROR) << "Decode failed for " << spkt.timestamp << ": " << e.what();
+ try {
+ FTL_Profile("Decode", 0.015);
+ if (!decoder->decode(pkt, surface)) {
+ LOG(ERROR) << "Decode failed on channel " << (int)spkt.channel;
+ _terminateVideoPacket(spkt, pkt);
return;
}
+ } catch (std::exception &e) {
+ LOG(ERROR) << "Decode failed for " << spkt.timestamp << ": " << e.what();
+ _terminateVideoPacket(spkt, pkt);
+ return;
}
- auto cvstream = cv::cuda::StreamAccessor::wrapStream(decoder->stream());
+ int width = surface.cols / tx;
+ int height = surface.rows / ty;
- /*if (spkt.channel == Channel::Depth && (pkt.flags & 0x2)) {
- cv::Mat tmp;
- surface.download(tmp);
- cv::imshow("Test", tmp);
- cv::waitKey(1);
- }*/
+ if (width == 0 || height == 0) {
+ LOG(ERROR) << "Invalid decoded size: " << surface.cols << "x" << surface.rows << " (" << tx << "," << ty << ")";
+ _terminateVideoPacket(spkt, pkt);
+ return;
+ }
- bool apply_Y_filter = value("apply_Y_filter", true);
+ int cvtype = ftl::codecs::type(spkt.channel);
- // Mark a frameset as being partial
- if (pkt.flags & ftl::codecs::kFlagPartial) {
- builder_[spkt.streamID].markPartial(spkt.timestamp);
+ if (surface.type() != cvtype) {
+ LOG(ERROR) << "Invalid video format received";
+ _terminateVideoPacket(spkt, pkt);
+ return;
}
- // Now split the tiles from surface into frames, doing colour conversions
- // at the same time.
- // Note: Done in reverse to allocate correct number of frames first time round
- for (int i=pkt.frame_count-1; i>=0; --i) {
- InternalVideoStates &vidstate = _getVideoFrame(spkt,i);
- auto &frame = builder_[spkt.streamID].get(spkt.timestamp, spkt.frame_number+i);
+ // Get the frameset
+ auto &build = builder(spkt.streamID);
- if (!frame.origin()) frame.setOrigin(&vidstate.state);
+ {
+ auto fs = build.get(spkt.timestamp, spkt.frame_number+pkt.frame_count-1);
- if (frame.hasChannel(spkt.channel)) {
- // FIXME: Is this a corruption in recording or in playback?
- // Seems to occur in same place in ftl file, one channel is missing
- LOG(WARNING) << "Previous frame not complete: " << spkt.timestamp;
+ if (!fs) {
+ LOG(WARNING) << "Dropping a video frame";
+ return;
}
- {
- // This ensures that if previous frames are unfinished then they
- // are discarded.
- /*UNIQUE_LOCK(vidstate.mutex, lk);
- if (frame.timestamp != spkt.timestamp && frame.timestamp != -1) {
- frame.frame.reset();
- frame.completed.clear();
- LOG(WARNING) << "Frames out-of-phase by: " << spkt.timestamp - frame.timestamp;
- }
- frame.timestamp = spkt.timestamp;*/
+ auto cvstream = cv::cuda::StreamAccessor::wrapStream(decoder->stream());
+
+ // Mark a frameset as being partial
+ if (pkt.flags & ftl::codecs::kFlagPartial) {
+ fs->markPartial();
}
- // Add channel to frame and allocate memory if required
- const cv::Size size = cv::Size(width, height);
- frame.getBuffer<cv::cuda::GpuMat>(spkt.channel).create(size, ftl::codecs::type(spkt.channel)); //(isFloatChannel(rchan) ? CV_32FC1 : CV_8UC4));
-
- cv::Rect roi((i % tx)*width, (i / tx)*height, width, height);
- cv::cuda::GpuMat sroi = surface(roi);
-
- // Do colour conversion
- if (isFloatChannel(rchan) && (pkt.flags & 0x2)) {
- // Smooth Y channel around discontinuities
- // Lerp the uv channels / smooth over a small kernal size.
-
- if (value("apply_median", false)) {
- cv::Mat tmp;
- sroi.download(tmp);
- cv::medianBlur(tmp, tmp, 5);
- sroi.upload(tmp);
+ // Now split the tiles from surface into frames, doing colour conversions
+ // at the same time.
+ // Note: Done in reverse to allocate correct number of frames first time round
+ // FIXME: Don't do this copy for single tiles
+ for (int i=pkt.frame_count-1; i>=0; --i) {
+ //InternalVideoStates &vidstate = _getVideoFrame(spkt,i);
+ auto &frame = fs->frames[spkt.frame_number+i];
+
+ //if (!frame.origin()) frame.setOrigin(&vidstate.state);
+
+ if (frame.hasChannel(spkt.channel)) {
+ LOG(WARNING) << "Previous frame not complete: " << spkt.timestamp;
}
- if (apply_Y_filter) ftl::cuda::smooth_y(sroi, cvstream);
- ftl::cuda::vuya_to_depth(frame.getBuffer<cv::cuda::GpuMat>(spkt.channel), sroi, 16.0f, cvstream);
- } else if (isFloatChannel(rchan)) {
- sroi.convertTo(frame.getBuffer<cv::cuda::GpuMat>(spkt.channel), CV_32FC1, 1.0f/1000.0f, cvstream);
- } else if (sroi.type() == CV_8UC1) {
- sroi.copyTo(frame.getBuffer<cv::cuda::GpuMat>(spkt.channel), cvstream);
- } else {
- cv::cuda::cvtColor(sroi, frame.getBuffer<cv::cuda::GpuMat>(spkt.channel), cv::COLOR_RGBA2BGRA, 0, cvstream);
+ // Add channel to frame and allocate memory if required
+ const cv::Size size = cv::Size(width, height);
+ auto &buf = frame.createChange<ftl::rgbd::VideoFrame>(spkt.channel, build.changeType(), pkt).createGPU();
+ buf.create(size, ftl::codecs::type(spkt.channel)); //(isFloatChannel(rchan) ? CV_32FC1 : CV_8UC4));
+
+ cv::Rect roi((i % tx)*width, (i / tx)*height, width, height);
+ cv::cuda::GpuMat sroi = surface(roi);
+ sroi.copyTo(buf, cvstream);
}
- }
- // Must ensure all processing is finished before completing a frame.
- cudaSafeCall(cudaStreamSynchronize(decoder->stream()));
+ // Must ensure all processing is finished before completing a frame.
+ //cudaSafeCall(cudaStreamSynchronize(decoder->stream()));
- for (int i=0; i<pkt.frame_count; ++i) {
- InternalVideoStates &vidstate = _getVideoFrame(spkt,i);
- auto &frame = builder_[spkt.streamID].get(spkt.timestamp, spkt.frame_number+i);
+ cudaSafeCall(cudaEventRecord(decoder->event(), decoder->stream()));
+ //for (int i=0; i<pkt.frame_count; ++i) {
+ // cudaSafeCall(cudaStreamWaitEvent(fs->frames[spkt.frame_number+i].stream(), decoder->event(), 0));
+ //}
- const auto *cs = stream_;
- auto sel = stream_->selected(spkt.frameSetID()) & cs->available(spkt.frameSetID());
+ // For now, always add to frame 0 stream
+ cudaSafeCall(cudaStreamWaitEvent(fs->frames[0].stream(), decoder->event(), 0));
- frame.create<cv::cuda::GpuMat>(spkt.channel);
+ fs->localTimestamp = spkt.localTimestamp;
- if (i == 0) {
- Packet tmppkt = pkt;
- frame.pushPacket(spkt.channel, tmppkt);
- }
-
- UNIQUE_LOCK(vidstate.mutex, lk);
- //if (frame.timestamp == spkt.timestamp) {
- //frame.completed += spkt.channel;
-
- // Complete if all requested channels are found
- if ((frame.getChannels() & sel) == sel) {
- timestamp_ = spkt.timestamp;
- //frame.reset.clear();
-
- //LOG(INFO) << "BUILDER PUSH: " << timestamp_ << ", " << spkt.frameNumber() << ", " << (int)pkt.frame_count;
-
- if (vidstate.state.getLeft().width == 0) {
- LOG(WARNING) << "Missing calibration for frame";
- }
+ _finishPacket(fs, spkt.frame_number);
+ }
+}
- // TODO: Have multiple builders for different framesets.
- //builder_.push(frame.timestamp, spkt.frameNumber()+i, frame.frame);
- builder_[spkt.streamID].completed(spkt.timestamp, spkt.frame_number+i);
+void Receiver::_finishPacket(ftl::streams::LockedFrameSet &fs, size_t fix) {
+ if (fix >= fs->frames.size()) fix = 0;
- // Check for any state changes and send them back
- //if (vidstate.state.hasChanged(Channel::Pose)) injectPose(stream_, frame, spkt.timestamp, spkt.frameNumber()+i);
- //if (vidstate.state.hasChanged(Channel::Calibration)) injectCalibration(stream_, frame, spkt.timestamp, spkt.streamID, spkt.frameNumber()+i);
- //if (vidstate.state.hasChanged(Channel::Calibration2)) injectCalibration(stream_, frame, spkt.timestamp, spkt.streamID, spkt.frameNumber()+i, true);
+ auto &frame = fs->frames[fix];
+ ++frame.packet_rx;
- //frame.reset();
- //frame.completed.clear();
- //frame.timestamp = -1;
- }
- //} else {
- // LOG(ERROR) << "Frame timestamps mistmatch";
- //}
+ if (frame.packet_tx > 0 && frame.packet_tx == frame.packet_rx) {
+ fs->completed(fix);
+ if (fs->isComplete()) {
+ //LOG(INFO) << "COMPLETE: " << fs->timestamp() << ", " << fix;
+ timestamp_ = fs->timestamp();
+ }
+ frame.packet_tx = 0;
+ frame.packet_rx = 0;
}
}
-void Receiver::setStream(ftl::stream::Stream *s) {
- if (stream_) {
- stream_->onPacket(nullptr);
- }
+void Receiver::processPackets(const StreamPacket &spkt, const Packet &pkt) {
+ const unsigned int channum = (unsigned int)spkt.channel;
- stream_ = s;
+ if (spkt.channel == Channel::EndFrame) {
+ auto fs = builder(spkt.streamID).get(spkt.timestamp, spkt.frame_number+pkt.frame_count-1);
- s->onPacket([this](const StreamPacket &spkt, const Packet &pkt) {
- const unsigned int channum = (unsigned int)spkt.channel;
+ if (fs) {
+ fs->frames[spkt.frame_number].packet_tx = static_cast<int>(pkt.packet_count);
+ //LOG(INFO) << "EXPECTED " << fs->frames[spkt.frame_number].packet_tx << " for " << int(spkt.frame_number);
+ _finishPacket(fs, spkt.frame_number);
+ }
+ return;
+ }
- //LOG(INFO) << "PACKET: " << spkt.timestamp << ", " << (int)spkt.channel << ", " << (int)pkt.codec << ", " << (int)pkt.definition;
+ // No data packet means channel is only available.
+ if (pkt.data.size() == 0) {
+ if (spkt.streamID < 255 && !(spkt.flags & ftl::codecs::kFlagRequest)) {
+ // Get the frameset
+ auto fs = builder(spkt.streamID).get(spkt.timestamp, spkt.frame_number+pkt.frame_count-1);
- // TODO: Allow for multiple framesets
- //if (spkt.frameSetID() > 0) LOG(INFO) << "Frameset " << spkt.frameSetID() << " received: " << (int)spkt.channel;
- if (spkt.frameSetID() >= ftl::stream::kMaxStreams) return;
+ if (fs) {
+ const auto *cs = stream_;
+ const auto sel = stream_->selected(spkt.frameSetID()) & cs->available(spkt.frameSetID());
- // Frameset level data channels
- if (spkt.frameNumber() == 255 && pkt.data.size() > 0) {
- _processData(spkt,pkt);
- return;
+ fs->localTimestamp = spkt.localTimestamp;
+
+ for (auto &frame : fs->frames) {
+ frame.markAvailable(spkt.channel);
+ }
+ _finishPacket(fs, spkt.frame_number);
+ }
}
+ return;
+ }
- // Too many frames, so ignore.
- //if (spkt.frameNumber() >= value("max_frames",32)) return;
- if (spkt.frameNumber() >= 32 || ((1 << spkt.frameNumber()) & frame_mask_) == 0) return;
+ if (spkt.frameSetID() >= ftl::stream::kMaxStreams) return;
- // Dummy no data packet.
- if (pkt.data.size() == 0) return;
+ // Frameset level data channels
+ if (spkt.frameNumber() == 255 && pkt.data.size() > 0) {
+ _processData(spkt,pkt);
+ return;
+ }
+ // Too many frames, so ignore.
+ if (spkt.frameNumber() >= 32) return;
- if (channum >= 2048) {
- _processData(spkt,pkt);
- } else if (channum >= 64) {
- _processState(spkt,pkt);
- } else if (channum >= 32 && channum < 64) {
- _processAudio(spkt,pkt);
- } else {
- _processVideo(spkt,pkt);
- }
- });
-}
-size_t Receiver::size() {
- return builder_[0].size();
+ if (channum >= 64) {
+ _processData(spkt,pkt);
+ } else if (channum >= 32 && channum < 64) {
+ _processAudio(spkt,pkt);
+ } else {
+ _processVideo(spkt,pkt);
+ }
}
-ftl::rgbd::FrameState &Receiver::state(size_t ix) {
- return builder_[0].state(ix);
-}
+void Receiver::setStream(ftl::stream::Stream *s) {
+ handle_.cancel();
+ stream_ = s;
-void Receiver::onFrameSet(const ftl::rgbd::VideoCallback &cb) {
- for (size_t i=0; i<ftl::stream::kMaxStreams; ++i)
- builder_[i].onFrameSet(cb);
+ handle_ = s->onPacket([this](const StreamPacket &spkt, const Packet &pkt) {
+ processPackets(spkt, pkt);
+ return true;
+ });
}
-void Receiver::onFrameSet(size_t s, const ftl::rgbd::VideoCallback &cb) {
- if (s >= 0 && s < ftl::stream::kMaxStreams)
- builder_[s].onFrameSet(cb);
+ftl::Handle Receiver::onFrameSet(const std::function<bool(const ftl::data::FrameSetPtr&)> &cb) {
+ return callback_.on(cb);
}
+
diff --git a/components/streams/src/renderer.cpp b/components/streams/src/renderer.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..66d3add2b6215909de40e5ac3d17d1662bbc77eb
--- /dev/null
+++ b/components/streams/src/renderer.cpp
@@ -0,0 +1,84 @@
+#include <ftl/streams/renderer.hpp>
+#include <ftl/rgbd/frame.hpp>
+#include <ftl/rgbd/frameset.hpp>
+#include <ftl/rgbd/capabilities.hpp>
+#include <loguru.hpp>
+
+#include "./renderers/screen_render.hpp"
+#include "./renderers/openvr_render.hpp"
+
+using ftl::render::Source;
+using ftl::codecs::Channel;
+using ftl::rgbd::Capability;
+using std::string;
+
+
+Source::Source(nlohmann::json &config, ftl::stream::Feed *feed)
+: ftl::Configurable(config), feed_(feed), impl_(nullptr) {
+ reset();
+
+ on("uri", [this]() {
+ LOG(INFO) << "URI change for renderer: " << getURI();
+ reset();
+ });
+}
+
+Source::~Source() {
+ if (impl_) delete impl_;
+}
+
+ftl::audio::StereoMixerF<100> &Source::mixer() {
+ if (!impl_) throw FTL_Error("No implementation");
+ return impl_->mixer();
+}
+
+ftl::stream::Feed::Filter *Source::filter() const {
+ if (!impl_) return nullptr;
+ return impl_->filter();
+}
+
+bool Source::supports(const std::string &puri) {
+ ftl::URI uri(puri);
+ if (!uri.isValid() || uri.getScheme() != ftl::URI::SCHEME_DEVICE) return false;
+
+ if (uri.getPathSegment(0) == "render") return true;
+ if (uri.getPathSegment(0) == "openvr") return ftl::render::OpenVRRender::supported();
+ return false;
+}
+
+void Source::reset() {
+ if (impl_) delete impl_;
+ impl_ = nullptr;
+
+ auto uristr = get<string>("uri");
+ if (!uristr) return;
+
+ restore(*uristr, {
+ "renderer",
+ "source",
+ "intrinsics",
+ "name"
+ });
+
+ ftl::URI uri(*uristr);
+ if (!uri.isValid()) return;
+ if (uri.getScheme() != ftl::URI::SCHEME_DEVICE) return;
+
+ if (uri.getPathSegment(0) == "render") {
+ impl_ = new ftl::render::ScreenRender(this, feed_);
+ } else if (uri.getPathSegment(0) == "openvr") {
+ impl_ = new ftl::render::OpenVRRender(this, feed_);
+ } else {
+ throw FTL_Error("Invalid render device: " << *uristr);
+ }
+}
+
+bool Source::capture(int64_t ts) {
+ if (impl_) return impl_->capture(ts);
+ else return false;
+}
+
+bool Source::retrieve(ftl::data::Frame &frame_out) {
+ if (impl_) return impl_->retrieve(frame_out);
+ else return false;
+}
diff --git a/components/streams/src/renderers/collisions.cpp b/components/streams/src/renderers/collisions.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..aedd31c2eba747cabb2de9b6c5d10162d79b8e4a
--- /dev/null
+++ b/components/streams/src/renderers/collisions.cpp
@@ -0,0 +1,77 @@
+#include "collisions.hpp"
+#include <ftl/codecs/touch.hpp>
+#include <ftl/utility/matrix_conversion.hpp>
+#include <ftl/rgbd/capabilities.hpp>
+#include <ftl/algorithms/dbscan.hpp>
+
+using ftl::codecs::Channel;
+using ftl::rgbd::Capability;
+
+void ftl::render::collision2touch(const ftl::rgbd::Frame &rgbdframe,
+ const std::vector<float4> &collisions,
+ const std::list<ftl::data::FrameSetPtr> &sets, uint32_t myid, float tmin, float tmax) {
+
+ std::vector<float4> clusters;
+ std::vector<short> labels;
+ ftl::dbscan<float4>(collisions, [](const std::vector<float4> &pts, size_t idx, float radius) {
+ std::vector<size_t> neighbors;
+ for (auto i = 0u; i < pts.size(); i++) {
+ if (i == idx) {
+ continue;
+ }
+ float dx = pts[idx].x - pts[i].x;
+ float dy = pts[idx].y - pts[i].y;
+
+ if (dx*dx+dy*dy < radius*radius) {
+ neighbors.push_back(i);
+ }
+ }
+ return neighbors;
+ }, 5, 16.0f, labels, clusters);
+
+ // TODO: Support multi-touch
+ if (clusters.size() == 1) {
+ //LOG(INFO) << "Found " << clusters.size() << " collisions";
+ //LOG(INFO) << " -- " << clusters[0].x << "," << clusters[0].y << " " << clusters[0].z;
+
+ // Find all frames that support touch
+ for (auto &s : sets) {
+ if (s->frameset() == myid) continue;
+
+ for (const auto &f : s->frames) {
+ if (f.has(Channel::Capabilities)) {
+ const auto &cap = f.get<std::unordered_set<Capability>>(Channel::Capabilities);
+
+ // If it supports touch, calculate the touch points in screen coordinates
+ if (cap.count(Capability::TOUCH)){
+ const auto &rgbdf = f.cast<ftl::rgbd::Frame>();
+
+ // TODO: Use Eigen directly.
+ auto fpose = rgbdf.getPose();
+ if (s->hasChannel(Channel::Pose)) {
+ fpose = s->cast<ftl::rgbd::Frame>().getPose() * fpose;
+ }
+ auto pose = MatrixConversion::toCUDA((fpose.inverse() * rgbdframe.getPose()).cast<float>());
+ float3 campos = pose * rgbdframe.getLeft().screenToCam(clusters[0].x, clusters[0].y, clusters[0].z);
+ const auto &cam = rgbdf.getLeft();
+ int2 pt = cam.camToScreen<int2>(campos);
+ //LOG(INFO) << "TOUCH AT " << pt.x << "," << pt.y << " - " << campos.z;
+
+ {
+ // Send the touch data
+ auto response = f.response();
+ auto &touches = response.create<std::vector<ftl::codecs::Touch>>(Channel::Touch);
+ auto &touch = touches.emplace_back();
+ touch.id = 0;
+ touch.x = pt.x;
+ touch.y = pt.y;
+ touch.type = ftl::codecs::TouchType::COLLISION;
+ touch.strength = (std::abs(campos.z - cam.maxDepth) <= tmin) ? 255 : 0;
+ touch.d = campos.z;
+ }
+ }
+ }
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/components/streams/src/renderers/collisions.hpp b/components/streams/src/renderers/collisions.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..f80d481eeddfcb45fcc3759dce6a0211e6d86d6e
--- /dev/null
+++ b/components/streams/src/renderers/collisions.hpp
@@ -0,0 +1,18 @@
+#ifndef _FTL_RENDER_COLLISIONS_HPP_
+#define _FTL_RENDER_COLLISIONS_HPP_
+
+#include <ftl/data/new_frameset.hpp>
+#include <ftl/rgbd/frame.hpp>
+
+namespace ftl {
+namespace render {
+
+void collision2touch(const ftl::rgbd::Frame &rgbdframe,
+ const std::vector<float4> &collisions,
+ const std::list<ftl::data::FrameSetPtr> &sets,
+ uint32_t myid, float tmin, float tmax);
+
+}
+}
+
+#endif
\ No newline at end of file
diff --git a/components/streams/src/renderers/openvr_render.cpp b/components/streams/src/renderers/openvr_render.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..bf29346231c96df291d483d4d31af18e8b6a9525
--- /dev/null
+++ b/components/streams/src/renderers/openvr_render.cpp
@@ -0,0 +1,561 @@
+#include <ftl/streams/renderer.hpp>
+#include <ftl/rgbd/frame.hpp>
+#include <ftl/rgbd/frameset.hpp>
+#include <ftl/rgbd/capabilities.hpp>
+#include <ftl/cuda/transform.hpp>
+#include <ftl/operators/antialiasing.hpp>
+#include <ftl/operators/gt_analysis.hpp>
+#include <ftl/operators/poser.hpp>
+#include <ftl/codecs/shapes.hpp>
+
+#include <loguru.hpp>
+
+#include "openvr_render.hpp"
+#include "collisions.hpp"
+
+#include <GL/gl.h>
+
+using ftl::render::Source;
+using ftl::render::OpenVRRender;
+using ftl::codecs::Channel;
+using ftl::rgbd::Capability;
+using ftl::codecs::Shape3DType;
+
+#ifdef HAVE_OPENVR
+static vr::IVRSystem *HMD = nullptr;
+#endif
+
+
+OpenVRRender::OpenVRRender(ftl::render::Source *host, ftl::stream::Feed *feed)
+: ftl::render::BaseSourceImpl(host), feed_(feed), my_id_(0), post_pipe_(nullptr), baseline_(0.06f) {
+ #ifdef HAVE_OPENVR
+ if (HMD) throw FTL_Error("Can only have one OpenVR device");
+ #endif
+ initVR();
+
+ renderer_ = std::unique_ptr<ftl::render::CUDARender>(
+ ftl::create<ftl::render::CUDARender>(host_, "renderer")
+ );
+
+ /*renderer2_ = std::unique_ptr<ftl::render::CUDARender>(
+ ftl::create<ftl::render::CUDARender>(host_, "renderer2")
+ );*/
+
+ intrinsics_ = ftl::create<ftl::Configurable>(host_, "intrinsics");
+
+ filter_ = nullptr;
+ std::string source = host_->value("source", std::string(""));
+
+ if (source.size() > 0) {
+ filter_ = feed_->filter({source},{Channel::Colour, Channel::Depth});
+ } else {
+ filter_ = feed_->filter({Channel::Colour, Channel::Depth});
+ }
+
+ host_->on("source", [this]() {
+ std::string source = host_->value("source", std::string(""));
+
+ if (source.size() > 0) {
+ if (filter_) filter_->remove();
+ filter_ = feed_->filter({source},{Channel::Colour, Channel::Depth});
+ } else {
+ if (filter_) filter_->remove();
+ filter_ = feed_->filter({Channel::Colour, Channel::Depth});
+ }
+ });
+
+ eye_ = Eigen::Vector3d::Zero();
+ rotmat_.setIdentity();
+ initial_pose_.setIdentity();
+
+ host_->value("reset_pose", false);
+ host_->on("reset_pose", [this]() {
+ pose_calibrated_.clear();
+ });
+}
+
+OpenVRRender::~OpenVRRender() {
+ if (filter_) filter_->remove();
+ delete intrinsics_;
+ if (post_pipe_) delete post_pipe_;
+
+ #ifdef HAVE_OPENVR
+ if (HMD != nullptr) {
+ vr::VR_Shutdown();
+ }
+ #endif
+}
+
+bool OpenVRRender::initVR() {
+ #ifdef HAVE_OPENVR
+ if (!vr::VR_IsHmdPresent()) {
+ return false;
+ }
+
+ if (HMD) return true;
+
+ vr::EVRInitError eError = vr::VRInitError_None;
+ HMD = vr::VR_Init( &eError, vr::VRApplication_Scene );
+
+ if (eError != vr::VRInitError_None)
+ {
+ HMD = nullptr;
+ LOG(ERROR) << "Unable to init VR runtime: " << vr::VR_GetVRInitErrorAsEnglishDescription(eError);
+ return false;
+ }
+
+ return true;
+ #else
+ return false;
+ #endif
+}
+
+bool OpenVRRender::supported() {
+ #ifdef HAVE_OPENVR
+ return vr::VR_IsHmdPresent();
+ #else
+ return false;
+ #endif
+}
+
+bool OpenVRRender::isReady() {
+ #ifdef HAVE_OPENVR
+ return HMD != nullptr;
+ #else
+ return false;
+ #endif
+}
+
+bool OpenVRRender::capture(int64_t ts) {
+ return true;
+}
+
+#ifdef HAVE_OPENVR
+static inline Eigen::Matrix4d ConvertSteamVRMatrixToMatrix4( const vr::HmdMatrix34_t &matPose )
+{
+ Eigen::Matrix4d matrixObj;
+ matrixObj <<
+ matPose.m[0][0], matPose.m[0][1], matPose.m[0][2], matPose.m[0][3],
+ matPose.m[1][0], matPose.m[1][1], matPose.m[1][2], matPose.m[1][3],
+ matPose.m[2][0], matPose.m[2][1], matPose.m[2][2], matPose.m[2][3],
+ 0.0, 0.0, 0.0, 1.0;
+ return matrixObj;
+}
+
+static inline Eigen::Matrix4d ConvertSteamVRMatrixToMatrix4( const vr::HmdMatrix44_t &matPose )
+{
+ Eigen::Matrix4d matrixObj;
+ matrixObj <<
+ matPose.m[0][0], matPose.m[0][1], matPose.m[0][2], matPose.m[0][3],
+ matPose.m[1][0], matPose.m[1][1], matPose.m[1][2], matPose.m[1][3],
+ matPose.m[2][0], matPose.m[2][1], matPose.m[2][2], matPose.m[2][3],
+ matPose.m[3][0], matPose.m[3][1], matPose.m[3][2], matPose.m[3][3];
+ return matrixObj;
+}
+
+static Eigen::Matrix3d getCameraMatrix(const double tanx1,
+ const double tanx2,
+ const double tany1,
+ const double tany2,
+ const double size_x,
+ const double size_y) {
+
+ Eigen::Matrix3d C = Eigen::Matrix3d::Identity();
+
+ CHECK(tanx1 < 0 && tanx2 > 0 && tany1 < 0 && tany2 > 0);
+ CHECK(size_x > 0 && size_y > 0);
+
+ double fx = size_x / (-tanx1 + tanx2);
+ double fy = size_y / (-tany1 + tany2);
+ C(0,0) = fx;
+ C(1,1) = fy;
+ C(0,2) = tanx1 * fx;
+ C(1,2) = tany1 * fy;
+
+ // safe to remove
+ CHECK((int) (abs(tanx1 * fx) + abs(tanx2 * fx)) == (int) size_x);
+ CHECK((int) (abs(tany1 * fy) + abs(tany2 * fy)) == (int) size_y);
+
+ return C;
+}
+
+static Eigen::Matrix3d getCameraMatrix(vr::IVRSystem *vr, const vr::Hmd_Eye &eye) {
+ float tanx1, tanx2, tany1, tany2;
+ uint32_t size_x, size_y;
+ vr->GetProjectionRaw(eye, &tanx1, &tanx2, &tany1, &tany2);
+ vr->GetRecommendedRenderTargetSize(&size_x, &size_y);
+ return getCameraMatrix(tanx1, tanx2, tany1, tany2, size_x, size_y);
+}
+#endif
+
+bool OpenVRRender::retrieve(ftl::data::Frame &frame_out) {
+
+ #ifdef HAVE_OPENVR
+ //auto input = std::atomic_load(&input_);
+
+ my_id_ = frame_out.frameset();
+
+ auto sets = filter_->getLatestFrameSets();
+
+ if (sets.size() > 0) {
+ ftl::rgbd::Frame &rgbdframe = frame_out.cast<ftl::rgbd::Frame>();
+
+ if (!frame_out.has(Channel::Calibration)) {
+ auto &left = rgbdframe.setLeft();
+ auto &right = rgbdframe.setRight();
+
+ left = ftl::rgbd::Camera::from(intrinsics_);
+ right = ftl::rgbd::Camera::from(intrinsics_);
+
+ left.baseline = baseline_;
+ right.baseline = baseline_;
+
+ unsigned int size_x, size_y;
+ HMD->GetRecommendedRenderTargetSize(&size_x, &size_y);
+ left.width = size_x;
+ left.height = size_y;
+ right.width = size_x;
+ right.height = size_y;
+
+ Eigen::Matrix3d intrinsic;
+
+ intrinsic = getCameraMatrix(HMD, vr::Eye_Left);
+ CHECK(intrinsic(0, 2) < 0 && intrinsic(1, 2) < 0);
+ left.fx = intrinsic(0,0);
+ left.fy = intrinsic(0,0);
+ left.cx = intrinsic(0,2);
+ left.cy = intrinsic(1,2);
+
+ intrinsic = getCameraMatrix(HMD, vr::Eye_Right);
+ CHECK(intrinsic(0, 2) < 0 && intrinsic(1, 2) < 0);
+ right.fx = intrinsic(0,0);
+ right.fy = intrinsic(0,0);
+ right.cx = intrinsic(0,2);
+ right.cy = intrinsic(1,2);
+
+ LOG(INFO) << "VR Left Intrinsics: fx=" << left.fx << ",cx=" << left.cx << ",cy=" << left.cy;
+ LOG(INFO) << "VR Right Intrinsics: fx=" << right.fx << ",cx=" << right.cx << ",cy=" << right.cy;
+
+ if (!frame_out.has(Channel::Capabilities)) {
+ auto &cap = frame_out.create<std::unordered_set<Capability>>(Channel::Capabilities);
+ cap.emplace(Capability::VIDEO);
+ cap.emplace(Capability::MOVABLE);
+ cap.emplace(Capability::ADJUSTABLE);
+ cap.emplace(Capability::VIRTUAL);
+ cap.emplace(Capability::LIVE);
+ cap.emplace(Capability::VR);
+ }
+
+ auto &meta = frame_out.create<std::map<std::string,std::string>>(Channel::MetaData);
+ meta["name"] = host_->value("name", host_->getID());
+ meta["id"] = host_->getID();
+ meta["uri"] = std::string("device:openvr");
+ meta["device"] = std::string("OpenVR Render");
+
+ vr::VRCompositor()->SetTrackingSpace(vr::TrackingUniverseStanding);
+ }
+ //if (!frame_out.has(Channel::Pose)) {
+ // rgbdframe.setPose() = Eigen::Matrix4d::Identity();
+ //}
+
+ int width = rgbdframe.getLeft().width;
+ int height = rgbdframe.getLeft().height;
+
+ auto vrerr = vr::VRCompositor()->WaitGetPoses(rTrackedDevicePose_, vr::k_unMaxTrackedDeviceCount, NULL, 0 );
+
+ if (vrerr != vr::VRCompositorError_None) {
+ frame_out.message(ftl::data::Message::Error_OPENVR, "Could not get VR pose");
+ LOG(ERROR) << "Error getting VR poses: " << (int)vrerr;
+ }
+
+ if (rTrackedDevicePose_[vr::k_unTrackedDeviceIndex_Hmd].bPoseIsValid ) {
+ Eigen::Matrix4d eye_l = ConvertSteamVRMatrixToMatrix4(
+ vr::VRSystem()->GetEyeToHeadTransform(vr::Eye_Left));
+
+ //Eigen::Matrix4d eye_r = ConvertSteamVRMatrixToMatrix4(
+ // vr::VRSystem()->GetEyeToHeadTransform(vr::Eye_Left));
+
+ float baseline_in = 2.0 * eye_l(0, 3);
+
+ if (baseline_in != baseline_) {
+ baseline_ = baseline_in;
+ auto cur_left = rgbdframe.getLeft();
+ cur_left.baseline = baseline_;
+ rgbdframe.setLeft() = cur_left;
+
+ auto cur_right = rgbdframe.getRight();
+ cur_right.baseline = baseline_;
+ rgbdframe.setRight() = cur_right;
+
+ LOG(INFO) << "VR Baseline: " << baseline_;
+ }
+ Eigen::Matrix4d pose = ConvertSteamVRMatrixToMatrix4(rTrackedDevicePose_[vr::k_unTrackedDeviceIndex_Hmd].mDeviceToAbsoluteTracking);
+ Eigen::Vector3d ea = pose.block<3, 3>(0, 0).eulerAngles(0, 1, 2);
+
+ Eigen::Vector3d vreye;
+ vreye[0] = pose(0, 3);
+ vreye[1] = -pose(1, 3);
+ vreye[2] = -pose(2, 3);
+
+ // NOTE: If modified, should be verified with VR headset!
+ Eigen::Matrix3d R;
+ R = Eigen::AngleAxisd(ea[0], Eigen::Vector3d::UnitX()) *
+ Eigen::AngleAxisd(-ea[1], Eigen::Vector3d::UnitY()) *
+ Eigen::AngleAxisd(-ea[2], Eigen::Vector3d::UnitZ());
+
+ //double rd = 180.0 / 3.141592;
+ //LOG(INFO) << "rotation x: " << ea[0] *rd << ", y: " << ea[1] * rd << ", z: " << ea[2] * rd;
+ // pose.block<3, 3>(0, 0) = R;
+
+ rotmat_.block(0, 0, 3, 3) = R;
+
+ // TODO: Apply a rotation to orient also
+
+ // TODO: Somehow allow adjustment in addition to the VR pose...
+ //eye_[0] += (neye_[0] - eye_[0]) * lerpSpeed_ * delta_;
+ //eye_[1] += (neye_[1] - eye_[1]) * lerpSpeed_ * delta_;
+ //eye_[2] += (neye_[2] - eye_[2]) * lerpSpeed_ * delta_;
+
+ Eigen::Translation3d trans(eye_ + vreye);
+ Eigen::Affine3d t(trans);
+ auto viewPose = t.matrix() * rotmat_;
+
+ if (!pose_calibrated_.test_and_set()) {
+ if (pose_calibration_start_ == -1) pose_calibration_start_ = ftl::timer::get_time();
+
+ std::string headset_origin = host_->value("headset_origin", std::string(""));
+ Eigen::Matrix4d horigin;
+ horigin.setIdentity();
+
+ if (headset_origin.size() > 0) {
+ ftl::operators::Poser::get(headset_origin, horigin);
+ double headset_offset = host_->value("headset_offset_z", 0.0);
+ // move z-axis by offset
+ Eigen::Vector3d offset =
+ horigin.block<3, 3>(0, 0)*Eigen::Vector3d(0.0, 0.0, headset_offset);
+ horigin.block<3, 1>(0, 3) -= offset;
+ }
+ Eigen::Matrix4d new_pose = horigin*viewPose.inverse();
+
+ // validate new values before saving
+ const Eigen::Matrix3d rot(new_pose.block<3, 3>(0, 0));
+ if ((abs(rot.determinant() - 1.0) < 0.0001) && (new_pose(3, 3) == 1.0)) {
+ initial_pose_ = new_pose;
+ }
+ else {
+ LOG(ERROR) << "Bad pose update";
+ }
+
+ if (host_->value("reset_pose", false) && ftl::timer::get_time() < pose_calibration_start_ + host_->value("calibration_time",10000)) {
+ pose_calibrated_.clear();
+ } else {
+ pose_calibration_start_ = -1;
+ }
+ }
+
+ rgbdframe.setPose() = initial_pose_*viewPose;
+
+ } else {
+ LOG(ERROR) << "No VR Pose";
+ frame_out.message(ftl::data::Message::Error_OPENVR, "Could not get VR pose");
+ rgbdframe.setPose().setIdentity();
+ }
+
+ // TODO: Get controller data if available...
+
+ texture1_.make(width, height, ftl::utility::GLTexture::Type::BGRA);
+ texture2_.make(width, height, ftl::utility::GLTexture::Type::BGRA);
+
+ // FIXME: Using same buffer each frame results in race if previous frame is still being used
+ // eg. if recording the VR view then the recording can sometimes get the next frame instead.
+ rgbdframe.create<cv::cuda::GpuMat>(Channel::Colour) = texture1_.map(rgbdframe.stream());
+ rgbdframe.create<cv::cuda::GpuMat>(Channel::Colour2) = texture2_.map(rgbdframe.stream());
+ rgbdframe.create<cv::cuda::GpuMat>(Channel::Depth).create(height, width, CV_32F);
+ rgbdframe.createTexture<float>(Channel::Depth);
+
+ rgbdframe.set<ftl::rgbd::VideoFrame>(Channel::Colour).setOpenGL(texture1_.texture());
+ rgbdframe.set<ftl::rgbd::VideoFrame>(Channel::Colour2).setOpenGL(texture2_.texture());
+
+ auto shapes = rgbdframe.create<std::list<ftl::codecs::Shape3D>>(Channel::Shapes3D);
+
+ /*Eigen::Matrix4d origin;
+ origin.setIdentity();
+ std::string origin_name = host_->value("origin", std::string(""));
+ if (origin_name.size() > 0) {
+ ftl::operators::Poser::get(origin_name, origin);
+ }*/
+
+ try {
+ renderer_->begin(rgbdframe, ftl::codecs::Channel::Left);
+ //renderer2_->begin(rgbdframe, Channel::Colour2);
+
+ for (auto &s : sets) {
+ if (s->frameset() == my_id_) continue; // Skip self
+
+ Eigen::Matrix4d pose;
+ pose.setIdentity();
+ if (s->hasChannel(Channel::Pose)) pose = s->cast<ftl::rgbd::Frame>().getPose();
+
+ // TODO: Check frame has required channels?
+
+ // FIXME: Don't use identity transform, get from Poser somehow.
+ renderer_->submit(
+ s.get(),
+ ftl::codecs::Channels<0>(ftl::codecs::Channel::Colour),
+ pose);
+
+ /*renderer2_->submit(
+ s.get(),
+ ftl::codecs::Channels<0>(ftl::codecs::Channel::Colour),
+ pose);*/
+ }
+
+ renderer_->render();
+ //renderer2_->render();
+
+ // Now do CPU-based render jobs
+ for (auto &s : sets) {
+ if (s->frameset() == my_id_) continue; // Skip self
+
+ // Inject and copy data items and mix audio
+ for (size_t i=0; i<s->frames.size(); ++i) {
+ auto &f = s->frames[i];
+
+ // If audio is present, mix with the other frames
+ /*if (f.hasChannel(Channel::AudioStereo)) {
+ // Map a mixer track to this frame
+ auto &mixmap = mixmap_[f.id().id];
+ if (mixmap.track == -1) {
+ mixmap.track = mixer_.add(f.name());
+ }
+
+ // Do mix but must not mix same frame multiple times
+ if (mixmap.last_timestamp != f.timestamp()) {
+ const auto &audio = f.get<std::list<ftl::audio::Audio>>(Channel::AudioStereo).front();
+ mixer_.write(mixmap.track, audio.data());
+ mixmap.last_timestamp = f.timestamp();
+ }
+ }*/
+
+ // Add pose as a camera shape
+ auto &shape = shapes.list.emplace_back();
+ shape.id = f.id().id;
+ shape.type = Shape3DType::CAMERA;
+ shape.size = Eigen::Vector3f(0.2f,0.2f,0.2f);
+ shape.pose = f.cast<ftl::rgbd::Frame>().getPose().cast<float>();
+ shape.label = f.name();
+
+ // Copy all original shapes
+ if (f.hasChannel(Channel::Shapes3D)) {
+ const auto &fshapes = f.get<std::list<ftl::codecs::Shape3D>>(Channel::Shapes3D);
+ shapes.list.insert(shapes.list.end(), fshapes.begin(), fshapes.end());
+ }
+ }
+ }
+
+ /*mixer_.mix();
+
+ // Write mixed audio to frame.
+ if (mixer_.frames() > 0) {
+ auto &list = frame_out.create<std::list<ftl::audio::Audio>>(Channel::AudioStereo).list;
+ list.clear();
+
+ int fcount = mixer_.frames();
+ mixer_.read(list.emplace_front().data(), fcount);
+ }*/
+
+ // TODO: Blend option
+
+ renderer_->end();
+
+ // Now do right eye ###############################################
+
+ renderer_->begin(rgbdframe, ftl::codecs::Channel::Right);
+ //renderer2_->begin(rgbdframe, Channel::Colour2);
+
+ for (auto &s : sets) {
+ if (s->frameset() == my_id_) continue; // Skip self
+
+ Eigen::Matrix4d pose;
+ pose.setIdentity();
+ if (s->hasChannel(Channel::Pose)) pose = s->cast<ftl::rgbd::Frame>().getPose();
+
+ // TODO: Check frame has required channels?
+
+ // FIXME: Don't use identity transform, get from Poser somehow.
+ renderer_->submit(
+ s.get(),
+ ftl::codecs::Channels<0>(ftl::codecs::Channel::Colour),
+ pose);
+
+ /*renderer2_->submit(
+ s.get(),
+ ftl::codecs::Channels<0>(ftl::codecs::Channel::Colour),
+ pose);*/
+ }
+
+ renderer_->render();
+ //renderer2_->render();
+
+
+ //mixer_.mix();
+
+ // Write mixed audio to frame.
+ /*if (mixer_.frames() > 0) {
+ auto &list = frame_out.create<std::list<ftl::audio::Audio>>(Channel::AudioStereo).list;
+ list.clear();
+
+ int fcount = mixer_.frames();
+ mixer_.read(list.emplace_front().data(), fcount);
+ }*/
+
+ // TODO: Blend option
+
+ renderer_->end();
+
+ //renderer2_->end();
+ } catch (const std::exception &e) {
+ LOG(ERROR) << "Render exception: " << e.what();
+ renderer_->cancel();
+ //renderer2_->cancel();
+ frame_out.message(ftl::data::Message::Error_RENDER, e.what());
+ }
+
+ if (!post_pipe_) {
+ post_pipe_ = ftl::config::create<ftl::operators::Graph>(host(), "post_filters");
+ post_pipe_->append<ftl::operators::Poser>("poser");
+ post_pipe_->append<ftl::operators::FXAA>("fxaa");
+ post_pipe_->append<ftl::operators::GTAnalysis>("gtanalyse");
+ }
+
+ post_pipe_->apply(rgbdframe, rgbdframe);
+
+ if (host_->value("enable_touch", false)) {
+ ftl::render::collision2touch(rgbdframe, renderer_->getCollisions(), sets, my_id_, host_->value("touch_min", 0.01f), host_->value("touch_max", 0.05f));
+ }
+
+ // FIXME: Use a stream
+ ftl::cuda::flip<uchar4>(rgbdframe.set<cv::cuda::GpuMat>(Channel::Colour), renderer_->getCUDAStream());
+ ftl::cuda::flip<uchar4>(rgbdframe.set<cv::cuda::GpuMat>(Channel::Colour2), renderer_->getCUDAStream());
+
+ texture1_.unmap(renderer_->getCUDAStream());
+ texture2_.unmap(renderer_->getCUDAStream());
+ //return true;
+
+ cudaSafeCall(cudaStreamSynchronize(renderer_->getCUDAStream()));
+
+ // Send left and right textures to VR headset
+ vr::Texture_t leftEyeTexture = {(void*)(uintptr_t)texture1_.texture(), vr::TextureType_OpenGL, vr::ColorSpace_Gamma };
+ vr::VRCompositor()->Submit(vr::Eye_Left, &leftEyeTexture );
+ vr::Texture_t rightEyeTexture = {(void*)(uintptr_t)texture2_.texture(), vr::TextureType_OpenGL, vr::ColorSpace_Gamma };
+ vr::VRCompositor()->Submit(vr::Eye_Right, &rightEyeTexture );
+
+ glFlush();
+ }
+
+ return true;
+
+ #else
+ return false;
+ #endif
+}
diff --git a/components/streams/src/renderers/openvr_render.hpp b/components/streams/src/renderers/openvr_render.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..569fc60d9d13602d96722783c798fcf284fd8690
--- /dev/null
+++ b/components/streams/src/renderers/openvr_render.hpp
@@ -0,0 +1,77 @@
+#ifndef _FTL_RENDER_OPENVR_SOURCE_HPP_
+#define _FTL_RENDER_OPENVR_SOURCE_HPP_
+
+#include <ftl/data/creators.hpp>
+#include <ftl/data/new_frameset.hpp>
+#include <ftl/render/renderer.hpp>
+#include <ftl/render/CUDARender.hpp>
+#include <ftl/streams/feed.hpp>
+#include <ftl/utility/gltexture.hpp>
+#include <ftl/audio/mixer.hpp>
+
+#include "../baserender.hpp"
+
+#include <ftl/config.h>
+
+#ifdef HAVE_OPENVR
+#include <openvr/openvr.h>
+#endif
+
+namespace ftl {
+namespace render {
+
+class OpenVRRender : public ftl::render::BaseSourceImpl {
+ public:
+ OpenVRRender(ftl::render::Source *host, ftl::stream::Feed *feed);
+ ~OpenVRRender();
+
+ bool capture(int64_t ts) override;
+ bool retrieve(ftl::data::Frame &) override;
+
+ bool isReady() override;
+
+ static bool supported();
+
+ ftl::stream::Feed::Filter *filter() override { return filter_; }
+
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
+
+ private:
+ ftl::stream::Feed *feed_;
+ ftl::stream::Feed::Filter *filter_;
+ ftl::data::FrameSetPtr input_;
+ std::unique_ptr<ftl::render::CUDARender> renderer_;
+ std::unique_ptr<ftl::render::CUDARender> renderer2_;
+ ftl::Configurable *intrinsics_;
+ uint32_t my_id_;
+
+ ftl::operators::Graph *post_pipe_;
+
+ std::atomic_flag pose_calibrated_;
+ int64_t pose_calibration_start_=-1;
+
+ float baseline_;
+ Eigen::Matrix4d initial_pose_;
+ Eigen::Matrix4d rotmat_;
+ Eigen::Vector3d eye_;
+ ftl::utility::GLTexture texture1_; // first channel (always left at the moment)
+ ftl::utility::GLTexture texture2_;
+
+ #ifdef HAVE_OPENVR
+ vr::TrackedDevicePose_t rTrackedDevicePose_[ vr::k_unMaxTrackedDeviceCount ];
+ #endif
+
+ struct AudioMixerMapping {
+ int64_t last_timestamp=0;
+ int track=-1;
+ };
+
+ std::unordered_map<uint32_t, AudioMixerMapping> mixmap_;
+
+ bool initVR();
+};
+
+}
+}
+
+#endif
diff --git a/components/streams/src/renderers/screen_render.cpp b/components/streams/src/renderers/screen_render.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a530750cce22f889814929507de54790bc435d28
--- /dev/null
+++ b/components/streams/src/renderers/screen_render.cpp
@@ -0,0 +1,242 @@
+#include <ftl/streams/renderer.hpp>
+#include <ftl/rgbd/frame.hpp>
+#include <ftl/rgbd/frameset.hpp>
+#include <ftl/rgbd/capabilities.hpp>
+#include <ftl/operators/antialiasing.hpp>
+#include <ftl/operators/gt_analysis.hpp>
+#include <ftl/operators/poser.hpp>
+#include <ftl/utility/matrix_conversion.hpp>
+#include <ftl/codecs/shapes.hpp>
+
+#include <loguru.hpp>
+
+#include "screen_render.hpp"
+#include "collisions.hpp"
+
+using ftl::render::Source;
+using ftl::render::ScreenRender;
+using ftl::codecs::Channel;
+using ftl::rgbd::Capability;
+using ftl::codecs::Shape3DType;
+
+
+ScreenRender::ScreenRender(ftl::render::Source *host, ftl::stream::Feed *feed)
+: ftl::render::BaseSourceImpl(host), feed_(feed), my_id_(0), post_pipe_(nullptr) {
+ /*host->restore("device:render", {
+ "renderer",
+ "source",
+ "intrinsics",
+ "name"
+ });*/
+
+ renderer_ = std::unique_ptr<ftl::render::CUDARender>(
+ ftl::create<ftl::render::CUDARender>(host_, "renderer")
+ );
+
+ intrinsics_ = ftl::create<ftl::Configurable>(host_, "intrinsics");
+
+ intrinsics_->onAny({"focal","width","height"}, [this]() {
+ calibration_uptodate_.clear();
+ });
+
+ renderer_->value("projection", 0);
+ renderer_->onAny({"projection"}, [this]() {
+ calibration_uptodate_.clear();
+ });
+
+ filter_ = nullptr;
+ std::string source = host_->value("source", std::string(""));
+
+ if (source.size() > 0) {
+ filter_ = feed_->filter({source},{Channel::Colour, Channel::Depth});
+ } else {
+ filter_ = feed_->filter({Channel::Colour, Channel::Depth});
+ }
+
+ host_->on("source", [this]() {
+ std::string source = host_->value("source", std::string(""));
+
+ if (source.size() > 0) {
+ if (filter_) filter_->remove();
+ filter_ = feed_->filter({source},{Channel::Colour, Channel::Depth});
+ } else {
+ if (filter_) filter_->remove();
+ filter_ = feed_->filter({Channel::Colour, Channel::Depth});
+ }
+ });
+
+ calibration_uptodate_.clear();
+}
+
+ScreenRender::~ScreenRender() {
+ if (filter_) filter_->remove();
+ delete intrinsics_;
+ if (post_pipe_) delete post_pipe_;
+}
+
+bool ScreenRender::isReady() {
+ return true;
+}
+
+bool ScreenRender::capture(int64_t ts) {
+ return true;
+}
+
+bool ScreenRender::retrieve(ftl::data::Frame &frame_out) {
+ //auto input = std::atomic_load(&input_);
+
+ my_id_ = frame_out.frameset();
+ auto sets = filter_->getLatestFrameSets();
+ bool data_only = host_->value("data_only", false);
+ bool blend_overlay = host_->value("blend_overlay", false);
+
+ if (sets.size() > 0) {
+ ftl::rgbd::Frame &rgbdframe = frame_out.cast<ftl::rgbd::Frame>();
+
+ if (!frame_out.has(Channel::Calibration) || calibration_uptodate_.test_and_set()) {
+ rgbdframe.setLeft() = ftl::rgbd::Camera::from(intrinsics_);
+
+ auto &cap = frame_out.create<std::unordered_set<Capability>>(Channel::Capabilities);
+ cap.clear();
+ cap.emplace(Capability::VIDEO);
+ cap.emplace(Capability::MOVABLE);
+ cap.emplace(Capability::ADJUSTABLE);
+ cap.emplace(Capability::VIRTUAL);
+ cap.emplace(Capability::LIVE);
+ if (renderer_->value("projection", 0) == int(ftl::rgbd::Projection::EQUIRECTANGULAR)) cap.emplace(Capability::EQUI_RECT);
+
+ auto &meta = frame_out.create<std::map<std::string,std::string>>(Channel::MetaData);
+ meta["name"] = host_->value("name", host_->getID());
+ meta["id"] = host_->getID();
+ meta["uri"] = std::string("device:render");
+ meta["device"] = std::string("CUDA Render");
+ }
+ if (!frame_out.has(Channel::Pose)) {
+ rgbdframe.setPose() = Eigen::Matrix4d::Identity();
+ }
+
+ int width = rgbdframe.getLeft().width;
+ int height = rgbdframe.getLeft().height;
+
+ // FIXME: Create opengl buffers here and map to cuda?
+ auto &colour = rgbdframe.create<cv::cuda::GpuMat>(Channel::Colour);
+ colour.create(height, width, CV_8UC4);
+ rgbdframe.create<cv::cuda::GpuMat>(Channel::Depth).create(height, width, CV_32F);
+ rgbdframe.createTexture<float>(Channel::Depth);
+
+ if (data_only) {
+ colour.setTo(cv::Scalar(0,0,0,0));
+ }
+
+ auto shapes = rgbdframe.create<std::list<ftl::codecs::Shape3D>>(Channel::Shapes3D);
+
+ try {
+ if (!data_only) renderer_->begin(rgbdframe, ftl::codecs::Channel::Left);
+
+ // Submit jobs to GPU first
+ for (auto &s : sets) {
+ if (s->frameset() == my_id_) continue; // Skip self
+
+ Eigen::Matrix4d pose;
+ pose.setIdentity();
+ if (s->hasChannel(Channel::Pose)) pose = s->cast<ftl::rgbd::Frame>().getPose();
+
+ if (!data_only) {
+ if (blend_overlay) {
+ renderer_->submit(s.get(), ftl::codecs::Channels<0>(Channel::Colour) + Channel::Overlay, pose);
+ } else {
+ renderer_->submit(s.get(), ftl::codecs::Channels<0>(Channel::Colour), pose);
+ }
+ }
+ }
+
+ if (!data_only) renderer_->render();
+
+ // Blend another channel
+ int blend_channel = host_->value("blend_channel",0);
+ if (blend_channel > 0) {
+ if (!data_only) renderer_->blend(static_cast<Channel>(blend_channel));
+ }
+
+ // Now do CPU-based render jobs
+ for (auto &s : sets) {
+ if (s->frameset() == my_id_) continue; // Skip self
+
+ // Inject and copy data items and mix audio
+ for (size_t i=0; i<s->frames.size(); ++i) {
+ auto &f = s->frames[i];
+
+ // If audio is present, mix with the other frames
+ /*if (f.hasChannel(Channel::AudioStereo)) {
+ // Map a mixer track to this frame
+ auto &mixmap = mixmap_[f.id().id];
+ if (mixmap.track == -1) {
+ mixmap.track = mixer_.add(f.name());
+ }
+
+ // Do mix but must not mix same frame multiple times
+ if (mixmap.last_timestamp != f.timestamp()) {
+ const auto &audio = f.get<std::list<ftl::audio::Audio>>(Channel::AudioStereo).front();
+ mixer_.write(mixmap.track, audio.data());
+ mixmap.last_timestamp = f.timestamp();
+ }
+ }*/
+
+ // Add pose as a camera shape
+ auto &shape = shapes.list.emplace_back();
+ shape.id = f.id().id;
+ shape.type = Shape3DType::CAMERA;
+ shape.size = Eigen::Vector3f(0.2f,0.2f,0.2f);
+ shape.pose = f.cast<ftl::rgbd::Frame>().getPose().cast<float>();
+ shape.label = f.name();
+
+ // Copy all original shapes
+ if (f.hasChannel(Channel::Shapes3D)) {
+ const auto &fshapes = f.get<std::list<ftl::codecs::Shape3D>>(Channel::Shapes3D);
+ shapes.list.insert(shapes.list.end(), fshapes.begin(), fshapes.end());
+ }
+ }
+ }
+
+ //mixer_.mix();
+
+ // Write mixed audio to frame.
+ //if (feed_->mixer().frames() > 0) {
+ //LOG(INFO) << "Render copy of " << feed_->mixer().frames() << " audio frames";
+ //auto &list = frame_out.create<std::list<ftl::audio::Audio>>(Channel::AudioStereo).list;
+ //list.clear();
+
+ //int fcount = mixer_.frames();
+ //mixer_.read(list.emplace_front().data(), fcount);
+ //}
+
+ // This waits for GPU also
+ if (!data_only) renderer_->end();
+ } catch (const std::exception &e) {
+ LOG(ERROR) << "Render exception: " << e.what();
+ renderer_->cancel();
+ frame_out.message(ftl::data::Message::Error_RENDER, e.what());
+ }
+
+ if (!data_only) {
+ if (!post_pipe_) {
+ post_pipe_ = ftl::config::create<ftl::operators::Graph>(host(), "post_filters");
+ post_pipe_->append<ftl::operators::Poser>("poser");
+ post_pipe_->append<ftl::operators::FXAA>("fxaa");
+ post_pipe_->append<ftl::operators::GTAnalysis>("gtanalyse");
+ }
+
+ post_pipe_->apply(rgbdframe, rgbdframe);
+ cudaSafeCall(cudaStreamSynchronize(rgbdframe.stream()));
+
+ if (host_->value("enable_touch", false)) {
+ ftl::render::collision2touch(rgbdframe, renderer_->getCollisions(), sets, my_id_, host_->value("touch_min", 0.01f), host_->value("touch_max", 0.05f));
+ }
+ }
+
+ return true;
+ } else {
+ //LOG(INFO) << "Render fail";
+ return true;
+ }
+}
diff --git a/components/streams/src/renderers/screen_render.hpp b/components/streams/src/renderers/screen_render.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..89320aed4b6e45a5cb73e693b25901470060b41b
--- /dev/null
+++ b/components/streams/src/renderers/screen_render.hpp
@@ -0,0 +1,52 @@
+#ifndef _FTL_RENDER_SCREEN_SOURCE_HPP_
+#define _FTL_RENDER_SCREEN_SOURCE_HPP_
+
+#include <ftl/data/creators.hpp>
+#include <ftl/data/new_frameset.hpp>
+#include <ftl/render/renderer.hpp>
+#include <ftl/render/CUDARender.hpp>
+#include <ftl/streams/feed.hpp>
+
+#include "../baserender.hpp"
+
+namespace ftl {
+namespace render {
+
+/**
+ * Wrap a renderer into a source entity that manages it. This obtains the
+ * relevant framesets and can be triggered by a builder to generate frames.
+ */
+class ScreenRender : public ftl::render::BaseSourceImpl {
+ public:
+ ScreenRender(ftl::render::Source *host, ftl::stream::Feed *feed);
+ ~ScreenRender();
+
+ bool capture(int64_t ts) override;
+ bool retrieve(ftl::data::Frame &) override;
+
+ bool isReady() override;
+
+ ftl::stream::Feed::Filter *filter() override { return filter_; }
+
+ private:
+ ftl::stream::Feed *feed_;
+ ftl::stream::Feed::Filter *filter_;
+ ftl::data::FrameSetPtr input_;
+ std::unique_ptr<ftl::render::CUDARender> renderer_;
+ ftl::Configurable *intrinsics_;
+ uint32_t my_id_;
+ ftl::operators::Graph *post_pipe_;
+ std::atomic_flag calibration_uptodate_;
+
+ /*struct AudioMixerMapping {
+ int64_t last_timestamp=0;
+ int track=-1;
+ };
+
+ std::unordered_map<uint32_t, AudioMixerMapping> mixmap_;*/
+};
+
+}
+}
+
+#endif
diff --git a/components/streams/src/sender.cpp b/components/streams/src/sender.cpp
index 87bc83019c214618d26d743bf4bc705e5fe0ab95..99713e9082c06dc4586bcd0cc17d691b9680d678 100644
--- a/components/streams/src/sender.cpp
+++ b/components/streams/src/sender.cpp
@@ -1,6 +1,7 @@
#include <ftl/streams/sender.hpp>
#include <ftl/codecs/depth_convert_cuda.hpp>
#include <ftl/profiler.hpp>
+#include <ftl/audio/software_encoder.hpp>
#include <opencv2/cudaimgproc.hpp>
@@ -24,12 +25,21 @@ using ftl::stream::injectConfig;
Sender::Sender(nlohmann::json &config) : ftl::Configurable(config), stream_(nullptr) {
do_inject_.test_and_set();
+ do_reinject_.test_and_set();
iframe_ = 1;
- add_iframes_ = value("iframes", 0);
+ add_iframes_ = value("iframes", 50);
+ timestamp_ = -1;
+ min_frame_interval_ = 1000 / value("max_fps", 30);
- on("iframes", [this](const ftl::config::Event &e) {
- add_iframes_ = value("iframes", 0);
+ on("max_fps", [this]() {
+ min_frame_interval_ = 1000 / value("max_fps", 30);
});
+
+ on("iframes", [this]() {
+ add_iframes_ = value("iframes", 50);
+ });
+
+ on("bitrate_timeout", bitrate_timeout_, 10000);
}
Sender::~Sender() {
@@ -41,150 +51,317 @@ Sender::~Sender() {
}
void Sender::setStream(ftl::stream::Stream*s) {
- if (stream_) stream_->onPacket(nullptr);
+ //if (stream_) stream_->onPacket(nullptr);
stream_ = s;
- stream_->onPacket([this](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
- LOG(INFO) << "SENDER REQUEST : " << (int)spkt.channel;
+ handle_ = stream_->onPacket([this](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ if (pkt.data.size() > 0 || !(spkt.flags & ftl::codecs::kFlagRequest)) return true;
+
+ if (int(spkt.channel) < 32) {
+ auto now = ftl::timer::get_time();
+
+ // Update the min bitrate selection
+ UNIQUE_LOCK(bitrate_mtx_, lk);
+ if (bitrate_map_.size() > 0) {
+ while (bitrate_map_.size() > 0 && (now - bitrate_map_.begin()->second.first > bitrate_timeout_ || (bitrate_map_.begin()->second.second == spkt.hint_peerid && pkt.bitrate != bitrate_map_.begin()->first))) {
+ LOG(INFO) << "Remove bitrate " << int(bitrate_map_.begin()->first);
+ bitrate_map_.erase(bitrate_map_.begin());
+ }
+ }
+ bitrate_map_[pkt.bitrate] = std::make_pair(now, spkt.hint_peerid);
+ }
//if (state_cb_) state_cb_(spkt.channel, spkt.streamID, spkt.frame_number);
if (reqcb_) reqcb_(spkt,pkt);
// Inject state packets
- //do_inject_ = true;
- do_inject_.clear();
+ if ((spkt.hint_capability & ftl::codecs::kStreamCap_NewConnection) || (spkt.flags & ftl::codecs::kFlagReset)) do_inject_.clear();
+
+ return true;
});
}
+uint8_t Sender::_getMinBitrate() {
+ SHARED_LOCK(bitrate_mtx_, lk);
+ if (bitrate_map_.size() > 0) return bitrate_map_.begin()->first;
+ else return 255;
+}
+
void Sender::onRequest(const ftl::stream::StreamCallback &cb) {
reqcb_ = cb;
}
-void Sender::post(const ftl::audio::FrameSet &fs) {
- if (!stream_) return;
+ftl::audio::Encoder *Sender::_getAudioEncoder(int fsid, int sid, ftl::codecs::Channel c, ftl::codecs::Packet &pkt) {
+ int id = (fsid << 8) + sid;
+ auto i = audio_state_.find(id);
+ if (i == audio_state_.end()) {
+ audio_state_[id] = {nullptr};
+ }
+
+ auto &state = audio_state_[id];
+ if (state.encoder == nullptr) {
+ state.encoder = new ftl::audio::SoftwareEncoder();
+ }
+ return state.encoder;
+}
+
+template <typename T>
+static void writeValue(std::vector<unsigned char> &data, T value) {
+ unsigned char *pvalue_start = (unsigned char*)&value;
+ data.insert(data.end(), pvalue_start, pvalue_start+sizeof(T));
+}
- //if (fs.stale) return;
- //fs.stale = true;
+void Sender::_sendPersistent(ftl::rgbd::FrameSet &fs) {
+ std::unordered_set<ftl::codecs::Channel> persist_chan;
+
+ for (auto &frame : fs.frames) {
+ auto *session = frame.parent();
+ if (session) {
+ auto chans = session->channels();
+ persist_chan.insert(chans.begin(), chans.end());
+ }
+ }
+
+ for (auto c : persist_chan) {
+ post(fs, c);
+ }
+}
+
+void Sender::fakePost(ftl::data::FrameSet &fs, ftl::codecs::Channel c) {
+ if (!stream_) return;
for (size_t i=0; i<fs.frames.size(); ++i) {
- if (!(fs.frames[i].hasChannel(Channel::AudioMono) || fs.frames[i].hasChannel(Channel::AudioStereo))) continue;
+ auto &frame = fs.frames[i];
+ if (frame.hasOwn(c)) ++frame.packet_tx;
+
+ }
+}
+
+bool Sender::_checkNeedsIFrame(int64_t ts, bool injecting) {
+ int mspf = ftl::timer::getInterval();
+
+ if (injecting) {
+ LOG(INFO) << "Inject persistent state: " << ts;
+ injection_timestamp_ = ts+2*mspf;
+ }
+
+ // Add an iframe at the requested frequency.
+ //if (add_iframes_ > 0 && ts != timestamp_) iframe_ = (iframe_+1) % add_iframes_;
+ //if (iframe_ == 0) injection_timestamp_ = ts+mspf;
+
+ // FIXME: This may need to be atomic in some cases?
+ //if (ts > timestamp_) timestamp_ = ts;
+ return injection_timestamp_ >= ts;
+}
+
+void Sender::_send(ftl::rgbd::FrameSet &fs, ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ /*int ccount = 0;
+ for (size_t i=0; i<fs.frames.size(); ++i) ccount += fs.frames[i].changed().size();
+ fs.flush_count += fs.frames.size();
- auto &data = (fs.frames[i].hasChannel(Channel::AudioStereo)) ?
- fs.frames[i].get<ftl::audio::Audio>(Channel::AudioStereo) :
- fs.frames[i].get<ftl::audio::Audio>(Channel::AudioMono);
+ if (ccount == fs.flush_count) {
+ spkt.flags = ftl::codecs::kFlagCompleted;
+ }*/
- auto &settings = fs.frames[i].getSettings();
+ if (spkt.frame_number == 255) LOG(WARNING) << "Bad frame number";
+
+ if (spkt.frame_number == 255) ++fs.frames[0].packet_tx;
+ else if (spkt.frame_number < fs.frames.size() && fs.frames[spkt.frame_number].source() == spkt.frame_number) ++fs.frames[spkt.frame_number].packet_tx;
+ else {
+ // Find the correct frame
+ for (auto &f : fs.frames) {
+ if (f.source() == spkt.frame_number) {
+ ++f.packet_tx;
+ break;
+ }
+ }
+ }
+ stream_->post(spkt, pkt);
+}
+
+void Sender::post(ftl::data::FrameSet &fs, ftl::codecs::Channel c, bool noencode) {
+ if (!stream_) return;
+
+ // Send quick message for this special channel.
+ if (c == Channel::EndFrame) {
+ if (timestamp_ >= fs.timestamp()) {
+ LOG(WARNING) << "Sending old frame! " << fs.timestamp() << " vs " << timestamp_ << " (size = " << fs.frames[0].packet_tx+1 << ")";
+ }
+ timestamp_ = fs.timestamp();
StreamPacket spkt;
- spkt.version = 4;
- spkt.timestamp = fs.timestamp;
- spkt.streamID = fs.id;
- spkt.frame_number = i;
- spkt.channel = (fs.frames[i].hasChannel(Channel::AudioStereo)) ? Channel::AudioStereo : Channel::AudioMono;
+ spkt.version = 5;
+ spkt.timestamp = fs.timestamp();
+ spkt.localTimestamp = fs.localTimestamp;
+ spkt.streamID = fs.frameset();
+ //spkt.frame_number = 0;
+ spkt.channel = c;
+ spkt.flags = ftl::codecs::kFlagCompleted;
ftl::codecs::Packet pkt;
- pkt.codec = ftl::codecs::codec_t::RAW;
- pkt.definition = ftl::codecs::definition_t::Any;
+ pkt.frame_count = 1; //fs.frames.size();
+ pkt.codec = codec_t::Invalid;
- switch (settings.sample_rate) {
- case 48000 : pkt.definition = ftl::codecs::definition_t::hz48000; break;
- case 44100 : pkt.definition = ftl::codecs::definition_t::hz44100; break;
- default: break;
+ for (size_t i=0; i<fs.frames.size(); ++i) {
+ spkt.frame_number = fs.frames[i].source();
+ pkt.packet_count = static_cast<uint8_t>(fs.frames[i].packet_tx+1); // FIXME: 255 limit currently
+ _send(fs, spkt, pkt);
}
- pkt.frame_count = 1;
- pkt.flags = 0;
- pkt.bitrate = 0;
+ if (injection_timestamp_ >= spkt.timestamp) {
+ do_reinject_.clear();
+ }
+ return;
+ }
- const unsigned char *ptr = (unsigned char*)data.data().data();
- pkt.data = std::move(std::vector<unsigned char>(ptr, ptr+data.size())); // TODO: Reduce copy...
+ std::unordered_set<ftl::codecs::Channel> selected;
+ if (stream_->size() > 0) selected = stream_->selected(fs.frameset());
- stream_->post(spkt, pkt);
+ bool do_inject = !do_inject_.test_and_set();
+ bool do_iframe = _checkNeedsIFrame(fs.timestamp(), do_inject);
+ if (!do_reinject_.test_and_set()) {
+ do_inject = true;
+ }
- //LOG(INFO) << "SENT AUDIO: " << fs.timestamp << " - " << pkt.data.size();
+ FTL_Profile("SenderPost", 0.02);
+
+ bool available = false;
+ bool needs_encoding = true;
+
+ int valid_frames = 0;
+ //int ccount = 0;
+ int forward_count = 0;
+
+ if (do_inject) {
+ _sendPersistent(fs);
}
-}
-template <typename T>
-static void writeValue(std::vector<unsigned char> &data, T value) {
- unsigned char *pvalue_start = (unsigned char*)&value;
- data.insert(data.end(), pvalue_start, pvalue_start+sizeof(T));
-}
+ for (size_t i=0; i<fs.frames.size(); ++i) {
+ auto &frame = fs.frames[i];
+ if (!frame.has(c)) continue;
+
+ ++valid_frames;
+ //++fs.flush_count;
-static void mergeNALUnits(const std::list<ftl::codecs::Packet> &pkts, ftl::codecs::Packet &pkt) {
- size_t size = 0;
- for (auto i=pkts.begin(); i!=pkts.end(); ++i) size += (*i).data.size();
-
- // TODO: Check Codec, jpg etc can just use last frame.
- // TODO: Also if iframe, can just use that instead
-
- const auto &first = pkts.front();
- pkt.codec = first.codec;
- pkt.definition = first.definition;
- pkt.frame_count = first.frame_count;
- pkt.bitrate = first.bitrate;
- pkt.flags = first.flags | ftl::codecs::kFlagMultiple; // means merged packets
- pkt.data.reserve(size+pkts.size()*sizeof(int));
-
- for (auto i=pkts.begin(); i!=pkts.end(); ++i) {
- writeValue<int>(pkt.data, (*i).data.size());
- //LOG(INFO) << "NAL Count = " << (*i).data.size();
- pkt.data.insert(pkt.data.end(), (*i).data.begin(), (*i).data.end());
+ //ccount += frame.changed().size();
+
+ if (selected.find(c) != selected.end() || (int)c >= 32) {
+ // FIXME: Sends high res colour, but receive end currently broken
+ //auto cc = (c == Channel::Colour && frame.hasChannel(Channel::ColourHighRes)) ? Channel::ColourHighRes : c;
+ auto cc = c;
+
+ // Check if there are existing encoded packets
+ const auto &packets = frame.getEncoded(cc);
+ if (packets.size() > 0) {
+ if (packets.size() == 1) {
+
+ } else {
+ // PROBLEMS
+ LOG(WARNING) << "Multi packet send! - Channel = " << int(c) << ", count = " << packets.size();
+ }
+ forward_count += packets.back().frame_count;
+ }
+ } else {
+ needs_encoding = false;
+ available = true;
+ }
}
-}
-void Sender::post(ftl::rgbd::FrameSet &fs) {
- if (!stream_) return;
+ //bool last_flush = ccount == fs.flush_count;
- Channels selected;
- Channels available; // but not selected and actually sent.
- Channels needencoding;
+ // Don't do anything if channel not in any frames.
+ if (valid_frames == 0) return;
- if (stream_->size() > 0) selected = stream_->selected(0);
+ // Can we just forward existing encoding?
+ // TODO: Test this code!
+ if (forward_count == valid_frames) {
+ needs_encoding = false;
- bool do_inject = !do_inject_.test_and_set();
+ for (size_t i=0; i<fs.frames.size(); ++i) {
+ auto &frame = fs.frames[i];
+ if (!frame.has(c)) continue;
- // Add an iframe at the requested frequency.
- if (add_iframes_ > 0) iframe_ = (iframe_+1) % add_iframes_;
+ const auto &packets = frame.getEncoded(c);
+ //if (packets.size() == 1) {
+ StreamPacket spkt;
+ spkt.version = 5;
+ spkt.timestamp = fs.timestamp();
+ spkt.localTimestamp = fs.localTimestamp;
+ spkt.streamID = fs.frameset(); //fs.id;
+ spkt.frame_number = frame.source();
+ spkt.channel = c;
+ //spkt.flags = (last_flush) ? ftl::codecs::kFlagCompleted : 0;
- FTL_Profile("SenderPost", 0.02);
+ //stream_->post(spkt, packets.back());
+ _send(fs, spkt, packets.back());
+ //} else if (packets.size() > 1) {
+ // PROBLEMS
+ //}
+ }
+ }
- // Send any frameset data channels
- for (auto c : fs.getDataChannels()) {
+ if (fs.timestamp() > last_ts_ && fs.timestamp() < last_ts_ + min_frame_interval_) {
+ return;
+ }
+ last_ts_ = fs.timestamp();
+
+ // Don't transmit if noencode and needs encoding
+ if (needs_encoding && noencode) {
+ needs_encoding = false;
+ available = true;
+ }
+
+ if (available) {
+ // Not selected so send an empty packet...
StreamPacket spkt;
- spkt.version = 4;
- spkt.timestamp = fs.timestamp;
- spkt.streamID = 0; //fs.id;
- spkt.frame_number = 255;
+ spkt.version = 5;
+ spkt.timestamp = fs.timestamp();
+ spkt.localTimestamp = fs.localTimestamp;
+ spkt.streamID = fs.frameset();
+ spkt.frame_number = 0;
spkt.channel = c;
+ //spkt.flags = (last_flush) ? ftl::codecs::kFlagCompleted : 0;
- ftl::codecs::Packet pkt;
- pkt.codec = ftl::codecs::codec_t::MSGPACK;
- pkt.definition = ftl::codecs::definition_t::Any;
+ Packet pkt;
+ pkt.codec = codec_t::Any;
pkt.frame_count = 1;
- pkt.flags = 0;
pkt.bitrate = 0;
- pkt.data = fs.getRawData(c);
- stream_->post(spkt, pkt);
+ pkt.flags = 0;
+ //stream_->post(spkt, pkt);
+ _send(fs, spkt, pkt);
}
- for (size_t i=0; i<fs.frames.size(); ++i) {
- const auto &frame = fs.frames[i];
-
- if (do_inject) {
- //LOG(INFO) << "Force inject calibration";
- injectCalibration(stream_, fs, i);
- injectCalibration(stream_, fs, i, true);
- injectPose(stream_, fs, i);
- injectConfig(stream_, fs, i);
- } else {
- if (frame.hasChanged(Channel::Pose)) injectPose(stream_, fs, i);
- if (frame.hasChanged(Channel::Calibration)) injectCalibration(stream_, fs, i);
- if (frame.hasChanged(Channel::Calibration2)) injectCalibration(stream_, fs, i, true);
- if (frame.hasChanged(Channel::Configuration)) injectConfig(stream_, fs, i);
- }
+ if (needs_encoding) {
+ _encodeChannel(fs, c, do_iframe);
+ }
+}
+
+void Sender::forceAvailable(ftl::data::FrameSet &fs, ftl::codecs::Channel c) {
+ StreamPacket spkt;
+ spkt.version = 5;
+ spkt.timestamp = fs.timestamp();
+ spkt.localTimestamp = fs.localTimestamp;
+ spkt.streamID = fs.frameset();
+ spkt.frame_number = 0;
+ spkt.channel = c;
+
+ Packet pkt;
+ pkt.codec = codec_t::Any;
+ pkt.frame_count = 1;
+ pkt.bitrate = 0;
+ pkt.flags = 0;
+ stream_->post(spkt, pkt);
+}
+
+void Sender::post(ftl::data::Frame &frame, ftl::codecs::Channel c) {
+ if (!stream_) return;
+
+ FTL_Profile("SenderPost", 0.02);
+
+ bool available = false;
+ bool needs_encoding = true;
// FIXME: Allow data channel selection rather than always send
- for (auto c : frame.getDataChannels()) {
+ /*for (auto c : frame.getDataChannels()) {
StreamPacket spkt;
spkt.version = 4;
spkt.timestamp = fs.timestamp;
@@ -194,136 +371,183 @@ void Sender::post(ftl::rgbd::FrameSet &fs) {
ftl::codecs::Packet pkt;
pkt.codec = ftl::codecs::codec_t::MSGPACK;
- pkt.definition = ftl::codecs::definition_t::Any;
pkt.frame_count = 1;
pkt.flags = 0;
pkt.bitrate = 0;
pkt.data = frame.getRawData(c);
stream_->post(spkt, pkt);
- }
+ }*/
- for (auto c : frame.getChannels()) {
- if (selected.has(c)) {
+ //for (auto ic : frame.changed()) {
+ //auto c = ic.first;
+ if (true) { //if (selected.has(c)) {
// FIXME: Sends high res colour, but receive end currently broken
- auto cc = (c == Channel::Colour && frame.hasChannel(Channel::ColourHighRes)) ? Channel::ColourHighRes : c;
- //auto cc = c;
+ //auto cc = (c == Channel::Colour && frame.hasChannel(Channel::ColourHighRes)) ? Channel::ColourHighRes : c;
+ auto cc = c;
StreamPacket spkt;
- spkt.version = 4;
- spkt.timestamp = fs.timestamp;
- spkt.streamID = 0; //fs.id;
- spkt.frame_number = i;
+ spkt.version = 5;
+ spkt.timestamp = frame.timestamp();
+ spkt.localTimestamp = spkt.timestamp;
+ spkt.streamID = frame.frameset(); //fs.id;
+ spkt.frame_number = frame.source();
spkt.channel = c;
// Check if there are existing encoded packets
- const auto &packets = frame.getPackets(cc);
+ const auto &packets = frame.getEncoded(cc);
if (packets.size() > 0) {
+ needs_encoding = false;
if (packets.size() > 1) {
LOG(WARNING) << "Multi-packet send: " << (int)cc;
ftl::codecs::Packet pkt;
- mergeNALUnits(packets, pkt);
- stream_->post(spkt, pkt);
+ //mergeNALUnits(packets, pkt);
+ //stream_->post(spkt, pkt);
} else {
// Send existing encoding instead of re-encoding
//for (auto &pkt : packets) {
stream_->post(spkt, packets.front());
//}
}
- } else {
- needencoding += c;
}
} else {
- available += c;
+ available = true;
}
- }
+ //}
- }
-
- for (auto c : available) {
+ if (available) {
// Not selected so send an empty packet...
StreamPacket spkt;
- spkt.version = 4;
- spkt.timestamp = fs.timestamp;
- spkt.streamID = 0; // FIXME: fs.id;
- spkt.frame_number = 255;
+ spkt.version = 5;
+ spkt.timestamp = frame.timestamp();
+ spkt.localTimestamp = spkt.timestamp;
+ spkt.streamID = frame.frameset();
+ spkt.frame_number = 0;
spkt.channel = c;
Packet pkt;
pkt.codec = codec_t::Any;
- pkt.definition = definition_t::Any;
pkt.frame_count = 1;
pkt.bitrate = 0;
stream_->post(spkt, pkt);
}
- for (auto c : needencoding) {
+ if (needs_encoding) {
// TODO: One thread per channel.
- _encodeChannel(fs, c, do_inject || iframe_ == 0);
+ _encodeChannel(frame, c, false);
}
//do_inject_ = false;
}
-void Sender::_encodeChannel(ftl::rgbd::FrameSet &fs, Channel c, bool reset) {
- bool lossless = value("lossless", false);
- int max_bitrate = std::max(0, std::min(255, value("max_bitrate", 255)));
+void Sender::resetEncoders(uint32_t fsid) {
+ LOG(INFO) << "Reset encoders for " << fsid;
+ for (auto &t : state_) {
+ if ((t.first >> 16) == static_cast<int>(fsid)) {
+ if (t.second.encoder[0]) {
+ // Remove unwanted encoder
+ ftl::codecs::free(t.second.encoder[0]);
+ t.second.encoder[0] = nullptr;
+ if (t.second.encoder[1]) {
+ ftl::codecs::free(t.second.encoder[1]);
+ t.second.encoder[1] = nullptr;
+ }
+ LOG(INFO) << "Removing encoder for channel " << (t.first & 0xFF);
+ }
+ }
+ }
+}
+
+void Sender::setActiveEncoders(uint32_t fsid, const std::unordered_set<Channel> &ec) {
+ for (auto &t : state_) {
+ if ((t.first >> 16) == static_cast<int>(fsid)) {
+ if (t.second.encoder[0] && ec.count(static_cast<Channel>(t.first & 0xFF)) == 0) {
+ // Remove unwanted encoder
+ ftl::codecs::free(t.second.encoder[0]);
+ t.second.encoder[0] = nullptr;
+ if (t.second.encoder[1]) {
+ ftl::codecs::free(t.second.encoder[1]);
+ t.second.encoder[1] = nullptr;
+ }
+ LOG(INFO) << "Removing encoder for channel " << (t.first & 0xFF);
+ }
+ }
+ }
+}
+
+void Sender::_encodeVideoChannel(ftl::data::FrameSet &fs, Channel c, bool reset) {
+ bool isfloat = ftl::codecs::type(c) == CV_32F;
+
+ bool lossless = (isfloat) ? value("lossless_float", false) : value("lossless_colour", false);
+ int max_bitrate = std::max(0, std::min(255, value("bitrate", 64)));
+ int bitrate = std::min(static_cast<uint8_t>(max_bitrate), _getMinBitrate());
+ if (isfloat) bitrate = std::min(255, int(float(bitrate)*value("bitrate_float_scale", 1.5f)));
+
//int min_bitrate = std::max(0, std::min(255, value("min_bitrate", 0))); // TODO: Use this
- codec_t codec = static_cast<codec_t>(value("codec", static_cast<int>(codec_t::Any)));
+ codec_t codec = static_cast<codec_t>(
+ (isfloat) ? value("codec_float", static_cast<int>(codec_t::Any)) :
+ value("codec_colour", static_cast<int>(codec_t::Any)));
+
device_t device = static_cast<device_t>(value("encoder_device", static_cast<int>(device_t::Any)));
+ if (codec == codec_t::Any) {
+ codec = (lossless) ? codec_t::HEVC_LOSSLESS : codec_t::HEVC;
+ }
+
// TODO: Support high res
bool is_stereo = value("stereo", false) && c == Channel::Colour && fs.firstFrame().hasChannel(Channel::Colour2);
uint32_t offset = 0;
+ int encoder_number = 0;
while (offset < fs.frames.size()) {
Channel cc = c;
- if ((cc == Channel::Colour) && fs.firstFrame().hasChannel(Channel::ColourHighRes)) {
- cc = Channel::ColourHighRes;
- }
-
- if ((cc == Channel::Right) && fs.firstFrame().hasChannel(Channel::RightHighRes)) {
- cc = Channel::RightHighRes;
- fs.frames[offset].upload(cc);
- }
+
+ // FIXME: Don't change tile layout when channel temporarily drops.
+ //if (!fs.frames[offset].hasChannel(cc)) {
+ // offset++;
+ // continue;
+ //}
StreamPacket spkt;
- spkt.version = 4;
- spkt.timestamp = fs.timestamp;
- spkt.streamID = 0; // FIXME: fs.id;
- spkt.frame_number = offset;
+ spkt.version = 5;
+ spkt.timestamp = fs.timestamp();
+ spkt.localTimestamp = fs.localTimestamp;
+ spkt.streamID = fs.frameset();
+ spkt.frame_number = fs.frames[offset].source();
spkt.channel = c;
- auto &tile = _getTile(fs.id, cc);
+ auto &tile = _getTile(fs.id(), cc);
- ftl::codecs::Encoder *enc = tile.encoder[(offset==0)?0:1];
+ ftl::codecs::Encoder *enc = tile.encoder[encoder_number];
if (!enc) {
enc = ftl::codecs::allocateEncoder(
definition_t::HD1080, device, codec);
- tile.encoder[(offset==0)?0:1] = enc;
+ tile.encoder[encoder_number] = enc;
}
if (!enc) {
LOG(ERROR) << "No encoder";
return;
}
+ if (enc->device() == device_t::OpenCV) {
+ LOG(WARNING) << "Software encoder for " << ftl::codecs::name(c);
+ }
// Upload if in host memory
for (auto &f : fs.frames) {
- if (!fs.hasFrame(f.id)) continue;
- if (f.isCPU(c)) {
- f.upload(Channels<0>(cc), cv::cuda::StreamAccessor::getStream(enc->stream()));
- }
+ if (!fs.hasFrame(f.source())) continue;
+
+ // FIXME:
+ //if (f.isCPU(c)) {
+ // f.upload(Channels<0>(cc), cv::cuda::StreamAccessor::getStream(enc->stream()));
+ //}
}
- int count = _generateTiles(fs, offset, cc, enc->stream(), lossless, is_stereo);
+ int count = (fs.frames.size() == 1) ? 1 : _generateTiles(fs, offset, cc, enc->stream(), is_stereo);
if (count <= 0) {
LOG(ERROR) << "Could not generate tiles.";
break;
}
- //cudaSafeCall(cudaStreamSynchronize(enc->stream()));
- enc->stream().waitForCompletion();
-
if (enc) {
if (reset) enc->reset();
@@ -331,33 +555,35 @@ void Sender::_encodeChannel(ftl::rgbd::FrameSet &fs, Channel c, bool reset) {
ftl::codecs::Packet pkt;
pkt.frame_count = count;
pkt.codec = codec;
- pkt.definition = definition_t::Any;
- pkt.bitrate = (!lossless && ftl::codecs::isFloatChannel(cc)) ? max_bitrate : max_bitrate/2;
+ pkt.bitrate = bitrate;
pkt.flags = 0;
- if (!lossless && ftl::codecs::isFloatChannel(cc)) pkt.flags = ftl::codecs::kFlagFloat | ftl::codecs::kFlagMappedDepth;
- else if (lossless && ftl::codecs::isFloatChannel(cc)) pkt.flags = ftl::codecs::kFlagFloat;
- else pkt.flags = ftl::codecs::kFlagFlipRGB;
- if (is_stereo) pkt.flags |= ftl::codecs::kFlagStereo;
-
// In the event of partial frames, add a flag to indicate that
- if (static_cast<size_t>(fs.count) < fs.frames.size()) pkt.flags |= ftl::codecs::kFlagPartial;
+ //if (static_cast<size_t>(fs.count) < fs.frames.size()) pkt.flags |= ftl::codecs::kFlagPartial;
// Choose correct region of interest into the surface.
- cv::Rect roi = _generateROI(fs, cc, offset, is_stereo);
- cv::cuda::GpuMat sroi = tile.surface(roi);
+ //cv::Rect roi = _generateROI(fs, cc, offset, is_stereo);
+ cv::cuda::GpuMat sroi;
+
+ if (fs.frames.size() > 1) {
+ cv::Rect roi = _generateROI(fs, cc, offset, is_stereo);
+ sroi = tile.surface(roi);
+ } else {
+ sroi = fs.frames[0].get<cv::cuda::GpuMat>(cc);
+ }
FTL_Profile("Encoder",0.02);
if (enc->encode(sroi, pkt)) {
- stream_->post(spkt, pkt);
+ //stream_->post(spkt, pkt);
+ _send(fs, spkt, pkt);
/*cv::Mat tmp;
tile.surface.download(tmp);
cv::imshow("Test", tmp);
cv::waitKey(1);*/
} else {
- LOG(ERROR) << "Encoding failed";
+ LOG(ERROR) << "Encoding failed for channel " << (int)cc;
}
} catch (std::exception &e) {
LOG(ERROR) << "Exception in encoder: " << e.what();
@@ -367,11 +593,137 @@ void Sender::_encodeChannel(ftl::rgbd::FrameSet &fs, Channel c, bool reset) {
}
offset += count;
+ ++encoder_number;
+ }
+}
+
+void Sender::_encodeAudioChannel(ftl::data::FrameSet &fs, Channel c, bool reset) {
+
+ // TODO: combine into multiple opus streams
+ for (size_t i=0; i<fs.frames.size(); ++i) {
+ if (!fs.frames[i].hasChannel(c)) continue;
+
+ const auto &listdata = fs.frames[i].get<std::list<ftl::audio::Audio>>(c);
+
+ //auto &settings = fs.frames[i].getSettings();
+
+ StreamPacket spkt;
+ spkt.version = 5;
+ spkt.timestamp = fs.timestamp();
+ spkt.localTimestamp = fs.localTimestamp;
+ spkt.streamID = fs.frameset();
+ spkt.frame_number = fs.frames[i].source();
+ spkt.channel = c;
+ //spkt.flags = (last_flush) ? ftl::codecs::kFlagCompleted : 0;
+
+ ftl::codecs::Packet pkt;
+ pkt.codec = ftl::codecs::codec_t::OPUS;
+ pkt.frame_count = 1;
+ pkt.flags = (c == Channel::AudioStereo) ? ftl::codecs::kFlagStereo : 0;
+ pkt.bitrate = 180;
+
+ // Find encoder here ...
+ ftl::audio::Encoder *enc = _getAudioEncoder(fs.frameset(), i, c, pkt);
+
+ // Do encoding into pkt.data
+ if (!enc) {
+ LOG(ERROR) << "Could not find audio encoder";
+ return;
+ }
+
+ for (auto &data : listdata) {
+ if (!enc->encode(data.data(), pkt)) {
+ LOG(ERROR) << "Could not encode audio";
+ return;
+ }
+ }
+
+ _send(fs, spkt, pkt);
+ //stream_->post(spkt, pkt);
+ }
+}
+
+void Sender::_encodeDataChannel(ftl::data::FrameSet &fs, Channel c, bool reset) {
+ // TODO: Pack all frames into a single packet
+ for (auto &f : fs.frames) {
+ StreamPacket spkt;
+ spkt.version = 5;
+ spkt.timestamp = fs.timestamp();
+ spkt.localTimestamp = fs.localTimestamp;
+ spkt.streamID = fs.frameset();
+ spkt.frame_number = f.source();
+ spkt.channel = c;
+ //spkt.flags = (last_flush) ? ftl::codecs::kFlagCompleted : 0;
+
+ ftl::codecs::Packet pkt;
+ pkt.frame_count = 1;
+ pkt.codec = codec_t::MSGPACK;
+ pkt.bitrate = 255;
+ pkt.flags = 0;
+
+ auto encoder = ftl::data::getTypeEncoder(f.type(c));
+ if (encoder) {
+ if (encoder(f, c, pkt.data)) {
+ //stream_->post(spkt, pkt);
+ _send(fs, spkt, pkt);
+ }
+ } else {
+ LOG(WARNING) << "Missing msgpack encoder";
+ }
+ }
+}
+
+void Sender::_encodeDataChannel(ftl::data::Frame &f, Channel c, bool reset) {
+ StreamPacket spkt;
+ spkt.version = 5;
+ spkt.timestamp = f.timestamp();
+ spkt.localTimestamp = spkt.timestamp;
+ spkt.streamID = f.frameset();
+ spkt.frame_number = f.source();
+ spkt.channel = c;
+
+ ftl::codecs::Packet pkt;
+ pkt.frame_count = 1;
+ pkt.codec = codec_t::MSGPACK;
+ pkt.bitrate = 255;
+ pkt.flags = 0;
+
+ auto encoder = ftl::data::getTypeEncoder(f.type(c));
+ if (encoder) {
+ if (encoder(f, c, pkt.data)) {
+ stream_->post(spkt, pkt);
+ }
+ } else {
+ LOG(WARNING) << "Missing msgpack encoder";
+ }
+}
+
+void Sender::_encodeChannel(ftl::data::FrameSet &fs, Channel c, bool reset) {
+ int ic = int(c);
+
+ if (ic < 32) {
+ _encodeVideoChannel(fs, c, reset);
+ } else if (ic < 64) {
+ _encodeAudioChannel(fs, c, reset);
+ } else {
+ _encodeDataChannel(fs, c, reset);
+ }
+}
+
+void Sender::_encodeChannel(ftl::data::Frame &frame, Channel c, bool reset) {
+ int ic = int(c);
+
+ if (ic < 32) {
+ //_encodeVideoChannel(frame, c, reset);
+ } else if (ic < 64) {
+ //_encodeAudioChannel(frame, c, reset);
+ } else {
+ _encodeDataChannel(frame, c, reset);
}
}
cv::Rect Sender::_generateROI(const ftl::rgbd::FrameSet &fs, ftl::codecs::Channel c, int offset, bool stereo) {
- const ftl::rgbd::Frame &cframe = fs.firstFrame();
+ const ftl::data::Frame &cframe = fs.firstFrame(c);
int rwidth = cframe.get<cv::cuda::GpuMat>(c).cols;
if (stereo) rwidth *= 2;
int rheight = cframe.get<cv::cuda::GpuMat>(c).rows;
@@ -407,12 +759,12 @@ float Sender::_selectFloatMax(Channel c) {
}
}
-int Sender::_generateTiles(const ftl::rgbd::FrameSet &fs, int offset, Channel c, cv::cuda::Stream &stream, bool lossless, bool stereo) {
- auto &surface = _getTile(fs.id, c);
+int Sender::_generateTiles(const ftl::rgbd::FrameSet &fs, int offset, Channel c, cv::cuda::Stream &stream, bool stereo) {
+ auto &surface = _getTile(fs.id(), c);
- const ftl::rgbd::Frame *cframe = nullptr; //&fs.frames[offset];
+ const ftl::data::Frame *cframe = nullptr; //&fs.frames[offset];
- const auto &m = fs.firstFrame().get<cv::cuda::GpuMat>(c);
+ const auto &m = fs.firstFrame(c).get<cv::cuda::GpuMat>(c);
// Choose tile configuration and allocate memory
auto [tx,ty] = ftl::codecs::chooseTileConfig(fs.frames.size());
@@ -423,67 +775,23 @@ int Sender::_generateTiles(const ftl::rgbd::FrameSet &fs, int offset, Channel c,
int tilecount = tx*ty;
uint32_t count = 0;
- int cvtype = CV_8UC4;
- switch (m.type()) {
- case CV_32F : cvtype = (lossless && m.type() == CV_32F) ? CV_16U : CV_8UC4; break;
- case CV_8UC1 : cvtype = CV_8UC1; break;
- default : cvtype = CV_8UC4;
- }
+ int cvtype = m.type();
surface.surface.create(height, width, cvtype);
// Loop over tiles with ROI mats and do colour conversions.
while (tilecount > 0 && count+offset < fs.frames.size()) {
- if (fs.hasFrame(offset+count)) {
- cframe = &fs.frames[offset+count];
+ cframe = &fs.frames[offset+count];
+
+ if (fs.hasFrame(offset+count) && cframe->hasChannel(c)) {
auto &m = cframe->get<cv::cuda::GpuMat>(c);
cv::Rect roi((count % tx)*rwidth, (count / tx)*rheight, (stereo) ? rwidth/2 : rwidth, rheight);
cv::cuda::GpuMat sroi = surface.surface(roi);
-
- if (m.type() == CV_32F) {
- if (lossless) {
- m.convertTo(sroi, CV_16UC1, 1000, stream);
- } else {
- ftl::cuda::depth_to_vuya(m, sroi, _selectFloatMax(c), stream);
- }
- } else if (m.type() == CV_8UC4) {
- cv::cuda::cvtColor(m, sroi, cv::COLOR_BGRA2RGBA, 0, stream);
- } else if (m.type() == CV_8UC3) {
- cv::cuda::cvtColor(m, sroi, cv::COLOR_BGR2RGBA, 0, stream);
- } else if (m.type() == CV_8UC1) {
- m.copyTo(sroi, stream);
- } else {
- LOG(ERROR) << "Unsupported colour format: " << m.type();
- return 0;
- }
-
- // Do the right channel
- if (stereo) {
- auto &m = cframe->get<cv::cuda::GpuMat>((c == Channel::Colour) ? Channel::Colour2 : Channel::Colour2HighRes);
- cv::Rect roi((count % tx)*rwidth + (rwidth/2), (count / tx)*rheight, rwidth/2, rheight);
- cv::cuda::GpuMat sroi = surface.surface(roi);
-
- if (m.type() == CV_32F) {
- if (lossless) {
- m.convertTo(sroi, CV_16UC1, 1000, stream);
- } else {
- ftl::cuda::depth_to_vuya(m, sroi, _selectFloatMax(c), stream);
- }
- } else if (m.type() == CV_8UC4) {
- cv::cuda::cvtColor(m, sroi, cv::COLOR_BGRA2RGBA, 0, stream);
- } else if (m.type() == CV_8UC3) {
- cv::cuda::cvtColor(m, sroi, cv::COLOR_BGR2RGBA, 0, stream);
- } else if (m.type() == CV_8UC1) {
- m.copyTo(sroi, stream);
- } else {
- LOG(ERROR) << "Unsupported colour format: " << m.type();
- return 0;
- }
- }
+ m.copyTo(sroi, stream);
} else {
cv::Rect roi((count % tx)*rwidth, (count / tx)*rheight, rwidth, rheight);
cv::cuda::GpuMat sroi = surface.surface(roi);
- sroi.setTo(cv::Scalar(0));
+ sroi.setTo(cv::Scalar(0), stream);
}
++count;
diff --git a/components/streams/src/stream.cpp b/components/streams/src/stream.cpp
index 43c53eae64c7ace22ef9026d2a4148c8889f5628..a0c61f4e3ae3dc49e2d5d53d60615823e4af0662 100644
--- a/components/streams/src/stream.cpp
+++ b/components/streams/src/stream.cpp
@@ -1,4 +1,5 @@
#include <ftl/streams/stream.hpp>
+#include <nlohmann/json.hpp>
#define LOGURU_WITH_STREAMS 1
#include <loguru.hpp>
@@ -8,26 +9,60 @@ using ftl::stream::Broadcast;
using ftl::stream::Intercept;
using ftl::stream::Stream;
-const ftl::codecs::Channels<0> &Stream::available(int fs) const {
+std::unordered_set<ftl::codecs::Channel> operator&(const std::unordered_set<ftl::codecs::Channel> &a, const std::unordered_set<ftl::codecs::Channel> &b) {
+ std::unordered_set<ftl::codecs::Channel> result;
+ for (auto &i : a) {
+ if (b.find(i) != b.end()) result.insert(i);
+ }
+ return result;
+}
+
+std::unordered_set<ftl::codecs::Channel> operator-(const std::unordered_set<ftl::codecs::Channel> &a, const std::unordered_set<ftl::codecs::Channel> &b) {
+ std::unordered_set<ftl::codecs::Channel> result;
+ for (auto &i : a) {
+ if (b.find(i) == b.end()) result.insert(i);
+ }
+ return result;
+}
+
+bool operator!=(const std::unordered_set<ftl::codecs::Channel> &a, const std::unordered_set<ftl::codecs::Channel> &b) {
+ if (a.size() != b.size()) return true;
+ for (auto &i : a) {
+ if (b.count(i) == 0) return true;
+ }
+ return false;
+}
+
+const std::unordered_set<ftl::codecs::Channel> &Stream::available(int fs) const {
SHARED_LOCK(mtx_, lk);
if (fs < 0 || static_cast<uint32_t>(fs) >= state_.size()) throw FTL_Error("Frameset index out-of-bounds: " << fs);
return state_[fs].available;
}
-const ftl::codecs::Channels<0> &Stream::selected(int fs) const {
+const std::unordered_set<ftl::codecs::Channel> &Stream::selected(int fs) const {
SHARED_LOCK(mtx_, lk);
if (fs < 0 || static_cast<uint32_t>(fs) >= state_.size()) throw FTL_Error("Frameset index out-of-bounds: " << fs);
return state_[fs].selected;
}
-void Stream::select(int fs, const ftl::codecs::Channels<0> &s, bool make) {
+std::unordered_set<ftl::codecs::Channel> Stream::selectedNoExcept(int fs) const {
+ if (fs == 255) return {};
+
+ SHARED_LOCK(mtx_, lk);
+ if (fs < 0 || static_cast<uint32_t>(fs) >= state_.size()) return {};
+ return state_[fs].selected;
+}
+
+void Stream::select(int fs, const std::unordered_set<ftl::codecs::Channel> &s, bool make) {
+ if (fs == 255) return;
+
UNIQUE_LOCK(mtx_, lk);
if (fs < 0 || (!make && static_cast<uint32_t>(fs) >= state_.size())) throw FTL_Error("Frameset index out-of-bounds: " << fs);
if (static_cast<uint32_t>(fs) >= state_.size()) state_.resize(fs+1);
state_[fs].selected = s;
}
-ftl::codecs::Channels<0> &Stream::available(int fs) {
+std::unordered_set<ftl::codecs::Channel> &Stream::available(int fs) {
UNIQUE_LOCK(mtx_, lk);
if (fs < 0) throw FTL_Error("Frameset index out-of-bounds: " << fs);
if (static_cast<uint32_t>(fs) >= state_.size()) state_.resize(fs+1);
@@ -41,67 +76,127 @@ void Stream::reset() {
// ==== Muxer ==================================================================
Muxer::Muxer(nlohmann::json &config) : Stream(config), nid_{0} {
-
+ value("paused", false);
+ _forward("paused");
}
Muxer::~Muxer() {
+ UNIQUE_LOCK(mutex_,lk);
+ for (auto &se : streams_) {
+ se.handle.cancel();
+ }
+}
+void Muxer::_forward(const std::string &name) {
+ on(name, [this,name]() {
+ auto val = getConfig()[name];
+ UNIQUE_LOCK(mutex_,lk);
+ for (auto &se : streams_) {
+ se.stream->set(name, val);
+ }
+ });
}
-void Muxer::add(Stream *s, size_t fsid) {
+void Muxer::add(Stream *s, size_t fsid, const std::function<int()> &cb) {
UNIQUE_LOCK(mutex_,lk);
if (fsid < 0u || fsid >= ftl::stream::kMaxStreams) return;
auto &se = streams_.emplace_back();
- int i = streams_.size()-1;
+ //int i = streams_.size()-1;
se.stream = s;
+ se.ids.push_back(fsid);
+ ftl::stream::Muxer::StreamEntry *ptr = &se;
- s->onPacket([this,s,i,fsid](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ se.handle = std::move(s->onPacket([this,s,ptr,cb](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
//TODO: Allow input streams to have other streamIDs
// Same fsid means same streamIDs map together in the end
-
+
+ /*ftl::stream::Muxer::StreamEntry *ptr = nullptr;
+ {
+ SHARED_LOCK(mutex_,lk);
+ ptr = &streams_[i];
+ }*/
+
+ if (!cb && spkt.streamID > 0) {
+ LOG(WARNING) << "Multiple framesets in stream";
+ return true;
+ }
+
+ if (ptr->ids.size() <= spkt.streamID) {
+ UNIQUE_LOCK(mutex_,lk);
+ if (ptr->ids.size() <= spkt.streamID) {
+ ptr->ids.resize(spkt.streamID + 1);
+ ptr->ids[spkt.streamID] = cb();
+ }
+ }
+
+ int fsid;
+ {
+ SHARED_LOCK(mutex_, lk);
+ fsid = ptr->ids[spkt.streamID];
+ }
+
ftl::codecs::StreamPacket spkt2 = spkt;
+ ptr->original_fsid = spkt.streamID; // FIXME: Multiple originals needed
spkt2.streamID = fsid;
if (spkt2.frame_number < 255) {
- int id = _lookup(fsid, i, spkt.frame_number);
+ int id = _lookup(fsid, ptr, spkt.frame_number, pkt.frame_count);
spkt2.frame_number = id;
}
_notify(spkt2, pkt);
- s->select(spkt.streamID, selected(fsid));
- });
+ s->select(spkt.streamID, selected(fsid), true);
+ return true;
+ }));
}
-bool Muxer::onPacket(const std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> &cb) {
+void Muxer::remove(Stream *s) {
UNIQUE_LOCK(mutex_,lk);
- cb_ = cb;
- return true;
+ for (auto i = streams_.begin(); i != streams_.end(); ++i) {
+ if (i->stream == s) {
+ i->handle.cancel();
+ auto *se = &(*i);
+
+ for (size_t j=0; j<kMaxStreams; ++j) {
+ for (auto &k : revmap_[j]) {
+ if (k.first == se) {
+ k.first = nullptr;
+ }
+ }
+ }
+
+ streams_.erase(i);
+ return;
+ }
+ }
}
-int Muxer::originStream(size_t fsid, int fid) {
+ftl::stream::Stream *Muxer::originStream(size_t fsid, int fid) {
if (fsid < ftl::stream::kMaxStreams && static_cast<uint32_t>(fid) < revmap_[fsid].size()) {
- return std::get<0>(revmap_[fsid][fid]);
+ return std::get<0>(revmap_[fsid][fid])->stream;
}
- return -1;
+ return nullptr;
}
bool Muxer::post(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
SHARED_LOCK(mutex_, lk);
- available(spkt.frameSetID()) += spkt.channel;
-
+ if (pkt.data.size() > 0 || !(spkt.flags & ftl::codecs::kFlagRequest)) available(spkt.frameSetID()) += spkt.channel;
+
if (spkt.streamID < ftl::stream::kMaxStreams && spkt.frame_number < revmap_[spkt.streamID].size()) {
- auto [sid, ssid] = revmap_[spkt.streamID][spkt.frame_number];
- auto &se = streams_[sid];
+ auto [se, ssid] = revmap_[spkt.streamID][spkt.frame_number];
+ //auto &se = streams_[sid];
+
+ if (!se) return false;
//LOG(INFO) << "POST " << spkt.frame_number;
ftl::codecs::StreamPacket spkt2 = spkt;
- spkt2.streamID = 0;
+ spkt2.streamID = se->original_fsid; // FIXME: Multiple possible originals
spkt2.frame_number = ssid;
- se.stream->select(0, selected(spkt.frameSetID()));
- return se.stream->post(spkt2, pkt);
+ se->stream->select(spkt2.streamID, selected(spkt.frameSetID()));
+ return se->stream->post(spkt2, pkt);
} else {
return false;
}
@@ -137,22 +232,42 @@ void Muxer::reset() {
}
}
-int Muxer::_lookup(size_t fsid, int sid, int ssid) {
+int Muxer::_lookup(size_t fsid, ftl::stream::Muxer::StreamEntry *se, int ssid, int count) {
SHARED_LOCK(mutex_, lk);
- auto &se = streams_[sid];
- if (static_cast<uint32_t>(ssid) >= se.maps.size()) {
+
+ auto i = se->maps.find(fsid);
+ if (i == se->maps.end()) {
+ lk.unlock();
+ {
+ UNIQUE_LOCK(mutex_, lk2);
+ if (se->maps.count(fsid) == 0) {
+ se->maps[fsid] = {};
+ }
+ i = se->maps.find(fsid);
+ }
+ lk.lock();
+ }
+
+ auto &map = i->second;
+
+ if (static_cast<uint32_t>(ssid) >= map.size()) {
lk.unlock();
{
UNIQUE_LOCK(mutex_, lk2);
- if (static_cast<uint32_t>(ssid) >= se.maps.size()) {
+ while (static_cast<uint32_t>(ssid) >= map.size()) {
int nid = nid_[fsid]++;
- se.maps.push_back(nid);
- revmap_[fsid].push_back({sid,ssid});
+ revmap_[fsid].push_back({se, static_cast<uint32_t>(map.size())});
+ map.push_back(nid);
+ for (int i=1; i<count; ++i) {
+ int nid = nid_[fsid]++;
+ revmap_[fsid].push_back({se, static_cast<uint32_t>(map.size())});
+ map.push_back(nid);
+ }
}
}
lk.lock();
}
- return se.maps[ssid];
+ return map[ssid];
}
void Muxer::_notify(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
@@ -160,9 +275,10 @@ void Muxer::_notify(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Pa
available(spkt.frameSetID()) += spkt.channel;
try {
- if (cb_) cb_(spkt, pkt); // spkt.frame_number < 255 &&
+ cb_.trigger(spkt, pkt); // spkt.frame_number < 255 &&
} catch (std::exception &e) {
- LOG(ERROR) << "Exception in packet handler: " << e.what();
+ LOG(ERROR) << "Exception in packet handler (" << int(spkt.channel) << "): " << e.what();
+ //reset(); // Force stream reset here to get new i-frames
}
}
@@ -180,35 +296,28 @@ void Broadcast::add(Stream *s) {
UNIQUE_LOCK(mutex_,lk);
streams_.push_back(s);
- s->onPacket([this,s](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
- LOG(INFO) << "BCAST Request: " << (int)spkt.streamID << " " << (int)spkt.channel << " " << spkt.timestamp;
+ handles_.push_back(std::move(s->onPacket([this,s](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ //LOG(INFO) << "BCAST Request: " << (int)spkt.streamID << " " << (int)spkt.channel << " " << spkt.timestamp;
SHARED_LOCK(mutex_, lk);
if (spkt.frameSetID() < 255) available(spkt.frameSetID()) += spkt.channel;
- if (cb_) cb_(spkt, pkt);
+ cb_.trigger(spkt, pkt);
if (spkt.streamID < 255) s->select(spkt.streamID, selected(spkt.streamID));
- });
+ return true;
+ })));
}
void Broadcast::remove(Stream *s) {
UNIQUE_LOCK(mutex_,lk);
- s->onPacket(nullptr);
+ // TODO: Find and remove handle also
streams_.remove(s);
}
void Broadcast::clear() {
UNIQUE_LOCK(mutex_,lk);
- for (auto s : streams_) {
- s->onPacket(nullptr);
- }
+ handles_.clear();
streams_.clear();
}
-bool Broadcast::onPacket(const std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> &cb) {
- UNIQUE_LOCK(mutex_,lk);
- cb_ = cb;
- return true;
-}
-
bool Broadcast::post(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
SHARED_LOCK(mutex_, lk);
if (spkt.frameSetID() < 255) available(spkt.frameSetID()) += spkt.channel;
@@ -266,22 +375,17 @@ void Intercept::setStream(Stream *s) {
UNIQUE_LOCK(mutex_,lk);
stream_ = s;
- s->onPacket([this](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ handles_.push_back(std::move(s->onPacket([this](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
SHARED_LOCK(mutex_, lk);
available(spkt.frameSetID()) += spkt.channel;
- if (cb_) cb_(spkt, pkt);
+ cb_.trigger(spkt, pkt);
if (intercept_) intercept_(spkt, pkt);
stream_->select(spkt.streamID, selected(spkt.streamID));
- });
-}
-
-bool Intercept::onPacket(const std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> &cb) {
- UNIQUE_LOCK(mutex_,lk);
- cb_ = cb;
- return true;
+ return true;
+ })));
}
-bool Intercept::onIntercept(const std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> &cb) {
+bool Intercept::onIntercept(const std::function<bool(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> &cb) {
UNIQUE_LOCK(mutex_,lk);
intercept_ = cb;
return true;
diff --git a/components/streams/test/CMakeLists.txt b/components/streams/test/CMakeLists.txt
index 288f2ff07d511a6965707ef278e0f6922aa9501d..272a87a24c301ba893f755f726f1802388a9d228 100644
--- a/components/streams/test/CMakeLists.txt
+++ b/components/streams/test/CMakeLists.txt
@@ -8,6 +8,8 @@ target_include_directories(stream_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../in
target_link_libraries(stream_unit
ftlcommon ftlcodecs ftlrgbd)
+target_precompile_headers(stream_unit REUSE_FROM ftldata)
+
add_test(StreamUnitTest stream_unit)
### File Stream Unit ###########################################################
@@ -21,6 +23,8 @@ target_include_directories(filestream_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/.
target_link_libraries(filestream_unit
ftlcommon ftlcodecs ftlrgbd)
+target_precompile_headers(filestream_unit REUSE_FROM ftldata)
+
add_test(FileStreamUnitTest filestream_unit)
### Net Stream Unit ###########################################################
@@ -48,6 +52,8 @@ target_include_directories(sender_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../in
target_link_libraries(sender_unit
ftlcommon ftlcodecs ftlrgbd ftlaudio)
+target_precompile_headers(sender_unit REUSE_FROM ftldata)
+
add_test(SenderUnitTest sender_unit)
### Receiver Unit ##############################################################
@@ -58,9 +64,58 @@ $<TARGET_OBJECTS:CatchTest>
../src/stream.cpp
../src/injectors.cpp
../src/parsers.cpp
+ ../src/builder.cpp
)
target_include_directories(receiver_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
target_link_libraries(receiver_unit
ftlcommon ftlcodecs ftlrgbd ftlaudio)
+target_precompile_headers(receiver_unit REUSE_FROM ftldata)
+
add_test(ReceiverUnitTest receiver_unit)
+
+### Receiver Sender Unit #######################################################
+add_executable(recsend_unit
+$<TARGET_OBJECTS:CatchTest>
+ ./recsend_unit.cpp
+ ../src/receiver.cpp
+ ../src/stream.cpp
+ ../src/sender.cpp
+ ../src/builder.cpp
+)
+target_include_directories(recsend_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
+target_link_libraries(recsend_unit
+ ftlcommon ftlcodecs ftlrgbd ftlaudio)
+
+target_precompile_headers(recsend_unit REUSE_FROM ftldata)
+
+add_test(RecSendUnitTest recsend_unit)
+
+### Builder Unit ###############################################################
+add_executable(builder_unit
+$<TARGET_OBJECTS:CatchTest>
+ ./builder_unit.cpp
+ ../src/builder.cpp
+)
+target_include_directories(builder_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
+target_link_libraries(builder_unit
+ ftlcommon ftldata)
+
+target_precompile_headers(builder_unit REUSE_FROM ftldata)
+
+add_test(BuilderUnitTest builder_unit)
+
+
+### Feed Unit ##################################################################
+add_executable(feed_unit
+ $<TARGET_OBJECTS:CatchTest>
+ ./feed_unit.cpp
+ ../src/feed.cpp
+)
+target_include_directories(feed_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
+target_link_libraries(feed_unit
+ ftlrgbd ftlstreams ftloperators ftlcommon ftldata)
+
+target_precompile_headers(feed_unit REUSE_FROM ftldata)
+
+add_test(FeedUnitTest feed_unit)
diff --git a/components/streams/test/builder_unit.cpp b/components/streams/test/builder_unit.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..7041b9eae016b3fc19917064e7a67c0aba62c04f
--- /dev/null
+++ b/components/streams/test/builder_unit.cpp
@@ -0,0 +1,201 @@
+#include "catch.hpp"
+
+#include <ftl/streams/builder.hpp>
+
+using ftl::data::Pool;
+using ftl::data::Frame;
+using ftl::data::FrameSet;
+using ftl::streams::ForeignBuilder;
+using ftl::streams::LocalBuilder;
+using ftl::codecs::Channel;
+
+TEST_CASE("ftl::streams::ForeignBuilder can obtain a frameset", "[]") {
+ SECTION("with one frame allocated") {
+ Pool pool(2,5);
+ ForeignBuilder builder(&pool, 44);
+
+ builder.get(100, 0);
+ {
+ auto fs = builder.get(100);
+
+ REQUIRE( fs->frameset() == 44 );
+ REQUIRE( fs->source() == 255);
+ REQUIRE( fs->timestamp() == 100 );
+ REQUIRE( fs->frames.size() == 1 );
+ REQUIRE( fs->frames[0].status() == ftl::data::FrameStatus::CREATED );
+ REQUIRE( fs->frames[0].id() == (44<<8) );
+ REQUIRE( fs->frames[0].timestamp() == 100 );
+ }
+ }
+
+ SECTION("with five frames allocated") {
+ Pool pool(2,5);
+ ForeignBuilder builder(&pool, 44);
+
+ builder.get(100, 4);
+ builder.get(100, 0);
+
+ {
+ auto fs = builder.get(100);
+
+ REQUIRE( fs->frameset() == 44 );
+ REQUIRE( fs->timestamp() == 100 );
+ REQUIRE( fs->frames.size() == 5 );
+ REQUIRE( fs->frames[3].status() == ftl::data::FrameStatus::CREATED );
+ REQUIRE( fs->frames[3].id() == (44<<8)+3 );
+ REQUIRE( fs->frames[3].timestamp() == 100 );
+ }
+ }
+}
+
+TEST_CASE("ftl::streams::ForeignBuilder can complete a frame", "[]") {
+ SECTION("with two frames allocated") {
+ Pool pool(2,5);
+ ForeignBuilder builder(&pool, 44);
+
+ builder.get(100, 1);
+ builder.get(100, 0);
+
+ {
+ auto fs = builder.get(100);
+ fs->completed(0);
+
+ REQUIRE( fs->frameset() == 44 );
+ REQUIRE( fs->timestamp() == 100 );
+ REQUIRE( fs->frames.size() == 2 );
+ //REQUIRE( fs->frames[0].status() == ftl::data::FrameStatus::CREATED );
+ REQUIRE( fs->firstFrame().id() == (44<<8) );
+ REQUIRE( fs->firstFrame().timestamp() == 100 );
+ }
+ }
+}
+
+TEST_CASE("ftl::streams::ForeignBuilder can complete a frameset", "[]") {
+ SECTION("with one frame allocated and no buffering") {
+ Pool pool(2,5);
+ ForeignBuilder builder(&pool, 44);
+
+ builder.setBufferSize(0);
+
+ builder.get(100, 0);
+
+ int fsid = 0;
+
+ auto h = builder.onFrameSet([&fsid](const ftl::data::FrameSetPtr& fs) {
+ fsid = fs->frameset();
+ return false;
+ });
+
+ {
+ auto fs = builder.get(100);
+ fs->completed(0);
+ }
+
+ // TODO: Find better way to wait...
+ std::this_thread::sleep_for(std::chrono::milliseconds(10));
+ REQUIRE( fsid == 44 );
+ }
+
+ SECTION("with two frames allocated and no buffering") {
+ Pool pool(2,5);
+ ForeignBuilder builder(&pool, 44);
+
+ builder.setBufferSize(0);
+
+ builder.get(100, 1);
+
+ int fsid = 0;
+
+ auto h = builder.onFrameSet([&fsid](const ftl::data::FrameSetPtr& fs) {
+ fsid = fs->frameset();
+ return false;
+ });
+
+ {
+ auto fs = builder.get(100);
+ fs->completed(0);
+ fs->completed(1);
+ }
+
+ // TODO: Find better way to wait...
+ std::this_thread::sleep_for(std::chrono::milliseconds(10));
+ REQUIRE( fsid == 44 );
+ }
+
+ SECTION("does not complete a partial") {
+ Pool pool(2,5);
+ ForeignBuilder builder(&pool, 44);
+
+ builder.setBufferSize(0);
+
+ builder.get(100, 1);
+
+ int fsid = 0;
+
+ auto h = builder.onFrameSet([&fsid](const ftl::data::FrameSetPtr& fs) {
+ fsid = fs->frameset();
+ return false;
+ });
+
+ {
+ auto fs = builder.get(100);
+ fs->completed(1);
+ }
+
+ // TODO: Find better way to wait...
+ std::this_thread::sleep_for(std::chrono::milliseconds(10));
+ REQUIRE( fsid == 0 );
+ }
+}
+
+TEST_CASE("ftl::streams::LocalBuilder can provide empty frames", "[]") {
+ SECTION("a single empty frameset") {
+ Pool pool(2,5);
+ LocalBuilder builder(&pool, 45);
+
+ auto fs = builder.getNextFrameSet(100);
+
+ REQUIRE( fs );
+ REQUIRE( fs->timestamp() == 100 );
+ REQUIRE( fs->frames.size() == 1 );
+ REQUIRE( fs->hasFrame(0) );
+ REQUIRE( fs->mask != 0 );
+ }
+
+ SECTION("multiple framesets frameset") {
+ Pool pool(2,5);
+ LocalBuilder builder(&pool, 45);
+
+ auto fs = builder.getNextFrameSet(100);
+ fs->firstFrame().create<int>(Channel::Control) = 77;
+
+ fs = builder.getNextFrameSet(110);
+
+ REQUIRE( fs );
+ REQUIRE( fs->timestamp() == 110 );
+ REQUIRE( fs->frames.size() == 1 );
+ REQUIRE( fs->hasFrame(0) );
+ REQUIRE( fs->hasChannel(Channel::Control) == false );
+ }
+}
+
+TEST_CASE("ftl::streams::LocalBuilder can provide filled frames", "[]") {
+ SECTION("a single filled frameset") {
+ Pool pool(2,5);
+ LocalBuilder builder(&pool, 45);
+
+ // Fake some received data, as done by Receiver class.
+ {
+ auto pfs = builder.get(100);
+ pfs->firstFrame().createChange<int>(Channel::Control, ftl::data::ChangeType::FOREIGN) = 56;
+ pfs->completed(0);
+ }
+
+ auto fs = builder.getNextFrameSet(100);
+
+ REQUIRE( fs );
+ REQUIRE( fs->timestamp() == 100 );
+ REQUIRE( fs->frames.size() == 1 );
+ REQUIRE( fs->frames[0].get<int>(Channel::Control) == 56 );
+ }
+}
diff --git a/components/streams/test/feed_unit.cpp b/components/streams/test/feed_unit.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d2df6e59bd2279d3be96b6c2f2229adff55fa164
--- /dev/null
+++ b/components/streams/test/feed_unit.cpp
@@ -0,0 +1,34 @@
+#include <catch.hpp>
+
+#include <nlohmann/json.hpp>
+#include <ftl/streams/feed.hpp>
+
+#include <ftl/operators/colours.hpp>
+
+using ftl::config::json_t;
+
+TEST_CASE("ftl::streams::Feed can obtain a frameset", "[]") {
+ json_t global = json_t{{"$id","ftl://test"}};
+ ftl::config::configure(global);
+
+ json_t cfg1 = json_t{
+ {"$id","ftl://test/1"}
+ };
+
+ json_t cfg2 = json_t{
+ {"$id","ftl://test/2"}
+ };
+
+ auto* net = ftl::create<ftl::net::Universe>(cfg1);
+ auto* feed = ftl::create<ftl::stream::Feed>(cfg2, net);
+
+ feed->add("./file.ftl");
+ feed->add("file:///absolutefile.ftl");
+ //feed->add("file://relativefile.ftl"); // This is not allowed
+ feed->add("file:/./relativefile.ftl");
+ feed->add("file:./relativefile.ftl");
+ feed->add("device:dev1");
+ feed->add("device:/dev2");
+ feed->add("device://dev3");
+
+}
diff --git a/components/streams/test/filestream_unit.cpp b/components/streams/test/filestream_unit.cpp
index 8962cede12effa0f6758e806242244f894e9a224..12a43b621f848efce6e4a43faac48c0c8b77ef88 100644
--- a/components/streams/test/filestream_unit.cpp
+++ b/components/streams/test/filestream_unit.cpp
@@ -2,6 +2,8 @@
#include <ftl/streams/filestream.hpp>
#include <nlohmann/json.hpp>
+#include <ftl/timer.hpp>
+#include <ftl/file.hpp>
using ftl::stream::File;
using ftl::stream::Stream;
@@ -24,24 +26,26 @@ TEST_CASE("ftl::stream::File write and read", "[stream]") {
REQUIRE(writer);
SECTION("write read single packet") {
- writer->set("filename", "/tmp/ftl_file_stream_test.ftl");
+ writer->set("filename", (std::filesystem::temp_directory_path() / "ftl_file_stream_test.ftl").string());
writer->setMode(File::Mode::Write);
REQUIRE( writer->begin() );
- REQUIRE( writer->post({4,ftl::timer::get_time(),2,1,ftl::codecs::Channel::Confidence},{ftl::codecs::codec_t::Any, ftl::codecs::definition_t::Any, 0, 0, 0, {'f'}}) );
+ REQUIRE( writer->post({4,ftl::timer::get_time(),2,1,ftl::codecs::Channel::Confidence},{ftl::codecs::codec_t::Any, 0, 0, 0, 0, {'f'}}) );
writer->end();
- reader->set("filename", "/tmp/ftl_file_stream_test.ftl");
+ reader->set("filename", (std::filesystem::temp_directory_path() / "ftl_file_stream_test.ftl").string());
ftl::codecs::StreamPacket tspkt = {4,0,0,1,ftl::codecs::Channel::Colour};
- REQUIRE( reader->onPacket([&tspkt](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ auto h = reader->onPacket([&tspkt](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
tspkt = spkt;
- }) );
+ return true;
+ });
REQUIRE( reader->begin(false) );
- //reader->tick();
+ reader->tick(ftl::timer::get_time()+10);
+ reader->end();
//REQUIRE( tspkt.timestamp == 0 );
REQUIRE( tspkt.streamID == (uint8_t)2 );
@@ -49,28 +53,31 @@ TEST_CASE("ftl::stream::File write and read", "[stream]") {
}
SECTION("write read multiple packets at same timestamp") {
- writer->set("filename", "/tmp/ftl_file_stream_test.ftl");
+ writer->set("filename", (std::filesystem::temp_directory_path() / "ftl_file_stream_test.ftl").string());
writer->setMode(File::Mode::Write);
REQUIRE( writer->begin() );
- REQUIRE( writer->post({4,0,0,1,ftl::codecs::Channel::Confidence},{ftl::codecs::codec_t::Any, ftl::codecs::definition_t::Any, 0, 0, 0, {'f'}}) );
- REQUIRE( writer->post({4,0,1,1,ftl::codecs::Channel::Depth},{ftl::codecs::codec_t::Any, ftl::codecs::definition_t::Any, 0, 0, 0, {'f'}}) );
- REQUIRE( writer->post({4,0,2,1,ftl::codecs::Channel::Screen},{ftl::codecs::codec_t::Any, ftl::codecs::definition_t::Any, 0, 0, 0, {'f'}}) );
+ REQUIRE( writer->post({5,10,0,1,ftl::codecs::Channel::Confidence},{ftl::codecs::codec_t::Any, 0, 0, 0, 0, {'f'}}) );
+ REQUIRE( writer->post({5,10,1,1,ftl::codecs::Channel::Depth},{ftl::codecs::codec_t::Any, 0, 0, 0, 0, {'f'}}) );
+ REQUIRE( writer->post({5,10,2,1,ftl::codecs::Channel::Screen},{ftl::codecs::codec_t::Any, 0, 0, 0, 0, {'f'}}) );
writer->end();
- reader->set("filename", "/tmp/ftl_file_stream_test.ftl");
+ reader->set("filename", (std::filesystem::temp_directory_path() / "ftl_file_stream_test.ftl").string());
- ftl::codecs::StreamPacket tspkt = {4,0,0,1,ftl::codecs::Channel::Colour};
- int count = 0;
- REQUIRE( reader->onPacket([&tspkt,&count](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ ftl::codecs::StreamPacket tspkt = {5,0,0,1,ftl::codecs::Channel::Colour};
+ std::atomic_int count = 0;
+
+ auto h = reader->onPacket([&tspkt,&count](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
tspkt = spkt;
++count;
- }) );
+ return true;
+ });
REQUIRE( reader->begin(false) );
- //reader->tick();
+ reader->tick(ftl::timer::get_time()+10);
+ reader->end();
REQUIRE( count == 3 );
REQUIRE( tspkt.timestamp > 0 );
@@ -79,43 +86,45 @@ TEST_CASE("ftl::stream::File write and read", "[stream]") {
}
SECTION("write read multiple packets at different timestamps") {
- writer->set("filename", "/tmp/ftl_file_stream_test.ftl");
+ writer->set("filename", (std::filesystem::temp_directory_path() / "ftl_file_stream_test.ftl").string());
writer->setMode(File::Mode::Write);
REQUIRE( writer->begin() );
auto time = ftl::timer::get_time();
- REQUIRE( writer->post({4,time,0,1,ftl::codecs::Channel::Confidence},{ftl::codecs::codec_t::Any, ftl::codecs::definition_t::Any, 0, 0, 0, {'f'}}) );
- REQUIRE( writer->post({4,time+ftl::timer::getInterval(),0,1,ftl::codecs::Channel::Depth},{ftl::codecs::codec_t::Any, ftl::codecs::definition_t::Any, 0, 0, 0, {'f'}}) );
- REQUIRE( writer->post({4,time+2*ftl::timer::getInterval(),0,1,ftl::codecs::Channel::Screen},{ftl::codecs::codec_t::Any, ftl::codecs::definition_t::Any, 0, 0, 0, {'f'}}) );
+ REQUIRE( writer->post({4,time,0,1,ftl::codecs::Channel::Confidence},{ftl::codecs::codec_t::Any, 0, 0, 0, 0, {'f'}}) );
+ REQUIRE( writer->post({4,time+ftl::timer::getInterval(),0,1,ftl::codecs::Channel::Depth},{ftl::codecs::codec_t::Any, 0, 0, 0, 0, {'f'}}) );
+ REQUIRE( writer->post({4,time+2*ftl::timer::getInterval(),0,1,ftl::codecs::Channel::Screen},{ftl::codecs::codec_t::Any, 0, 0, 0, 0, {'f'}}) );
writer->end();
- reader->set("filename", "/tmp/ftl_file_stream_test.ftl");
+ reader->set("filename", (std::filesystem::temp_directory_path() / "ftl_file_stream_test.ftl").string());
ftl::codecs::StreamPacket tspkt = {4,0,0,1,ftl::codecs::Channel::Colour};
int count = 0;
- REQUIRE( reader->onPacket([&tspkt,&count](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ auto h = reader->onPacket([&tspkt,&count](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
tspkt = spkt;
++count;
- }) );
+ return true;
+ });
REQUIRE( reader->begin(false) );
- //reader->tick();
+ reader->tick(ftl::timer::get_time()+ftl::timer::getInterval());
+ std::this_thread::sleep_for(std::chrono::milliseconds(10));
- REQUIRE( count == 1 );
+ REQUIRE( count == 2 );
//REQUIRE( tspkt.timestamp == 0 );
//auto itime = tspkt.timestamp;
count = 0;
- reader->tick(0);
+ reader->tick(ftl::timer::get_time()+2*ftl::timer::getInterval());
std::this_thread::sleep_for(std::chrono::milliseconds(10));
- REQUIRE( count == 1 );
+ REQUIRE( count == 2 );
//REQUIRE( tspkt.timestamp == itime+ftl::timer::getInterval() );
count = 0;
- reader->tick(0);
+ reader->tick(ftl::timer::get_time()+3*ftl::timer::getInterval());
std::this_thread::sleep_for(std::chrono::milliseconds(10));
REQUIRE( count == 1 );
diff --git a/components/streams/test/receiver_unit.cpp b/components/streams/test/receiver_unit.cpp
index 755c55c2293717c3490171813f08abebec735343..29bf0b241f1f4563202987cc3656e377cf889acd 100644
--- a/components/streams/test/receiver_unit.cpp
+++ b/components/streams/test/receiver_unit.cpp
@@ -1,11 +1,14 @@
#include "catch.hpp"
#include <ftl/streams/receiver.hpp>
-#include <ftl/codecs/nvpipe_encoder.hpp>
+#include <ftl/codecs/nvidia_encoder.hpp>
#include <ftl/streams/injectors.hpp>
+#include <ftl/rgbd/frame.hpp>
#include <nlohmann/json.hpp>
+#include <loguru.hpp>
+
using ftl::codecs::definition_t;
using ftl::codecs::codec_t;
using ftl::stream::Receiver;
@@ -14,17 +17,13 @@ using ftl::rgbd::FrameSet;
using ftl::codecs::Channel;
using ftl::codecs::Channels;
using ftl::config::json_t;
+using ftl::data::FrameID;
class TestStream : public ftl::stream::Stream {
public:
explicit TestStream(nlohmann::json &config) : ftl::stream::Stream(config) {};
~TestStream() {};
- bool onPacket(const std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> &cb) {
- cb_ = cb;
- return true;
- }
-
bool post(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
available(spkt.streamID) += spkt.channel;
if (pkt.data.size() == 0) {
@@ -36,27 +35,75 @@ class TestStream : public ftl::stream::Stream {
select(spkt.frameSetID(), selected(spkt.frameSetID()) + spkt.channel);
}
}
- if (cb_) cb_(spkt, pkt);
+ cb_.trigger(spkt, pkt);
return true;
}
+ bool postEnd(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt, int count) {
+ ftl::codecs::Packet pkt2;
+ pkt2.codec = codec_t::Invalid;
+ pkt2.bitrate = 255;
+ pkt2.packet_count = count+1;
+ pkt2.frame_count = 1;
+
+ ftl::codecs::StreamPacket spkt2;
+ spkt2.version = 4;
+ spkt2.timestamp = spkt.timestamp;
+ spkt2.frame_number = 0;
+ spkt2.channel = Channel::EndFrame;
+ spkt2.streamID = spkt.streamID;
+
+ //for (int i=pkt.frame_count-1; i>=0; --i) {
+ // spkt2.frame_number = spkt.frame_number+i;
+ // if (i > 0) pkt2.frame_count = 1;
+ // else pkt2.frame_count = count+1;
+ post(spkt2, pkt2);
+ //}
+ return post(spkt, pkt);
+ }
+
+ bool postEnd(int64_t ts, int frame, int count) {
+ ftl::codecs::Packet pkt2;
+ pkt2.codec = codec_t::Invalid;
+ pkt2.bitrate = 255;
+ pkt2.packet_count = count+1;
+ pkt2.frame_count = 1;
+
+ ftl::codecs::StreamPacket spkt2;
+ spkt2.version = 4;
+ spkt2.timestamp = ts;
+ spkt2.frame_number = frame;
+ spkt2.channel = Channel::EndFrame;
+ spkt2.streamID = 0;
+
+ //for (int i=pkt.frame_count-1; i>=0; --i) {
+ // spkt2.frame_number = spkt.frame_number+i;
+ // if (i > 0) pkt2.frame_count = 1;
+ // else pkt2.frame_count = count+1;
+ return post(spkt2, pkt2);
+ //}
+ }
+
bool begin() override { return true; }
bool end() override { return true; }
bool active() override { return true; }
- private:
- std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> cb_;
+ //private:
+ //std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> cb_;
};
TEST_CASE( "Receiver generating onFrameSet" ) {
+ //ftl::data::make_channel<ftl::rgbd::Camera>(Channel::Calibration, "calibration", ftl::data::StorageMode::PERSISTENT);
json_t global = json_t{{"$id","ftl://test"}};
ftl::config::configure(global);
+ ftl::data::Pool pool(5,7);
+
json_t cfg = json_t{
{"$id","ftl://test/1"}
};
- auto *receiver = ftl::create<Receiver>(cfg);
+ auto *receiver = ftl::create<Receiver>(cfg, &pool);
json_t cfg2 = json_t{
{"$id","ftl://test/2"}
@@ -65,12 +112,11 @@ TEST_CASE( "Receiver generating onFrameSet" ) {
receiver->setStream(&stream);
receiver->set("frameset_buffer_size", 0);
- ftl::codecs::NvPipeEncoder encoder(definition_t::HD1080, definition_t::SD480);
+ ftl::codecs::NvidiaEncoder encoder(definition_t::HD1080, definition_t::SD480);
ftl::codecs::Packet pkt;
pkt.codec = codec_t::Any;
pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
pkt.flags = 0;
pkt.frame_count = 1;
@@ -81,12 +127,15 @@ TEST_CASE( "Receiver generating onFrameSet" ) {
spkt.channel = Channel::Colour;
spkt.streamID = 0;
- ftl::rgbd::Frame dummy;
- ftl::rgbd::FrameState state;
- state.getLeft().width = 1280;
- state.getLeft().height = 720;
- dummy.setOrigin(&state);
- ftl::stream::injectCalibration(&stream, dummy, 0, 0, 0);
+ ftl::data::Frame dummy = pool.allocate(FrameID(0,0),10);
+ dummy.store();
+ ftl::rgbd::Frame &state = dummy.cast<ftl::rgbd::Frame>();
+ state.setLeft().width = 1280;
+ state.setLeft().height = 720;
+
+ // Must tell it to wait for colour before completing.
+ stream.select(0, {Channel::Colour}, true);
+ ftl::stream::injectCalibration(&stream, state, 10, 0, 0);
ftl::timer::start(false);
@@ -96,17 +145,17 @@ TEST_CASE( "Receiver generating onFrameSet" ) {
bool r = encoder.encode(m, pkt);
REQUIRE( r );
- stream.post(spkt, pkt);
+ stream.postEnd(spkt, pkt, 2);
int count = 0;
- receiver->onFrameSet([&count](ftl::rgbd::FrameSet &fs) {
+ auto h = receiver->onFrameSet([&count](const ftl::data::FrameSetPtr& fs) {
++count;
- REQUIRE( fs.timestamp == 10 );
- REQUIRE( fs.frames.size() == 1 );
- REQUIRE( fs.frames[0].hasChannel(Channel::Colour) );
- REQUIRE( fs.frames[0].get<cv::cuda::GpuMat>(Channel::Colour).rows == 720 );
- REQUIRE( fs.frames[0].get<cv::cuda::GpuMat>(Channel::Colour).type() == CV_8UC4 );
+ REQUIRE( fs->timestamp() == 10 );
+ REQUIRE( fs->frames.size() == 1 );
+ REQUIRE( fs->frames[0].hasChannel(Channel::Colour) );
+ REQUIRE( fs->frames[0].get<cv::cuda::GpuMat>(Channel::Colour).rows == 720 );
+ REQUIRE( fs->frames[0].get<cv::cuda::GpuMat>(Channel::Colour).type() == CV_8UC4 );
return true;
});
@@ -119,21 +168,23 @@ TEST_CASE( "Receiver generating onFrameSet" ) {
SECTION("multi-frameset") {
cv::cuda::GpuMat m(cv::Size(1280,720), CV_8UC4, cv::Scalar(0));
- ftl::stream::injectCalibration(&stream, dummy, 1, 0, 0);
+
+ stream.select(1, {Channel::Colour}, true);
+ ftl::stream::injectCalibration(&stream, state, 10, 1, 0);
bool r = encoder.encode(m, pkt);
REQUIRE( r );
- stream.post(spkt, pkt);
+ stream.postEnd(spkt, pkt, 2);
std::atomic<int> mask = 0;
- receiver->onFrameSet([&mask](ftl::rgbd::FrameSet &fs) {
- mask |= 1 << fs.id;
+ auto h = receiver->onFrameSet([&mask](const ftl::data::FrameSetPtr& fs) {
+ mask |= 1 << fs->frameset();
return true;
});
spkt.streamID = 1;
- stream.post(spkt, pkt);
+ stream.postEnd(spkt, pkt, 2);
int i=10;
while (i-- > 0 && mask != 3) std::this_thread::sleep_for(std::chrono::milliseconds(10));
@@ -143,26 +194,27 @@ TEST_CASE( "Receiver generating onFrameSet" ) {
SECTION("a tiled colour frame") {
cv::cuda::GpuMat m(cv::Size(2560,720), CV_8UC4, cv::Scalar(0));
- ftl::stream::injectCalibration(&stream, dummy, 0, 0, 1);
+ ftl::stream::injectCalibration(&stream, state, 10, 0, 1);
pkt.frame_count = 2;
bool r = encoder.encode(m, pkt);
REQUIRE( r );
- stream.post(spkt, pkt);
+ stream.postEnd(spkt.timestamp, 1, 1);
+ stream.postEnd(spkt, pkt, 2);
int count = 0;
- receiver->onFrameSet([&count](ftl::rgbd::FrameSet &fs) {
+ auto h = receiver->onFrameSet([&count](const ftl::data::FrameSetPtr& fs) {
++count;
- REQUIRE( fs.timestamp == 10 );
- REQUIRE( fs.frames.size() == 2 );
- REQUIRE( fs.frames[0].hasChannel(Channel::Colour) );
- REQUIRE( fs.frames[0].get<cv::cuda::GpuMat>(Channel::Colour).rows == 720 );
- REQUIRE( fs.frames[0].get<cv::cuda::GpuMat>(Channel::Colour).type() == CV_8UC4 );
- REQUIRE( fs.frames[1].hasChannel(Channel::Colour) );
- REQUIRE( fs.frames[1].get<cv::cuda::GpuMat>(Channel::Colour).rows == 720 );
- REQUIRE( fs.frames[1].get<cv::cuda::GpuMat>(Channel::Colour).type() == CV_8UC4 );
+ REQUIRE( fs->timestamp() == 10 );
+ REQUIRE( fs->frames.size() == 2 );
+ REQUIRE( fs->frames[0].hasChannel(Channel::Colour) );
+ REQUIRE( fs->frames[0].get<cv::cuda::GpuMat>(Channel::Colour).rows == 720 );
+ REQUIRE( fs->frames[0].get<cv::cuda::GpuMat>(Channel::Colour).type() == CV_8UC4 );
+ REQUIRE( fs->frames[1].hasChannel(Channel::Colour) );
+ REQUIRE( fs->frames[1].get<cv::cuda::GpuMat>(Channel::Colour).rows == 720 );
+ REQUIRE( fs->frames[1].get<cv::cuda::GpuMat>(Channel::Colour).type() == CV_8UC4 );
return true;
});
@@ -174,29 +226,32 @@ TEST_CASE( "Receiver generating onFrameSet" ) {
}
SECTION("a tiled lossy depth frame") {
- cv::cuda::GpuMat m(cv::Size(2560,720), CV_8UC4, cv::Scalar(0));
- ftl::stream::injectCalibration(&stream, dummy, 0, 0, 1);
+ cv::cuda::GpuMat m(cv::Size(2560,720), CV_32F, cv::Scalar(0));
+ ftl::stream::injectCalibration(&stream, state, 10, 0, 1);
+
+ stream.select(0, {Channel::Depth}, true);
spkt.channel = Channel::Depth;
pkt.frame_count = 2;
- pkt.flags = ftl::codecs::kFlagFloat | ftl::codecs::kFlagMappedDepth;
+ pkt.flags = 0;
bool r = encoder.encode(m, pkt);
REQUIRE( r );
- stream.post(spkt, pkt);
+ stream.postEnd(spkt.timestamp, 1, 1);
+ stream.postEnd(spkt, pkt, 2);
int count = 0;
- receiver->onFrameSet([&count](ftl::rgbd::FrameSet &fs) {
+ auto h = receiver->onFrameSet([&count](const ftl::data::FrameSetPtr& fs) {
++count;
- REQUIRE( fs.timestamp == 10 );
- REQUIRE( fs.frames.size() == 2 );
- REQUIRE( fs.frames[0].hasChannel(Channel::Depth) );
- REQUIRE( fs.frames[0].get<cv::cuda::GpuMat>(Channel::Depth).rows == 720 );
- REQUIRE( fs.frames[0].get<cv::cuda::GpuMat>(Channel::Depth).type() == CV_32F );
- REQUIRE( fs.frames[1].hasChannel(Channel::Depth) );
- REQUIRE( fs.frames[1].get<cv::cuda::GpuMat>(Channel::Depth).rows == 720 );
- REQUIRE( fs.frames[1].get<cv::cuda::GpuMat>(Channel::Depth).type() == CV_32F );
+ REQUIRE( fs->timestamp() == 10 );
+ REQUIRE( fs->frames.size() == 2 );
+ REQUIRE( fs->frames[0].hasChannel(Channel::Depth) );
+ REQUIRE( fs->frames[0].get<cv::cuda::GpuMat>(Channel::Depth).rows == 720 );
+ REQUIRE( fs->frames[0].get<cv::cuda::GpuMat>(Channel::Depth).type() == CV_32F );
+ REQUIRE( fs->frames[1].hasChannel(Channel::Depth) );
+ REQUIRE( fs->frames[1].get<cv::cuda::GpuMat>(Channel::Depth).rows == 720 );
+ REQUIRE( fs->frames[1].get<cv::cuda::GpuMat>(Channel::Depth).type() == CV_32F );
return true;
});
@@ -208,29 +263,33 @@ TEST_CASE( "Receiver generating onFrameSet" ) {
}
SECTION("a tiled lossless depth frame") {
- cv::cuda::GpuMat m(cv::Size(2560,720), CV_16U, cv::Scalar(0));
- ftl::stream::injectCalibration(&stream, dummy, 0, 0, 1);
+ cv::cuda::GpuMat m(cv::Size(2560,720), CV_32F, cv::Scalar(0));
+ ftl::stream::injectCalibration(&stream, state, 10, 0, 1);
+
+ stream.select(0, {Channel::Depth}, true);
spkt.channel = Channel::Depth;
pkt.frame_count = 2;
- pkt.flags = ftl::codecs::kFlagFloat;
+ pkt.flags = 0;
+ pkt.codec = codec_t::HEVC_LOSSLESS;
bool r = encoder.encode(m, pkt);
REQUIRE( r );
- stream.post(spkt, pkt);
+ stream.postEnd(spkt.timestamp, 1, 1);
+ stream.postEnd(spkt, pkt, 2);
int count = 0;
- receiver->onFrameSet([&count](ftl::rgbd::FrameSet &fs) {
+ auto h = receiver->onFrameSet([&count](const ftl::data::FrameSetPtr& fs) {
++count;
- REQUIRE( fs.timestamp == 10 );
- REQUIRE( fs.frames.size() == 2 );
- REQUIRE( fs.frames[0].hasChannel(Channel::Depth) );
- REQUIRE( fs.frames[0].get<cv::cuda::GpuMat>(Channel::Depth).rows == 720 );
- REQUIRE( fs.frames[0].get<cv::cuda::GpuMat>(Channel::Depth).type() == CV_32F );
- REQUIRE( fs.frames[1].hasChannel(Channel::Depth) );
- REQUIRE( fs.frames[1].get<cv::cuda::GpuMat>(Channel::Depth).rows == 720 );
- REQUIRE( fs.frames[1].get<cv::cuda::GpuMat>(Channel::Depth).type() == CV_32F );
+ REQUIRE( fs->timestamp() == 10 );
+ REQUIRE( fs->frames.size() == 2 );
+ REQUIRE( fs->frames[0].hasChannel(Channel::Depth) );
+ REQUIRE( fs->frames[0].get<cv::cuda::GpuMat>(Channel::Depth).rows == 720 );
+ REQUIRE( fs->frames[0].get<cv::cuda::GpuMat>(Channel::Depth).type() == CV_32F );
+ REQUIRE( fs->frames[1].hasChannel(Channel::Depth) );
+ REQUIRE( fs->frames[1].get<cv::cuda::GpuMat>(Channel::Depth).rows == 720 );
+ REQUIRE( fs->frames[1].get<cv::cuda::GpuMat>(Channel::Depth).type() == CV_32F );
return true;
});
@@ -245,16 +304,20 @@ TEST_CASE( "Receiver generating onFrameSet" ) {
//while (ftl::pool.n_idle() != ftl::pool.size()) std::this_thread::sleep_for(std::chrono::milliseconds(10));
delete receiver;
//ftl::config::cleanup();
+ //ftl::data::clearRegistry();
}
TEST_CASE( "Receiver sync bugs" ) {
+ //ftl::data::make_channel<ftl::rgbd::Camera>(Channel::Calibration, "calibration", ftl::data::StorageMode::PERSISTENT);
json_t global = json_t{{"$id","ftl://test"}};
ftl::config::configure(global);
+ ftl::data::Pool pool(5,7);
+
json_t cfg = json_t{
{"$id","ftl://test/1"}
};
- auto *receiver = ftl::create<Receiver>(cfg);
+ auto *receiver = ftl::create<Receiver>(cfg, &pool);
json_t cfg2 = json_t{
{"$id","ftl://test/2"}
@@ -263,12 +326,11 @@ TEST_CASE( "Receiver sync bugs" ) {
receiver->setStream(&stream);
receiver->set("frameset_buffer_size", 0);
- ftl::codecs::NvPipeEncoder encoder(definition_t::HD1080, definition_t::SD480);
+ ftl::codecs::NvidiaEncoder encoder(definition_t::HD1080, definition_t::SD480);
ftl::codecs::Packet pkt;
pkt.codec = codec_t::Any;
pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
pkt.flags = 0;
pkt.frame_count = 1;
@@ -279,16 +341,16 @@ TEST_CASE( "Receiver sync bugs" ) {
spkt.channel = Channel::Colour;
spkt.streamID = 0;
- ftl::rgbd::Frame dummy;
- ftl::rgbd::FrameState state;
- state.getLeft().width = 1280;
- state.getLeft().height = 720;
- dummy.setOrigin(&state);
- ftl::stream::injectCalibration(&stream, dummy, 0, 0, 0);
+ ftl::data::Frame dummy = pool.allocate(FrameID(0,0),10);
+ dummy.store();
+ ftl::rgbd::Frame &state = dummy.cast<ftl::rgbd::Frame>();
+ state.setLeft().width = 1280;
+ state.setLeft().height = 720;
- ftl::timer::start(false);
+ stream.select(0, Channel::Colour + Channel::Colour2, true);
+ ftl::stream::injectCalibration(&stream, state, 10, 0, 0);
- stream.select(0, Channel::Colour + Channel::Colour2);
+ ftl::timer::start(false);
SECTION("out of phase packets") {
cv::cuda::GpuMat m(cv::Size(1280,720), CV_8UC4, cv::Scalar(0));
@@ -299,25 +361,26 @@ TEST_CASE( "Receiver sync bugs" ) {
int count = 0;
int64_t ts = 0;
bool haswrongchan = false;
- receiver->onFrameSet([&count,&ts,&haswrongchan](ftl::rgbd::FrameSet &fs) {
- ++count;
+ auto h = receiver->onFrameSet([&count,&ts,&haswrongchan](const ftl::data::FrameSetPtr& fs) {
+
+ ts = fs->timestamp();
+ haswrongchan = fs->frames[0].hasChannel(Channel::Overlay);
- ts = fs.timestamp;
- haswrongchan = fs.frames[0].hasChannel(Channel::ColourHighRes);
+ ++count;
return true;
});
try { stream.post(spkt, pkt); } catch(...) {}
spkt.timestamp = 10;
- spkt.channel = Channel::ColourHighRes;
- try { stream.post(spkt, pkt); } catch(...) {}
+ spkt.channel = Channel::Overlay;
+ try { stream.postEnd(spkt, pkt, 3); } catch(...) {}
spkt.timestamp = 20;
spkt.channel = Channel::Colour2;
try { stream.post(spkt, pkt); } catch(...) {}
spkt.timestamp = 20;
spkt.channel = Channel::Colour;
- try { stream.post(spkt, pkt); } catch(...) {}
+ try { stream.postEnd(spkt, pkt, 2); } catch(...) {}
int i=10;
while (i-- > 0 && count < 2) std::this_thread::sleep_for(std::chrono::milliseconds(10));
@@ -330,16 +393,20 @@ TEST_CASE( "Receiver sync bugs" ) {
ftl::timer::stop(true);
//while (ftl::pool.n_idle() != ftl::pool.size()) std::this_thread::sleep_for(std::chrono::milliseconds(10));
delete receiver;
+ //ftl::data::clearRegistry();
}
TEST_CASE( "Receiver non zero buffer" ) {
+ //ftl::data::make_channel<ftl::rgbd::Camera>(Channel::Calibration, "calibration", ftl::data::StorageMode::PERSISTENT);
json_t global = json_t{{"$id","ftl://test"}};
ftl::config::configure(global);
+ ftl::data::Pool pool(5,7);
+
json_t cfg = json_t{
{"$id","ftl://test/1"}
};
- auto *receiver = ftl::create<Receiver>(cfg);
+ auto *receiver = ftl::create<Receiver>(cfg, &pool);
json_t cfg2 = json_t{
{"$id","ftl://test/2"}
@@ -348,12 +415,11 @@ TEST_CASE( "Receiver non zero buffer" ) {
receiver->setStream(&stream);
receiver->set("frameset_buffer_size", 1);
- ftl::codecs::NvPipeEncoder encoder(definition_t::HD1080, definition_t::SD480);
+ ftl::codecs::NvidiaEncoder encoder(definition_t::HD1080, definition_t::SD480);
ftl::codecs::Packet pkt;
pkt.codec = codec_t::Any;
pkt.bitrate = 255;
- pkt.definition = definition_t::Any;
pkt.flags = 0;
pkt.frame_count = 1;
@@ -364,12 +430,12 @@ TEST_CASE( "Receiver non zero buffer" ) {
spkt.channel = Channel::Colour;
spkt.streamID = 0;
- ftl::rgbd::Frame dummy;
- ftl::rgbd::FrameState state;
- state.getLeft().width = 1280;
- state.getLeft().height = 720;
- dummy.setOrigin(&state);
- ftl::stream::injectCalibration(&stream, dummy, 0, 0, 0);
+ ftl::data::Frame dummy = pool.allocate(FrameID(0,0),10);
+ dummy.store();
+ ftl::rgbd::Frame &state = dummy.cast<ftl::rgbd::Frame>();
+ state.setLeft().width = 1280;
+ state.setLeft().height = 720;
+ ftl::stream::injectCalibration(&stream, state, 10, 0, 0);
ftl::timer::start(false);
@@ -380,14 +446,14 @@ TEST_CASE( "Receiver non zero buffer" ) {
REQUIRE( r );
int count = 0;
- receiver->onFrameSet([&count](ftl::rgbd::FrameSet &fs) {
+ auto h = receiver->onFrameSet([&count](const ftl::data::FrameSetPtr& fs) {
++count;
- REQUIRE( fs.timestamp == 10 );
- REQUIRE( fs.frames.size() == 1 );
- REQUIRE( fs.frames[0].hasChannel(Channel::Colour) );
- REQUIRE( fs.frames[0].get<cv::cuda::GpuMat>(Channel::Colour).rows == 720 );
- REQUIRE( fs.frames[0].get<cv::cuda::GpuMat>(Channel::Colour).type() == CV_8UC4 );
+ REQUIRE( fs->timestamp() == 10 );
+ REQUIRE( fs->frames.size() == 1 );
+ REQUIRE( fs->frames[0].hasChannel(Channel::Colour) );
+ REQUIRE( fs->frames[0].get<cv::cuda::GpuMat>(Channel::Colour).rows == 720 );
+ REQUIRE( fs->frames[0].get<cv::cuda::GpuMat>(Channel::Colour).type() == CV_8UC4 );
return true;
});
@@ -405,4 +471,222 @@ TEST_CASE( "Receiver non zero buffer" ) {
ftl::timer::stop(true);
//while (ftl::pool.n_idle() != ftl::pool.size()) std::this_thread::sleep_for(std::chrono::milliseconds(10));
delete receiver;
+ //ftl::data::clearRegistry();
+}
+
+TEST_CASE( "Receiver for data channels" ) {
+ //ftl::data::make_channel<ftl::rgbd::Camera>(Channel::Calibration, "calibration", ftl::data::StorageMode::PERSISTENT);
+ json_t global = json_t{{"$id","ftl://test"}};
+ ftl::config::configure(global);
+
+ ftl::data::Pool pool(5,7);
+
+ json_t cfg = json_t{
+ {"$id","ftl://test/1"}
+ };
+ auto *receiver = ftl::create<Receiver>(cfg, &pool);
+
+ json_t cfg2 = json_t{
+ {"$id","ftl://test/2"}
+ };
+ TestStream stream(cfg2);
+ receiver->setStream(&stream);
+ receiver->set("frameset_buffer_size", 0);
+
+ ftl::codecs::Packet pkt;
+ pkt.codec = codec_t::MSGPACK;
+ pkt.bitrate = 255;
+ pkt.flags = 0;
+ pkt.frame_count = 1;
+
+ ftl::codecs::StreamPacket spkt;
+ spkt.version = 4;
+ spkt.timestamp = 10;
+ spkt.frame_number = 0;
+ spkt.channel = Channel::Configuration;
+ spkt.streamID = 0;
+
+ ftl::timer::start(false);
+
+ SECTION("a single data packet") {
+
+ pkt.data.resize(0);
+ ftl::util::FTLVectorBuffer buf(pkt.data);
+ msgpack::pack(buf, 5.0f);
+
+ stream.postEnd(spkt, pkt, 1);
+
+ int count = 0;
+ auto h = receiver->onFrameSet([&count](const ftl::data::FrameSetPtr& fs) {
+ ++count;
+
+ REQUIRE( fs->timestamp() == 10 );
+ REQUIRE( fs->frames.size() == 1 );
+ REQUIRE( fs->frames[0].hasChannel(Channel::Configuration) );
+ REQUIRE( fs->frames[0].get<float>(Channel::Configuration) == 5.0f );
+
+ return true;
+ });
+
+ int i=10;
+ while (i-- > 0 && count < 1) std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+ REQUIRE( count == 1 );
+ }
+
+ SECTION("a single data packet in overall frameset") {
+
+ spkt.frame_number = 255;
+ pkt.data.resize(0);
+ ftl::util::FTLVectorBuffer buf(pkt.data);
+ msgpack::pack(buf, 5.0f);
+
+ stream.post(spkt, pkt);
+
+ // Need to have at least one frame for this to work
+ spkt.frame_number = 0;
+ stream.postEnd(spkt, pkt, 2);
+
+ int count = 0;
+ auto h = receiver->onFrameSet([&count](const std::shared_ptr<ftl::data::FrameSet>& fs) {
+ ++count;
+
+ REQUIRE( fs->timestamp() == 10 );
+ REQUIRE( fs->frames.size() == 1 );
+ REQUIRE( fs->hasChannel(Channel::Configuration) );
+ REQUIRE( fs->get<float>(Channel::Configuration) == 5.0f );
+
+ return true;
+ });
+
+ int i=10;
+ while (i-- > 0 && count < 1) std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+ REQUIRE( count == 1 );
+ }
+
+ SECTION("a single calibration packet") {
+
+ pkt.data.resize(0);
+ ftl::util::FTLVectorBuffer buf(pkt.data);
+ ftl::rgbd::Camera calib;
+ calib.width = 1024;
+ msgpack::pack(buf, calib);
+
+ stream.postEnd(spkt, pkt, 1);
+
+ int count = 0;
+ auto h = receiver->onFrameSet([&count](const ftl::data::FrameSetPtr& fs) {
+ ++count;
+
+ REQUIRE( fs->timestamp() == 10 );
+ REQUIRE( fs->frames.size() == 1 );
+ REQUIRE( fs->frames[0].hasChannel(Channel::Configuration) );
+ REQUIRE( fs->frames[0].get<ftl::rgbd::Camera>(Channel::Configuration).width == 1024 );
+
+ return true;
+ });
+
+ int i=10;
+ while (i-- > 0 && count < 1) std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+ REQUIRE( count == 1 );
+ }
+
+ SECTION("a single pose packet") {
+
+ pkt.data.resize(0);
+ ftl::util::FTLVectorBuffer buf(pkt.data);
+ Eigen::Matrix4d pose;
+ msgpack::pack(buf, pose);
+
+ stream.postEnd(spkt, pkt, 1);
+
+ int count = 0;
+ auto h = receiver->onFrameSet([&count](const std::shared_ptr<ftl::data::FrameSet>& fs) {
+ ++count;
+
+ REQUIRE( fs->timestamp() == 10 );
+ REQUIRE( fs->frames.size() == 1 );
+ REQUIRE( fs->frames[0].hasChannel(Channel::Configuration) );
+ fs->frames[0].get<Eigen::Matrix4d>(Channel::Configuration);
+
+ return true;
+ });
+
+ int i=10;
+ while (i-- > 0 && count < 1) std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+ REQUIRE( count == 1 );
+ }
+
+ ftl::timer::stop(true);
+ delete receiver;
}
+
+// TODO: Annoying to test because I need to create valid audio encoding
+/*TEST_CASE( "Receiver for audio channels" ) {
+ //ftl::data::make_channel<ftl::rgbd::Camera>(Channel::Calibration, "calibration", ftl::data::StorageMode::PERSISTENT);
+ json_t global = json_t{{"$id","ftl://test"}};
+ ftl::config::configure(global);
+
+ ftl::data::Pool pool(5,7);
+
+ json_t cfg = json_t{
+ {"$id","ftl://test/1"}
+ };
+ auto *receiver = ftl::create<Receiver>(cfg, &pool);
+
+ json_t cfg2 = json_t{
+ {"$id","ftl://test/2"}
+ };
+ TestStream stream(cfg2);
+ receiver->setStream(&stream);
+ receiver->set("frameset_buffer_size", 0);
+
+ ftl::codecs::Packet pkt;
+ pkt.codec = codec_t::OPUS;
+ pkt.bitrate = 255;
+ pkt.flags = 0;
+ pkt.frame_count = 1;
+
+ ftl::codecs::StreamPacket spkt;
+ spkt.version = 4;
+ spkt.timestamp = 10;
+ spkt.frame_number = 0;
+ spkt.channel = Channel::AudioMono;
+ spkt.streamID = 0;
+
+ ftl::timer::start(false);
+
+ SECTION("a single data packet") {
+
+ pkt.data.resize(0);
+ ftl::util::FTLVectorBuffer buf(pkt.data);
+ msgpack::pack(buf, 5.0f);
+
+ stream.post(spkt, pkt);
+
+ int count = 0;
+ auto h = receiver->onFrameSet([&count](const std::shared_ptr<ftl::data::FrameSet>& fs) {
+ ++count;
+
+ REQUIRE( fs->timestamp() == 10 );
+ REQUIRE( fs->frames.size() == 1 );
+ REQUIRE( fs->frames[0].hasChannel(Channel::Data) );
+ REQUIRE( fs->frames[0].get<float>(Channel::Data) == 5.0f );
+
+ return true;
+ });
+
+ int i=10;
+ while (i-- > 0 && count < 1) std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+ REQUIRE( count == 1 );
+ }
+
+
+
+ ftl::timer::stop(true);
+ delete receiver;
+}*/
diff --git a/components/streams/test/recsend_unit.cpp b/components/streams/test/recsend_unit.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..9a3e71fe9c4e88ad3a35cd20682cf5afb4522233
--- /dev/null
+++ b/components/streams/test/recsend_unit.cpp
@@ -0,0 +1,364 @@
+#include "catch.hpp"
+
+#include <ftl/streams/receiver.hpp>
+#include <ftl/streams/sender.hpp>
+#include <ftl/rgbd/frame.hpp>
+
+#include <nlohmann/json.hpp>
+
+#include <loguru.hpp>
+
+using ftl::codecs::definition_t;
+using ftl::codecs::codec_t;
+using ftl::stream::Receiver;
+using ftl::stream::Sender;
+using ftl::data::Frame;
+using ftl::data::FrameSet;
+using ftl::codecs::Channel;
+using ftl::config::json_t;
+using ftl::data::FrameID;
+
+class TestStream : public ftl::stream::Stream {
+ public:
+ explicit TestStream(nlohmann::json &config) : ftl::stream::Stream(config) {};
+ ~TestStream() {};
+
+ bool post(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ available(spkt.streamID) += spkt.channel;
+ if (pkt.data.size() == 0) {
+ if (spkt.frameSetID() == 255) {
+ for (size_t i=0; i<size(); ++i) {
+ select(i, selected(i) + spkt.channel);
+ }
+ } else {
+ select(spkt.frameSetID(), selected(spkt.frameSetID()) + spkt.channel);
+ }
+ }
+ cb_.trigger(spkt, pkt);
+ return true;
+ }
+
+ bool begin() override { return true; }
+ bool end() override { return true; }
+ bool active() override { return true; }
+};
+
+class DummySource : public ftl::data::DiscreteSource {
+ public:
+
+ bool capture(int64_t ts) override { return true; }
+ bool retrieve(ftl::data::Frame &f) override { return true; }
+};
+
+
+TEST_CASE( "Send and receiver via encoding" ) {
+ json_t global = json_t{{"$id","ftl://test"}};
+ ftl::config::configure(global);
+
+ ftl::data::Pool pool(5,7);
+
+ json_t rcfg = json_t{
+ {"$id","ftl://test/1"}
+ };
+ auto *receiver = ftl::create<Receiver>(rcfg, &pool);
+
+ json_t scfg = json_t{
+ {"$id","ftl://test/2"}
+ };
+ auto *sender = ftl::create<Sender>(scfg);
+
+ json_t cfg2 = json_t{
+ {"$id","ftl://test/3"}
+ };
+
+ TestStream stream(cfg2);
+
+ receiver->setStream(&stream);
+ receiver->set("frameset_buffer_size", 0);
+ sender->setStream(&stream);
+
+ //ftl::pool.restart(4);
+
+ ftl::timer::start(false);
+
+ SECTION("a single data only frame") {
+ stream.select(0, {Channel::Control}, true);
+
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), 1000);
+ f.store();
+ auto fsptr = FrameSet::fromFrame(f);
+ FrameSet &fs = *fsptr;
+
+ fs.frames[0].create<int>(Channel::Control) = 57;
+
+ int count = 0;
+ ftl::data::FrameSetPtr result;
+ auto h = receiver->onFrameSet([&count,&result](const ftl::data::FrameSetPtr &fs) {
+ count++;
+ result = fs;
+ return true;
+ });
+
+ sender->post(fs, Channel::Control);
+ sender->post(fs, Channel::EndFrame);
+
+ int i=10;
+ while (i-- > 0 && count < 1) std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+ REQUIRE( count == 1 );
+ REQUIRE( result->frames[0].has(Channel::Control) );
+ REQUIRE( result->frames[0].getChangeType(Channel::Control) == ftl::data::ChangeType::COMPLETED );
+ REQUIRE( result->frames[0].get<int>(Channel::Control) == 57 );
+ }
+
+ ftl::timer::stop(true);
+ ftl::timer::reset();
+ ftl::timer::setInterval(50);
+ ftl::pool.clear_queue();
+ while (ftl::pool.n_idle() != ftl::pool.size()) std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+ //ftl::pool.stop(true);
+
+ delete receiver;
+ delete sender;
+}
+
+TEST_CASE( "Multi-thread stability testing" ) {
+ json_t global = json_t{{"$id","ftl://test"}};
+ ftl::config::configure(global);
+
+ ftl::data::Pool pool(5,7);
+
+ json_t rcfg = json_t{
+ {"$id","ftl://test/1"}
+ };
+ auto *receiver = ftl::create<Receiver>(rcfg, &pool);
+
+ json_t scfg = json_t{
+ {"$id","ftl://test/2"}
+ };
+ auto *sender = ftl::create<Sender>(scfg);
+
+ json_t cfg2 = json_t{
+ {"$id","ftl://test/3"}
+ };
+
+ TestStream stream(cfg2);
+
+ receiver->setStream(&stream);
+ receiver->set("frameset_buffer_size", 0);
+ sender->setStream(&stream);
+ sender->resetSender(); // FIXME: Why is this needed?
+
+ //ftl::pool.restart(4);
+
+ ftl::timer::setInterval(40);
+ ftl::timer::start(false);
+
+ SECTION("One frame, two channel") {
+ stream.select(0, {Channel::Colour}, true);
+
+ auto h1 = pool.onFlushSet([sender](ftl::data::FrameSet &fs, ftl::codecs::Channel c) {
+ if (!fs.test(ftl::data::FSFlag::AUTO_SEND)) return true;
+
+ //LOG(INFO) << "FLUSH: " << fs.timestamp() << ", " << int(c);
+ sender->post(fs, c);
+ return true;
+ });
+
+ int count = 0;
+ ftl::data::FrameSetPtr result = nullptr;
+ auto h = receiver->onFrameSet([&count,&result](const ftl::data::FrameSetPtr &fs) {
+ count++;
+ if (result) REQUIRE( result->timestamp() <= fs->timestamp()-20 );
+ REQUIRE( fs->frames.size() == 1 );
+ REQUIRE( fs->frames[0].hasChannel(Channel::Colour) );
+ result = fs;
+ return true;
+ });
+
+ auto h2 = ftl::timer::add(ftl::timer::timerlevel_t::kTimerMain, [&pool](int64_t ts) {
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), ts);
+ f.store();
+ auto &mat = f.create<cv::cuda::GpuMat>(Channel::Colour);
+ mat.create(480, 640, CV_8UC4);
+ mat.setTo(cv::Scalar(0,0,0,0));
+
+ auto &calib = f.cast<ftl::rgbd::Frame>().setLeft();
+ calib.width = 640;
+ calib.height = 480;
+
+ auto fsptr = FrameSet::fromFrame(f);
+ FrameSet &fs = *fsptr;
+ fs.set(ftl::data::FSFlag::AUTO_SEND);
+ fsptr->flush(Channel::Calibration);
+ ftl::pool.push([fsptr](int id) { fsptr->flush(Channel::Colour); });
+ return true;
+ });
+
+ int i=1000;
+ while (i-- > 0 && count < 100) std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+ REQUIRE( count >= 100 );
+
+ }
+
+ SECTION("Two frame, two channel") {
+ stream.select(0, {Channel::Colour}, true);
+
+ auto h1 = pool.onFlushSet([sender](ftl::data::FrameSet &fs, ftl::codecs::Channel c) {
+ if (!fs.test(ftl::data::FSFlag::AUTO_SEND)) return true;
+
+ //LOG(INFO) << "FLUSH: " << fs.timestamp() << ", " << int(c) << ", " << fs.frames[0].source();
+ sender->post(fs, c);
+ return true;
+ });
+
+ int count = 0;
+ ftl::data::FrameSetPtr result = nullptr;
+ auto h = receiver->onFrameSet([&count,&result](const ftl::data::FrameSetPtr &fs) {
+ count++;
+ if (result) {
+ REQUIRE( result->timestamp() <= fs->timestamp()-20 );
+ //REQUIRE( fs->frames.size() == 2 );
+ REQUIRE( fs->isComplete() );
+ REQUIRE( fs->frames[0].hasChannel(Channel::Colour) );
+ if (fs->frames.size() > 1) REQUIRE( fs->frames[1].hasChannel(Channel::Colour) );
+ }
+ result = fs;
+ return true;
+ });
+
+ ftl::data::Pool pool2(5,7);
+
+ auto h2 = ftl::timer::add(ftl::timer::timerlevel_t::kTimerMain, [&pool,&pool2](int64_t ts) {
+ ftl::pool.push([&pool, ts](int id) {
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), ts);
+ f.store();
+ auto &mat = f.create<cv::cuda::GpuMat>(Channel::Colour);
+ mat.create(480, 640, CV_8UC4);
+ mat.setTo(cv::Scalar(0,0,0,0));
+
+ auto &calib = f.cast<ftl::rgbd::Frame>().setLeft();
+ calib.width = 640;
+ calib.height = 480;
+
+ auto fsptr = FrameSet::fromFrame(f);
+ FrameSet &fs = *fsptr;
+ fs.set(ftl::data::FSFlag::AUTO_SEND);
+ fsptr->flush(Channel::Calibration);
+ ftl::pool.push([fsptr](int id) { fsptr->flush(Channel::Colour); });
+ });
+
+ ftl::pool.push([&pool, ts](int id) {
+ Frame f = pool.allocate(ftl::data::FrameID(0,1), ts);
+ f.store();
+ auto &mat = f.create<cv::cuda::GpuMat>(Channel::Colour);
+ mat.create(480, 640, CV_8UC4);
+ mat.setTo(cv::Scalar(0,0,0,0));
+
+ auto &calib = f.cast<ftl::rgbd::Frame>().setLeft();
+ calib.width = 640;
+ calib.height = 480;
+
+ auto fsptr = FrameSet::fromFrame(f);
+ FrameSet &fs = *fsptr;
+ fs.set(ftl::data::FSFlag::AUTO_SEND);
+ fsptr->flush(Channel::Calibration);
+ ftl::pool.push([fsptr](int id) { fsptr->flush(Channel::Colour); });
+ });
+ return true;
+ });
+
+ int i=1000;
+ while (i-- > 0 && count < 100) std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+ REQUIRE( count >= 100 );
+
+ }
+
+ LOG(INFO) << "DONE";
+
+ ftl::timer::reset();
+ ftl::timer::setInterval(50);
+ ftl::timer::stop(true);
+ ftl::pool.clear_queue();
+ while (ftl::pool.n_idle() != ftl::pool.size()) std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+ //ftl::pool.stop(true);
+
+ delete receiver;
+ delete sender;
+}
+
+TEST_CASE( "Response via loopback" ) {
+ json_t global = json_t{{"$id","ftl://test"}};
+ ftl::config::configure(global);
+
+ ftl::data::Pool pool(5,7);
+
+ json_t rcfg = json_t{
+ {"$id","ftl://test/1"}
+ };
+ auto *receiver = ftl::create<Receiver>(rcfg, &pool);
+
+ json_t cfg2 = json_t{
+ {"$id","ftl://test/3"}
+ };
+
+ TestStream stream(cfg2);
+
+ receiver->setStream(&stream);
+ receiver->set("frameset_buffer_size", 0);
+
+ auto hh = pool.onFlush([receiver](ftl::data::Frame &f, Channel c) {
+ receiver->loopback(f, c);
+ return true;
+ });
+
+ //ftl::pool.restart(4);
+
+ ftl::timer::start(false);
+
+ SECTION("a single data only frame") {
+ DummySource source;
+
+ stream.select(0, {Channel::Control}, true);
+
+ auto *builder = new ftl::streams::ManualSourceBuilder(&pool, 0, &source);
+ builder->setFrameRate(10000);
+ std::shared_ptr<ftl::streams::BaseBuilder> builderptr(builder);
+ receiver->registerBuilder(builderptr);
+
+ int count = 0;
+ ftl::data::FrameSetPtr result;
+ auto h = receiver->onFrameSet([&count,&result](const ftl::data::FrameSetPtr &fs) {
+ count++;
+ result = fs;
+ auto response = fs->frames[0].response();
+ response.create<int>(Channel::Control) = count;
+ return true;
+ });
+
+ builder->tick();
+ builder->tick();
+
+ int i=10;
+ while (i-- > 0 && count < 1) std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+ REQUIRE( count == 2 );
+ REQUIRE( result->frames[0].has(Channel::Control) );
+ REQUIRE( result->frames[0].getChangeType(Channel::Control) == ftl::data::ChangeType::FOREIGN );
+ REQUIRE( result->frames[0].get<int>(Channel::Control) == 1 );
+ }
+
+ ftl::timer::stop(true);
+ ftl::timer::reset();
+ ftl::timer::setInterval(50);
+ //ftl::pool.clear_queue();
+ //while (ftl::pool.n_idle() != ftl::pool.size()) std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+ //ftl::pool.stop(true);
+
+ delete receiver;
+}
diff --git a/components/streams/test/sender_unit.cpp b/components/streams/test/sender_unit.cpp
index d5a08732807a8b8f4ed0aa30dcd1fadbd0a98ac7..11c44ae33bad5ac61bbb01f90a45c6002372868f 100644
--- a/components/streams/test/sender_unit.cpp
+++ b/components/streams/test/sender_unit.cpp
@@ -2,14 +2,17 @@
#include <ftl/streams/sender.hpp>
#include <ftl/codecs/hevc.hpp>
+#include <ftl/data/framepool.hpp>
#include <nlohmann/json.hpp>
+#include <loguru.hpp>
+
using ftl::codecs::definition_t;
using ftl::codecs::codec_t;
using ftl::stream::Sender;
-using ftl::rgbd::Frame;
-using ftl::rgbd::FrameSet;
+using ftl::data::Frame;
+using ftl::data::FrameSet;
using ftl::codecs::Channel;
using ftl::codecs::Channels;
using ftl::config::json_t;
@@ -19,11 +22,6 @@ class TestStream : public ftl::stream::Stream {
explicit TestStream(nlohmann::json &config) : ftl::stream::Stream(config) {};
~TestStream() {};
- bool onPacket(const std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> &cb) {
- cb_ = cb;
- return true;
- }
-
bool onIntercept(const std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> &cb) {
icb_ = cb;
return true;
@@ -39,7 +37,7 @@ class TestStream : public ftl::stream::Stream {
} else {
select(spkt.frameSetID(), selected(spkt.frameSetID()) + spkt.channel);
}
- if (cb_) cb_(spkt, pkt);
+ cb_.trigger(spkt, pkt);
}
if (icb_) icb_(spkt, pkt);
return true;
@@ -50,7 +48,7 @@ class TestStream : public ftl::stream::Stream {
bool active() override { return true; }
private:
- std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> cb_;
+ //std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> cb_;
std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> icb_;
};
@@ -64,9 +62,11 @@ TEST_CASE( "Sender::post() video frames" ) {
};
auto *sender = ftl::create<Sender>(cfg);
- FrameSet fs;
- fs.frames.emplace_back();
- fs.timestamp = 1000;
+ ftl::data::Pool pool(4,6);
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), 1000);
+ f.store();
+ auto fsptr = FrameSet::fromFrame(f);
+ FrameSet &fs = *fsptr;
json_t cfg2 = json_t{
{"$id","ftl://test/2"}
@@ -74,86 +74,86 @@ TEST_CASE( "Sender::post() video frames" ) {
TestStream stream(cfg2);
sender->setStream(&stream);
+ ftl::codecs::StreamPacket prev_spkt;
ftl::codecs::StreamPacket spkt;
ftl::codecs::Packet pkt;
int count = 0;
- stream.onIntercept([&count,&spkt,&pkt](const ftl::codecs::StreamPacket &pspkt, const ftl::codecs::Packet &ppkt) {
+ stream.onIntercept([&count,&spkt,&pkt,&prev_spkt](const ftl::codecs::StreamPacket &pspkt, const ftl::codecs::Packet &ppkt) {
+ prev_spkt = spkt;
spkt = pspkt;
pkt = ppkt;
++count;
});
SECTION("a single colour frame") {
- stream.select(0, Channels(Channel::Colour), true);
+ stream.select(0, {Channel::Colour}, true);
- fs.count = 1;
fs.mask = 1;
fs.frames[0].create<cv::cuda::GpuMat>(Channel::Colour).create(cv::Size(1280,720), CV_8UC4);
- fs.frames[0].get<cv::cuda::GpuMat>(Channel::Colour).setTo(cv::Scalar(0));
+ fs.frames[0].set<cv::cuda::GpuMat>(Channel::Colour).setTo(cv::Scalar(0));
- sender->post(fs);
+ sender->post(fs, Channel::Colour);
REQUIRE( count == 1 );
- REQUIRE( spkt.version == 4 );
+ REQUIRE( spkt.version == 5 );
REQUIRE( spkt.timestamp == 1000 );
REQUIRE( (int)spkt.frame_number == 0 );
REQUIRE( spkt.streamID == 0 );
REQUIRE( spkt.channel == Channel::Colour );
REQUIRE( pkt.codec == codec_t::HEVC );
- REQUIRE( pkt.definition == definition_t::HD720 );
REQUIRE( pkt.data.size() > 0 );
REQUIRE( pkt.frame_count == 1 );
REQUIRE( ftl::codecs::hevc::validNAL(pkt.data.data(), pkt.data.size()) );
}
SECTION("two colour frames tiled") {
- stream.select(0, Channels(Channel::Colour), true);
+ stream.select(0, {Channel::Colour}, true);
+
+ fs.resize(2);
+ fs.frames[1].store();
- fs.count = 2;
fs.mask = 3;
fs.frames[0].create<cv::cuda::GpuMat>(Channel::Colour).create(cv::Size(1280,720), CV_8UC4);
- fs.frames[0].get<cv::cuda::GpuMat>(Channel::Colour).setTo(cv::Scalar(0));
- fs.frames.emplace_back();
+ fs.frames[0].set<cv::cuda::GpuMat>(Channel::Colour).setTo(cv::Scalar(0));
fs.frames[1].create<cv::cuda::GpuMat>(Channel::Colour).create(cv::Size(1280,720), CV_8UC4);
- fs.frames[1].get<cv::cuda::GpuMat>(Channel::Colour).setTo(cv::Scalar(0));
+ fs.frames[1].set<cv::cuda::GpuMat>(Channel::Colour).setTo(cv::Scalar(0));
- sender->post(fs);
+ sender->post(fs, Channel::Colour);
REQUIRE( count == 1 );
- REQUIRE( spkt.version == 4 );
+ REQUIRE( spkt.version == 5 );
REQUIRE( spkt.timestamp == 1000 );
REQUIRE( (int)spkt.frame_number == 0 );
REQUIRE( spkt.streamID == 0 );
REQUIRE( spkt.channel == Channel::Colour );
REQUIRE( pkt.codec == codec_t::HEVC );
- REQUIRE( pkt.definition == definition_t::HD720 );
REQUIRE( pkt.data.size() > 0 );
REQUIRE( pkt.frame_count == 2 );
REQUIRE( ftl::codecs::hevc::validNAL(pkt.data.data(), pkt.data.size()) );
}
SECTION("two depth frames tiled") {
- stream.select(0, Channels(Channel::Depth), true);
+ stream.select(0, {Channel::Depth}, true);
+
+ fs.resize(2);
+ fs.frames[1].store();
- fs.count = 2;
fs.mask = 3;
fs.frames[0].create<cv::cuda::GpuMat>(Channel::Depth).create(cv::Size(1280,720), CV_32F);
- fs.frames[0].get<cv::cuda::GpuMat>(Channel::Depth).setTo(cv::Scalar(0.0f));
- fs.frames.emplace_back();
+ fs.frames[0].set<cv::cuda::GpuMat>(Channel::Depth).setTo(cv::Scalar(0.0f));
fs.frames[1].create<cv::cuda::GpuMat>(Channel::Depth).create(cv::Size(1280,720), CV_32F);
- fs.frames[1].get<cv::cuda::GpuMat>(Channel::Depth).setTo(cv::Scalar(0.0f));
+ fs.frames[1].set<cv::cuda::GpuMat>(Channel::Depth).setTo(cv::Scalar(0.0f));
- sender->post(fs);
+ sender->post(fs, Channel::Depth);
REQUIRE( count == 1 );
- REQUIRE( spkt.version == 4 );
+ REQUIRE( spkt.version == 5 );
REQUIRE( spkt.timestamp == 1000 );
REQUIRE( (int)spkt.frame_number == 0 );
REQUIRE( spkt.streamID == 0 );
REQUIRE( spkt.channel == Channel::Depth );
REQUIRE( pkt.codec == codec_t::HEVC );
- REQUIRE( pkt.definition == definition_t::HD720 );
REQUIRE( pkt.data.size() > 0 );
REQUIRE( pkt.flags == (ftl::codecs::kFlagFloat | ftl::codecs::kFlagMappedDepth) );
REQUIRE( pkt.frame_count == 2 );
@@ -161,57 +161,118 @@ TEST_CASE( "Sender::post() video frames" ) {
}
SECTION("10 depth frames tiled") {
- stream.select(0, Channels(Channel::Depth), true);
+ stream.select(0, {Channel::Depth}, true);
+
+ fs.resize(10);
- fs.count = 10;
fs.mask = 0x3FF;
fs.frames[0].create<cv::cuda::GpuMat>(Channel::Depth).create(cv::Size(1280,720), CV_32F);
- fs.frames[0].get<cv::cuda::GpuMat>(Channel::Depth).setTo(cv::Scalar(0.0f));
+ fs.frames[0].set<cv::cuda::GpuMat>(Channel::Depth).setTo(cv::Scalar(0.0f));
for (int i=1; i<10; ++i) {
- fs.frames.emplace_back();
+ fs.frames[i].store();
fs.frames[i].create<cv::cuda::GpuMat>(Channel::Depth).create(cv::Size(1280,720), CV_32F);
- fs.frames[i].get<cv::cuda::GpuMat>(Channel::Depth).setTo(cv::Scalar(0.0f));
+ fs.frames[i].set<cv::cuda::GpuMat>(Channel::Depth).setTo(cv::Scalar(0.0f));
}
- sender->post(fs);
+ sender->post(fs, Channel::Depth);
REQUIRE( count == 2 );
- REQUIRE( spkt.version == 4 );
+ REQUIRE( spkt.version == 5 );
REQUIRE( spkt.timestamp == 1000 );
REQUIRE( (int)spkt.frame_number == 9 );
REQUIRE( spkt.streamID == 0 );
REQUIRE( spkt.channel == Channel::Depth );
REQUIRE( pkt.codec == codec_t::HEVC );
- REQUIRE( pkt.definition == definition_t::HD720 );
REQUIRE( pkt.data.size() > 0 );
REQUIRE( pkt.flags == (ftl::codecs::kFlagFloat | ftl::codecs::kFlagMappedDepth) );
REQUIRE( pkt.frame_count == 1 );
REQUIRE( ftl::codecs::hevc::validNAL(pkt.data.data(), pkt.data.size()) );
}
+ SECTION("4 depth frames tiled, missing first") {
+ stream.select(0, {Channel::Depth}, true);
+
+ fs.resize(4);
+
+ fs.mask = 0xF;
+ //fs.frames[0].create<cv::cuda::GpuMat>(Channel::Depth).create(cv::Size(1280,720), CV_32F);
+ //fs.frames[0].set<cv::cuda::GpuMat>(Channel::Depth).setTo(cv::Scalar(0.0f));
+
+ for (int i=1; i<4; ++i) {
+ fs.frames[i].store();
+ fs.frames[i].create<cv::cuda::GpuMat>(Channel::Depth).create(cv::Size(1280,720), CV_32F);
+ fs.frames[i].set<cv::cuda::GpuMat>(Channel::Depth).setTo(cv::Scalar(0.0f));
+ }
+
+ sender->post(fs, Channel::Depth);
+
+ REQUIRE( count == 1 );
+ REQUIRE( spkt.version == 5 );
+ REQUIRE( spkt.timestamp == 1000 );
+ REQUIRE( (int)spkt.frame_number == 0 );
+ REQUIRE( spkt.streamID == 0 );
+ REQUIRE( spkt.channel == Channel::Depth );
+ REQUIRE( pkt.codec == codec_t::HEVC );
+ REQUIRE( pkt.data.size() > 0 );
+ REQUIRE( pkt.flags == (ftl::codecs::kFlagFloat | ftl::codecs::kFlagMappedDepth) );
+ REQUIRE( pkt.frame_count == 4 );
+ REQUIRE( ftl::codecs::hevc::validNAL(pkt.data.data(), pkt.data.size()) );
+ }
+
+ SECTION("4 depth frames tiled, missing middle") {
+ stream.select(0, {Channel::Depth}, true);
+
+ fs.resize(4);
+
+ fs.mask = 0xF;
+ fs.frames[0].create<cv::cuda::GpuMat>(Channel::Depth).create(cv::Size(1280,720), CV_32F);
+ fs.frames[0].set<cv::cuda::GpuMat>(Channel::Depth).setTo(cv::Scalar(0.0f));
+
+ for (int i=1; i<4; ++i) {
+ fs.frames[i].store();
+ if (i == 3) continue;
+ fs.frames[i].create<cv::cuda::GpuMat>(Channel::Depth).create(cv::Size(1280,720), CV_32F);
+ fs.frames[i].set<cv::cuda::GpuMat>(Channel::Depth).setTo(cv::Scalar(0.0f));
+ }
+
+ sender->post(fs, Channel::Depth);
+
+ REQUIRE( count == 1 );
+ REQUIRE( spkt.version == 5 );
+ REQUIRE( spkt.timestamp == 1000 );
+ REQUIRE( (int)spkt.frame_number == 0 );
+ REQUIRE( spkt.streamID == 0 );
+ REQUIRE( spkt.channel == Channel::Depth );
+ REQUIRE( pkt.codec == codec_t::HEVC );
+ REQUIRE( pkt.data.size() > 0 );
+ REQUIRE( pkt.flags == (ftl::codecs::kFlagFloat | ftl::codecs::kFlagMappedDepth) );
+ REQUIRE( pkt.frame_count == 4 );
+ REQUIRE( ftl::codecs::hevc::validNAL(pkt.data.data(), pkt.data.size()) );
+ }
+
SECTION("two lossless depth frames tiled") {
- stream.select(0, Channels(Channel::Depth), true);
+ stream.select(0, {Channel::Depth}, true);
+
+ fs.resize(2);
+ fs.frames[1].store();
- fs.count = 2;
fs.mask = 3;
fs.frames[0].create<cv::cuda::GpuMat>(Channel::Depth).create(cv::Size(1280,720), CV_32F);
- fs.frames[0].get<cv::cuda::GpuMat>(Channel::Depth).setTo(cv::Scalar(0.0f));
- fs.frames.emplace_back();
+ fs.frames[0].set<cv::cuda::GpuMat>(Channel::Depth).setTo(cv::Scalar(0.0f));
fs.frames[1].create<cv::cuda::GpuMat>(Channel::Depth).create(cv::Size(1280,720), CV_32F);
- fs.frames[1].get<cv::cuda::GpuMat>(Channel::Depth).setTo(cv::Scalar(0.0f));
+ fs.frames[1].set<cv::cuda::GpuMat>(Channel::Depth).setTo(cv::Scalar(0.0f));
- sender->set("lossless", true);
- sender->post(fs);
+ sender->set("codec_float", (int)codec_t::HEVC_LOSSLESS);
+ sender->post(fs, Channel::Depth);
REQUIRE( count == 1 );
- REQUIRE( spkt.version == 4 );
+ REQUIRE( spkt.version == 5 );
REQUIRE( spkt.timestamp == 1000 );
REQUIRE( (int)spkt.frame_number == 0 );
REQUIRE( spkt.streamID == 0 );
REQUIRE( spkt.channel == Channel::Depth );
REQUIRE( pkt.codec == codec_t::HEVC_LOSSLESS );
- REQUIRE( pkt.definition == definition_t::HD720 );
REQUIRE( pkt.data.size() > 0 );
REQUIRE( pkt.flags == (ftl::codecs::kFlagFloat) );
REQUIRE( pkt.frame_count == 2 );
@@ -221,23 +282,24 @@ TEST_CASE( "Sender::post() video frames" ) {
SECTION("one frame and two channels") {
stream.select(0, Channel::Colour + Channel::Depth, true);
- fs.count = 1;
fs.mask = 1;
fs.frames[0].create<cv::cuda::GpuMat>(Channel::Colour).create(cv::Size(1280,720), CV_8UC4);
- fs.frames[0].get<cv::cuda::GpuMat>(Channel::Colour).setTo(cv::Scalar(0));
+ fs.frames[0].set<cv::cuda::GpuMat>(Channel::Colour).setTo(cv::Scalar(0));
fs.frames[0].create<cv::cuda::GpuMat>(Channel::Depth).create(cv::Size(1280,720), CV_32F);
- fs.frames[0].get<cv::cuda::GpuMat>(Channel::Depth).setTo(cv::Scalar(0.0f));
+ fs.frames[0].set<cv::cuda::GpuMat>(Channel::Depth).setTo(cv::Scalar(0.0f));
- sender->post(fs);
+ sender->post(fs, Channel::Colour);
+ sender->post(fs, Channel::Depth);
REQUIRE( count == 2 );
- REQUIRE( spkt.version == 4 );
+ REQUIRE( spkt.version == 5 );
REQUIRE( spkt.timestamp == 1000 );
REQUIRE( (int)spkt.frame_number == 0 );
REQUIRE( spkt.streamID == 0 );
REQUIRE( spkt.channel == Channel::Depth );
+ REQUIRE( prev_spkt.channel == Channel::Colour );
+ REQUIRE( prev_spkt.timestamp == 1000 );
REQUIRE( pkt.codec == codec_t::HEVC );
- REQUIRE( pkt.definition == definition_t::HD720 );
REQUIRE( pkt.data.size() > 0 );
REQUIRE( pkt.frame_count == 1 );
REQUIRE( ftl::codecs::hevc::validNAL(pkt.data.data(), pkt.data.size()) );
@@ -256,9 +318,11 @@ TEST_CASE( "Sender request to control encoding" ) {
};
auto *sender = ftl::create<Sender>(cfg);
- FrameSet fs;
- fs.frames.emplace_back();
- fs.timestamp = 1000;
+ ftl::data::Pool pool(4,6);
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), 1000);
+ f.store();
+ auto fsptr = FrameSet::fromFrame(f);
+ FrameSet &fs = *fsptr;
json_t cfg2 = json_t{
{"$id","ftl://test/2"}
@@ -282,27 +346,271 @@ TEST_CASE( "Sender request to control encoding" ) {
stream.post({
4, 1000, 0, 255, Channel::Colour
},{
- codec_t::Any, definition_t::Any, 255, 255, 0, {}
+ codec_t::Any, 0, 255, 255, 0, {}
});
- fs.count = 1;
fs.mask = 1;
fs.frames[0].create<cv::cuda::GpuMat>(Channel::Colour).create(cv::Size(1280,720), CV_8UC4);
- fs.frames[0].get<cv::cuda::GpuMat>(Channel::Colour).setTo(cv::Scalar(0));
+ fs.frames[0].set<cv::cuda::GpuMat>(Channel::Colour).setTo(cv::Scalar(0));
+
+ fs.frames[0].create<std::tuple<ftl::rgbd::Camera, Channel, int>>(Channel::Calibration);
+ fs.frames[0].create<Eigen::Matrix4d>(Channel::Pose);
count = 0;
- sender->post(fs);
+ sender->post(fs, Channel::Colour);
- REQUIRE( count == 5 );
- REQUIRE( spkt.version == 4 );
+ REQUIRE( count == 1 );
+ REQUIRE( spkt.version == 5 );
REQUIRE( spkt.timestamp == 1000 );
REQUIRE( (int)spkt.frame_number == 0 );
REQUIRE( spkt.streamID == 0 );
REQUIRE( spkt.channel == Channel::Colour );
REQUIRE( pkt.codec == codec_t::HEVC );
- REQUIRE( pkt.definition == definition_t::HD720 );
REQUIRE( pkt.data.size() > 0 );
REQUIRE( pkt.frame_count == 1 );
REQUIRE( ftl::codecs::hevc::validNAL(pkt.data.data(), pkt.data.size()) );
}
}
+
+TEST_CASE( "Sender::post() data channels" ) {
+ json_t global = json_t{{"$id","ftl://test"}};
+ ftl::config::configure(global);
+
+ json_t cfg = json_t{
+ {"$id","ftl://test/1"}
+ };
+ auto *sender = ftl::create<Sender>(cfg);
+
+ ftl::data::Pool pool(4,6);
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), 1000);
+ f.store();
+ auto fsptr = FrameSet::fromFrame(f);
+ FrameSet &fs = *fsptr;
+
+ json_t cfg2 = json_t{
+ {"$id","ftl://test/2"}
+ };
+ TestStream stream(cfg2);
+ sender->setStream(&stream);
+
+ ftl::codecs::StreamPacket spkt;
+ ftl::codecs::Packet pkt;
+ int count = 0;
+
+ stream.onIntercept([&count,&spkt,&pkt](const ftl::codecs::StreamPacket &pspkt, const ftl::codecs::Packet &ppkt) {
+ spkt = pspkt;
+ pkt = ppkt;
+ ++count;
+ });
+
+ SECTION("a single calibration channel") {
+ stream.select(0, {Channel::Calibration}, true);
+
+ fs.mask = 1;
+ auto &calib = std::get<0>(fs.frames[0].create<std::tuple<ftl::rgbd::Camera, Channel, int>>(Channel::Calibration));
+ calib.width = 1024;
+
+ fs.frames[0].flush();
+ sender->post(fs, Channel::Calibration);
+
+ REQUIRE( count == 1 );
+ REQUIRE( spkt.version == 5 );
+ REQUIRE( spkt.timestamp == 1000 );
+ REQUIRE( (int)spkt.frame_number == 0 );
+ REQUIRE( spkt.streamID == 0 );
+ REQUIRE( spkt.channel == Channel::Calibration );
+ REQUIRE( pkt.codec == codec_t::MSGPACK );
+ REQUIRE( pkt.data.size() > 0 );
+ REQUIRE( pkt.frame_count == 1 );
+ }
+
+ SECTION("a single pose channel") {
+ stream.select(0, {Channel::Pose}, true);
+
+ fs.mask = 1;
+ fs.frames[0].create<Eigen::Matrix4d>(Channel::Pose);
+
+ fs.frames[0].flush();
+ sender->post(fs, Channel::Pose);
+
+ REQUIRE( count == 1 );
+ REQUIRE( spkt.version == 5 );
+ REQUIRE( spkt.timestamp == 1000 );
+ REQUIRE( (int)spkt.frame_number == 0 );
+ REQUIRE( spkt.streamID == 0 );
+ REQUIRE( spkt.channel == Channel::Pose );
+ REQUIRE( pkt.codec == codec_t::MSGPACK );
+ REQUIRE( pkt.data.size() > 0 );
+ REQUIRE( pkt.frame_count == 1 );
+ }
+
+ SECTION("a single custom channel") {
+ stream.select(0, {Channel::Configuration}, true);
+
+ fs.mask = 1;
+ auto &vf = fs.frames[0].create<std::vector<float>>(Channel::Configuration);
+ vf.push_back(5.0f);
+ vf.push_back(33.0f);
+
+ fs.frames[0].flush();
+ sender->post(fs, Channel::Configuration);
+
+ REQUIRE( count == 1 );
+ REQUIRE( spkt.version == 5 );
+ REQUIRE( spkt.timestamp == 1000 );
+ REQUIRE( (int)spkt.frame_number == 0 );
+ REQUIRE( spkt.streamID == 0 );
+ REQUIRE( spkt.channel == Channel::Configuration );
+ REQUIRE( pkt.codec == codec_t::MSGPACK );
+ REQUIRE( pkt.data.size() > 0 );
+ REQUIRE( pkt.frame_count == 1 );
+ // TODO: Check decodes correctly.
+ }
+
+ SECTION("a single list channel") {
+ stream.select(0, {Channel::Configuration}, true);
+
+ fs.mask = 1;
+ auto vf = fs.frames[0].create<std::list<float>>(Channel::Configuration);
+ vf = 5.0f;
+ vf = 33.0f;
+
+ fs.frames[0].flush();
+ sender->post(fs, Channel::Configuration);
+
+ REQUIRE( count == 1 );
+ REQUIRE( spkt.version == 5 );
+ REQUIRE( spkt.timestamp == 1000 );
+ REQUIRE( (int)spkt.frame_number == 0 );
+ REQUIRE( spkt.streamID == 0 );
+ REQUIRE( spkt.channel == Channel::Configuration );
+ REQUIRE( pkt.codec == codec_t::MSGPACK );
+ REQUIRE( pkt.data.size() > 0 );
+ REQUIRE( pkt.frame_count == 1 );
+ // TODO: Check decodes correctly.
+ }
+}
+
+TEST_CASE( "Sender::post() audio channels" ) {
+ json_t global = json_t{{"$id","ftl://test"}};
+ ftl::config::configure(global);
+
+ json_t cfg = json_t{
+ {"$id","ftl://test/1"}
+ };
+ auto *sender = ftl::create<Sender>(cfg);
+
+ ftl::data::Pool pool(4,6);
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), 1000);
+ f.store();
+ auto fsptr = FrameSet::fromFrame(f);
+ FrameSet &fs = *fsptr;
+
+ json_t cfg2 = json_t{
+ {"$id","ftl://test/2"}
+ };
+ TestStream stream(cfg2);
+ sender->setStream(&stream);
+
+ ftl::codecs::StreamPacket spkt;
+ ftl::codecs::Packet pkt;
+ int count = 0;
+
+ stream.onIntercept([&count,&spkt,&pkt](const ftl::codecs::StreamPacket &pspkt, const ftl::codecs::Packet &ppkt) {
+ spkt = pspkt;
+ pkt = ppkt;
+ ++count;
+ });
+
+ SECTION("a single mono audio channel") {
+ ftl::data::make_type<ftl::rgbd::Camera>();
+
+ stream.select(0, {Channel::AudioMono}, true);
+
+ fs.mask = 1;
+ auto audio = fs.frames[0].create<std::list<ftl::audio::AudioFrame>>(Channel::AudioMono);
+
+ // Fake 3 audio frames
+ ftl::audio::AudioFrame aframe;
+ aframe.data().resize(3*ftl::audio::kFrameSize);
+ audio = std::move(aframe);
+
+ fs.frames[0].flush();
+ sender->post(fs, Channel::AudioMono);
+
+ REQUIRE( count == 1 );
+ REQUIRE( spkt.version == 5 );
+ REQUIRE( spkt.timestamp == 1000 );
+ REQUIRE( (int)spkt.frame_number == 0 );
+ REQUIRE( spkt.streamID == 0 );
+ REQUIRE( spkt.channel == Channel::AudioMono );
+ REQUIRE( pkt.codec == codec_t::OPUS );
+ REQUIRE( pkt.data.size() > 0 );
+ REQUIRE( pkt.frame_count == 1 );
+ }
+
+ SECTION("multi frame mono audio channel") {
+ ftl::data::make_type<ftl::rgbd::Camera>();
+
+ stream.select(0, {Channel::AudioMono}, true);
+
+ fs.mask = 1;
+ auto audio = fs.frames[0].create<std::list<ftl::audio::AudioFrame>>(Channel::AudioMono);
+
+ // Fake 3 audio frames
+ ftl::audio::AudioFrame aframe1;
+ aframe1.data().resize(3*ftl::audio::kFrameSize);
+ audio = std::move(aframe1);
+
+ sender->post(fs, Channel::AudioMono);
+ REQUIRE( count == 1 );
+ REQUIRE( spkt.version == 5 );
+ REQUIRE( spkt.timestamp == 1000 );
+ REQUIRE( (int)spkt.frame_number == 0 );
+ REQUIRE( spkt.streamID == 0 );
+ REQUIRE( spkt.channel == Channel::AudioMono );
+ REQUIRE( pkt.codec == codec_t::OPUS );
+ REQUIRE( pkt.data.size() > 0 );
+ REQUIRE( pkt.frame_count == 1 );
+
+ size_t firstsize = pkt.data.size();
+ pkt.data.clear();
+
+ ftl::audio::AudioFrame aframe2;
+ aframe2.data().resize(2*ftl::audio::kFrameSize);
+ audio = std::move(aframe2);
+
+ //fs.frames[0].flush();
+ sender->post(fs, Channel::AudioMono);
+
+ REQUIRE( count == 2 );
+ REQUIRE( pkt.data.size() > firstsize );
+ }
+
+ SECTION("a single stereo audio channel") {
+ ftl::data::make_type<ftl::rgbd::Camera>();
+
+ stream.select(0, {Channel::AudioStereo}, true);
+
+ fs.mask = 1;
+ auto audio = fs.frames[0].create<std::list<ftl::audio::AudioFrame>>(Channel::AudioStereo);
+
+ // Fake 3 audio frames
+ ftl::audio::AudioFrame aframe;
+ aframe.data().resize(2*3*ftl::audio::kFrameSize);
+ audio = std::move(aframe);
+
+ fs.frames[0].flush();
+ sender->post(fs, Channel::AudioStereo);
+
+ REQUIRE( count == 1 );
+ REQUIRE( spkt.version == 5 );
+ REQUIRE( spkt.timestamp == 1000 );
+ REQUIRE( (int)spkt.frame_number == 0 );
+ REQUIRE( spkt.streamID == 0 );
+ REQUIRE( spkt.channel == Channel::AudioStereo );
+ REQUIRE( pkt.codec == codec_t::OPUS );
+ REQUIRE( pkt.data.size() > 0 );
+ REQUIRE( pkt.frame_count == 1 );
+ }
+}
diff --git a/components/streams/test/stream_unit.cpp b/components/streams/test/stream_unit.cpp
index aa2093a4045e0b70fc6615480047b9e975180d1e..a9d67652aa230a56a1fdda7a275972f903d9c9ca 100644
--- a/components/streams/test/stream_unit.cpp
+++ b/components/streams/test/stream_unit.cpp
@@ -13,14 +13,9 @@ class TestStream : public ftl::stream::Stream {
TestStream(nlohmann::json &config) : ftl::stream::Stream(config) {};
~TestStream() {};
- bool onPacket(const std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> &cb) {
- cb_ = cb;
- return true;
- }
-
bool post(const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
available(spkt.streamID) += spkt.channel;
- if (cb_) cb_(spkt, pkt);
+ cb_.trigger(spkt, pkt);
return true;
}
@@ -29,7 +24,7 @@ class TestStream : public ftl::stream::Stream {
bool active() override { return true; }
private:
- std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> cb_;
+ //std::function<void(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &)> cb_;
};
TEST_CASE("ftl::stream::Muxer()::write", "[stream]") {
@@ -55,8 +50,9 @@ TEST_CASE("ftl::stream::Muxer()::write", "[stream]") {
ftl::codecs::StreamPacket tspkt = {4,0,0,1,ftl::codecs::Channel::Colour};;
- s->onPacket([&tspkt](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ auto h = s->onPacket([&tspkt](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
tspkt = spkt;
+ return true;
});
REQUIRE( !mux->post({4,100,0,1,ftl::codecs::Channel::Colour},{}) );
@@ -80,8 +76,9 @@ TEST_CASE("ftl::stream::Muxer()::write", "[stream]") {
mux->add(s2);
ftl::codecs::StreamPacket tspkt = {4,0,0,1,ftl::codecs::Channel::Colour};
- mux->onPacket([&tspkt](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ auto h = mux->onPacket([&tspkt](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
tspkt = spkt;
+ return true;
});
REQUIRE( s1->post({4,100,0,0,ftl::codecs::Channel::Colour},{}) );
@@ -94,11 +91,13 @@ TEST_CASE("ftl::stream::Muxer()::write", "[stream]") {
ftl::codecs::StreamPacket tspkt2 = {4,0,0,1,ftl::codecs::Channel::Colour};
ftl::codecs::StreamPacket tspkt3 = {4,0,0,1,ftl::codecs::Channel::Colour};
- s1->onPacket([&tspkt2](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ auto h2 = s1->onPacket([&tspkt2](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
tspkt2 = spkt;
+ return true;
});
- s2->onPacket([&tspkt3](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ auto h3 = s2->onPacket([&tspkt3](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
tspkt3 = spkt;
+ return true;
});
REQUIRE( mux->post({4,200,0,1,ftl::codecs::Channel::Colour},{}) );
@@ -135,8 +134,9 @@ TEST_CASE("ftl::stream::Muxer()::post multi-frameset", "[stream]") {
mux->add(s2,1);
ftl::codecs::StreamPacket tspkt = {4,0,0,1,ftl::codecs::Channel::Colour};
- mux->onPacket([&tspkt](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ auto h = mux->onPacket([&tspkt](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
tspkt = spkt;
+ return true;
});
REQUIRE( s1->post({4,100,0,0,ftl::codecs::Channel::Colour},{}) );
@@ -149,11 +149,13 @@ TEST_CASE("ftl::stream::Muxer()::post multi-frameset", "[stream]") {
ftl::codecs::StreamPacket tspkt2 = {4,0,0,1,ftl::codecs::Channel::Colour};
ftl::codecs::StreamPacket tspkt3 = {4,0,0,1,ftl::codecs::Channel::Colour};
- s1->onPacket([&tspkt2](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ auto h2 = s1->onPacket([&tspkt2](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
tspkt2 = spkt;
+ return true;
});
- s2->onPacket([&tspkt3](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ auto h3 = s2->onPacket([&tspkt3](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
tspkt3 = spkt;
+ return true;
});
REQUIRE( mux->post({4,200,1,0,ftl::codecs::Channel::Colour},{}) );
@@ -190,8 +192,9 @@ TEST_CASE("ftl::stream::Muxer()::read", "[stream]") {
mux->add(s2);
ftl::codecs::StreamPacket tspkt = {4,0,0,1,ftl::codecs::Channel::Colour};
- mux->onPacket([&tspkt](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ auto h = mux->onPacket([&tspkt](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
tspkt = spkt;
+ return true;
});
REQUIRE( s1->post({4,100,0,0,ftl::codecs::Channel::Colour},{}) );
@@ -228,8 +231,9 @@ TEST_CASE("ftl::stream::Muxer()::read", "[stream]") {
mux->add(s2);
ftl::codecs::StreamPacket tspkt = {4,0,0,1,ftl::codecs::Channel::Colour};
- mux->onPacket([&tspkt](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ auto h = mux->onPacket([&tspkt](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
tspkt = spkt;
+ return true;
});
REQUIRE( s1->post({4,100,0,0,ftl::codecs::Channel::Colour},{}) );
@@ -290,8 +294,9 @@ TEST_CASE("ftl::stream::Muxer()::read multi-frameset", "[stream]") {
mux->add(s4,1);
ftl::codecs::StreamPacket tspkt = {4,0,0,1,ftl::codecs::Channel::Colour};
- mux->onPacket([&tspkt](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ auto h = mux->onPacket([&tspkt](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
tspkt = spkt;
+ return true;
});
REQUIRE( s1->post({4,100,0,0,ftl::codecs::Channel::Colour},{}) );
@@ -342,11 +347,13 @@ TEST_CASE("ftl::stream::Broadcast()::write", "[stream]") {
ftl::codecs::StreamPacket tspkt1 = {4,0,0,1,ftl::codecs::Channel::Colour};
ftl::codecs::StreamPacket tspkt2 = {4,0,0,1,ftl::codecs::Channel::Colour};
- s1->onPacket([&tspkt1](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ auto h1 = s1->onPacket([&tspkt1](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
tspkt1 = spkt;
+ return true;
});
- s2->onPacket([&tspkt2](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ auto h2 = s2->onPacket([&tspkt2](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
tspkt2 = spkt;
+ return true;
});
REQUIRE( mux->post({4,100,0,1,ftl::codecs::Channel::Colour},{}) );
diff --git a/components/structures/CMakeLists.txt b/components/structures/CMakeLists.txt
index fbbddc846b25e50493300c31a7ed57b87bc2bcbf..c389b1e5c7795c6d2973f0aa04c8033ba6f1e032 100644
--- a/components/structures/CMakeLists.txt
+++ b/components/structures/CMakeLists.txt
@@ -1,10 +1,22 @@
-add_library(ftldata INTERFACE)
+add_library(ftldata ./src/new_frame.cpp ./src/pool.cpp ./src/frameset.cpp ./src/creators.cpp)
-target_include_directories(ftldata INTERFACE
+target_include_directories(ftldata PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}/include)
-target_link_libraries(ftldata INTERFACE ftlcommon Eigen3::Eigen ftlcodecs)
+target_link_libraries(ftldata ftlcommon Eigen3::Eigen ftlcodecs)
-#add_subdirectory(test)
+target_precompile_headers(ftldata
+ PRIVATE ../common/cpp/include/ftl/utility/msgpack_optional.hpp
+ PRIVATE ../common/cpp/include/ftl/cuda_common.hpp
+ PRIVATE ../common/cpp/include/loguru.hpp
+ PRIVATE include/ftl/data/new_frame.hpp
+ PRIVATE include/ftl/data/new_frameset.hpp
+)
+
+set_property(TARGET ftldata PROPERTY CUDA_ARCHITECTURES OFF)
+
+if (BUILD_TESTS)
+add_subdirectory(test)
+endif()
diff --git a/components/structures/include/ftl/data/channels.hpp b/components/structures/include/ftl/data/channels.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..d01ad9a9ba41f99cde08ea79452365cde2d17f48
--- /dev/null
+++ b/components/structures/include/ftl/data/channels.hpp
@@ -0,0 +1,111 @@
+#ifndef _FTL_DATA_CHANNELS_HPP_
+#define _FTL_DATA_CHANNELS_HPP_
+
+#include <string>
+#include <ftl/codecs/channels.hpp>
+#include <ftl/exception.hpp>
+#include <ftl/utility/vectorbuffer.hpp>
+
+namespace ftl {
+namespace data {
+
+class Frame;
+
+/** Kind of channel in terms of data persistence */
+enum class StorageMode {
+ PERSISTENT, // Most recent value, even from previous fram
+ TRANSIENT, // Only most recent value since last frame
+ AGGREGATE // All changes since last frame
+};
+
+/** If a channel has changed, what is the current status of that change. */
+enum class ChangeType {
+ UNCHANGED,
+ PRIMARY, // Explicit local primary modification occurred
+ RESPONSE, // Explicit local response change
+ FOREIGN, // Received externally, to be forwarded
+ COMPLETED // Received externally, not to be forwarded
+};
+
+/** Current status of the data contained within a channel. */
+enum class ChannelStatus {
+ INVALID, // Any data is stale and should not be referenced
+ VALID, // Contains currently valid data
+ FLUSHED, // Has already been transmitted, now read-only
+ DISPATCHED, // Externally received, can't be flushed but can be modified locally
+ ENCODED // Still in an encoded form
+};
+
+/* Internal structure for channel configurations. */
+struct ChannelConfig {
+ std::string name;
+ StorageMode mode;
+ size_t type_id;
+};
+
+/**
+ * Add a channel configuration to the registry. By default channels are not
+ * in the registry and this means they have no name or specified type. Non
+ * registered channels can still be used but no runtime checks are performed.
+ */
+void registerChannel(ftl::codecs::Channel, const ChannelConfig &config);
+
+/** Used by unit tests. */
+void clearRegistry();
+
+/**
+ * Check if channel is marked as persistent storage in the registry.
+ */
+bool isPersistent(ftl::codecs::Channel);
+
+bool isAggregate(ftl::codecs::Channel);
+
+/**
+ * Get channel type hash_code as from `std::type_info::hash_code()`. This
+ * returns 0 if not registered or registered as allowing any time, 0 means
+ * accept any type.
+ */
+size_t getChannelType(ftl::codecs::Channel);
+
+template <typename T>
+void verifyChannelType(ftl::codecs::Channel c) {
+ size_t t = getChannelType(c);
+ if (t > 0 && t != typeid(T).hash_code()) throw FTL_Error("Incorrect type for channel " << static_cast<unsigned int>(c));
+}
+
+/**
+ * Get the registered string name for channel, or an empty string if no name.
+ */
+std::string getChannelName(ftl::codecs::Channel);
+
+/** Unsupported */
+ftl::codecs::Channel getChannelByName(const std::string &name);
+
+/**
+ * Attempts to get a msgpack encoder for this channel. Such encoders are
+ * registered by typeid basis when creating channels.
+ */
+std::function<bool(const ftl::data::Frame &, ftl::codecs::Channel, std::vector<uint8_t> &)> getTypeEncoder(size_t type);
+
+void setTypeEncoder(size_t type, const std::function<bool(const ftl::data::Frame &, ftl::codecs::Channel, std::vector<uint8_t> &)> &e);
+
+/**
+ * Helper to register a channel using a template specified type.
+ */
+template <typename T>
+bool make_channel(ftl::codecs::Channel c, const std::string &name, StorageMode mode) {
+ // TODO: Generate packer + unpacker?
+ registerChannel(c, {name, mode, typeid(T).hash_code()});
+ return true;
+}
+
+template <>
+inline bool make_channel<void>(ftl::codecs::Channel c, const std::string &name, StorageMode mode) {
+ registerChannel(c, {name, mode, 0});
+ return true;
+}
+
+}
+}
+
+#endif
diff --git a/components/structures/include/ftl/data/creators.hpp b/components/structures/include/ftl/data/creators.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..3cd28e4d30362b5d1e56b1049c430d665fcc0052
--- /dev/null
+++ b/components/structures/include/ftl/data/creators.hpp
@@ -0,0 +1,67 @@
+#ifndef _FTL_DATA_FRAMECREATOR_HPP_
+#define _FTL_DATA_FRAMECREATOR_HPP_
+
+#include <ftl/handle.hpp>
+#include <ftl/data/new_frame.hpp>
+
+namespace ftl {
+namespace data {
+
+class Pool;
+
+/**
+ * Create frames on demand.
+ */
+class FrameCreator {
+ friend class Pool;
+
+ public:
+ Frame create();
+ Frame create(int64_t timestamp);
+
+ inline uint32_t id() const { return id_; }
+ inline Pool *pool() const { return pool_; }
+
+ protected:
+ FrameCreator(Pool *p_pool, FrameID p_id) : pool_(p_pool), id_(p_id) {}
+
+ private:
+ Pool *pool_;
+ FrameID id_;
+};
+
+/**
+ * Abstract class for discrete data sources involving a high precision capture
+ * and slower retrieve step. This works for both cameras and audio sources.
+ */
+class DiscreteSource {
+ public:
+ virtual bool capture(int64_t ts)=0;
+ virtual bool retrieve(ftl::data::Frame &)=0;
+};
+
+/**
+ * Create frames at the global frame rate with both capture and retrieve steps.
+ * A source should implement this
+ */
+class IntervalFrameCreator : public ftl::data::FrameCreator {
+ friend class Pool;
+
+ private:
+ explicit IntervalFrameCreator(Pool *p_pool, FrameID p_id, DiscreteSource *src);
+
+ public:
+
+ void start();
+ void stop();
+
+ private:
+ ftl::Handle capture_;
+ ftl::Handle retrieve_;
+ DiscreteSource *src_;
+};
+
+}
+}
+
+#endif
\ No newline at end of file
diff --git a/components/structures/include/ftl/data/frame.hpp b/components/structures/include/ftl/data/frame.hpp
deleted file mode 100644
index c304e4e97b87eb310e1e1912f17cb680cb9d1e28..0000000000000000000000000000000000000000
--- a/components/structures/include/ftl/data/frame.hpp
+++ /dev/null
@@ -1,567 +0,0 @@
-#pragma once
-#ifndef _FTL_DATA_FRAME_HPP_
-#define _FTL_DATA_FRAME_HPP_
-
-#include <ftl/configuration.hpp>
-#include <ftl/exception.hpp>
-
-#include <ftl/codecs/channels.hpp>
-#include <ftl/codecs/codecs.hpp>
-//#include <ftl/codecs/packet.hpp>
-#include <ftl/utility/vectorbuffer.hpp>
-
-#include <type_traits>
-#include <array>
-//#include <list>
-#include <unordered_map>
-
-#include <Eigen/Eigen>
-
-namespace ftl {
-namespace data {
-
-/**
- * Manage a set of channels corresponding to a single frame. There are three
- * kinds of channel in a frame: 1) the data type of interest (DoI)
- * (eg. audio, video, etc), 2) Persistent state and 3) Generic meta data.
- * The DoI is a template arg and could be in any form. Different DoIs will use
- * different frame instances, ie. audio and video frame types. Persistent state
- * may or may not change between frames but is always available. Finally,
- * generic data is a small amount of information about the primary data that may
- * or may not exist each frame, and is not required to exist.
- *
- * There is no specification for frame rates, intervals or synchronisation at
- * this level. A frame is a quantum of data of any temporal size which can be
- * added to a FrameSet to be synchronised with other frames.
- *
- * Use this template class either by inheriting it or just by providing the
- * template arguments. It is not abstract and can work directly.
- *
- * The template DATA parameter must be a class or struct that implements three
- * methods: 1) `const T& at<T>()` to cast to const type, 2) `T& at<T>()` to cast
- * to non-const type, and 3) `T& make<T>() to create data as a type.
- *
- * The STATE parameter must be an instance of `ftl::data::FrameState`.
- *
- * @see ftl::data::FrameState
- * @see ftl::data::FrameSet
- * @see ftl::rgbd::FrameState
- * @see ftl::rgbd::Frame
- */
-template <int BASE, int N, typename STATE, typename DATA>
-class Frame {
- static_assert(N <= ftl::codecs::Channels<BASE>::kMax, "Too many channels requested");
-
-public:
- Frame() : origin_(nullptr) {}
- Frame(Frame &&f) {
- f.swapTo(*this);
- f.reset();
- }
-
- Frame &operator=(Frame &&f) {
- f.swapTo(*this);
- f.reset();
- return *this;
- }
-
- // Prevent frame copy, instead use a move.
- Frame(const Frame &)=delete;
- Frame &operator=(const Frame &)=delete;
-
- /**
- * Perform a buffer swap of the selected channels. This is intended to be
- * a copy from `this` to the passed frame object but by buffer swap
- * instead of memory copy, meaning `this` may become invalid afterwards.
- * It is a complete frame swap.
- */
- void swapTo(ftl::codecs::Channels<BASE>, Frame &);
-
- void swapTo(Frame &);
-
- /**
- * Swap only selected channels to another frame, without resetting or swapping
- * any other aspect of the frame. Unlike swapTo, this isn't intended to
- * be a complete frame swap.
- */
- void swapChannels(ftl::codecs::Channels<BASE> channels, Frame<BASE,N,STATE,DATA> &);
-
- void swapChannels(ftl::codecs::Channel, ftl::codecs::Channel);
-
- /**
- * Does a host or device memory copy into the given frame.
- */
- void copyTo(ftl::codecs::Channels<BASE>, Frame &);
-
- /**
- * Create a channel but without any format.
- */
- template <typename T> T &create(ftl::codecs::Channel c);
-
- /**
- * Set the value of a channel. Some channels should not be modified via the
- * non-const get method, for example the data channels.
- */
- template <typename T> void create(ftl::codecs::Channel channel, const T &value);
-
- /**
- * Append encoded data for a channel. This will move the data, invalidating
- * the original packet structure. It is to be used to allow data that is
- * already encoded to be transmitted or saved again without re-encoding.
- * A called to `create` will clear all encoded data for that channel.
- */
- //void pushPacket(ftl::codecs::Channel c, ftl::codecs::Packet &pkt);
-
- /**
- * Obtain a list of any existing encodings for this channel.
- */
- //const std::list<ftl::codecs::Packet> &getPackets(ftl::codecs::Channel c) const;
-
- /**
- * Clear any existing encoded packets. Used when the channel data is
- * modified and the encodings are therefore out-of-date.
- */
- //void clearPackets(ftl::codecs::Channel c);
-
- /**
- * Reset all channels without releasing memory.
- */
- void reset();
-
- /**
- * Reset all channels and release memory.
- */
- //void resetFull();
-
- /**
- * Is there valid data in channel (either host or gpu). This does not
- * verify that any memory or data exists for the channel.
- */
- bool hasChannel(ftl::codecs::Channel channel) const {
- int c = static_cast<int>(channel);
- if (c >= 64 && c <= 68) return true;
- else if (c >= 2048) return data_channels_.has(channel);
- else if (c < BASE || c >= BASE+N) return false;
- else return channels_.has(channel);
- }
-
- /**
- * Obtain a mask of all available channels in the frame.
- */
- inline ftl::codecs::Channels<BASE> getChannels() const { return channels_; }
-
- inline ftl::codecs::Channels<2048> getDataChannels() const { return data_channels_; }
-
- /**
- * Does this frame have new data for a channel. This is compared with a
- * previous frame and always returns true for image data. It may return
- * false for persistent state data (calibration, pose etc).
- */
- inline bool hasChanged(ftl::codecs::Channel c) const {
- return (static_cast<int>(c) < 64) ? true : state_.hasChanged(c);
- }
-
- /**
- * Method to get reference to the channel content.
- * @param Channel type
- * @return Const reference to channel data
- *
- * Result is valid only if hasChannel() is true. Host/Gpu transfer is
- * performed, if necessary, but with a warning since an explicit upload or
- * download should be used.
- */
- template <typename T> const T& get(ftl::codecs::Channel channel) const;
-
- /**
- * Get the data from a data channel. This only works for the data channels
- * and will throw an exception with any others.
- */
- template <typename T> void get(ftl::codecs::Channel channel, T ¶ms) const;
-
- /**
- * Method to get reference to the channel content. The channel must already
- * have been created of this will throw an exception. See `getBuffer` to
- * get access before creation.
- *
- * @param Channel type
- * @return Reference to channel data
- *
- * Result is valid only if hasChannel() is true.
- */
- template <typename T> T& get(ftl::codecs::Channel channel);
-
- /**
- * Method to get reference to the channel content. Unlike `get`, the channel
- * must not already exist as this is intended as a pre-create step that
- * allocates memory and populates the buffer. `create` must then be called
- * to make the channel available.
- *
- * @param Channel type
- * @return Reference to channel data
- *
- * Result is valid only if hasChannel() is true.
- */
- template <typename T> T& getBuffer(ftl::codecs::Channel channel);
-
- /**
- * Wrapper accessor function to get frame pose.
- */
- const Eigen::Matrix4d &getPose() const;
-
- /**
- * Change the pose of the origin state and mark as changed.
- */
- void setPose(const Eigen::Matrix4d &pose, bool mark=true);
-
- /**
- * Change the pose of the origin state and mark as changed.
- */
- void patchPose(const Eigen::Matrix4d &pose);
-
- /**
- * Wrapper to access left settings channel.
- */
- const typename STATE::Settings &getSettings() const;
-
- const typename STATE::Settings &getLeft() const;
- const typename STATE::Settings &getRight() const;
-
- void setLeft(const typename STATE::Settings &);
- void setRight(const typename STATE::Settings &);
-
- /**
- * Change left settings in the origin state. This should send
- * the changed parameters in reverse through a stream.
- */
- void setSettings(const typename STATE::Settings &c);
-
- /**
- * Dump the current frame config object to a json string.
- */
- std::string getConfigString() const;
-
- /**
- * Access the raw data channel vector object.
- */
- const std::vector<unsigned char> &getRawData(ftl::codecs::Channel c) const;
-
- /**
- * Provide raw data for a data channel.
- */
- void createRawData(ftl::codecs::Channel c, const std::vector<unsigned char> &v);
-
- /**
- * Wrapper to access a config property. If the property does not exist or
- * is not of the requested type then the returned optional is false.
- */
- template <class T>
- std::optional<T> get(const std::string &name) { return state_.template get<T>(name); }
-
- /**
- * Modify a config property. This does not modify the origin config so
- * will not get transmitted over the stream.
- * @todo Modify origin to send backwards over a stream.
- */
- template <typename T>
- void set(const std::string &name, T value) { state_.set(name, value); }
-
- /**
- * Set the persistent state for the frame. This can only be done after
- * construction or a reset. Multiple calls to this otherwise will throw
- * an exception. The pointer must remain valid for the life of the frame.
- */
- void setOrigin(STATE *state);
-
- /**
- * Get the original frame state object. This can be a nullptr in some rare
- * cases. When wishing to change state (pose, calibration etc) then those
- * changes must be done on this origin, either directly or via wrappers.
- */
- STATE *origin() const { return origin_; }
-
- //ftl::codecs::Channels<BASE> completed;
-
- typedef STATE State;
-
- int id;
-
-protected:
- /* Lookup internal state for a given channel. */
- inline DATA &getData(ftl::codecs::Channel c) { return data_[static_cast<unsigned int>(c)-BASE]; }
- inline const DATA &getData(ftl::codecs::Channel c) const { return data_[static_cast<unsigned int>(c)-BASE]; }
-
-private:
- std::array<DATA, N> data_;
-
- std::unordered_map<int, std::vector<unsigned char>> data_data_;
-
- ftl::codecs::Channels<BASE> channels_; // Does it have a channel
- ftl::codecs::Channels<2048> data_channels_;
-
- // Persistent state
- STATE state_;
- STATE *origin_;
-};
-
-}
-}
-
-// ==== Implementations ========================================================
-
-template <int BASE, int N, typename STATE, typename DATA>
-void ftl::data::Frame<BASE,N,STATE,DATA>::reset() {
- origin_ = nullptr;
- channels_.clear();
- data_channels_.clear();
- for (size_t i=0u; i<ftl::codecs::Channels<BASE>::kMax; ++i) {
- data_[i].reset();
- }
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-void ftl::data::Frame<BASE,N,STATE,DATA>::swapTo(ftl::codecs::Channels<BASE> channels, Frame<BASE,N,STATE,DATA> &f) {
- f.reset();
- f.origin_ = origin_;
- f.state_ = state_;
-
- // For all channels in this frame object
- for (auto c : channels_) {
- // Should we swap this channel?
- if (channels.has(c)) {
- f.channels_ += c;
- // TODO: Make sure this does a move not copy
- std::swap(f.getData(c),getData(c));
- }
- }
-
- f.data_data_ = std::move(data_data_);
- f.data_channels_ = data_channels_;
- data_channels_.clear();
- channels_.clear();
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-void ftl::data::Frame<BASE,N,STATE,DATA>::swapTo(Frame<BASE,N,STATE,DATA> &f) {
- swapTo(ftl::codecs::Channels<BASE>::All(), f);
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-void ftl::data::Frame<BASE,N,STATE,DATA>::swapChannels(ftl::codecs::Channel a, ftl::codecs::Channel b) {
- auto &m1 = getData(a);
- auto &m2 = getData(b);
-
- auto temp = std::move(m2);
- m2 = std::move(m1);
- m1 = std::move(temp);
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-void ftl::data::Frame<BASE,N,STATE,DATA>::swapChannels(ftl::codecs::Channels<BASE> channels, Frame<BASE,N,STATE,DATA> &f) {
- // For all channels in this frame object
- for (auto c : channels_) {
- // Should we swap this channel?
- if (channels.has(c)) {
- f.channels_ += c;
- // TODO: Make sure this does a move not copy
- std::swap(f.getData(c),getData(c));
- channels_ -= c;
- }
- }
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-void ftl::data::Frame<BASE,N,STATE,DATA>::copyTo(ftl::codecs::Channels<BASE> channels, Frame<BASE,N,STATE,DATA> &f) {
- f.reset();
- f.origin_ = origin_;
- f.state_ = state_;
-
- // For all channels in this frame object
- for (auto c : channels_) {
- // Should we copy this channel?
- if (channels.has(c)) {
- f.channels_ += c;
- f.getData(c) = getData(c);
- }
- }
-
- f.data_data_ = data_data_;
- f.data_channels_ = data_channels_;
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-// cppcheck-suppress *
-template <typename T>
-T& ftl::data::Frame<BASE,N,STATE,DATA>::get(ftl::codecs::Channel channel) {
- if (channel == ftl::codecs::Channel::None) {
- throw FTL_Error("Attempting to get channel 'None'");
- }
-
- // Add channel if not already there
- if (!channels_.has(channel)) {
- throw FTL_Error("Frame channel does not exist: " << (int)channel);
- }
-
- return getData(channel).template as<T>();
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-// cppcheck-suppress *
-template <typename T>
-T& ftl::data::Frame<BASE,N,STATE,DATA>::getBuffer(ftl::codecs::Channel channel) {
- if (channel == ftl::codecs::Channel::None) {
- throw ftl::exception("Attempting to get channel 'None'");
- }
-
- if (channels_.has(channel)) {
- throw ftl::exception(ftl::Formatter() << "Cannot getBuffer on existing channel: " << (int)channel);
- }
-
- if (static_cast<int>(channel) < BASE || static_cast<int>(channel) >= BASE+32) {
- throw ftl::exception(ftl::Formatter() << "Frame channel does not exist: " << (int)channel);
- }
-
- return getData(channel).template make<T>();
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-// cppcheck-suppress *
-template <typename T>
-const T& ftl::data::Frame<BASE,N,STATE,DATA>::get(ftl::codecs::Channel channel) const {
- if (channel == ftl::codecs::Channel::None) {
- throw FTL_Error("Attempting to get channel 'None'");
- } else if (channel == ftl::codecs::Channel::Pose) {
- return state_.template as<T,ftl::codecs::Channel::Pose>();
- } else if (channel == ftl::codecs::Channel::Calibration) {
- return state_.template as<T,ftl::codecs::Channel::Calibration>();
- } else if (channel == ftl::codecs::Channel::Calibration2) {
- return state_.template as<T,ftl::codecs::Channel::Calibration2>();
- } else if (channel == ftl::codecs::Channel::Configuration) {
- return state_.template as<T,ftl::codecs::Channel::Configuration>();
- }
-
- // Add channel if not already there
- if (!channels_.has(channel)) {
- throw FTL_Error("Frame channel does not exist: " << (int)channel);
- }
-
- return getData(channel).template as<T>();
-}
-
-// Default data channel implementation
-template <int BASE, int N, typename STATE, typename DATA>
-// cppcheck-suppress *
-template <typename T>
-void ftl::data::Frame<BASE,N,STATE,DATA>::get(ftl::codecs::Channel channel, T ¶ms) const {
- if (static_cast<int>(channel) < static_cast<int>(ftl::codecs::Channel::Data)) throw FTL_Error("Cannot use generic type with non data channel");
- if (!hasChannel(channel)) throw FTL_Error("Data channel does not exist");
-
- const auto &i = data_data_.find(static_cast<int>(channel));
- if (i == data_data_.end()) throw FTL_Error("Data channel does not exist");
-
- auto unpacked = msgpack::unpack((const char*)(*i).second.data(), (*i).second.size());
- unpacked.get().convert(params);
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-// cppcheck-suppress *
-template <typename T>
-T &ftl::data::Frame<BASE,N,STATE,DATA>::create(ftl::codecs::Channel c) {
- if (c == ftl::codecs::Channel::None) {
- throw FTL_Error("Cannot create a None channel");
- }
- channels_ += c;
-
- auto &m = getData(c);
- return m.template make<T>();
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-// cppcheck-suppress *
-template <typename T>
-void ftl::data::Frame<BASE,N,STATE,DATA>::create(ftl::codecs::Channel channel, const T &value) {
- if (static_cast<int>(channel) < static_cast<int>(ftl::codecs::Channel::Data)) throw FTL_Error("Cannot use generic type with non data channel");
-
- data_channels_ += channel;
-
- auto &v = *std::get<0>(data_data_.insert({static_cast<int>(channel),{}}));
- v.second.resize(0);
- ftl::util::FTLVectorBuffer buf(v.second);
- msgpack::pack(buf, value);
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-void ftl::data::Frame<BASE,N,STATE,DATA>::setOrigin(STATE *state) {
- if (origin_ != nullptr) {
- throw FTL_Error("Can only set origin once after reset");
- }
-
- origin_ = state;
- state_ = *state;
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-const Eigen::Matrix4d &ftl::data::Frame<BASE,N,STATE,DATA>::getPose() const {
- return get<Eigen::Matrix4d>(ftl::codecs::Channel::Pose);
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-const typename STATE::Settings &ftl::data::Frame<BASE,N,STATE,DATA>::getLeft() const {
- return get<typename STATE::Settings>(ftl::codecs::Channel::Calibration);
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-const typename STATE::Settings &ftl::data::Frame<BASE,N,STATE,DATA>::getSettings() const {
- return get<typename STATE::Settings>(ftl::codecs::Channel::Calibration);
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-const typename STATE::Settings &ftl::data::Frame<BASE,N,STATE,DATA>::getRight() const {
- return get<typename STATE::Settings>(ftl::codecs::Channel::Calibration2);
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-void ftl::data::Frame<BASE,N,STATE,DATA>::setPose(const Eigen::Matrix4d &pose, bool mark) {
- if (origin_) {
- if (mark) origin_->setPose(pose);
- else origin_->getPose() = pose;
- }
- state_.setPose(pose);
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-void ftl::data::Frame<BASE,N,STATE,DATA>::patchPose(const Eigen::Matrix4d &pose) {
- state_.getPose() = pose * state_.getPose();
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-void ftl::data::Frame<BASE,N,STATE,DATA>::setLeft(const typename STATE::Settings &c) {
- if (origin_) origin_->setLeft(c);
- state_.setLeft(c);
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-void ftl::data::Frame<BASE,N,STATE,DATA>::setRight(const typename STATE::Settings &c) {
- if (origin_) origin_->setRight(c);
- state_.setRight(c);
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-std::string ftl::data::Frame<BASE,N,STATE,DATA>::getConfigString() const {
- return ftl::config::dumpJSON(get<nlohmann::json>(ftl::codecs::Channel::Configuration));
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-const std::vector<unsigned char> &ftl::data::Frame<BASE,N,STATE,DATA>::getRawData(ftl::codecs::Channel channel) const {
- if (static_cast<int>(channel) < static_cast<int>(ftl::codecs::Channel::Data)) throw FTL_Error("Non data channel");
- if (!hasChannel(channel)) throw FTL_Error("Data channel does not exist");
-
- return data_data_.at(static_cast<int>(channel));
-}
-
-template <int BASE, int N, typename STATE, typename DATA>
-void ftl::data::Frame<BASE,N,STATE,DATA>::createRawData(ftl::codecs::Channel c, const std::vector<unsigned char> &v) {
- data_data_.insert({static_cast<int>(c), v});
- data_channels_ += c;
-}
-
-#endif // _FTL_DATA_FRAME_HPP_
diff --git a/components/structures/include/ftl/data/framepool.hpp b/components/structures/include/ftl/data/framepool.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..ab619531ee4a2f52115272add67d14f0585747c2
--- /dev/null
+++ b/components/structures/include/ftl/data/framepool.hpp
@@ -0,0 +1,64 @@
+#ifndef _FTL_DATA_FRAMEPOOL_HPP_
+#define _FTL_DATA_FRAMEPOOL_HPP_
+
+#include <ftl/data/new_frame.hpp>
+#include <ftl/data/new_frameset.hpp>
+#include <ftl/data/creators.hpp>
+#include <list>
+#include <unordered_map>
+
+namespace ftl {
+namespace data {
+
+class Pool {
+ friend class Session;
+ friend class FrameSet;
+
+ public:
+ explicit Pool(size_t min_n, size_t max_n);
+ ~Pool();
+
+ ftl::data::Frame allocate(FrameID id, int64_t timestamp);
+ void release(Frame &f);
+
+ ftl::data::Session &session(FrameID id);
+ inline ftl::data::Session &group(FrameID id) { return session(id); }
+
+ inline ftl::Handle onFlush(const std::function<bool(ftl::data::Frame&,ftl::codecs::Channel)> &cb) { return flush_.on(cb); }
+
+ inline ftl::Handle onFlushSet(const std::function<bool(ftl::data::FrameSet&,ftl::codecs::Channel)> &cb) { return flush_fs_.on(cb); }
+
+ size_t size(FrameID id);
+
+ size_t size();
+
+ template <typename T, typename ...ARGS>
+ T creator(FrameID id, ARGS ...args) {
+ static_assert(std::is_base_of<ftl::data::FrameCreator, T>::value, "A creator must inherit FrameCreator");
+ return T(this, id, args...);
+ }
+
+ private:
+ struct PoolData {
+ std::list<ftl::data::Frame*> pool;
+ ftl::data::Session session;
+ int64_t last_timestamp=0;
+ };
+
+ std::unordered_map<uint32_t, PoolData> pool_;
+ size_t min_n_;
+ size_t max_n_;
+ size_t ideal_n_;
+
+ ftl::Handler<ftl::data::Frame&,ftl::codecs::Channel> flush_;
+ ftl::Handler<ftl::data::FrameSet&,ftl::codecs::Channel> flush_fs_;
+
+ MUTEX mutex_;
+
+ PoolData &_getPool(FrameID);
+};
+
+}
+}
+
+#endif
\ No newline at end of file
diff --git a/components/structures/include/ftl/data/frameset.hpp b/components/structures/include/ftl/data/frameset.hpp
deleted file mode 100644
index 4de7035f584e8d26490b799b3bd1846c25486fc3..0000000000000000000000000000000000000000
--- a/components/structures/include/ftl/data/frameset.hpp
+++ /dev/null
@@ -1,244 +0,0 @@
-#ifndef _FTL_DATA_FRAMESET_HPP_
-#define _FTL_DATA_FRAMESET_HPP_
-
-#include <ftl/threads.hpp>
-#include <ftl/timer.hpp>
-#include <ftl/data/frame.hpp>
-#include <functional>
-
-//#include <opencv2/opencv.hpp>
-#include <vector>
-
-namespace ftl {
-namespace data {
-
-// Allows a latency of 20 frames maximum
-//static const size_t kMaxFramesets = 15;
-static const size_t kMaxFramesInSet = 32;
-
-enum class FSFlag : int {
- STALE = 0,
- PARTIAL = 1
-};
-
-/**
- * Represents a set of synchronised frames, each with two channels. This is
- * used to collect all frames from multiple computers that have the same
- * timestamp.
- */
-template <typename FRAME>
-class FrameSet {
- public:
-
- int id=0;
- int64_t timestamp; // Millisecond timestamp of all frames
- int64_t originClockDelta;
- std::vector<FRAME> frames;
- std::atomic<int> count; // Number of valid frames
- std::atomic<unsigned int> mask; // Mask of all sources that contributed
- //bool stale; // True if buffers have been invalidated
- SHARED_MUTEX mtx;
-
- Eigen::Matrix4d pose; // Set to identity by default.
-
- inline int64_t localTimestamp() const { return timestamp + originClockDelta; }
-
- void set(FSFlag f) { flags_ |= (1 << static_cast<int>(f)); }
- void clear(FSFlag f) { flags_ &= ~(1 << static_cast<int>(f)); }
- bool test(FSFlag f) const { return flags_ & (1 << static_cast<int>(f)); }
- void clearFlags() { flags_ = 0; }
-
- /**
- * Move the entire frameset to another frameset object. This will
- * invalidate the current frameset object as all memory buffers will be
- * moved.
- */
- void swapTo(ftl::data::FrameSet<FRAME> &);
-
- typedef FRAME Frame;
- typedef std::function<bool(ftl::data::FrameSet<FRAME> &)> Callback;
-
- /**
- * Get the data from a data channel. This only works for the data channels
- * and will throw an exception with any others.
- */
- template <typename T> void get(ftl::codecs::Channel channel, T ¶ms) const;
-
- /**
- * Set the value of a channel. Some channels should not be modified via the
- * non-const get method, for example the data channels.
- */
- template <typename T> void create(ftl::codecs::Channel channel, const T &value);
-
- /**
- * Access the raw data channel vector object.
- */
- const std::vector<unsigned char> &getRawData(ftl::codecs::Channel c) const;
-
- /**
- * Provide raw data for a data channel.
- */
- void createRawData(ftl::codecs::Channel c, const std::vector<unsigned char> &v);
-
- /**
- * Is there valid data in channel (either host or gpu). This does not
- * verify that any memory or data exists for the channel.
- */
- inline bool hasChannel(ftl::codecs::Channel channel) const {
- int c = static_cast<int>(channel);
- if (c == 66) return true;
- else if (c >= 2048) return data_channels_.has(channel);
- return false;
- }
-
- /**
- * Check that a given frame is valid in this frameset.
- */
- inline bool hasFrame(size_t ix) const { return (1 << ix) & mask; }
-
- /**
- * Get the first valid frame in this frameset. No valid frames throws an
- * exception.
- */
- FRAME &firstFrame();
-
- const FRAME &firstFrame() const;
-
- void clearData() {
- data_.clear();
- data_channels_.clear();
- }
-
- ftl::codecs::Channels<2048> getDataChannels() const { return data_channels_; }
-
- private:
- std::unordered_map<int, std::vector<unsigned char>> data_;
- ftl::codecs::Channels<2048> data_channels_;
- std::atomic<int> flags_;
-};
-
-/**
- * Callback type for receiving video frames.
- */
-//typedef std::function<bool(ftl::rgbd::FrameSet &)> VideoCallback;
-
-/**
- * Abstract class for any generator of FrameSet structures. A generator
- * produces (decoded) frame sets at regular frame intervals depending on the
- * global timer settings. The `onFrameSet` callback may be triggered from any
- * thread and also may drop frames and not be called for a given timestamp.
- */
-template <typename FRAMESET>
-class Generator {
- public:
- Generator() {}
- virtual ~Generator() {}
-
- /** Number of frames in last frameset. This can change over time. */
- virtual size_t size()=0;
-
- /**
- * Get the persistent state object for a frame. An exception is thrown
- * for a bad index.
- */
- virtual typename FRAMESET::Frame::State &state(size_t ix)=0;
-
- inline typename FRAMESET::Frame::State &operator[](int ix) { return state(ix); }
-
- /** Register a callback to receive new frame sets. */
- virtual void onFrameSet(const typename FRAMESET::Callback &)=0;
-};
-
-}
-}
-
-// === Implementations =========================================================
-
-template <typename FRAME>
-void ftl::data::FrameSet<FRAME>::swapTo(ftl::data::FrameSet<FRAME> &fs) {
- //UNIQUE_LOCK(fs.mtx, lk);
- std::unique_lock<std::shared_mutex> lk(fs.mtx);
-
- //if (fs.frames.size() != frames.size()) {
- // Assume "this" is correct and "fs" is not.
- fs.frames.resize(frames.size());
- //}
-
- fs.timestamp = timestamp;
- fs.count = static_cast<int>(count);
- fs.flags_ = (int)flags_;
- fs.mask = static_cast<unsigned int>(mask);
- fs.id = id;
- fs.pose = pose;
-
- for (size_t i=0; i<frames.size(); ++i) {
- frames[i].swapTo(ftl::codecs::Channels<0>::All(), fs.frames[i]);
- }
-
- std::swap(fs.data_, data_);
- fs.data_channels_ = data_channels_;
- data_channels_.clear();
-
- set(ftl::data::FSFlag::STALE);
-}
-
-// Default data channel implementation
-template <typename FRAME>
-// cppcheck-suppress *
-template <typename T>
-void ftl::data::FrameSet<FRAME>::get(ftl::codecs::Channel channel, T ¶ms) const {
- if (static_cast<int>(channel) < static_cast<int>(ftl::codecs::Channel::Data)) throw FTL_Error("Cannot use generic type with non data channel");
- if (!hasChannel(channel)) throw FTL_Error("Data channel does not exist");
-
- const auto &i = data_.find(static_cast<int>(channel));
- if (i == data_.end()) throw FTL_Error("Data channel does not exist");
-
- auto unpacked = msgpack::unpack((const char*)(*i).second.data(), (*i).second.size());
- unpacked.get().convert(params);
-}
-
-template <typename FRAME>
-// cppcheck-suppress *
-template <typename T>
-void ftl::data::FrameSet<FRAME>::create(ftl::codecs::Channel channel, const T &value) {
- if (static_cast<int>(channel) < static_cast<int>(ftl::codecs::Channel::Data)) throw FTL_Error("Cannot use generic type with non data channel");
-
- data_channels_ += channel;
-
- auto &v = *std::get<0>(data_.insert({static_cast<int>(channel),{}}));
- v.second.resize(0);
- ftl::util::FTLVectorBuffer buf(v.second);
- msgpack::pack(buf, value);
-}
-
-template <typename FRAME>
-const std::vector<unsigned char> &ftl::data::FrameSet<FRAME>::getRawData(ftl::codecs::Channel channel) const {
- if (static_cast<int>(channel) < static_cast<int>(ftl::codecs::Channel::Data)) throw FTL_Error("Non data channel");
- if (!hasChannel(channel)) throw FTL_Error("Data channel does not exist");
-
- return data_.at(static_cast<int>(channel));
-}
-
-template <typename FRAME>
-void ftl::data::FrameSet<FRAME>::createRawData(ftl::codecs::Channel c, const std::vector<unsigned char> &v) {
- data_.insert({static_cast<int>(c), v});
- data_channels_ += c;
-}
-
-template <typename FRAME>
-FRAME &ftl::data::FrameSet<FRAME>::firstFrame() {
- for (size_t i=0; i<frames.size(); ++i) {
- if (hasFrame(i)) return frames[i];
- }
- throw FTL_Error("No frames in frameset");
-}
-
-template <typename FRAME>
-const FRAME &ftl::data::FrameSet<FRAME>::firstFrame() const {
- for (size_t i=0; i<frames.size(); ++i) {
- if (hasFrame(i)) return frames[i];
- }
- throw FTL_Error("No frames in frameset");
-}
-
-#endif // _FTL_DATA_FRAMESET_HPP_
diff --git a/components/structures/include/ftl/data/framestate.hpp b/components/structures/include/ftl/data/framestate.hpp
deleted file mode 100644
index 378a37f3d49406c9dec46114e04da8c1e6cbc21d..0000000000000000000000000000000000000000
--- a/components/structures/include/ftl/data/framestate.hpp
+++ /dev/null
@@ -1,302 +0,0 @@
-#ifndef _FTL_DATA_FRAMESTATE_HPP_
-#define _FTL_DATA_FRAMESTATE_HPP_
-
-#include <ftl/configuration.hpp>
-#include <ftl/exception.hpp>
-#include <ftl/codecs/channels.hpp>
-#include <Eigen/Eigen>
-#include <array>
-#include <optional>
-#include <string>
-
-namespace ftl {
-namespace data {
-
-/**
- * Represent state that is persistent across frames. Such state may or may not
- * change from one frame to the next so a record of what has changed must be
- * kept. Changing state should be done at origin and not in the frame. State
- * that is marked as changed will then be send into a stream and the changed
- * status will be cleared, allowing data to only be sent/saved when actual
- * changes occur.
- *
- * The provided SETTINGS type must support MsgPack and be copyable. An example
- * of settings is camera intrinsics.
- *
- * COUNT is the number of settings channels available. For example, video state
- * has two settings channels, one for left camera and one for right camera.
- */
-template <typename SETTINGS, int COUNT>
-class FrameState {
- public:
- typedef SETTINGS Settings;
-
- FrameState();
- FrameState(FrameState &);
- FrameState(FrameState &&);
- ~FrameState();
-
- /**
- * Update the pose and mark as changed.
- */
- void setPose(const Eigen::Matrix4d &pose) {
- pose_ = pose;
- changed_ += ftl::codecs::Channel::Pose;
- }
-
- /**
- * Update the left settings and mark as changed.
- */
- void setLeft(const SETTINGS &p) {
- static_assert(COUNT > 0, "No settings channel");
- settings_[0] = p;
- changed_ += ftl::codecs::Channel::Settings1;
- }
-
- /**
- * Update the right settings and mark as changed.
- */
- void setRight(const SETTINGS &p) {
- static_assert(COUNT > 1, "No second settings channel");
- settings_[1] = p;
- changed_ += ftl::codecs::Channel::Settings2;
- }
-
- /**
- * Change settings using ID number. Necessary when more than 2 settings
- * channels exist, otherwise use `setLeft` and `setRight`.
- */
- template <int I>
- void set(const SETTINGS &p) {
- static_assert(I < COUNT, "Settings channel too large");
- settings_[I] = p;
- changed_ += __idToChannel(I);
- }
-
- /**
- * Get the current pose.
- */
- inline const Eigen::Matrix4d &getPose() const { return pose_; }
-
- /**
- * Get the left settings.
- */
- inline const SETTINGS &getLeft() const { return settings_[0]; }
-
- /**
- * Get the right settings.
- */
- inline const SETTINGS &getRight() const { return settings_[1]; }
-
- /**
- * Get a modifiable pose reference that does not change the changed status.
- * @attention Should only be used internally.
- * @todo Make private eventually.
- */
- inline Eigen::Matrix4d &getPose() { return pose_; }
-
- /**
- * Get a modifiable left settings reference that does not change
- * the changed status. Modifications made using this will not be propagated.
- * @attention Should only be used internally.
- * @todo Make private eventually.
- */
- inline SETTINGS &getLeft() { return settings_[0]; }
-
- /**
- * Get a modifiable right settings reference that does not change
- * the changed status. Modifications made using this will not be propagated.
- * @attention Should only be used internally.
- * @todo Make private eventually.
- */
- inline SETTINGS &getRight() { return settings_[1]; }
-
- /**
- * Get a named config property.
- */
- template <typename T>
- std::optional<T> get(const std::string &name) {
- return ftl::config::getJSON<T>(config_, name);
- }
-
- /**
- * Helper class to specialising channel based state access.
- * @private
- */
- template <typename T, ftl::codecs::Channel C, typename S, int N> struct As {
- static const T &func(const ftl::data::FrameState<S,N> &t) {
- throw FTL_Error("Type not supported for state channel");
- }
-
- static T &func(ftl::data::FrameState<S,N> &t) {
- throw FTL_Error("Type not supported for state channel");
- }
- };
-
- // Specialise for pose
- template <typename S, int N>
- struct As<Eigen::Matrix4d,ftl::codecs::Channel::Pose,S,N> {
- static const Eigen::Matrix4d &func(const ftl::data::FrameState<S,N> &t) {
- return t.pose_;
- }
-
- static Eigen::Matrix4d &func(ftl::data::FrameState<S,N> &t) {
- return t.pose_;
- }
- };
-
- // Specialise for settings 1
- template <typename S, int N>
- struct As<S,ftl::codecs::Channel::Settings1,S,N> {
- static const S &func(const ftl::data::FrameState<S,N> &t) {
- return t.settings_[0];
- }
-
- static S &func(ftl::data::FrameState<S,N> &t) {
- return t.settings_[0];
- }
- };
-
- // Specialise for settings 2
- template <typename S, int N>
- struct As<S,ftl::codecs::Channel::Settings2,S,N> {
- static const S &func(const ftl::data::FrameState<S,N> &t) {
- return t.settings_[1];
- }
-
- static S &func(ftl::data::FrameState<S,N> &t) {
- return t.settings_[1];
- }
- };
-
- // Specialise for config
- template <typename S, int N>
- struct As<nlohmann::json,ftl::codecs::Channel::Configuration,S,N> {
- static const nlohmann::json &func(const ftl::data::FrameState<S,N> &t) {
- return *t.config_;
- }
-
- static nlohmann::json &func(ftl::data::FrameState<S,N> &t) {
- return *t.config_;
- }
- };
-
- /**
- * Allow access to state items using a known channel number. By default
- * these throw an exception unless specialised to accept a particular type
- * for a particular channel. The specialisations are automatic for pose,
- * config and SETTINGS items.
- */
- template <typename T, ftl::codecs::Channel C>
- T &as() { return As<T,C,SETTINGS,COUNT>::func(*this); }
-
- /**
- * Allow access to state items using a known channel number. By default
- * these throw an exception unless specialised to accept a particular type
- * for a particular channel. The specialisations are automatic for pose,
- * config and SETTINGS items.
- */
- template <typename T, ftl::codecs::Channel C>
- const T &as() const {
- return As<T,C,SETTINGS,COUNT>::func(*this);
- }
-
- /**
- * Set a named config property. Also makes state as changed to be resent.
- */
- template <typename T>
- void set(const std::string &name, T value) {
- ftl::config::setJSON<T>(config_, name, value);
- changed_ += ftl::codecs::Channel::Configuration;
- }
-
- inline const nlohmann::json &getConfig() const { return *config_; }
-
- inline nlohmann::json &getConfig() { return *config_; }
-
- /**
- * Check if pose or settings have been modified and not yet forwarded.
- * Once forwarded through a pipeline / stream the changed status is cleared.
- */
- inline bool hasChanged(ftl::codecs::Channel c) const { return changed_.has(c); }
-
- /**
- * Copy assignment will clear the changed status of the original.
- */
- FrameState &operator=(FrameState &);
-
- FrameState &operator=(FrameState &&);
-
- /**
- * Clear the changed status to unchanged.
- */
- inline void clear() { changed_.clear(); }
-
- private:
- Eigen::Matrix4d pose_;
- std::array<SETTINGS,COUNT> settings_;
- nlohmann::json *config_;
- ftl::codecs::Channels<64> changed_; // Have the state channels changed?
-
- static inline ftl::codecs::Channel __idToChannel(int id) {
- return (id == 0) ? ftl::codecs::Channel::Settings1 : (id == 1) ?
- ftl::codecs::Channel::Settings2 :
- static_cast<ftl::codecs::Channel>(static_cast<int>(ftl::codecs::Channel::Settings3)+(id-2));
- }
-};
-
-}
-}
-
-
-template <typename SETTINGS, int COUNT>
-ftl::data::FrameState<SETTINGS,COUNT>::FrameState() : settings_({{0}}), config_(ftl::config::createJSON()) {
- pose_ = Eigen::Matrix4d::Identity();
-}
-
-template <typename SETTINGS, int COUNT>
-ftl::data::FrameState<SETTINGS,COUNT>::~FrameState() {
- ftl::config::destroyJSON(config_);
-}
-
-template <typename SETTINGS, int COUNT>
-ftl::data::FrameState<SETTINGS,COUNT>::FrameState(ftl::data::FrameState<SETTINGS,COUNT> &f) {
- pose_ = f.pose_;
- settings_ = f.settings_;
- changed_ = f.changed_;
- ftl::config::copyJSON(config_, f.config_);
- f.changed_.clear();
-}
-
-template <typename SETTINGS, int COUNT>
-ftl::data::FrameState<SETTINGS,COUNT>::FrameState(ftl::data::FrameState<SETTINGS,COUNT> &&f) {
- pose_ = f.pose_;
- settings_ = f.settings_;
- changed_ = f.changed_;
- config_ = f.config_;
- f.config_ = nullptr;
- f.changed_.clear();
-}
-
-template <typename SETTINGS, int COUNT>
-ftl::data::FrameState<SETTINGS,COUNT> &ftl::data::FrameState<SETTINGS,COUNT>::operator=(ftl::data::FrameState<SETTINGS,COUNT> &f) {
- pose_ = f.pose_;
- settings_ = f.settings_;
- changed_ = f.changed_;
- ftl::config::copyJSON(config_, f.config_);
- f.changed_.clear();
- return *this;
-}
-
-template <typename SETTINGS, int COUNT>
-ftl::data::FrameState<SETTINGS,COUNT> &ftl::data::FrameState<SETTINGS,COUNT>::operator=(ftl::data::FrameState<SETTINGS,COUNT> &&f) {
- pose_ = f.pose_;
- settings_ = f.settings_;
- changed_ = f.changed_;
- config_ = f.config_;
- f.changed_.clear();
- f.config_ = nullptr;
- return *this;
-}
-
-#endif // _FTL_DATA_FRAMESTATE_HPP_
diff --git a/components/structures/include/ftl/data/messages.hpp b/components/structures/include/ftl/data/messages.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..74bcfccb0a8fdfba380b5117dc976a0b75448879
--- /dev/null
+++ b/components/structures/include/ftl/data/messages.hpp
@@ -0,0 +1,31 @@
+#ifndef _FTL_DATA_MESSAGES_HPP_
+#define _FTL_DATA_MESSAGES_HPP_
+
+#include <msgpack.hpp>
+
+namespace ftl {
+namespace data {
+
+// Note: On Windows ERROR_* sometimes matches a macro and fails, hence use of Error not ERROR
+enum class Message : int {
+ Error_UNKNOWN = 0,
+ Error_OPERATOR_EXCEPTION,
+ Error_FRAME_GRAB,
+ Error_BAD_FORMAT,
+ Error_OPENVR,
+ Error_RENDER,
+ Warning_UNKNOWN = 1024,
+ Warning_FRAME_DROP,
+ Warning_PIPELINE_DROP,
+ Warning_MISSING_CHANNEL,
+ Warning_INCOMPLETE_FRAME,
+ INFORMATION_UNKNOWN = 2046,
+ OTHER_UNKNOWN = 3072
+};
+
+}
+}
+
+MSGPACK_ADD_ENUM(ftl::data::Message);
+
+#endif
\ No newline at end of file
diff --git a/components/structures/include/ftl/data/new_frame.hpp b/components/structures/include/ftl/data/new_frame.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..ebbceed9061a380e4ade9c5b6b011a163c3887b3
--- /dev/null
+++ b/components/structures/include/ftl/data/new_frame.hpp
@@ -0,0 +1,1014 @@
+#ifndef _FTL_DATA_NEWFRAME_HPP_
+#define _FTL_DATA_NEWFRAME_HPP_
+
+// Remove pointless warning
+#ifdef _MSC_VER
+#pragma warning(disable : 4544)
+#endif
+
+#include <map>
+#include <unordered_set>
+#include <any>
+#include <optional>
+#include <list>
+#include <unordered_map>
+#include <functional>
+#include <ftl/codecs/channels.hpp>
+#include <ftl/codecs/packet.hpp>
+#include <ftl/data/channels.hpp>
+#include <ftl/exception.hpp>
+#include <ftl/handle.hpp>
+#include <ftl/data/messages.hpp>
+
+#include <cuda_runtime.h>
+
+template<typename T> struct is_list : public std::false_type {};
+
+template<typename T>
+struct is_list<std::list<T>> : public std::true_type {};
+
+namespace ftl {
+namespace streams { class Feed; }
+namespace data {
+
+class Session;
+class Pool;
+class FrameSet;
+
+/**
+ * Unique identifier for a single frame. This is stored as two 16bit numbers
+ * packed into a 32bit int. Every frame has a FrameID, as does every frameset.
+ * FrameID + Timestamp together will be a unique object within the system since
+ * frames cannot be duplicated.
+ */
+struct FrameID {
+ uint32_t id;
+
+ /**
+ * Frameset ID for this frame.
+ */
+ inline unsigned int frameset() const { return id >> 8; }
+
+ /**
+ * Frame index within the frameset. This will correspond to the vector
+ * index in the frameset object.
+ */
+ inline unsigned int source() const { return id & 0xff; }
+
+ /**
+ * The packed int with both frameset ID and index.
+ */
+ operator uint32_t() const { return id; }
+
+ /**
+ * Create a frame ID using a frameset id and a source number.
+ * @param fs Frameset id
+ * @param s Source number inside frameset
+ */
+ FrameID(unsigned int fs, unsigned int s) : id((fs << 8) + (s & 0xff) ) {}
+ FrameID() : id(0) {}
+};
+
+/**
+ * A frame object can be used in 3 different scenarios. A frame mode cannot be
+ * changed after construction and so each mode is constructed differently.
+ */
+enum FrameMode {
+ PRIMARY, /// A normal frame generated by a builder
+ RESPONSE, /// A frame that acts as a reply to a primary frame
+ STANDALONE /// Not associated with a source or stream, used for storage
+};
+
+/**
+ * The life cycle of a frame goes through all of these frame status stages.
+ * From the `Pool` it is created. After the frame is populated with initial data
+ * it is `stored`. New data is inserted to the frame before being `flushed`.
+ * Finally, when the frame is destroyed the data is transfered to the `Pool`
+ * for memory reuse and the frame is `released`.
+ */
+enum FrameStatus {
+ CREATED, /// Initial state, before store
+ STORED, /// Changed to this after call to `store`
+ FLUSHED, /// Changed to this after call to `flush`
+ RELEASED /// Destroyed or moved
+};
+
+/**
+ * Helper class to enable aggregation of aggregate channels. Assignment acts to
+ * append data to a list rather than replace that data. It allows all data
+ * changes to be recorded. Not thread-safe however.
+ */
+template <typename T>
+struct Aggregator {
+ T &list;
+ bool aggregate=true;
+
+ Aggregator &operator=(const T &l) {
+ if (aggregate) list.insert(list.end(), l.begin(), l.end());
+ else list = l;
+ return *this;
+ }
+
+ Aggregator &operator=(const typename T::value_type &v) {
+ list.push_back(v);
+ return *this;
+ }
+
+ Aggregator &operator=(typename T::value_type &&v) {
+ list.push_back(std::move(v));
+ return *this;
+ }
+
+ Aggregator &operator=(T &&l) {
+ if (aggregate) list.splice(list.end(), l, l.begin(), l.end());
+ else list = std::move(l);
+ return *this;
+ }
+
+ operator T() { return list; }
+ operator T() const { return list; }
+};
+
+/**
+ * A `Frame` is the primary unit of data within the system. A data source
+ * generates discrete blocks of data with a timestamp, these blocks are
+ * encapsulated in a frame that has any number of channels. A `Frame` must be
+ * constructed from a `Pool` object so that memory can be reused.
+ *
+ * It can be moved around but not copied since the quantity of data involved in
+ * a frame is huge.
+ *
+ * A frame goes through the following stages:
+ * 1) Creation from reused memory in `Pool`
+ * 2) Populate with incoming initial data/changes (from stream)
+ * 3) Store of changes to persistent memory
+ * 4) Create any new data such as new video frames
+ * 5) Flush the data to transmit or save, becomes readonly
+ * 6) Release memory to `Pool`
+ *
+ * A channel stores one particular element of data of a specified type. To write
+ * to a channel the `create` or `set` methods must be used, this will mark the
+ * channel as changed but can only occur before the frame is flushed and
+ * readonly. A `get` method allows const access to the data as long as the
+ * channel exists.
+ *
+ * On change events are triggered when `store` occurs, whereas on flush events
+ * occur after flush. Both of these may occur on destruction if the frame was
+ * not stored or flushed before destruction.
+ *
+ * Some channels may fail `hasChannel` but still be marked as `available`. This
+ * will be due to the data not being transmitted or encoded until requested.
+ *
+ * Each frame is also associated with a `Session` object which stores all
+ * persistent data. Persistent data can then be accessed via any `Frame` with
+ * the same ID since they share a `Session`.
+ *
+ * A `Frame` provides some basic methods, however, it can be cast to other
+ * frame types using the cast method which provides additional wrapper
+ * functions. An example is `ftl::rgbd::Frame`.
+ *
+ * @see https://gitlab.utu.fi/nicolas.pope/ftl/-/wikis/Design/Frames
+ */
+class Frame {
+ friend class Session;
+ friend class ftl::data::Pool;
+ friend class ftl::data::FrameSet;
+
+ protected:
+ // Only Feed class should construct
+ Frame(Pool *ppool, Session *parent, FrameID pid, int64_t ts);
+ int64_t timestamp_=0;
+ FrameID id_;
+
+ public:
+
+ /**
+ * Millisecond timestamp when the frame was originally constructed and which
+ * was the instant the data contents were captured.
+ */
+ inline int64_t timestamp() const { return timestamp_; }
+
+ /**
+ * Unique identification of data source. Combined with timestamp it will
+ * become a unique item of data and a singleton in the system.
+ */
+ inline FrameID id() const { return id_; }
+
+ /**
+ * Access the frameset ID for this frame.
+ */
+ inline unsigned int frameset() const { return id_.frameset(); }
+
+ /**
+ * Access the index of the frame within the frameset.
+ */
+ inline unsigned int source() const { return id_.source(); }
+
+ public:
+ Frame()=delete;
+
+ ~Frame();
+
+ Frame(Frame &&f) {
+ f.moveTo(*this);
+ }
+
+ Frame &operator=(Frame &&f) {
+ f.moveTo(*this);
+ return *this;
+ }
+
+ // Prevent frame copy, instead use a move.
+ Frame(const Frame &)=delete;
+ Frame &operator=(const Frame &)=delete;
+
+ /**
+ * Obtain the current life-cycle status of the frame. This determines what
+ * operations are permitted and what the behviour of the frame is.
+ */
+ inline FrameStatus status() const { return status_; }
+
+ /**
+ * Number of data channels in the frame. Excluding previous persistent data.
+ */
+ inline size_t size() const { return data_.size(); }
+
+ /**
+ * Is there data in this frame or in the persistent store for the given
+ * channel number?
+ */
+ bool has(ftl::codecs::Channel c) const;
+
+ /**
+ * Check that either this frame or the persistent store has all the
+ * channels in the set.
+ */
+ bool hasAll(const std::unordered_set<ftl::codecs::Channel> &cs);
+
+ /**
+ * @see has(Channel)
+ */
+ inline bool hasChannel(ftl::codecs::Channel c) const { return has(c); }
+
+ /**
+ * Does this frame have data for a given channel. This excludes any data
+ * that may be in the persistent store.
+ */
+ inline bool hasOwn(ftl::codecs::Channel c) const;
+
+ /**
+ * Is the channel potentially available if requested via a stream. Not all
+ * channels are encoded and transmitted, but must be requested. This
+ * indicates if such a request can be fullfilled.
+ */
+ inline bool available(ftl::codecs::Channel c) const;
+
+ /**
+ * A complete set of all channels that are potentially available but may
+ * not currently have the data stored within this object. It means the
+ * source of the frame can provide the data but has not be requested to
+ * actually do so, or cannot due to resource constraints.
+ */
+ std::unordered_set<ftl::codecs::Channel> available() const;
+
+ bool availableAll(const std::unordered_set<ftl::codecs::Channel> &cs) const;
+
+ /**
+ * Used by a receiver to mark potential availability. Should not be used
+ * elsewhere.
+ */
+ inline void markAvailable(ftl::codecs::Channel c);
+
+ /**
+ * Has a given channel been marked as changed?
+ */
+ inline bool changed(ftl::codecs::Channel c) const;
+
+ /**
+ * A channel is readonly if it has been flushed. An exception is thrown if
+ * a write is attempted.
+ */
+ inline bool readonly(ftl::codecs::Channel c) const;
+
+ /**
+ * @see readonly(Channel)
+ */
+ inline bool flushed(ftl::codecs::Channel c) const;
+
+ /**
+ * Changes can occur from different sources for different reasons, this
+ * obtains the cause of the change. For example, it can be a primary local
+ * change or it can be received from a remote source. Change type does
+ * influence behaviour during store and flush actions.
+ */
+ inline ftl::data::ChangeType getChangeType(ftl::codecs::Channel c) const;
+
+ /**
+ * Obtain the map of all changes.
+ */
+ inline const std::unordered_map<ftl::codecs::Channel, ChangeType> &changed() const { return changed_; }
+
+ /**
+ * Obtains a set of all available channels. This excludes channels in the
+ * persistent store.
+ */
+ std::unordered_set<ftl::codecs::Channel> channels() const;
+
+ /**
+ * All channels including those in the persistent store.
+ */
+ std::unordered_set<ftl::codecs::Channel> allChannels() const;
+
+ /**
+ * Test if the type of the channel matches the template type. Other
+ * functions throw exceptions if wrong type is used, but this will not. It
+ * will also return false if the channel is missing.
+ */
+ template <typename T>
+ bool isType(ftl::codecs::Channel c) const;
+
+ /**
+ * Get a readonly const reference to the content of a channel. If the
+ * channel does not exist or if the template type does not match the content
+ * then it throws an exception. The data can either be within this frame,
+ * or if not in the frame then it checks the persistent store.
+ *
+ * The data may internally still be encoded and will only be decoded on the
+ * first call to `get`. It is therefore strongly advised that any initial
+ * calls to `get` are not concurrent as it will not be thread-safe.
+ */
+ template <typename T>
+ const T &get(ftl::codecs::Channel c) const;
+
+ /**
+ * Should not be used directly, but allows direct access to the data for
+ * a channel without any attempt to cast it to type. Throws exceptions if
+ * the channel does not exist, but will also look in the persistent
+ * store.
+ */
+ const std::any &getAny(ftl::codecs::Channel c) const;
+
+ /**
+ * Get the hash code from the C++ `type_info` structure that corresponds to
+ * the current data contents.
+ */
+ inline size_t type(ftl::codecs::Channel c) const { return getAny(c).type().hash_code(); }
+
+ /**
+ * Should not be used. Allows modification without marking as changed.
+ */
+ std::any &getAnyMutable(ftl::codecs::Channel c);
+
+ /**
+ * Should not be used. Does not throw exceptions but can return a nullptr
+ * instead if the channel does not exist or the type does not match.
+ * Currently, this does not do lazy decode of data so may fail.
+ */
+ template <typename T>
+ const T *getPtr(ftl::codecs::Channel c) const noexcept;
+
+ /**
+ * Should not be used.
+ */
+ template <typename T>
+ T *getMutable(ftl::codecs::Channel c);
+
+ /**
+ * Mark a channel as changed even if there is no data. It can result in
+ * `hasChannel` giving false but `changed` giving true. Intended to be used
+ * internally.
+ */
+ inline void touch(ftl::codecs::Channel c) {
+ markAvailable(c);
+ changed_[c] = (mode_ == FrameMode::PRIMARY) ? ChangeType::PRIMARY : ChangeType::RESPONSE;
+ }
+
+ /**
+ * Should not be used.
+ */
+ inline void touch(ftl::codecs::Channel c, ChangeType type) {
+ markAvailable(c);
+ changed_[c] = type;
+ }
+
+ /**
+ * Mark the channel as unchanged. This will mean it will not be flushed,
+ * transmitted or saved but will still return true with `hasChannel`.
+ */
+ inline void untouch(ftl::codecs::Channel c) {
+ changed_.erase(c);
+ }
+
+ /**
+ * Create a new channel with the given template type. It will mark the
+ * channel as changed and return a mutable reference of the correct data
+ * type. It is not possible to create a channel after it has been flushed,
+ * this will throw an exception. The channel may have existing data from
+ * the memory pool which can be overwritten, but this is not true for
+ * every channel number (only video frames currently).
+ */
+ template <typename T, std::enable_if_t<!is_list<T>::value,int> = 0>
+ T &create(ftl::codecs::Channel c);
+
+ /**
+ * Create method used for aggregate channels. @see create.
+ */
+ template <typename T, std::enable_if_t<is_list<T>::value,int> = 0>
+ ftl::data::Aggregator<T> create(ftl::codecs::Channel c);
+
+ /**
+ * Creates a channel data entry with a forced change status. This also
+ * changes the channel status to `DISPATCHED`. If the storage mode is
+ * `persistent` this adds to session store instead of local frame store,
+ * although the change status is added to the local frame.
+ *
+ * To be used by receiver, no one else. Currently unused.
+ */
+ template <typename T, std::enable_if_t<!is_list<T>::value,int> = 0>
+ T &createChange(ftl::codecs::Channel c, ftl::data::ChangeType t);
+
+ template <typename T, std::enable_if_t<is_list<T>::value,int> = 0>
+ ftl::data::Aggregator<T> createChange(ftl::codecs::Channel c, ftl::data::ChangeType t);
+
+ /**
+ * Create a change but with encoded data provided. This allows for both
+ * lazy decode and for subsequent data forwarding without encoding.
+ *
+ * Currently unused.
+ */
+ template <typename T>
+ T &createChange(ftl::codecs::Channel c, ftl::data::ChangeType t, const ftl::codecs::Packet &data);
+
+ /**
+ * Create a channel, mark with the given change type and provided encoded
+ * data. Does not decode the data as it does not know the actually data
+ * type of this channel at this time.
+ *
+ * To be used by `receiver`.
+ * @see ftl::stream::Receiver
+ */
+ inline void informChange(ftl::codecs::Channel c, ftl::data::ChangeType t, const ftl::codecs::Packet &data) {
+ createAnyChange(c, t, data);
+ }
+
+ /**
+ * Create a channel, mark with a given change type but do not provide any
+ * data or type information.
+ */
+ inline void informChange(ftl::codecs::Channel c, ftl::data::ChangeType t) {
+ createAnyChange(c, t);
+ }
+
+ /**
+ * Create a channel, mark with a given change type and provided unencoded
+ * data. The data is moved into the channel. This is used by `Receiver` to
+ * provide a loopback functionality.
+ */
+ inline void informChange(ftl::codecs::Channel c, ftl::data::ChangeType t, std::any &data) {
+ createAnyChange(c, t) = std::move(data);
+ }
+
+ /**
+ * Retrieve all encoded data packets for a channel, if any. Note that
+ * encoded data is removed if the channel is modified.
+ */
+ const std::list<ftl::codecs::Packet> &getEncoded(ftl::codecs::Channel c) const;
+
+ /** Do not use. */
+ template <typename T, typename ...ARGS>
+ T &emplace(ftl::codecs::Channel, ARGS...);
+
+ /**
+ * Can be used instead of `create` to modify channel contents. It has the
+ * same rules as `create`, except that if the channel does not exist then
+ * it will throw an exception instead of creating the channel.
+ */
+ template <typename T, std::enable_if_t<!is_list<T>::value,int> = 0>
+ T &set(ftl::codecs::Channel c);
+
+ template <typename T, std::enable_if_t<is_list<T>::value,int> = 0>
+ ftl::data::Aggregator<T> set(ftl::codecs::Channel c);
+
+ /**
+ * Will remove a channel by changing its status and will not remove data.
+ */
+ void remove(ftl::codecs::Channel);
+
+ /**
+ * Will remove a channel and destroy all data associated with it.
+ */
+ void hardRemove(ftl::codecs::Channel);
+
+ /**
+ * Add a callback to a channel to watch for change events. These are
+ * triggered by the `store` operation. Note that `Receiver` will call
+ * `store` on a frame before generating a frameset callback, therefore
+ * these events always occur and complete before the frameset is generated.
+ */
+ inline ftl::Handle onChange(ftl::codecs::Channel c, const std::function<bool(Frame&,ftl::codecs::Channel)> &cb);
+
+ /**
+ * Add a callback to listen for any and all changes to the frame.
+ * @see onChange(Channel, cb).
+ */
+ inline ftl::Handle onChange(const std::function<bool(Frame&,ftl::codecs::Channel)> &cb);
+
+ /**
+ * All changed channels generate a flush event when the frame is flushed
+ * explicitly or on destruction. There is one exception, forwarded changes
+ * do generate a change event but do no subsequently generate a flush event
+ * as they are considered completed changes. This prevents loops whilst
+ * ensuring everyone has a copy of the change.
+ *
+ * @see changeType
+ */
+ inline ftl::Handle onFlush(const std::function<bool(Frame&,ftl::codecs::Channel)> &cb);
+
+ /**
+ * Merge the given frame parameter into this frame. It is a move operation
+ * on a per channel basis.
+ */
+ void merge(Frame &);
+
+ void moveTo(Frame &);
+
+ void swapChanged(Frame &);
+
+ void swapChannel(ftl::codecs::Channel, Frame &);
+
+ void swapChannels(ftl::codecs::Channel, ftl::codecs::Channel);
+
+ /**
+ * Discard all change status without removing the data.
+ */
+ inline void resetChanges() { changed_.clear(); }
+
+ /**
+ * Clears all state to an empty condition without releasing memory.
+ */
+ void reset();
+
+ /**
+ * Deletes all memory and resets to starting condition. This should not
+ * be used, instead use `release()` which will save the memory into a pool
+ * rather than deleting it completely.
+ */
+ void hardReset();
+
+ /**
+ * Free memory into the memory pool. This also implicitly resets.
+ */
+ void release();
+
+ /**
+ * Send changes back through origin stream. Causes all channels to be
+ * individually flushed, resulting in flush events and each channel being
+ * readonly. Only changed channels are flushed. Note: A frame cannot be
+ * flushed multiple times and the entire frame becomes readonly after this.
+ */
+ bool flush();
+
+ /**
+ * Force a flush of only a single channel, allowing the frame to continue
+ * to be modified (except this channel). This will generate a single
+ * flush event.
+ */
+ bool flush(ftl::codecs::Channel c);
+
+ /** Copy persistent changes to session. To be called before dispatch. */
+ void store();
+
+ /**
+ * Should only be used by Feed class. Ignores storage rules and saves
+ * to session anyway. Unused.
+ */
+ void forceStore();
+
+ /**
+ * Iterator.
+ */
+ inline auto begin() const { return data_.begin(); }
+ inline auto end() const { return data_.end(); }
+
+ inline MUTEX &mutex();
+
+ /**
+ * Generate a new frame to respond to this one. The destruction of this
+ * new frame will flush the changes and results in those response changes
+ * being transmitted back to the original source of the frame. The original
+ * source will then see these changes in the next frame it attempt to
+ * generate.
+ */
+ Frame response() const;
+
+ /**
+ * Convert this frame to another type. That type must not have any
+ * additional member variables, only wrapper methods.
+ */
+ template <typename T>
+ T &cast();
+
+ template <typename T>
+ const T &cast() const;
+
+ /**
+ * Used to create isolated frame objects for buffer purposes. This is
+ * deliberately separate from default constructor to force its explicit use.
+ */
+ static Frame make_standalone();
+
+ /**
+ * The memory pool associated with this frame. Note: the pool class also
+ * provides `onFlush` events, allowing an event handler to respond to any
+ * frame that is flushed.
+ */
+ inline Pool *pool() const { return pool_; }
+
+ /**
+ * The persistent data store for this frame. It is also a frame object and
+ * can be used in the same manner.
+ */
+ inline Session *parent() const { return parent_; }
+
+ inline FrameMode mode() const { return mode_; }
+
+ // ==== CUDA Functions =====================================================
+
+ cudaStream_t stream();
+
+ cudaEvent_t uploadEvent();
+
+ cudaEvent_t pipeEvent();
+
+ // ==== Wrapper functions ==================================================
+
+ void message(ftl::data::Message code, const std::string &msg);
+
+ void message(ftl::data::Message code, const ftl::Formatter &msg);
+
+ /** Note, throws exception if `Channel::Messages` is missing. */
+ const std::map<ftl::data::Message,std::string> &messages() const;
+
+ inline bool hasMessages() const { return hasChannel(ftl::codecs::Channel::Messages); }
+
+ /**
+ * Get or generate a name for this frame.
+ */
+ std::string name() const;
+
+ /** Can throw an exception if missing, use `hasChannel(Channel::MetaData)` first. */
+ const std::map<std::string,std::string> &metadata() const;
+
+ // =========================================================================
+
+ public:
+ std::atomic_int packet_tx = 0; /// Number of packets transmitted for frame
+ std::atomic_int packet_rx = 0; /// Number of packets received for frame
+
+ // =========================================================================
+
+ protected:
+ std::any &createAnyChange(ftl::codecs::Channel c, ftl::data::ChangeType t);
+
+ std::any &createAnyChange(ftl::codecs::Channel c, ftl::data::ChangeType t, const ftl::codecs::Packet &data);
+
+ std::any &createAny(ftl::codecs::Channel c);
+
+ private:
+ struct ChannelData {
+ mutable ChannelStatus status=ChannelStatus::INVALID;
+ mutable std::any data;
+ std::list<ftl::codecs::Packet> encoded={};
+ };
+
+ ChannelData &_getData(ftl::codecs::Channel);
+ const ChannelData &_getData(ftl::codecs::Channel) const;
+
+ std::map<ftl::codecs::Channel, ChannelData> data_;
+ std::unordered_map<ftl::codecs::Channel, ChangeType> changed_;
+ Pool *pool_;
+ Session *parent_;
+ FrameStatus status_;
+ FrameMode mode_ = FrameMode::PRIMARY;
+ uint64_t available_ = 0;
+ cudaStream_t stream_=0;
+ cudaEvent_t upload_event_=0;
+ cudaEvent_t pipe_event_=0;
+
+ inline void restart(int64_t ts) {
+ timestamp_ = ts;
+ status_ = FrameStatus::CREATED;
+ }
+
+ /**
+ * Primary frames also store on flush.
+ */
+ void _primaryStore();
+};
+
+class Session : public Frame {
+ friend class Frame;
+
+ public:
+ Session() : Frame(nullptr, nullptr,FrameID(0,0),0) {
+ status_ = FrameStatus::STORED;
+ }
+
+ ~Session() {
+ // Sessions don't get memory pooled.
+ status_ = FrameStatus::RELEASED;
+ }
+
+ ftl::Handle onChange(uint32_t id, ftl::codecs::Channel c, const std::function<bool(Frame&,ftl::codecs::Channel)> &cb);
+
+ ftl::Handle onChange(const std::function<bool(Frame&,ftl::codecs::Channel)> &cb);
+
+ ftl::Handle onFlush(const std::function<bool(Frame&,ftl::codecs::Channel)> &cb);
+
+ void notifyChanges(Frame &f);
+
+ void flush(Frame &f);
+
+ void flush(Frame &f, ftl::codecs::Channel c);
+
+ inline MUTEX &mutex() { return mutex_; }
+
+ private:
+ std::unordered_map<uint64_t, ftl::Handler<Frame&,ftl::codecs::Channel>> change_channel_;
+ ftl::Handler<Frame&,ftl::codecs::Channel> change_;
+ ftl::Handler<Frame&,ftl::codecs::Channel> flush_;
+
+ MUTEX mutex_;
+};
+
+template <typename T>
+bool make_type() {
+ setTypeEncoder(typeid(T).hash_code(), [](const ftl::data::Frame &f, ftl::codecs::Channel c, std::vector<uint8_t> &data) {
+ data.resize(0);
+ ftl::util::FTLVectorBuffer buf(data);
+ msgpack::pack(buf, f.get<T>(c));
+ return true;
+ });
+ return true;
+}
+
+template <typename T>
+bool decode_type(std::any &a, const std::vector<uint8_t> &data) {
+ auto unpacked = msgpack::unpack((const char*)data.data(), data.size());
+ T &t = a.emplace<T>();
+ unpacked.get().convert<T>(t);
+ return true;
+}
+
+}
+}
+
+// ==== Implementations ========================================================
+
+MUTEX &ftl::data::Frame::mutex() { return parent_->mutex(); }
+
+template <typename T>
+T &ftl::data::Frame::cast() {
+ static_assert(std::is_base_of<Frame, T>::value, "Can only cast to type inheriting Frame");
+ static_assert(sizeof(T) == sizeof(Frame), "Casting type must not have additional data members");
+ return *reinterpret_cast<T*>(this);
+}
+
+template <typename T>
+const T &ftl::data::Frame::cast() const {
+ static_assert(std::is_base_of<Frame, T>::value, "Can only cast to type inheriting Frame");
+ static_assert(sizeof(T) == sizeof(Frame), "Casting type must not have additional data members");
+ return *reinterpret_cast<const T*>(this);
+}
+
+bool ftl::data::Frame::hasOwn(ftl::codecs::Channel c) const {
+ const auto &i = data_.find(c);
+ return (i != data_.end() && i->second.status != ftl::data::ChannelStatus::INVALID);
+}
+
+bool ftl::data::Frame::available(ftl::codecs::Channel c) const {
+ const int ic = static_cast<int>(c);
+ return (ic >= 64) ? has(c) : (0x1ull << ic) & available_;
+}
+
+void ftl::data::Frame::markAvailable(ftl::codecs::Channel c) {
+ if ((int)c < 64) available_ |= (0x1ull << (int)c);
+}
+
+bool ftl::data::Frame::changed(ftl::codecs::Channel c) const {
+ return changed_.find(c) != changed_.end();
+}
+
+ftl::data::ChangeType ftl::data::Frame::getChangeType(ftl::codecs::Channel c) const {
+ const auto &i = changed_.find(c);
+ return (i == changed_.end()) ? ftl::data::ChangeType::UNCHANGED : i->second;
+}
+
+bool ftl::data::Frame::flushed(ftl::codecs::Channel c) const {
+ const auto &d = _getData(c);
+ return d.status == ChannelStatus::FLUSHED;
+}
+
+bool ftl::data::Frame::readonly(ftl::codecs::Channel c) const {
+ return flushed(c);
+}
+
+ftl::Handle ftl::data::Frame::onChange(ftl::codecs::Channel c, const std::function<bool(Frame&,ftl::codecs::Channel)> &cb) {
+ return parent_->onChange(id(), c, cb);
+}
+
+ftl::Handle ftl::data::Frame::onChange(const std::function<bool(Frame&,ftl::codecs::Channel)> &cb) {
+ return parent_->onChange(cb);
+}
+
+ftl::Handle ftl::data::Frame::onFlush(const std::function<bool(Frame&,ftl::codecs::Channel)> &cb) {
+ return parent_->onFlush(cb);
+}
+
+template <typename T>
+bool ftl::data::Frame::isType(ftl::codecs::Channel c) const {
+ const auto &i = data_.find(c);
+ if (i != data_.end() && i->second.status != ftl::data::ChannelStatus::INVALID) {
+ return typeid(T) == i->second.data.type();
+ } else {
+ return (parent_ && parent_->isType<T>(c));
+ }
+}
+
+template <typename T>
+const T *ftl::data::Frame::getPtr(ftl::codecs::Channel c) const noexcept {
+ const auto &d = _getData(c);
+ if (d.status != ftl::data::ChannelStatus::INVALID) {
+ return std::any_cast<T>(&d.data);
+ } else return nullptr;
+}
+
+template <typename T>
+const T &ftl::data::Frame::get(ftl::codecs::Channel c) const {
+ const auto &d = _getData(c);
+
+ if (d.status != ftl::data::ChannelStatus::INVALID && !d.data.has_value() && d.encoded.size() > 0) {
+ UNIQUE_LOCK(parent_->mutex(), lk);
+ if (!d.data.has_value()) {
+ // Do a decode now and change the status
+ d.status = ftl::data::ChannelStatus::DISPATCHED;
+
+ try {
+ decode_type<T>(d.data, d.encoded.front().data);
+ } catch (...) {
+ throw FTL_Error("Decode failure for channel " << int(c));
+ }
+ }
+ }
+
+ if (d.status != ftl::data::ChannelStatus::INVALID) {
+ if (!d.data.has_value()) throw FTL_Error("'get' does not have value (" << static_cast<unsigned int>(c) << ")");
+ auto *p = std::any_cast<T>(&d.data);
+ if (!p) throw FTL_Error("'get' wrong type for channel (" << static_cast<unsigned int>(c) << ")");
+ return *p;
+ } else throw FTL_Error("Missing channel (" << static_cast<unsigned int>(c) << ") for (" << frameset() << "," << source() << ")");
+}
+
+// Non-list version
+template <typename T, std::enable_if_t<!is_list<T>::value,int> = 0>
+T &ftl::data::Frame::create(ftl::codecs::Channel c) {
+ if (isAggregate(c)) throw FTL_Error("Aggregate channels must be of list type");
+
+ ftl::data::verifyChannelType<T>(c);
+ ftl::data::make_type<T>();
+
+ std::any &a = createAny(c);
+ if (!isType<T>(c)) return a.emplace<T>();
+ else return *std::any_cast<T>(&a);
+}
+
+// List version
+template <typename T, std::enable_if_t<is_list<T>::value,int> = 0>
+ftl::data::Aggregator<T> ftl::data::Frame::create(ftl::codecs::Channel c) {
+ ftl::data::verifyChannelType<T>(c);
+ ftl::data::make_type<T>();
+
+ std::any &a = createAny(c);
+ if (!isType<T>(c)) a.emplace<T>();
+ return ftl::data::Aggregator<T>{*std::any_cast<T>(&a), isAggregate(c)};
+}
+
+template <typename T>
+T &ftl::data::Frame::createChange(ftl::codecs::Channel c, ftl::data::ChangeType type, const ftl::codecs::Packet &data) {
+ if (!bool(is_list<T>{}) && isAggregate(c)) throw FTL_Error("Aggregate channels must be of list type");
+
+ ftl::data::verifyChannelType<T>(c);
+ //ftl::data::make_type<T>();
+
+ std::any &a = createAnyChange(c, type, data);
+ if (!isType<T>(c)) return a.emplace<T>();
+ else return *std::any_cast<T>(&a);
+}
+
+// Non-list version
+template <typename T, std::enable_if_t<!is_list<T>::value,int> = 0>
+T &ftl::data::Frame::createChange(ftl::codecs::Channel c, ftl::data::ChangeType type) {
+ if (isAggregate(c)) throw FTL_Error("Aggregate channels must be of list type");
+
+ ftl::data::verifyChannelType<T>(c);
+ ftl::data::make_type<T>();
+
+ std::any &a = createAnyChange(c, type);
+ if (!isType<T>(c)) return a.emplace<T>();
+ else return *std::any_cast<T>(&a);
+}
+
+// List version
+template <typename T, std::enable_if_t<is_list<T>::value,int> = 0>
+ftl::data::Aggregator<T> ftl::data::Frame::createChange(ftl::codecs::Channel c, ftl::data::ChangeType type) {
+ ftl::data::verifyChannelType<T>(c);
+ ftl::data::make_type<T>();
+
+ std::any &a = createAnyChange(c, type);
+ if (!isType<T>(c)) a.emplace<T>();
+ return ftl::data::Aggregator<T>{*std::any_cast<T>(&a), isAggregate(c)};
+}
+
+template <typename T, typename ...ARGS>
+T &ftl::data::Frame::emplace(ftl::codecs::Channel c, ARGS... args) {
+ touch(c);
+ return data_[c].data.emplace<T>(std::forward<ARGS...>(args...));
+}
+
+// Non-list version
+template <typename T, std::enable_if_t<!is_list<T>::value,int> = 0>
+T &ftl::data::Frame::set(ftl::codecs::Channel c) {
+ if (status_ != FrameStatus::STORED) throw FTL_Error("Cannot modify before store");
+
+ auto i = data_.find(c);
+ if (i != data_.end()) {
+ if (i->second.status != ftl::data::ChannelStatus::FLUSHED) {
+
+ auto &d = i->second;
+ if (d.status != ftl::data::ChannelStatus::INVALID && !d.data.has_value() && d.encoded.size() > 0) {
+ UNIQUE_LOCK(parent_->mutex(), lk);
+ if (!d.data.has_value()) {
+ // Do a decode now and change the status
+ //d.status = ftl::data::ChannelStatus::DISPATCHED;
+
+ try {
+ decode_type<T>(d.data, d.encoded.front().data);
+ } catch (...) {
+ throw FTL_Error("Decode failure for channel " << int(c));
+ }
+ }
+ }
+
+ d.encoded.clear();
+ touch(c);
+ return *std::any_cast<T>(&d.data);
+ } else {
+ throw FTL_Error("Channel is flushed and read-only: " << static_cast<unsigned int>(c));
+ }
+ } else if (parent_ && parent_->isType<T>(c)) {
+ touch(c);
+ return create<T>(c);
+ } else {
+ throw FTL_Error("Set on missing channel (" << static_cast<unsigned int>(c) << ")");
+ }
+}
+
+// List version
+template <typename T, std::enable_if_t<is_list<T>::value,int> = 0>
+ftl::data::Aggregator<T> ftl::data::Frame::set(ftl::codecs::Channel c) {
+ if (status_ != FrameStatus::STORED) throw FTL_Error("Cannot modify before store");
+
+ auto i = data_.find(c);
+ if (i != data_.end()) {
+ if (i->second.status != ftl::data::ChannelStatus::FLUSHED) {
+
+ auto &d = i->second;
+ if (d.status != ftl::data::ChannelStatus::INVALID && !d.data.has_value() && d.encoded.size() > 0) {
+ UNIQUE_LOCK(parent_->mutex(), lk);
+ if (!d.data.has_value()) {
+ // Do a decode now and change the status
+ //d.status = ftl::data::ChannelStatus::DISPATCHED;
+
+ try {
+ decode_type<T>(d.data, d.encoded.front().data);
+ } catch (...) {
+ throw FTL_Error("Decode failure for channel " << int(c));
+ }
+ }
+ }
+
+ i->second.encoded.clear();
+ touch(c);
+ return ftl::data::Aggregator<T>{*std::any_cast<T>(&i->second.data), isAggregate(c)};
+ } else {
+ throw FTL_Error("Channel is flushed and read-only: " << static_cast<unsigned int>(c));
+ }
+ } else if (parent_ && parent_->isType<T>(c)) {
+ touch(c);
+ return create<T>(c);
+ } else {
+ throw FTL_Error("Set on missing channel (" << static_cast<unsigned int>(c) << ")");
+ }
+}
+
+#endif
diff --git a/components/structures/include/ftl/data/new_frameset.hpp b/components/structures/include/ftl/data/new_frameset.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..6eafe9cb59a4c7d0f53033ba8e903c6ed9e55207
--- /dev/null
+++ b/components/structures/include/ftl/data/new_frameset.hpp
@@ -0,0 +1,159 @@
+#ifndef _FTL_DATA_NFRAMESET_HPP_
+#define _FTL_DATA_NFRAMESET_HPP_
+
+#include <ftl/threads.hpp>
+#include <ftl/timer.hpp>
+#include <ftl/data/new_frame.hpp>
+#include <ftl/utility/intrinsics.hpp>
+#include <functional>
+
+//#include <opencv2/opencv.hpp>
+#include <vector>
+
+namespace ftl {
+namespace data {
+
+// Allows a latency of 20 frames maximum
+//static const size_t kMaxFramesets = 15;
+static const size_t kMaxFramesInSet = 32;
+
+enum class FSFlag : int {
+ STALE = 0,
+ PARTIAL = 1,
+ DISCARD = 4,
+ AUTO_SEND = 8
+};
+
+/**
+ * Represents a set of synchronised frames, each with two channels. This is
+ * used to collect all frames from multiple computers that have the same
+ * timestamp.
+ */
+class FrameSet : public ftl::data::Frame {
+ private:
+ //FrameSet(Pool *ppool, Session *parent, uint32_t pid, int64_t ts) :
+ // Frame(ppool, parent, pid | 0xFF, ts) {};
+
+
+ public:
+ FrameSet(Pool *ppool, FrameID pid, int64_t ts, size_t psize=1);
+ ~FrameSet();
+
+ //int id=0;
+ //int64_t timestamp; // Millisecond timestamp of all frames
+ int64_t localTimestamp;
+ std::vector<Frame> frames;
+ //std::atomic<int> count=0; // Actual packet count
+ //std::atomic<int> expected=0; // Expected packet count
+ std::atomic<unsigned int> mask; // Mask of all sources that contributed
+ //std::atomic<int> flush_count; // How many channels have been flushed
+ SHARED_MUTEX smtx;
+
+ //Eigen::Matrix4d pose; // Set to identity by default.
+
+ inline void set(FSFlag f) { flags_ |= (1 << static_cast<int>(f)); }
+ inline void clear(FSFlag f) { flags_ &= ~(1 << static_cast<int>(f)); }
+ inline bool test(FSFlag f) const { return flags_ & (1 << static_cast<int>(f)); }
+ inline void clearFlags() { flags_ = 0; }
+
+ std::unordered_set<ftl::codecs::Channel> channels();
+
+ /**
+ * Move the entire frameset to another frameset object. This will
+ * invalidate the current frameset object as all memory buffers will be
+ * moved.
+ */
+ void moveTo(ftl::data::FrameSet &);
+
+ /**
+ * Mark a frame as being completed. This modifies the mask and count
+ * members.
+ */
+ void completed(size_t ix);
+
+ inline void markPartial() {
+ set(ftl::data::FSFlag::PARTIAL);
+ }
+
+ /**
+ * Are all frames complete within this frameset?
+ */
+ inline bool isComplete() { return mask != 0 && ftl::popcount(mask) >= frames.size(); }
+
+ /**
+ * Check that a given frame is valid in this frameset.
+ */
+ inline bool hasFrame(size_t ix) const { return (1 << ix) & mask; }
+
+ /**
+ * Get the first valid frame in this frameset. No valid frames throws an
+ * exception.
+ */
+ Frame &firstFrame();
+
+ const Frame &firstFrame() const;
+
+ const Frame &firstFrame(ftl::codecs::Channel) const;
+
+ inline Frame &operator[](int ix) { return frames[ix]; }
+ inline const Frame &operator[](int ix) const { return frames[ix]; }
+
+ /**
+ * Flush all frames in the frameset.
+ */
+ void flush();
+
+ /**
+ * Store all frames.
+ */
+ void store();
+
+ /**
+ * Flush a channel for all frames in the frameset.
+ */
+ void flush(ftl::codecs::Channel);
+
+ void resize(size_t s);
+
+ /**
+ * Force a change to all frame timestamps. This is generally used internally
+ * to allow frameset buffering in advance of knowing an exact timestamp.
+ * The method will update the timestamps of all contained frames and the
+ * frameset itself.
+ */
+ void changeTimestamp(int64_t ts);
+
+ /**
+ * Make a frameset from a single frame. It borrows the pool, id and
+ * timestamp from the frame and creates a wrapping frameset instance.
+ */
+ static std::shared_ptr<FrameSet> fromFrame(Frame &);
+
+ /**
+ * Check if channel has changed in any frames.
+ */
+ bool hasAnyChanged(ftl::codecs::Channel) const;
+
+ bool anyHasChannel(ftl::codecs::Channel) const;
+
+ private:
+ std::atomic<int> flags_;
+};
+
+using FrameSetPtr = std::shared_ptr<ftl::data::FrameSet>;
+using FrameSetCallback = std::function<bool(const FrameSetPtr&)>;
+
+class Generator {
+ public:
+ virtual ftl::Handle onFrameSet(const FrameSetCallback &)=0;
+};
+
+/**
+ * Callback type for receiving video frames.
+ */
+//typedef std::function<bool(ftl::rgbd::FrameSet &)> VideoCallback;
+
+}
+}
+
+#endif // _FTL_DATA_FRAMESET_HPP_
diff --git a/components/structures/src/creators.cpp b/components/structures/src/creators.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..21f4789bfe48302f33400f7b20a45fd89c9faeae
--- /dev/null
+++ b/components/structures/src/creators.cpp
@@ -0,0 +1,44 @@
+#include <ftl/data/creators.hpp>
+#include <ftl/data/framepool.hpp>
+#include <ftl/timer.hpp>
+
+#include <loguru.hpp>
+
+using ftl::data::Frame;
+using ftl::data::Pool;
+using ftl::data::FrameCreator;
+using ftl::data::IntervalFrameCreator;
+
+Frame FrameCreator::create() {
+ Frame f = pool_->allocate(id_, ftl::timer::get_time());
+ return f;
+}
+
+Frame FrameCreator::create(int64_t timestamp) {
+ Frame f = pool_->allocate(id_, timestamp);
+ return f;
+}
+
+IntervalFrameCreator::IntervalFrameCreator(Pool *p_pool, FrameID p_id, DiscreteSource *src)
+ : FrameCreator(p_pool, p_id), src_(src) {}
+
+void IntervalFrameCreator::start() {
+ capture_ = std::move(ftl::timer::add(ftl::timer::timerlevel_t::kTimerHighPrecision, [this](int64_t ts) {
+ src_->capture(ts);
+ return true;
+ }));
+
+ retrieve_ = std::move(ftl::timer::add(ftl::timer::timerlevel_t::kTimerMain, [this](int64_t ts) {
+ Frame f = create(ts);
+ f.store();
+ if (!src_->retrieve(f)) {
+ LOG(WARNING) << "Frame was skipping";
+ }
+ return true;
+ }));
+}
+
+void IntervalFrameCreator::stop() {
+ capture_.cancel();
+ retrieve_.cancel();
+}
diff --git a/components/structures/src/frameset.cpp b/components/structures/src/frameset.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e8cfd9404535e1fdfe410596fc92cf35a83e39ec
--- /dev/null
+++ b/components/structures/src/frameset.cpp
@@ -0,0 +1,150 @@
+#include <ftl/data/new_frameset.hpp>
+#include <ftl/data/framepool.hpp>
+
+using ftl::data::Frame;
+using ftl::data::FrameSet;
+
+FrameSet::FrameSet(Pool *ppool, FrameID pid, int64_t ts, size_t psize) :
+ Frame(ppool->allocate(FrameID(pid.frameset(),255), ts)), mask(0) {
+ frames.reserve(psize);
+}
+
+FrameSet::~FrameSet() {
+ if (status() == ftl::data::FrameStatus::CREATED) store();
+ if (status() == ftl::data::FrameStatus::STORED) flush();
+ pool()->flush_fs_.trigger(*this, ftl::codecs::Channel::EndFrame);
+}
+
+void ftl::data::FrameSet::completed(size_t ix) {
+ if (ix == 255) {
+
+ } else if (ix < frames.size()) {
+ mask |= (1 << ix);
+ } else {
+ throw FTL_Error("Completing frame that does not exist: " << timestamp() << ":" << ix);
+ }
+}
+
+void ftl::data::FrameSet::changeTimestamp(int64_t ts) {
+ timestamp_ = ts;
+ for (auto &f : frames) {
+ f.timestamp_ = ts;
+ }
+}
+
+void ftl::data::FrameSet::resize(size_t s) {
+ while (frames.size() < s) {
+ frames.push_back(std::move(pool()->allocate(FrameID(frameset(), frames.size()), timestamp())));
+ }
+ while (frames.size() > s) frames.pop_back();
+}
+
+void ftl::data::FrameSet::moveTo(ftl::data::FrameSet &fs) {
+ UNIQUE_LOCK(fs.mutex(), lk);
+ Frame::moveTo(fs);
+ fs.flags_ = (int)flags_;
+ fs.mask = static_cast<unsigned int>(mask);
+ fs.frames = std::move(frames);
+
+ mask = 0;
+ set(ftl::data::FSFlag::STALE);
+}
+
+ftl::data::Frame &ftl::data::FrameSet::firstFrame() {
+ for (size_t i=0; i<frames.size(); ++i) {
+ if (hasFrame(i)) return frames[i];
+ }
+ throw FTL_Error("No frames in frameset");
+}
+
+const ftl::data::Frame &ftl::data::FrameSet::firstFrame() const {
+ for (size_t i=0; i<frames.size(); ++i) {
+ if (hasFrame(i)) return frames[i];
+ }
+ throw FTL_Error("No frames in frameset");
+}
+
+const ftl::data::Frame &ftl::data::FrameSet::firstFrame(ftl::codecs::Channel c) const {
+ for (size_t i=0; i<frames.size(); ++i) {
+ if (hasFrame(i) && frames[i].hasChannel(c)) return frames[i];
+ }
+ throw FTL_Error("No matching frames in frameset");
+}
+
+bool ftl::data::FrameSet::hasAnyChanged(ftl::codecs::Channel c) const {
+ for (size_t i=0; i<frames.size(); ++i) {
+ if (frames[i].changed(c)) return true;
+ }
+ return false;
+}
+
+bool ftl::data::FrameSet::anyHasChannel(ftl::codecs::Channel c) const {
+ for (size_t i=0; i<frames.size(); ++i) {
+ if (frames[i].hasOwn(c)) return true;
+ }
+ return false;
+}
+
+void FrameSet::store() {
+ if (status() != ftl::data::FrameStatus::CREATED) throw FTL_Error("Cannot store frameset multiple times");
+
+ {
+ //UNIQUE_LOCK(smtx, lk);
+ for (auto &f : frames) if (f.status() == ftl::data::FrameStatus::CREATED) f.store();
+ ftl::data::Frame::store();
+ }
+}
+
+void FrameSet::flush() {
+ if (status() == ftl::data::FrameStatus::FLUSHED) throw FTL_Error("Cannot flush frameset multiple times");
+
+ // Build list of all changed but unflushed channels.
+ std::unordered_set<ftl::codecs::Channel> unflushed;
+
+ {
+ UNIQUE_LOCK(smtx, lk);
+ for (auto &f : frames) {
+ for (auto &c : f.changed()) {
+ if (!f.flushed(c.first)) {
+ unflushed.emplace(c.first);
+ }
+ }
+ }
+
+ for (auto &f : frames) if (f.status() == ftl::data::FrameStatus::STORED) f.flush();
+ ftl::data::Frame::flush();
+ }
+
+ for (auto c : unflushed) {
+ pool()->flush_fs_.trigger(*this, c);
+ }
+}
+
+void FrameSet::flush(ftl::codecs::Channel c) {
+ {
+ UNIQUE_LOCK(smtx, lk);
+ for (auto &f : frames) if (f.hasOwn(c)) f.flush(c);
+ }
+
+ pool()->flush_fs_.trigger(*this, c);
+}
+
+/**
+ * Make a frameset from a single frame. It borrows the pool, id and
+ * timestamp from the frame and creates a wrapping frameset instance.
+ */
+std::shared_ptr<FrameSet> FrameSet::fromFrame(Frame &f) {
+ auto sptr = std::make_shared<FrameSet>(f.pool(), f.id(), f.timestamp());
+ sptr->frames.push_back(std::move(f));
+ sptr->mask = 1;
+ return sptr;
+}
+
+std::unordered_set<ftl::codecs::Channel> FrameSet::channels() {
+ std::unordered_set<ftl::codecs::Channel> res{};
+ for (auto& f : frames) {
+ auto c = f.channels();
+ res.insert(c.begin(), c.end());
+ }
+ return res;
+}
diff --git a/components/structures/src/new_frame.cpp b/components/structures/src/new_frame.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..36a1c7d06cc59ea9a710bb6a0035fdb6951a9c70
--- /dev/null
+++ b/components/structures/src/new_frame.cpp
@@ -0,0 +1,567 @@
+#include <ftl/data/new_frame.hpp>
+#include <ftl/data/framepool.hpp>
+#include <ftl/timer.hpp>
+#include <ftl/cuda_common.hpp>
+
+using ftl::data::Frame;
+using ftl::data::Session;
+using ftl::data::ChannelConfig;
+using ftl::data::StorageMode;
+using ftl::data::FrameStatus;
+using ftl::codecs::Channel;
+using ftl::data::Message;
+
+#define LOGURU_REPLACE_GLOG 1
+#include <loguru.hpp>
+
+static std::unordered_map<ftl::codecs::Channel, ChannelConfig> reg_channels;
+static std::unordered_map<size_t, std::function<bool(const ftl::data::Frame &, ftl::codecs::Channel, std::vector<uint8_t> &)>> encoders;
+
+void ftl::data::registerChannel(ftl::codecs::Channel c, const ChannelConfig &config) {
+ auto i = reg_channels.find(c);
+ if (i != reg_channels.end()) {
+ if (i->second.mode == config.mode && i->second.type_id == config.type_id && i->second.name == config.name) {
+ return;
+ }
+ throw FTL_Error("Channel " << static_cast<unsigned int>(c) << " already registered");
+ }
+
+ reg_channels[c] = config;
+}
+
+void ftl::data::clearRegistry() {
+ reg_channels.clear();
+}
+
+bool ftl::data::isPersistent(ftl::codecs::Channel c) {
+ auto i = reg_channels.find(c);
+ return (i != reg_channels.end()) ? i->second.mode == StorageMode::PERSISTENT : int(c) >= 64 && int(c) < 2048;
+}
+
+bool ftl::data::isAggregate(ftl::codecs::Channel c) {
+ auto i = reg_channels.find(c);
+ return (i != reg_channels.end()) ? i->second.mode == StorageMode::AGGREGATE : (int(c) >= 32 && int(c) < 64) || int(c) >= 4096;
+}
+
+size_t ftl::data::getChannelType(ftl::codecs::Channel c) {
+ auto i = reg_channels.find(c);
+ return (i != reg_channels.end()) ? i->second.type_id : 0;
+}
+
+std::string ftl::data::getChannelName(ftl::codecs::Channel c) {
+ auto i = reg_channels.find(c);
+ return (i != reg_channels.end()) ? i->second.name : "";
+}
+
+ftl::codecs::Channel ftl::data::getChannelByName(const std::string &name) {
+ return ftl::codecs::Channel::Colour;
+}
+
+std::function<bool(const ftl::data::Frame &, ftl::codecs::Channel, std::vector<uint8_t> &)> ftl::data::getTypeEncoder(size_t type) {
+ const auto &i = encoders.find(type);
+ if (i != encoders.end()) return i->second;
+ else return nullptr;
+}
+
+void ftl::data::setTypeEncoder(size_t type, const std::function<bool(const ftl::data::Frame &, ftl::codecs::Channel, std::vector<uint8_t> &)> &e) {
+ encoders[type] = e;
+}
+
+//==============================================================================
+
+//static std::atomic_int frame_count = 0;
+
+Frame::Frame(Pool *ppool, Session *parent, FrameID pid, int64_t ts)
+ : timestamp_(ts), id_(pid), pool_(ppool), parent_(parent), status_(FrameStatus::CREATED) {
+ //LOG(INFO) << "Frames: " << ++frame_count;
+ };
+
+Frame::~Frame() {
+ if (status_ == FrameStatus::CREATED) store();
+ if (status_ == FrameStatus::STORED) flush();
+ if (status_ != FrameStatus::RELEASED && pool_) {
+ pool_->release(*this);
+ //--frame_count;
+ }
+};
+
+cudaStream_t Frame::stream() {
+ if (stream_ == 0) {
+ cudaSafeCall( cudaStreamCreateWithFlags(&stream_, cudaStreamNonBlocking) );
+ }
+ return stream_;
+}
+
+cudaEvent_t Frame::uploadEvent() {
+ if (upload_event_ == 0) {
+ cudaSafeCall( cudaEventCreate(&upload_event_) );
+ }
+ return upload_event_;
+}
+
+cudaEvent_t Frame::pipeEvent() {
+ if (pipe_event_ == 0) {
+ cudaSafeCall( cudaEventCreate(&pipe_event_) );
+ }
+ return pipe_event_;
+}
+
+bool ftl::data::Frame::hasAll(const std::unordered_set<ftl::codecs::Channel> &cs) {
+ for (auto &a : cs) {
+ if (!has(a)) return false;
+ }
+ return true;
+}
+
+bool ftl::data::Frame::has(ftl::codecs::Channel c) const {
+ const auto &i = data_.find(c);
+ if (i != data_.end() && i->second.status != ftl::data::ChannelStatus::INVALID) {
+ return true;
+ } else {
+ return (parent_ && parent_->has(c));
+ }
+}
+
+bool ftl::data::Frame::availableAll(const std::unordered_set<ftl::codecs::Channel> &cs) const {
+ bool result = true;
+ for (auto c : cs) {
+ result &= available(c);
+ }
+ return result;
+}
+
+std::unordered_set<ftl::codecs::Channel> ftl::data::Frame::available() const {
+ std::unordered_set<ftl::codecs::Channel> result = channels();
+
+ uint64_t m = 1;
+ // TODO: NAIVE, use ffs or ctz.
+ for (int i=0; i<32; ++i) {
+ if (m & available_) result.emplace(static_cast<Channel>(i));
+ m <<= 1;
+ }
+
+ return result;
+}
+
+void ftl::data::Frame::remove(ftl::codecs::Channel c) {
+ const auto &i = data_.find(c);
+ if (i != data_.end()) {
+ i->second.status = ftl::data::ChannelStatus::INVALID;
+ changed_.erase(c);
+ }
+}
+
+Frame::ChannelData &Frame::_getData(ftl::codecs::Channel c) {
+ if (status_ == FrameStatus::RELEASED) throw FTL_Error("Reading a released frame");
+ const auto &i = data_.find(c);
+ if (i != data_.end() && i->second.status != ChannelStatus::INVALID) {
+ return i->second;
+ } else if (parent_) {
+ return parent_->_getData(c);
+ } else throw FTL_Error("Missing channel (" << static_cast<unsigned int>(c) << ")");
+}
+
+const Frame::ChannelData &Frame::_getData(ftl::codecs::Channel c) const {
+ if (status_ == FrameStatus::RELEASED) throw FTL_Error("Reading a released frame");
+ const auto &i = data_.find(c);
+ if (i != data_.end() && i->second.status != ChannelStatus::INVALID) {
+ return i->second;
+ } else if (parent_) {
+ return parent_->_getData(c);
+ } else throw FTL_Error("Missing channel (" << static_cast<unsigned int>(c) << ")");
+}
+
+std::any &Frame::createAnyChange(ftl::codecs::Channel c, ftl::data::ChangeType t) {
+ if (status_ != FrameStatus::CREATED) throw FTL_Error("Cannot apply change after store " << static_cast<int>(status_));
+
+ ftl::data::Frame::ChannelData *d;
+
+ if (parent_) {
+ UNIQUE_LOCK(mutex(), lk);
+ d = &(data_[c]);
+ touch(c, t);
+ } else {
+ d = &(data_[c]);
+ touch(c, t);
+ }
+
+ if (d->status != ftl::data::ChannelStatus::FLUSHED) {
+ d->status = ftl::data::ChannelStatus::DISPATCHED;
+ d->encoded.clear();
+ return d->data;
+ } else {
+ throw FTL_Error("Channel is flushed and read-only: " << static_cast<unsigned int>(c));
+ }
+}
+
+std::any &Frame::createAnyChange(ftl::codecs::Channel c, ftl::data::ChangeType t, const ftl::codecs::Packet &data) {
+ if (status_ != FrameStatus::CREATED) throw FTL_Error("Cannot apply change after store " << static_cast<int>(status_));
+
+ ftl::data::Frame::ChannelData *d;
+
+ if (parent_) {
+ UNIQUE_LOCK(mutex(), lk);
+ d = &(data_[c]);
+ touch(c, t);
+ } else {
+ d = &(data_[c]);
+ touch(c, t);
+ }
+
+ if (d->status != ftl::data::ChannelStatus::FLUSHED) {
+ d->status = (data.codec == ftl::codecs::codec_t::MSGPACK) ? ftl::data::ChannelStatus::ENCODED : ftl::data::ChannelStatus::DISPATCHED;
+ d->encoded.push_back(data);
+ return d->data;
+ } else {
+ throw FTL_Error("Channel is flushed and read-only: " << static_cast<unsigned int>(c));
+ }
+}
+
+std::any &Frame::createAny(ftl::codecs::Channel c) {
+ if (status_ != FrameStatus::STORED) throw FTL_Error("Cannot create before store or after flush");
+
+ ftl::data::Frame::ChannelData *d;
+
+ if (parent_) {
+ UNIQUE_LOCK(mutex(), lk);
+ d = &(data_[c]);
+ touch(c);
+ } else {
+ d = &(data_[c]);
+ touch(c);
+ }
+
+ if (d->status != ftl::data::ChannelStatus::FLUSHED) {
+ d->status = ftl::data::ChannelStatus::VALID;
+ d->encoded.clear();
+ return d->data;
+ } else {
+ throw FTL_Error("Channel is flushed and read-only: " << static_cast<unsigned int>(c));
+ }
+}
+
+std::any &Frame::getAnyMutable(ftl::codecs::Channel c) {
+ auto &d = _getData(c);
+ return d.data;
+}
+
+const std::any &Frame::getAny(ftl::codecs::Channel c) const {
+ auto &d = _getData(c);
+ return d.data;
+}
+
+const std::list<ftl::codecs::Packet> &ftl::data::Frame::getEncoded(ftl::codecs::Channel c) const {
+ const auto &d = _getData(c);
+ if (d.status != ftl::data::ChannelStatus::INVALID) {
+ return d.encoded;
+ } else throw FTL_Error("Missing channel (" << static_cast<unsigned int>(c) << ")");
+}
+
+bool Frame::flush() {
+ if (status_ == FrameStatus::CREATED) throw FTL_Error("Frame cannot be flushed before store");
+ if (status_ == FrameStatus::FLUSHED) throw FTL_Error("Frame cannot be flushed twice");
+ status_ = FrameStatus::FLUSHED;
+
+ if (parent_) {
+ parent_->flush(*this);
+ }
+ for (auto c : changed_) {
+ _getData(c.first).status = ChannelStatus::FLUSHED;
+ }
+ _primaryStore();
+ return true;
+}
+
+bool Frame::flush(ftl::codecs::Channel c) {
+ if (status_ == FrameStatus::CREATED) throw FTL_Error("Frame cannot be flushed before store");
+ if (status_ == FrameStatus::FLUSHED) throw FTL_Error("Frame cannot be flushed twice");
+ //status_ = FrameStatus::FLUSHED;
+
+ if (parent_ && changed(c)) {
+ parent_->flush(*this, c);
+ _getData(c).status = ChannelStatus::FLUSHED;
+ }
+ return true;
+}
+
+void Frame::store() {
+ if (status_ != FrameStatus::CREATED) throw FTL_Error("Frame cannot be stored twice");
+ status_ = FrameStatus::STORED;
+
+ if (!parent_) return;
+
+ {
+ UNIQUE_LOCK(parent_->mutex(), lk);
+ for (auto c : changed_) {
+ if (ftl::data::isPersistent(c.first) && hasOwn(c.first)) {
+ auto &d = data_[c.first];
+ auto &pd = parent_->data_[c.first];
+ pd.data = std::move(d.data);
+ pd.encoded = std::move(d.encoded);
+ //if (d.status == ChannelStatus::ENCODED) LOG(INFO) << "STORE ENCODED: " << (int)c.first;
+ pd.status = ChannelStatus::VALID;
+ //data_.erase(c.first);
+ d.status = ChannelStatus::INVALID;
+ }
+ }
+ }
+
+ for (auto c : changed_) {
+ parent_->change_.trigger(*this, c.first);
+ uint64_t sig = (uint64_t(id()) << 32) + static_cast<unsigned int>(c.first);
+ const auto &i = parent_->change_channel_.find(sig);
+ if (i != parent_->change_channel_.end()) i->second.trigger(*this, c.first);
+ }
+}
+
+void Frame::_primaryStore() {
+ if (mode_ == FrameMode::RESPONSE) return;
+ forceStore();
+}
+
+void Frame::forceStore() {
+ if (!parent_) return;
+
+ //UNIQUE_LOCK(parent_->mutex(), lk);
+
+ for (auto c : changed_) {
+ if (ftl::data::isPersistent(c.first) && hasOwn(c.first)) {
+ auto &d = data_[c.first];
+ auto &pd = parent_->data_[c.first];
+ pd.data = d.data;
+ //pd.encoded = std::move(d.encoded);
+ pd.status = ChannelStatus::VALID;
+ //data_.erase(c.first);
+ d.status = ChannelStatus::INVALID;
+ }
+
+ //parent_->change_.trigger(*this, c.first);
+ //uint64_t sig = (uint64_t(id()) << 32) + static_cast<unsigned int>(c.first);
+ //const auto &i = parent_->change_channel_.find(sig);
+
+ //if (i != parent_->change_channel_.end()) i->second.trigger(*this, c.first);
+ }
+}
+
+void Frame::merge(Frame &f) {
+ for (auto &x : f) {
+ auto &d = data_[x.first];
+ d.data = std::move(x.second.data);
+ d.encoded = std::move(x.second.encoded);
+ f.data_[x.first].status = ChannelStatus::INVALID;
+ d.status = ChannelStatus::VALID;
+ touch(x.first);
+ }
+ f.status_ = FrameStatus::RELEASED;
+ f.changed_.clear();
+}
+
+void Frame::moveTo(Frame &f) {
+ if (status_ == FrameStatus::RELEASED) throw FTL_Error("Moving released frame");
+ f.id_ = id_;
+ f.timestamp_ = timestamp_;
+ f.status_ = status_;
+ f.mode_ = mode_;
+ f.parent_ = parent_;
+ f.pool_ = pool_;
+ f.data_ = std::move(data_);
+ f.changed_ = std::move(changed_);
+ f.packet_rx = (int)packet_rx;
+ f.packet_tx = (int)packet_tx;
+ f.stream_ = stream_;
+ f.upload_event_ = upload_event_;
+ f.pipe_event_ = pipe_event_;
+ stream_ = 0;
+ pipe_event_ = 0;
+ upload_event_ = 0;
+ status_ = FrameStatus::RELEASED;
+}
+
+void Frame::swapChanged(Frame &f) {
+ for (auto x : changed_) {
+ f.data_[x.first].data.swap(data_[x.first].data);
+ f.changed_[x.first] = (mode_ == FrameMode::PRIMARY) ? ChangeType::PRIMARY : ChangeType::RESPONSE;
+ }
+}
+
+void Frame::swapChannel(ftl::codecs::Channel c, Frame &f) {
+ if (f.hasOwn(c)) {
+ auto &d = data_[c];
+ auto &fd = f.data_[c];
+ fd.data.swap(d.data);
+ d.status = ftl::data::ChannelStatus::VALID;
+ changed_[c] = f.changed_[c];
+ f.changed_[c] = (mode_ == FrameMode::PRIMARY) ? ChangeType::PRIMARY : ChangeType::RESPONSE;
+ }
+}
+
+void Frame::swapChannels(ftl::codecs::Channel c1, ftl::codecs::Channel c2) {
+ if (hasOwn(c1) && hasOwn(c2)) {
+ auto &d1 = data_[c1];
+ auto &d2 = data_[c2];
+ d2.data.swap(d1.data);
+
+ auto status = d1.status;
+ d1.status = d2.status;
+ d2.status = status;
+
+ std::swap(d1.encoded, d2.encoded);
+
+ changed_[c1] = (mode_ == FrameMode::PRIMARY) ? ChangeType::PRIMARY : ChangeType::RESPONSE;
+ changed_[c2] = (mode_ == FrameMode::PRIMARY) ? ChangeType::PRIMARY : ChangeType::RESPONSE;
+ }
+}
+
+void Frame::reset() {
+ for (auto &d : data_) {
+ d.second.status = ChannelStatus::INVALID;
+ d.second.encoded.clear();
+
+ // Note: Data channels should be cleared
+ if ((int)d.first >= 32) d.second.data.reset();
+ }
+ changed_.clear();
+ status_ = FrameStatus::CREATED;
+ mode_ = FrameMode::PRIMARY;
+ available_ = 0;
+ packet_rx = 0;
+ packet_tx = 0;
+}
+
+void Frame::hardReset() {
+ status_ = FrameStatus::CREATED;
+ changed_.clear();
+ data_.clear();
+ available_ = 0;
+}
+
+Frame Frame::response() const {
+ if (!pool_) throw FTL_Error("Frame has no pool, cannot generate response");
+ Frame f = pool_->allocate(id_, ftl::timer::get_time());
+ f.mode_ = FrameMode::RESPONSE;
+ f.store();
+ return f;
+}
+
+Frame Frame::make_standalone() {
+ Frame f(nullptr, nullptr, FrameID(0,0), 0);
+ f.mode_ = FrameMode::STANDALONE;
+ return f;
+}
+
+std::unordered_set<ftl::codecs::Channel> Frame::channels() const {
+ std::unordered_set<ftl::codecs::Channel> res{};
+ for (const auto& [k, v] : data_) {
+ std::ignore = v;
+ res.emplace(k);
+ }
+ return res;
+}
+
+std::unordered_set<ftl::codecs::Channel> Frame::allChannels() const {
+ std::unordered_set<ftl::codecs::Channel> res{};
+ for (const auto& [k, v] : data_) {
+ std::ignore = v;
+ res.emplace(k);
+ }
+ if (parent_) {
+ for (const auto& [k, v] : parent_->data_) {
+ std::ignore = v;
+ res.emplace(k);
+ }
+ }
+
+ uint64_t m = 1;
+ // TODO: NAIVE, use ffs or ctz.
+ for (int i=0; i<32; ++i) {
+ if (m & available_) res.emplace(static_cast<Channel>(i));
+ m <<= 1;
+ }
+ return res;
+}
+
+const std::map<ftl::data::Message,std::string> &Frame::messages() const {
+ return get<std::map<ftl::data::Message,std::string>>(Channel::Messages);
+}
+
+void Frame::message(ftl::data::Message code, const std::string &msg) {
+ auto &msgs = create<std::map<ftl::data::Message,std::string>>(Channel::Messages);
+ msgs[code] = msg;
+}
+
+void Frame::message(ftl::data::Message code, const ftl::Formatter &msg) {
+ message(code, msg.str());
+}
+
+std::string Frame::name() const {
+ if (has(Channel::MetaData)) {
+ const auto &meta = get<std::map<std::string,std::string>>(Channel::MetaData);
+ auto i = meta.find("name");
+ if (i != meta.end()) return i->second;
+ }
+
+ // Generate a name
+ return std::string("Frame-") + std::to_string(frameset()) + std::string("-") + std::to_string(source());
+}
+
+const std::map<std::string,std::string> &Frame::metadata() const {
+ return get<std::map<std::string,std::string>>(Channel::MetaData);
+}
+
+// ==== Session ================================================================
+
+ftl::Handle Session::onChange(uint32_t pid, ftl::codecs::Channel c, const std::function<bool(Frame&,ftl::codecs::Channel)> &cb) {
+ uint64_t sig = (uint64_t(pid) << 32) + static_cast<unsigned int>(c);
+ return change_channel_[sig].on(cb);
+}
+
+ftl::Handle Session::onChange(const std::function<bool(Frame&,ftl::codecs::Channel)> &cb) {
+ return change_.on(cb);
+}
+
+ftl::Handle Session::onFlush(const std::function<bool(Frame&,ftl::codecs::Channel)> &cb) {
+ return flush_.on(cb);
+}
+
+void Session::notifyChanges(Frame &f) {
+
+}
+
+void Session::flush(Frame &f) {
+ for (auto c : f.changed()) {
+ if (c.second == ftl::data::ChangeType::PRIMARY || c.second == ftl::data::ChangeType::RESPONSE) {
+ auto &d = f._getData(c.first);
+ if (d.status == ftl::data::ChannelStatus::VALID) {
+ d.status = ftl::data::ChannelStatus::FLUSHED;
+ flush_.trigger(f, c.first);
+ if (f.pool()) f.pool()->flush_.trigger(f, c.first);
+ }
+ } else if (c.second == ftl::data::ChangeType::FOREIGN) {
+ auto &d = f._getData(c.first);
+ if (d.status == ftl::data::ChannelStatus::DISPATCHED) {
+ d.status = ftl::data::ChannelStatus::FLUSHED;
+ flush_.trigger(f, c.first);
+ if (f.pool()) f.pool()->flush_.trigger(f, c.first);
+ }
+ }
+ }
+}
+
+void Session::flush(Frame &f, ftl::codecs::Channel c) {
+ auto cc = f.changed_[c];
+ if (cc == ftl::data::ChangeType::PRIMARY || cc == ftl::data::ChangeType::RESPONSE) {
+ auto &d = f._getData(c);
+ if (d.status == ftl::data::ChannelStatus::VALID) {
+ d.status = ftl::data::ChannelStatus::FLUSHED;
+ flush_.trigger(f, c);
+ if (f.pool()) f.pool()->flush_.trigger(f, c);
+ }
+ } else if (cc == ftl::data::ChangeType::FOREIGN) {
+ auto &d = f._getData(c);
+ if (d.status == ftl::data::ChannelStatus::DISPATCHED) {
+ d.status = ftl::data::ChannelStatus::FLUSHED;
+ flush_.trigger(f, c);
+ if (f.pool()) f.pool()->flush_.trigger(f, c);
+ }
+ }
+}
diff --git a/components/structures/src/pool.cpp b/components/structures/src/pool.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c67d1f8a22e5a3aa1f0add7b427768ed0da8b3db
--- /dev/null
+++ b/components/structures/src/pool.cpp
@@ -0,0 +1,89 @@
+#include <ftl/data/framepool.hpp>
+
+using ftl::data::Pool;
+using ftl::data::Frame;
+using ftl::data::Session;
+
+Pool::Pool(size_t min_n, size_t max_n) : min_n_(min_n), max_n_(max_n) {
+ ideal_n_ = min_n + (max_n-min_n)/2;
+}
+
+Pool::~Pool() {
+ UNIQUE_LOCK(mutex_, lk);
+ for (auto &p : pool_) {
+ for (auto *f : p.second.pool) {
+ f->status_ = FrameStatus::RELEASED;
+ delete f;
+ }
+ }
+}
+
+Frame Pool::allocate(FrameID id, int64_t timestamp) {
+ Frame *f;
+
+ {
+ UNIQUE_LOCK(mutex_, lk);
+ auto &pool = _getPool(id);
+
+ if (timestamp <= pool.last_timestamp) {
+ //timestamp = pool.last_timestamp;
+ //throw FTL_Error("New frame timestamp is older than previous: " << timestamp << " vs " << pool.last_timestamp);
+ }
+
+ // Add items as required
+ if (pool.pool.size() < min_n_) {
+ while (pool.pool.size() < ideal_n_) {
+ pool.pool.push_back(new Frame(this, &pool.session, id, 0));
+ }
+ }
+
+ f = pool.pool.front();
+ pool.pool.pop_front();
+ pool.last_timestamp = timestamp;
+ }
+
+ Frame ff = std::move(*f);
+ ff.restart(timestamp);
+ delete f;
+
+ return ff;
+}
+
+void Pool::release(Frame &f) {
+ if (f.status() == FrameStatus::RELEASED) return;
+ f.reset();
+
+ UNIQUE_LOCK(mutex_, lk);
+ auto &pool = _getPool(f.id());
+
+ if (pool.pool.size() < max_n_) {
+ Frame *pf = new Frame(this, &pool.session, f.id(), 0);
+ f.moveTo(*pf);
+ pool.pool.push_back(pf);
+ }
+}
+
+ftl::data::Session &Pool::session(FrameID id) {
+ UNIQUE_LOCK(mutex_, lk);
+ auto &pool = _getPool(id);
+ return pool.session;
+}
+
+size_t Pool::size(FrameID id) {
+ UNIQUE_LOCK(mutex_, lk);
+ auto &pool = _getPool(id);
+ return pool.pool.size();
+}
+
+size_t Pool::size() {
+ UNIQUE_LOCK(mutex_, lk);
+ size_t s = 0;
+ for (auto &p : pool_) {
+ s += p.second.pool.size();
+ }
+ return s;
+}
+
+ftl::data::Pool::PoolData &Pool::_getPool(FrameID id) {
+ return pool_[id.id];
+}
diff --git a/components/structures/test/CMakeLists.txt b/components/structures/test/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fb67e4e589a6b2dafb51bc3fb957ded5dff01e00
--- /dev/null
+++ b/components/structures/test/CMakeLists.txt
@@ -0,0 +1,38 @@
+### Frame Unit #################################################################
+add_executable(nframe_unit
+ $<TARGET_OBJECTS:CatchTest>
+ ./frame_unit.cpp
+)
+target_include_directories(nframe_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
+target_link_libraries(nframe_unit
+ ftlcommon ftlcodecs)
+
+ target_precompile_headers(nframe_unit REUSE_FROM ftlcommon)
+
+add_test(NFrameUnitTest nframe_unit)
+
+### Frame Example 1 ############################################################
+add_executable(frame_example_1
+ $<TARGET_OBJECTS:CatchTest>
+ ../src/pool.cpp
+ ../src/new_frame.cpp
+ ./frame_example_1.cpp
+)
+target_include_directories(frame_example_1 PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
+target_link_libraries(frame_example_1
+ ftlcommon ftlcodecs)
+
+add_test(FrameEg1Test frame_example_1)
+
+### Pool Unit ##################################################################
+add_executable(pool_unit
+ $<TARGET_OBJECTS:CatchTest>
+ ./pool_unit.cpp
+ ../src/new_frame.cpp
+ ../src/pool.cpp
+)
+target_include_directories(pool_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
+target_link_libraries(pool_unit
+ ftlcommon ftlcodecs)
+
+add_test(MemPoolUnitTest pool_unit)
\ No newline at end of file
diff --git a/components/structures/test/frame_example_1.cpp b/components/structures/test/frame_example_1.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..cb4d20e45b3a61f8c059b6450ec254e3eac74a0f
--- /dev/null
+++ b/components/structures/test/frame_example_1.cpp
@@ -0,0 +1,245 @@
+#include "catch.hpp"
+
+#include <ftl/codecs/packet.hpp>
+#include <ftl/data/new_frame.hpp>
+#include <ftl/data/framepool.hpp>
+#include <ftl/timer.hpp>
+
+#include <loguru.hpp>
+
+using ftl::data::Session;
+using ftl::data::Frame;
+using ftl::codecs::Channel;
+using ftl::data::ChangeType;
+using ftl::data::StorageMode;
+using ftl::data::FrameID;
+
+namespace ftl {
+namespace streams {
+
+/* Mock Feed class */
+class Feed {
+ public:
+ Feed() : pool_(5,10), buffer0_(std::move(pool_.allocate(FrameID(0,0),0))), buffer1_(std::move(pool_.allocate(FrameID(0,0),0))) {
+ flush_handle_ = pool_.session(FrameID(0,0)).onFlush([this](Frame &f, Channel c) {
+ // Loop changes back to buffer.
+ // Normally transmitted somewhere first.
+ // buffer1_.swapChannel(c, f);
+ ChangeType cc = f.getChangeType(c);
+ if (cc == ChangeType::RESPONSE) {
+ ftl::codecs::Packet pkt;
+ pkt.frame_count = 1;
+ pkt.codec = ftl::codecs::codec_t::MSGPACK;
+ pkt.bitrate = 255;
+ pkt.flags = 0;
+
+ auto encoder = ftl::data::getTypeEncoder(f.type(c));
+ if (encoder) {
+ if (encoder(f, c, pkt.data)) {
+ buffer1_.informChange(c, ChangeType::FOREIGN, pkt);
+ }
+ } else {
+ LOG(WARNING) << "Missing msgpack encoder";
+ }
+ } else if (cc == ChangeType::PRIMARY) {
+ //ftl::codecs::Packet pkt(f.getEncoded(c).front());
+ //buffer0_.informChange(c, (cc == ChangeType::PRIMARY) ? ChangeType::FOREIGN : ChangeType::COMPLETED, ???);
+ buffer0_.swapChannel(c, f);
+ }
+ return true;
+ });
+ }
+
+ inline Frame &buffer() { return buffer0_; }
+
+ inline void fakeDispatch() {
+ Frame f = std::move(buffer0_);
+ buffer0_ = pool_.allocate(FrameID(0,0),ftl::timer::get_time());
+
+ // Save any persistent changes
+ f.store();
+ // Transmit any forwarding changes and prevent further changes
+ //f.flush(); // TODO: use special dispatched function
+
+ // Call the onFrame handler.
+ // Would be in another thread in real version of this class.
+ frame_handler_.trigger(f);
+ }
+
+ inline Frame getFrame() {
+ Frame f = std::move(buffer1_);
+ buffer1_ = pool_.allocate(FrameID(0,0),ftl::timer::get_time());
+
+ // Save any persistent changes
+ f.store();
+ return f;
+ }
+
+ inline ftl::Handle onFrame(const std::function<bool(Frame&)> &cb) {
+ return frame_handler_.on(cb);
+ }
+
+ private:
+ ftl::data::Pool pool_;
+ ftl::Handler<Frame&> frame_handler_;
+ Frame buffer0_;
+ Frame buffer1_;
+ ftl::Handle flush_handle_;
+};
+
+}
+}
+
+using ftl::streams::Feed;
+
+/* Test class */
+struct VideoFrame {
+ int gpudata;
+ int matdata;
+};
+
+// Disable msgpack
+template <>
+inline bool ftl::data::make_type<VideoFrame>() {
+ return false;
+}
+
+template <>
+inline bool ftl::data::decode_type<VideoFrame>(std::any &a, const std::vector<uint8_t> &data) {
+ return false;
+}
+
+TEST_CASE("ftl::data::Frame full non-owner example", "[example]") {
+ // Register channels somewhere at startup
+ ftl::data::make_channel<VideoFrame>(Channel::Colour, "colour", StorageMode::TRANSIENT);
+ ftl::data::make_channel<VideoFrame>(Channel::Depth, "depth", StorageMode::TRANSIENT);
+ ftl::data::make_channel<std::list<std::string>>(Channel::Messages, "messages", StorageMode::AGGREGATE);
+ ftl::data::make_channel<float>(Channel::Pose, "pose", StorageMode::PERSISTENT);
+
+ Feed feed;
+
+ int i=0;
+ int changed = 0;
+ ftl::Handle myhandle;
+
+ auto h = feed.onFrame([&i,&feed,&myhandle,&changed](Frame &f) {
+ i++;
+
+ // First frame received
+ // User of Frame makes changes or reads values from state
+ REQUIRE( f.get<float>(Channel::Pose) == 6.0f );
+ REQUIRE( f.get<VideoFrame>(Channel::Depth).gpudata == 1 );
+
+ // Create a new frame for same source for some return state
+ Frame nf = f.response();
+ nf.create<std::list<std::string>>(Channel::Messages) = "First Message";
+ nf.create<std::list<std::string>>(Channel::Messages) = "Second Message";
+ nf.create<int>(Channel::Control) = 3456;
+ //nf.set<float>(Channel::Pose) = 7.0f;
+
+ // Listen for this `Control` change to be confirmed
+ myhandle = nf.onChange(Channel::Control, [&changed](Frame &f, Channel c) {
+ changed++;
+ return false; // Call once only
+ });
+
+ // Either by destruction or manually, final action is flush to send
+ nf.flush();
+
+ return true;
+ });
+
+ // Generate some incoming changes from network
+ // Usually this is done inside the Feed class...
+ feed.buffer().createChange<VideoFrame>(Channel::Colour, ChangeType::FOREIGN).gpudata = 1;
+ feed.buffer().createChange<VideoFrame>(Channel::Depth, ChangeType::COMPLETED).gpudata = 1;
+ feed.buffer().createChange<float>(Channel::Pose, ChangeType::FOREIGN) = 6.0f;
+
+ // Fake a frame being completely received on network or from file
+ feed.fakeDispatch();
+
+ // Now pretend to be an owner and create a new frame... it should have the
+ // response data in it, so check for that.
+ {
+ Frame f = feed.getFrame();
+ REQUIRE( changed == 1 ); // Change notified before `onFrame`
+ REQUIRE( f.get<float>(Channel::Pose) == 6.0f );
+ REQUIRE( f.get<int>(Channel::Control) == 3456 );
+ REQUIRE( (*f.get<std::list<std::string>>(Channel::Messages).begin()) == "First Message" );
+ }
+ // We wont bother dispatching this new frame
+ //feed.fakeDispatch();
+
+ REQUIRE( i == 1 );
+
+ // For testing only...
+ ftl::data::clearRegistry();
+}
+
+TEST_CASE("ftl::data::Frame full owner example", "[example]") {
+ // Register channels somewhere at startup
+ ftl::data::make_channel<VideoFrame>(Channel::Colour, "colour", StorageMode::TRANSIENT);
+ ftl::data::make_channel<VideoFrame>(Channel::Depth, "depth", StorageMode::TRANSIENT);
+ ftl::data::make_channel<std::list<std::string>>(Channel::Messages, "messages", StorageMode::AGGREGATE);
+ ftl::data::make_channel<float>(Channel::Pose, "pose", StorageMode::PERSISTENT);
+
+ Feed feed;
+
+ int i=0;
+ int changed = 0;
+ ftl::Handle myhandle;
+
+ auto h = feed.onFrame([&i,&feed,&myhandle,&changed](Frame &f) {
+ // First frame received
+ if (i++ == 0 ) {
+ // User of Frame makes changes or reads values from state
+ REQUIRE( f.get<float>(Channel::Pose) == 6.0f );
+ REQUIRE( f.get<VideoFrame>(Channel::Depth).gpudata == 1 );
+
+ // Create a new frame for same source for some return state
+ Frame nf = f.response();
+ nf.create<std::list<std::string>>(Channel::Messages) = "First Message";
+ nf.create<std::list<std::string>>(Channel::Messages) = "Second Message";
+ nf.create<int>(Channel::Control) = 3456;
+ nf.set<float>(Channel::Pose) = 7.0f;
+
+ // Listen for this `Control` change to be confirmed
+ myhandle = nf.onChange(Channel::Control, [&changed](Frame &f, Channel c) {
+ changed++;
+ return false; // Call once only
+ });
+
+ // Either by destruction or manually, final action is flush to send
+ nf.flush();
+ // Second frame received
+ } else {
+
+ }
+ return true;
+ });
+
+ // Create an entirely new frame, destruction will send it.
+ {
+ Frame f = feed.getFrame();
+ f.create<VideoFrame>(Channel::Colour).gpudata = 1;
+ f.create<VideoFrame>(Channel::Depth).gpudata = 1;
+ f.create<float>(Channel::Pose) = 6.0f;
+ }
+ // Trigger local onFrame callback with the above frame.
+ feed.fakeDispatch();
+
+ // Create next new frame, now includes response changes
+ {
+ Frame f = feed.getFrame();
+ REQUIRE( changed == 1 ); // Change notified before `onFrame`
+ REQUIRE( f.get<float>(Channel::Pose) == 7.0f );
+ REQUIRE( f.get<int>(Channel::Control) == 3456 );
+ REQUIRE( (*f.get<std::list<std::string>>(Channel::Messages).begin()) == "First Message" );
+ }
+ feed.fakeDispatch();
+
+ REQUIRE( i == 2 );
+
+ // For testing only...
+ ftl::data::clearRegistry();
+}
diff --git a/components/structures/test/frame_unit.cpp b/components/structures/test/frame_unit.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..33477e510cd77795595bdbf9a9c74ff78e6164f8
--- /dev/null
+++ b/components/structures/test/frame_unit.cpp
@@ -0,0 +1,1498 @@
+/*
+ * These tests directly relate to the specification found at:
+ * https://gitlab.utu.fi/nicolas.pope/ftl/-/wikis/Design/Frames
+ */
+
+#include "catch.hpp"
+
+#include <ftl/data/new_frame.hpp>
+
+using ftl::data::Session;
+using ftl::data::Frame;
+using ftl::codecs::Channel;
+using ftl::data::ChangeType;
+using ftl::data::StorageMode;
+using ftl::data::FrameID;
+
+namespace ftl {
+namespace data {
+
+class Pool {
+ public:
+ static Frame make(Session *s, FrameID id, uint64_t ts) { return Frame(nullptr, s, id, ts); }
+ static Frame make(Pool *p, Session *s, FrameID id, uint64_t ts) { return Frame(p, s, id, ts); }
+
+ void release(Frame &f);
+
+ Frame allocate(FrameID id, int64_t ts);
+
+ ftl::Handler<ftl::data::Frame&,ftl::codecs::Channel> flush_;
+ ftl::Handler<ftl::data::FrameSet&,ftl::codecs::Channel> flush_fs_;
+};
+
+}
+
+namespace streams {
+
+// Only Pool can create frames so make a mock Feed.
+class Feed {
+ public:
+ static Frame make(Session *s, FrameID id, uint64_t ts) { return ftl::data::Pool::make(s, id, ts); }
+};
+
+}
+}
+
+using ftl::streams::Feed;
+
+void ftl::data::Pool::release(Frame &f) {
+
+}
+
+Frame ftl::data::Pool::allocate(FrameID id, int64_t ts) {
+ return make(nullptr, id, ts);
+}
+
+#define _FTL_DATA_FRAMEPOOL_HPP_
+#include <../src/new_frame.cpp>
+
+
+
+/* #1.1.1 */
+static_assert(sizeof(ftl::codecs::Channel) >= 4, "Channel must be at least 32bit");
+
+/* #1.1.2 */
+//static_assert(std::is_integral<decltype(ftl::data::Frame::id)>::value, "Integral ID requried in Frame");
+static_assert(std::is_member_function_pointer<decltype(&ftl::data::Frame::id)>::value, "ID is required");
+static_assert(std::is_member_function_pointer<decltype(&ftl::data::Frame::timestamp)>::value, "Timestamp is required");
+
+/* #1.1.3 */
+static_assert(std::is_member_function_pointer<decltype(&ftl::data::Frame::mutex)>::value, "Frame::mutex is not a member function.");
+
+/* #1.1.4 */
+TEST_CASE("ftl::data::Frame encoded data", "[1.1.4]") {
+ SECTION("provide encoded data") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ ftl::codecs::Packet data;
+ data.flags = 45;
+
+ f.createChange<int>(Channel::Pose, ftl::data::ChangeType::FOREIGN, data) = 55;
+ const auto &x = f.get<int>(Channel::Pose);
+ REQUIRE( x == 55 );
+
+ // Data has been moved.
+ //REQUIRE(data.size() == 0);
+ }
+
+ SECTION("get encoded data") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ ftl::codecs::Packet data;
+ data.flags = 45;
+
+ f.createChange<int>(Channel::Pose, ftl::data::ChangeType::FOREIGN, data);
+
+ auto &data2 = f.getEncoded(Channel::Pose);
+ REQUIRE( data2.size() == 1 );
+ REQUIRE( data2.front().flags == 45 );
+ }
+}
+
+/* #1.1.5 */
+TEST_CASE("ftl::data::Frame clear encoded on change", "[1.1.5]") {
+ SECTION("change by set") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ ftl::codecs::Packet data;
+ data.flags = 45;
+
+ f.createChange<int>(Channel::Pose, ftl::data::ChangeType::FOREIGN, data);
+ f.store();
+
+ auto &data2 = f.getEncoded(Channel::Pose);
+ REQUIRE( data2.size() == 1 );
+
+ f.set<int>(Channel::Pose) = 66;
+ REQUIRE(f.getEncoded(Channel::Pose).size() == 0);
+ }
+
+ SECTION("change by create") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ ftl::codecs::Packet data;
+ data.flags = 45;
+
+ f.createChange<int>(Channel::Pose, ftl::data::ChangeType::FOREIGN, data);
+ f.store();
+
+ auto &data2 = f.getEncoded(Channel::Pose);
+ REQUIRE( data2.size() == 1 );
+
+ f.create<int>(Channel::Pose) = 66;
+ REQUIRE(f.getEncoded(Channel::Pose).size() == 0);
+ }
+}
+
+struct Test {
+ int a=44;
+ float b=33.0f;
+
+ MSGPACK_DEFINE(a,b);
+};
+
+/* #1.2.1 */
+TEST_CASE("ftl::data::Frame create get", "[Frame]") {
+ SECTION("write and read integers") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ f.store();
+
+ f.create<int>(Channel::Pose) = 55;
+
+ const auto &x = f.get<int>(Channel::Pose);
+ REQUIRE( x == 55 );
+ }
+
+ SECTION("write and read floats") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ f.store();
+
+ f.create<float>(Channel::Pose) = 44.0f;
+
+ const auto &x = f.get<float>(Channel::Pose);
+ REQUIRE( x == 44.0f );
+ }
+
+ SECTION("write and read structures") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ f.store();
+
+ f.create<Test>(Channel::Pose) = {};
+
+ const auto &x = f.get<Test>(Channel::Pose);
+ REQUIRE( x.a == 44 );
+ REQUIRE( x.b == 33.0f );
+ }
+
+ SECTION("is int type") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ f.store();
+
+ f.create<int>(Channel::Pose) = 55;
+
+ REQUIRE( f.isType<int>(Channel::Pose) );
+ REQUIRE( !f.isType<float>(Channel::Pose) );
+ }
+
+ SECTION("is struct type") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ f.store();
+
+ f.create<Test>(Channel::Pose) = {3,4};
+
+ REQUIRE( f.isType<Test>(Channel::Pose) );
+ REQUIRE( !f.isType<float>(Channel::Pose) );
+ }
+
+ SECTION("missing") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+
+ REQUIRE( !f.isType<float>(Channel::Pose) );
+ }
+}
+
+/* #1.2.2 */
+TEST_CASE("ftl::data::registerChannel", "[Frame]") {
+ SECTION("register typed channel and valid create") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ f.store();
+
+ ftl::data::make_channel<float>(Channel::Colour, "colour", ftl::data::StorageMode::PERSISTENT);
+ f.create<float>(Channel::Colour) = 5.0f;
+ REQUIRE( f.get<float>(Channel::Colour) == 5.0f );
+
+ ftl::data::clearRegistry();
+ }
+
+ SECTION("register typed channel and invalid create") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ f.store();
+
+ ftl::data::make_channel<float>(Channel::Colour, "colour", ftl::data::StorageMode::PERSISTENT);
+
+ bool err = false;
+ try {
+ f.create<int>(Channel::Colour) = 5;
+ } catch(const ftl::exception &e) {
+ e.ignore();
+ err = true;
+ }
+ REQUIRE( err );
+
+ ftl::data::clearRegistry();
+ }
+
+ SECTION("register void for any type") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ f.store();
+
+ ftl::data::make_channel<void>(Channel::Colour, "colour", ftl::data::StorageMode::PERSISTENT);
+
+ f.create<int>(Channel::Colour) = 5;
+ REQUIRE( f.get<int>(Channel::Colour) == 5 );
+
+ ftl::data::clearRegistry();
+ }
+}
+
+/* #1.2.3 */
+TEST_CASE("ftl::data::Frame type failure") {
+ SECTION("write and read fail") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ f.store();
+ f.create<Test>(Channel::Pose) = {};
+
+ bool err = false;
+
+ try {
+ f.get<int>(Channel::Pose);
+ } catch (const ftl::exception &e) {
+ e.ignore();
+ err = true;
+ }
+ REQUIRE(err);
+ }
+
+ SECTION("same value on create") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ f.store();
+
+ f.create<int>(Channel::Pose) = 55;
+ const auto &x = f.get<int>(Channel::Pose);
+ REQUIRE( x == 55 );
+
+ f.create<int>(Channel::Pose);
+ const auto &y = f.get<int>(Channel::Pose);
+ REQUIRE( y == 55 );
+ }
+
+ SECTION("change of type by recreate") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ f.store();
+
+ f.create<int>(Channel::Pose) = 55;
+ auto x = f.getPtr<int>(Channel::Pose);
+ REQUIRE( x );
+ REQUIRE( *x == 55 );
+
+ f.create<float>(Channel::Pose);
+ auto y = f.getPtr<float>(Channel::Pose);
+ REQUIRE( y );
+ REQUIRE( *y == 0.0f );
+ }
+}
+
+/* #1.2.4 UNTESTED */
+
+/* #1.2.5 */
+TEST_CASE("ftl::data::Frame persistent data", "[1.2.5]") {
+ ftl::data::make_channel<int>(Channel::Density, "density", ftl::data::StorageMode::PERSISTENT);
+
+ SECTION("persistent through createChange") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+
+ f.createChange<int>(Channel::Density, ChangeType::FOREIGN) = 44;
+ f.store();
+ REQUIRE( p.get<int>(Channel::Density) == 44 );
+ }
+
+ // These are not valid as per #3.2.5
+ /*SECTION("persistent via create") {
+ Session p;
+ Frame f(&p);
+
+ f.create<int>(Channel::Density, 44);
+ f.store();
+ REQUIRE( p.get<int>(Channel::Density) == 44 );
+ }
+
+ SECTION("persistent via set") {
+ Session p;
+ Frame f(&p);
+
+ f.create<int>(Channel::Density, 44);
+ f.set<int>(Channel::Density, 45);
+ f.store();
+ REQUIRE( p.get<int>(Channel::Density) == 45 );
+ }*/
+
+ SECTION("available in other frame") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+
+ f.createChange<int>(Channel::Density, ChangeType::FOREIGN) = 44;
+ f.store();
+
+ Frame f2 = Feed::make(&p, FrameID(0,0), 0);
+ REQUIRE( f2.get<int>(Channel::Density) == 44 );
+ }
+
+ SECTION("get from parent") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+ f.store();
+
+ p.create<int>(Channel::Pose) = 55;
+
+ auto x = f.getPtr<int>(Channel::Pose);
+ REQUIRE( x );
+ REQUIRE( *x == 55 );
+
+ auto y = p.getPtr<int>(Channel::Pose);
+ REQUIRE( x == y );
+ }
+
+ SECTION("get from parent not ptr") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+ f.store();
+
+ p.create<int>(Channel::Pose) = 55;
+
+ auto x = f.get<int>(Channel::Pose);
+ REQUIRE( x == 55 );
+ }
+
+ SECTION("has from parent") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+ f.store();
+
+ p.create<int>(Channel::Pose) = 55;
+ REQUIRE( f.has(Channel::Pose) );
+ }
+
+ SECTION("no change in parent") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+ f.store();
+
+ p.create<int>(Channel::Pose) = 55;
+ p.untouch(Channel::Pose);
+
+ REQUIRE( !f.changed(Channel::Pose) );
+ REQUIRE( !p.changed(Channel::Pose) );
+
+ f.set<int>(Channel::Pose) = 66;
+
+ REQUIRE( f.changed(Channel::Pose) );
+ REQUIRE( !p.changed(Channel::Pose) );
+
+ auto x = f.getPtr<int>(Channel::Pose);
+ REQUIRE( x );
+ REQUIRE( *x == 66 );
+
+ auto y = p.getPtr<int>(Channel::Pose);
+ REQUIRE( y );
+ REQUIRE( *y == 55 );
+ }
+
+ ftl::data::clearRegistry();
+}
+
+/* #1.2.6 */
+TEST_CASE("ftl::data::Frame transient data", "[1.2.6]") {
+ ftl::data::make_channel<int>(Channel::Density, "density", ftl::data::StorageMode::TRANSIENT);
+
+ SECTION("not persistent after store") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+
+ f.createChange<int>(Channel::Density, ChangeType::FOREIGN) = 44;
+ f.store();
+
+ REQUIRE( !p.has(Channel::Density) );
+ }
+
+ ftl::data::clearRegistry();
+}
+
+/* #1.2.7 */
+TEST_CASE("ftl::data::Frame aggregate data", "[1.2.7]") {
+ ftl::data::make_channel<void>(Channel::Density, "density", ftl::data::StorageMode::AGGREGATE);
+
+ SECTION("not persistent after store") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+
+ f.createChange<std::list<int>>(Channel::Density, ChangeType::FOREIGN) = {44};
+ f.store();
+
+ REQUIRE( !p.has(Channel::Density) );
+ }
+
+ // TODO: Check elsewhere that the changes are since last frame, not
+ // applicable as part of this unit test.
+
+ SECTION("aggregate channels actually aggregate with createChange") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+
+ f.createChange<std::list<int>>(Channel::Density, ChangeType::FOREIGN) = {34};
+ f.createChange<std::list<int>>(Channel::Density, ChangeType::FOREIGN) = {55};
+ f.createChange<std::list<int>>(Channel::Density, ChangeType::FOREIGN) = {12,89};
+ f.store();
+
+ auto list = f.get<std::list<int>>(Channel::Density).begin();
+ REQUIRE( *(list++) == 34 );
+ REQUIRE( *(list++) == 55 );
+ REQUIRE( *(list++) == 12 );
+ REQUIRE( *(list++) == 89 );
+ }
+
+ SECTION("non aggregate channels do not aggregate with createChange") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+
+ f.createChange<std::list<int>>(Channel::Colour, ChangeType::FOREIGN) = {34};
+ f.createChange<std::list<int>>(Channel::Colour, ChangeType::FOREIGN) = {55};
+ f.createChange<std::list<int>>(Channel::Colour, ChangeType::FOREIGN) = {12,89};
+ f.store();
+
+ auto list = f.get<std::list<int>>(Channel::Colour).begin();
+ REQUIRE( *(list++) == 12 );
+ REQUIRE( *(list++) == 89 );
+ }
+
+ SECTION("aggregate channels allow move aggregate with createChange") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+
+ std::list<int> data1 = {34};
+ std::list<int> data2 = {55};
+
+ f.createChange<std::list<int>>(Channel::Density, ChangeType::FOREIGN) = std::move(data1);
+ f.createChange<std::list<int>>(Channel::Density, ChangeType::FOREIGN) = std::move(data2);
+ f.store();
+
+ auto list = f.get<std::list<int>>(Channel::Density).begin();
+ REQUIRE( *(list++) == 34 );
+ REQUIRE( *(list++) == 55 );
+ REQUIRE( data1.size() == 0 );
+ REQUIRE( data2.size() == 0 );
+ }
+
+ SECTION("aggregate channels actually aggregate with create") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+ f.store();
+
+ f.create<std::list<int>>(Channel::Density) = {34};
+ f.create<std::list<int>>(Channel::Density) = {55};
+ f.create<std::list<int>>(Channel::Density) = {12,89};
+
+ auto list = f.get<std::list<int>>(Channel::Density).begin();
+ REQUIRE( *(list++) == 34 );
+ REQUIRE( *(list++) == 55 );
+ REQUIRE( *(list++) == 12 );
+ REQUIRE( *(list++) == 89 );
+ }
+
+ SECTION("non aggregate channels do not aggregate with create") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+ f.store();
+
+ f.create<std::list<int>>(Channel::Colour) = {34};
+ f.create<std::list<int>>(Channel::Colour) = {55};
+ f.create<std::list<int>>(Channel::Colour) = {12,89};
+
+ auto list = f.get<std::list<int>>(Channel::Colour).begin();
+ REQUIRE( *(list++) == 12 );
+ REQUIRE( *(list++) == 89 );
+ }
+
+ SECTION("aggregate channels actually aggregate with set") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+ f.store();
+
+ f.create<std::list<int>>(Channel::Density) = {34};
+ f.set<std::list<int>>(Channel::Density) = {55};
+ f.set<std::list<int>>(Channel::Density) = {12,89};
+
+ auto list = f.get<std::list<int>>(Channel::Density).begin();
+ REQUIRE( *(list++) == 34 );
+ REQUIRE( *(list++) == 55 );
+ REQUIRE( *(list++) == 12 );
+ REQUIRE( *(list++) == 89 );
+ }
+
+ SECTION("non aggregate channels do not aggregate with set") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+ f.store();
+
+ f.create<std::list<int>>(Channel::Colour) = {34};
+ f.set<std::list<int>>(Channel::Colour) = {55};
+ f.set<std::list<int>>(Channel::Colour) = {12,89};
+
+ auto list = f.get<std::list<int>>(Channel::Colour).begin();
+ REQUIRE( *(list++) == 12 );
+ REQUIRE( *(list++) == 89 );
+ }
+
+ ftl::data::clearRegistry();
+}
+
+/* #1.2.8 Not applicable as a unit test of Frame. */
+
+/* #1.2.9 */
+TEST_CASE("ftl::data::Frame aggregate lists", "[1.2.9]") {
+ ftl::data::make_channel<void>(Channel::Density, "density", ftl::data::StorageMode::AGGREGATE);
+
+ SECTION("only allow stl list container") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+ f.store();
+
+ f.create<std::list<int>>(Channel::Density) = {44};
+
+ bool err = false;
+
+ try {
+ f.create<int>(Channel::Density);
+ } catch (const ftl::exception &e) {
+ e.ignore();
+ err = true;
+ }
+
+ REQUIRE( err );
+ }
+
+ ftl::data::clearRegistry();
+}
+
+/* #1.3 Not applicable as a unit test of Frame. */
+
+/* #2.1.1 */
+static_assert(!std::is_default_constructible<Frame>::value, "Must not have default construction");
+// TODO: Check for privacy of actual constructor? Proposed for future feature of C++ but not yet.
+
+/* #2.1.2 */
+static_assert(!std::is_copy_constructible<Frame>::value, "Must not have a copy constructor");
+static_assert(!std::is_copy_assignable<Frame>::value, "Must not allow copy assignment");
+
+/* #2.1.3 */
+static_assert(std::is_move_constructible<Frame>::value, "Must have a move constructor");
+static_assert(std::is_move_assignable<Frame>::value, "Must allow move assignment");
+
+/* #2.1.4 Not applicable as a unit test of Frame. */
+
+/* #2.1.5 Not applicable as a unit test of Frame. */
+
+/* #2.1.6 Not applicable as a unit test of Frame. */
+
+/* #2.1.7 Not applicable as a unit test of Frame. */
+
+/* #2.1.8 */
+TEST_CASE("ftl::data::Frame merging", "[2.1.8]") {
+ SECTION("merge replaces data in destination") {
+ Frame f1 = Feed::make(nullptr, FrameID(0,0), 0);
+ Frame f2 = Feed::make(nullptr, FrameID(0,0), 0);
+ f1.store();
+ f2.store();
+
+ f1.create<int>(Channel::Colour) = 43;
+ f1.create<int>(Channel::Colour2) = 77;
+
+ f2.create<int>(Channel::Colour2) = 88;
+
+ f2.merge(f1);
+
+ REQUIRE( f2.get<int>(Channel::Colour2) == 77 );
+ }
+
+ SECTION("new items are created") {
+ Frame f1 = Feed::make(nullptr, FrameID(0,0), 0);
+ Frame f2 = Feed::make(nullptr, FrameID(0,0), 0);
+ f1.store();
+ f2.store();
+
+ f1.create<int>(Channel::Colour) = 43;
+ f1.create<int>(Channel::Colour2) = 77;
+
+ f2.create<int>(Channel::Colour2) = 88;
+
+ f2.merge(f1);
+
+ REQUIRE( f2.get<int>(Channel::Colour) == 43 );
+ }
+
+ SECTION("old items remain") {
+ Frame f1 = Feed::make(nullptr, FrameID(0,0), 0);
+ Frame f2 = Feed::make(nullptr, FrameID(0,0), 0);
+ f1.store();
+ f2.store();
+
+ f1.create<int>(Channel::Colour2) = 77;
+
+ f2.create<int>(Channel::Colour) = 43;
+ f2.create<int>(Channel::Colour2) = 88;
+
+ f2.merge(f1);
+
+ REQUIRE( f2.get<int>(Channel::Colour) == 43 );
+ }
+
+ SECTION("flushed status is removed") {
+ Frame f1 = Feed::make(nullptr, FrameID(0,0), 0);
+ Frame f2 = Feed::make(nullptr, FrameID(0,0), 0);
+ f1.store();
+ f2.store();
+
+ f1.create<int>(Channel::Colour) = 43;
+ f1.flush();
+
+ REQUIRE( f1.flushed(Channel::Colour) );
+
+ f2.merge(f1);
+
+ REQUIRE( !f2.flushed(Channel::Colour) );
+ REQUIRE( f2.has(Channel::Colour) );
+ }
+}
+
+/* #2.1.9 */
+TEST_CASE("ftl::data::Frame merge is change", "[2.1.9]") {
+ SECTION("merges are marked as changes") {
+ Frame f1 = Feed::make(nullptr, FrameID(0,0), 0);
+ Frame f2 = Feed::make(nullptr, FrameID(0,0), 0);
+ f1.store();
+ f2.store();
+
+ f1.create<int>(Channel::Colour) = 43;
+ f2.create<int>(Channel::Colour2) = 88;
+ f2.untouch(Channel::Colour2);
+ f2.merge(f1);
+
+ REQUIRE( f2.getChangeType(Channel::Colour) == ChangeType::PRIMARY );
+ REQUIRE( !f2.changed(Channel::Colour2) );
+ }
+}
+
+/* #2.1.10 Unimplemented, merge is move only. This tests for the move instead */
+TEST_CASE("ftl::data::Frame merge moves encoded", "[2.1.10]") {
+ SECTION("encoded data moved") {
+ Frame f1 = Feed::make(nullptr, FrameID(0,0), 0);
+ Frame f2 = Feed::make(nullptr, FrameID(0,0), 0);
+
+ ftl::codecs::Packet data;
+ data.flags = 45;
+ f1.createChange<int>(Channel::Colour, ChangeType::FOREIGN, data);
+ f2.merge(f1);
+
+ REQUIRE( f2.getEncoded(Channel::Colour).size() == 1 );
+ REQUIRE( !f1.has(Channel::Colour) );
+ }
+}
+
+/* #2.2.1 */
+TEST_CASE("ftl::data::Frame modify after flush", "[2.2.1]") {
+ SECTION("create fails after flush") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ f.store();
+
+ f.create<int>(Channel::Colour) = 89;
+ f.flush();
+
+ bool err = false;
+ try {
+ f.create<int>(Channel::Colour) = 90;
+ } catch (const ftl::exception &e) {
+ e.ignore();
+ err = true;
+ }
+
+ REQUIRE( err );
+ }
+
+ SECTION("set fails after flush") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ f.store();
+
+ f.create<int>(Channel::Colour) = 89;
+ f.flush();
+
+ bool err = false;
+ try {
+ f.set<int>(Channel::Colour) = 90;
+ } catch (const ftl::exception &e) {
+ e.ignore();
+ err = true;
+ }
+
+ REQUIRE( err );
+ }
+
+ SECTION("createChange fails after flush") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ f.store();
+
+ f.create<int>(Channel::Colour) = 89;
+ f.flush();
+
+ bool err = false;
+ try {
+ f.createChange<int>(Channel::Colour, ChangeType::FOREIGN) = 90;
+ } catch (const ftl::exception &e) {
+ e.ignore();
+ err = true;
+ }
+
+ REQUIRE( err );
+ }
+
+ SECTION("channel marked readonly after flush") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ f.store();
+
+ f.create<int>(Channel::Colour) = 89;
+ f.flush();
+ REQUIRE( f.readonly(Channel::Colour) );
+ }
+}
+
+/* #2.2.2 FIXME: Specification needs review. */
+
+/* #2.2.3 */
+TEST_CASE("ftl::data::Frame multiple flush", "[Frame]") {
+ SECTION("fail on multiple frame flush") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ f.store();
+
+ f.create<int>(Channel::Colour) = 89;
+ f.flush();
+
+ bool err = false;
+ try {
+ f.flush();
+ } catch (const ftl::exception &e) {
+ e.ignore();
+ err = true;
+ }
+
+ REQUIRE( err );
+ }
+}
+
+/* #2.2.4 */
+TEST_CASE("ftl::data::Frame locality of changes", "[2.2.4]") {
+ ftl::data::make_channel<int>(Channel::Density, "density", ftl::data::StorageMode::PERSISTENT);
+
+ SECTION("persistent after flush only for primary frame") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+ f.store();
+
+ f.create<int>(Channel::Density) = 44;
+ f.flush();
+
+ bool err=false;
+
+ try {
+ p.get<int>(Channel::Density);
+ } catch(const ftl::exception &e) {
+ e.ignore();
+ err = true;
+ }
+ REQUIRE( !err );
+ }
+
+ // FIXME: Need a way to change frame mode or generate response frame.
+ /*SECTION("not persistent after flush only for response frame") {
+ Session p;
+ Frame ff = Feed::make(&p, FrameID(0,0), 0);
+ ff.store();
+ Frame f = ff.response();
+
+ f.create<int>(Channel::Density) = 44;
+ f.flush();
+
+ bool err=false;
+
+ try {
+ p.get<int>(Channel::Density);
+ } catch(const ftl::exception &e) {
+ e.ignore();
+ err = true;
+ }
+ REQUIRE( err );
+ }*/
+
+ SECTION("not persistent without store") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+ f.store();
+
+ f.create<int>(Channel::Density) = 44;
+
+ bool err=false;
+
+ try {
+ p.get<int>(Channel::Density);
+ } catch(const ftl::exception &e) {
+ e.ignore();
+ err = true;
+ }
+ REQUIRE( err );
+ }
+
+ ftl::data::clearRegistry();
+}
+
+/* #2.2.5 */
+TEST_CASE("ftl::data::Frame changed status", "[2.2.5]") {
+ SECTION("change on create") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ f.store();
+
+ REQUIRE( !f.changed(Channel::Pose) );
+ f.create<int>(Channel::Pose) = 55;
+ REQUIRE( f.changed(Channel::Pose) );
+ }
+
+ SECTION("no change on untouch") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ f.store();
+
+ f.create<int>(Channel::Pose) = 55;
+ REQUIRE( f.changed(Channel::Pose) );
+ f.untouch(Channel::Pose);
+ REQUIRE( !f.changed(Channel::Pose) );
+ }
+}
+
+/* #2.3.1 Not applicable as a unit test of Frame. */
+
+/* #2.3.2 Not applicable as a unit test of Frame. */
+
+/* #2.3.3 */
+TEST_CASE("ftl::data::Frame change type", "[2.3.3]") {
+ SECTION("changes are local type") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ f.store();
+
+ REQUIRE( !f.changed(Channel::Pose) );
+ f.create<int>(Channel::Pose) = 55;
+ REQUIRE( f.getChangeType(Channel::Pose) == ChangeType::PRIMARY );
+ }
+
+ SECTION("local change overrides foreign change") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+
+ f.createChange<int>(Channel::Pose, ChangeType::FOREIGN) = 55;
+ REQUIRE( f.getChangeType(Channel::Pose) == ChangeType::FOREIGN );
+ f.store();
+
+ f.set<int>(Channel::Pose) = 66;
+ REQUIRE( f.getChangeType(Channel::Pose) == ChangeType::PRIMARY );
+ }
+
+ SECTION("local change overrides completed change") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+
+ f.createChange<int>(Channel::Pose, ChangeType::COMPLETED) = 55;
+ REQUIRE( f.getChangeType(Channel::Pose) == ChangeType::COMPLETED );
+ f.store();
+ f.set<int>(Channel::Pose) = 66;
+ REQUIRE( f.getChangeType(Channel::Pose) == ChangeType::PRIMARY );
+ }
+}
+
+/* #2.3.4 Not applicable as a unit test of Frame. */
+
+/* #2.3.5 Not applicable as a unit test of Frame. */
+
+/* #2.3.6 Not applicable as a unit test of Frame. */
+
+/* #2.3.7 Not applicable as a unit test of Frame. */
+
+/* #3.1.1 Not applicable as a unit test of Frame. */
+
+/* #3.1.2 Not applicable as a unit test of Frame. */
+
+/* #3.1.3 Not applicable as a unit test of Frame. */
+
+/* #3.1.4 */
+TEST_CASE("ftl::data::Frame override of persistent", "[3.1.4]") {
+ SECTION("local changes override persistent data") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+ f.store();
+
+ p.create<int>(Channel::Colour) = 44;
+
+ // Note: Get without local create
+ REQUIRE( f.get<int>(Channel::Colour) == 44 );
+
+ // Note: set without create when exists in session store
+ f.set<int>(Channel::Colour) = 66;
+ REQUIRE( f.get<int>(Channel::Colour) == 66 );
+ }
+}
+
+/* #3.1.5 Not applicable as a unit test of Frame. */
+
+/* #3.1.6 FIXME: Specification needs review */
+
+/* #3.1.7 Implicit in other tests. */
+
+/* #3.1.8 Not applicable as a unit test of Frame. */
+
+/* #3.2.1 Not applicable as a unit test of Frame. */
+
+/* #3.2.2 Not applicable as a unit test of Frame. */
+
+/* #3.2.3 Not applicable as a unit test of Frame. */
+
+/* #3.2.4 Not applicable as a unit test of Frame. */
+
+/* #3.2.5 */
+TEST_CASE("ftl::data::Frame initial store", "[3.2.5]") {
+ SECTION("cannot create before store") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+
+ bool err = false;
+ try {
+ f.create<int>(Channel::Colour) = 55;
+ } catch (const ftl::exception &e) {
+ e.ignore();
+ err = true;
+ }
+ REQUIRE( err );
+ }
+
+ SECTION("can createChange before store") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+
+ f.createChange<int>(Channel::Colour, ChangeType::FOREIGN) = 89;
+ }
+
+ SECTION("cannot createChange after store") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+
+ f.store();
+
+ bool err = false;
+ try {
+ f.createChange<int>(Channel::Colour, ChangeType::FOREIGN);
+ } catch (const ftl::exception &e) {
+ e.ignore();
+ err = true;
+ }
+ REQUIRE( err );
+ }
+
+ SECTION("cannot store twice") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+
+ f.store();
+
+ bool err = false;
+ try {
+ f.store();
+ } catch (const ftl::exception &e) {
+ e.ignore();
+ err = true;
+ }
+ REQUIRE( err );
+ }
+
+ SECTION("cannot flush before store") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+
+ bool err = false;
+ try {
+ f.flush();
+ } catch (const ftl::exception &e) {
+ e.ignore();
+ err = true;
+ }
+ REQUIRE( err );
+ }
+}
+
+/* #3.3.1 Not applicable as a unit test of Frame. */
+
+/* #3.3.2 Not applicable as a unit test of Frame. */
+
+/* #3.3.3 See #3.2.5 */
+
+/* #3.3.2 Not applicable as a unit test of Frame. However, see #3.2.5 */
+
+/* #3.4.1 */
+TEST_CASE("ftl::data::Frame change events", "[3.4.1]") {
+ SECTION("event on store of foreign change") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+
+ int event = 0;
+ auto h = f.onChange([&event](Frame &frame, Channel c) {
+ event++;
+ return true;
+ });
+
+ f.createChange<int>(Channel::Pose, ChangeType::FOREIGN);
+ REQUIRE( event == 0 );
+
+ f.store();
+ REQUIRE( event == 1 );
+ }
+
+ SECTION("event on store of completed change") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+
+ int event = 0;
+ auto h = f.onChange([&event](Frame &frame, Channel c) {
+ event++;
+ return true;
+ });
+
+ f.createChange<int>(Channel::Pose, ChangeType::COMPLETED);
+ REQUIRE( event == 0 );
+
+ f.store();
+ REQUIRE( event == 1 );
+ }
+
+ SECTION("event on store of foreign change with flush") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+
+ int event = 0;
+ auto h = f.onChange([&event](Frame &frame, Channel c) {
+ event++;
+ return true;
+ });
+
+ f.createChange<int>(Channel::Pose, ChangeType::FOREIGN);
+ REQUIRE( event == 0 );
+
+ f.store();
+ f.flush();
+ REQUIRE( event == 1 );
+ }
+
+ SECTION("No event on flush of response frame") {
+ ftl::data::Pool p;
+ Session s;
+ Frame f = ftl::data::Pool::make(&p, &s, FrameID(0,0), 0);
+
+ int event = 0;
+ auto h = f.onChange([&event](Frame &frame, Channel c) {
+ event++;
+ return true;
+ });
+
+ {
+ auto response = f.response();
+ REQUIRE( event == 0 );
+ response.create<int>(Channel::Control) = 55;
+ }
+ REQUIRE( event == 0 );
+ }
+}
+
+/* #3.4.2 Not applicable as a unit test of Frame. See #3.2.5 */
+
+/* #3.4.3 Not applicable as a unit test of Frame. See #3.2.5 */
+
+/* #3.4.4 */
+TEST_CASE("ftl::data::Frame parallel change events", "[3.4.4]") {
+ SECTION("event for each of multiple changes") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+
+ int event = 0;
+ auto h = f.onChange([&event](Frame &frame, Channel c) {
+ event++;
+ return true;
+ });
+
+ f.createChange<int>(Channel::Pose, ChangeType::FOREIGN);
+ f.createChange<int>(Channel::Colour, ChangeType::FOREIGN);
+ f.createChange<int>(Channel::Depth, ChangeType::FOREIGN);
+ REQUIRE( event == 0 );
+
+ f.store();
+ REQUIRE( event == 3 );
+ }
+}
+
+/* #3.4.5 see above test, #3.4.4 */
+
+/* #3.4.6 */
+TEST_CASE("ftl::data::Frame aggregate changes", "[3.4.6]") {
+ ftl::data::make_channel<std::list<int>>(Channel::Density, "density", ftl::data::StorageMode::AGGREGATE);
+
+ SECTION("multiple changes cause single event") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+
+ int event = 0;
+ auto h = f.onChange([&event](Frame &frame, Channel c) {
+ event++;
+ return true;
+ });
+
+ f.createChange<std::list<int>>(Channel::Density, ChangeType::FOREIGN) = {34};
+ f.createChange<std::list<int>>(Channel::Density, ChangeType::FOREIGN) = {55};
+ f.createChange<std::list<int>>(Channel::Density, ChangeType::FOREIGN) = {12,89};
+ REQUIRE( event == 0 );
+
+ f.store();
+ REQUIRE( event == 1 );
+ }
+
+ ftl::data::clearRegistry();
+}
+
+/* #3.4.7 */
+//static_assert(std::is_same<decltype(Frame::onChange),ftl::Handle(ftl::codecs::Channel, const std::function<bool(Frame&,ftl::codecs::Channel)> &)>::value, "Wrong event handler type");
+
+/* #3.4.8 Not applicable as a unit test of Frame. */
+
+/* #4.1.1 */
+TEST_CASE("ftl::data::Frame flush events", "[4.1.1]") {
+ SECTION("event on flush") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+ f.store();
+
+ int event = 0;
+ auto h = f.onFlush([&event](Frame &frame, Channel c) {
+ event++;
+ return true;
+ });
+
+ f.create<int>(Channel::Pose) = 55;
+ REQUIRE( event == 0 );
+
+ f.flush();
+ REQUIRE( event == 1 );
+ }
+
+ SECTION("parent event on flush") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+ f.store();
+
+ int event = 0;
+ auto h = p.onFlush([&event](Frame &frame, Channel c) {
+ event++;
+ return true;
+ });
+
+ f.create<int>(Channel::Pose) = 55;
+ REQUIRE( event == 0 );
+
+ f.flush();
+ REQUIRE( event == 1 );
+ }
+}
+
+/* #4.1.2 */
+TEST_CASE("ftl::data::Frame flush per channel", "[4.1.2]") {
+ SECTION("event on flush of channel") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+ f.store();
+
+ int event = 0;
+ auto h = f.onFlush([&event](Frame &frame, Channel c) {
+ event++;
+ return true;
+ });
+
+ f.create<int>(Channel::Pose) = 55;
+ f.create<int>(Channel::Colour) = 45;
+ REQUIRE( event == 0 );
+
+ f.flush(Channel::Pose);
+ REQUIRE( event == 1 );
+ }
+
+ SECTION("flushed channel readonly") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+ f.store();
+
+ f.create<int>(Channel::Pose) = 55;
+ f.create<int>(Channel::Colour) = 45;
+
+ f.flush(Channel::Pose);
+ REQUIRE( f.readonly(Channel::Pose) );
+ REQUIRE( !f.readonly(Channel::Colour) );
+ }
+}
+
+/* #4.1.3 Not applicable as a unit test of Frame. */
+
+/* #4.1.4 Not applicable as a unit test of Frame. */
+
+/* #4.1.5 Not applicable as a unit test of Frame. */
+
+/* #4.1.6 */
+TEST_CASE("ftl::data::Frame flush on destruct", "[4.1.6]") {
+ SECTION("flush a non-flushed frame on destruct") {
+ Session p;
+
+ int event = 0;
+ auto h = p.onFlush([&event](Frame &frame, Channel c) {
+ event++;
+ return true;
+ });
+
+ {
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+ f.store();
+ f.create<int>(Channel::Pose) = 55;
+ REQUIRE( event == 0 );
+ }
+
+ REQUIRE( event == 1 );
+ }
+
+ SECTION("no flush of flushed frame on destruct") {
+ Session p;
+
+ int event = 0;
+ auto h = p.onFlush([&event](Frame &frame, Channel c) {
+ event++;
+ return true;
+ });
+
+ {
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+ f.store();
+ f.create<int>(Channel::Pose) = 55;
+ f.flush();
+ REQUIRE( event == 1 );
+ }
+
+ REQUIRE( event == 1 );
+ }
+}
+
+/* #4.2.1 */
+TEST_CASE("ftl::data::Frame flush foreign", "[4.2.1]") {
+ // For local flush see #4.1.1
+
+ SECTION("event on foreign flush") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+
+ f.createChange<int>(Channel::Colour, ChangeType::FOREIGN) = 55;
+ f.store();
+
+ int event = 0;
+ auto h = f.onFlush([&event](Frame &frame, Channel c) {
+ event++;
+ return true;
+ });
+
+ REQUIRE( event == 0 );
+ f.flush();
+ REQUIRE( event == 1 );
+ }
+}
+
+/* #4.2.2 */
+TEST_CASE("ftl::data::Frame no flush of completed", "[4.2.2]") {
+ // For local flush see #4.1.1
+
+ SECTION("no event on completed flush") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+
+ f.createChange<int>(Channel::Colour, ChangeType::COMPLETED) = 55;
+ f.store();
+
+ int event = 0;
+ auto h = f.onFlush([&event](Frame &frame, Channel c) {
+ event++;
+ return true;
+ });
+
+ REQUIRE( event == 0 );
+ f.flush();
+ REQUIRE( event == 0 );
+ }
+}
+
+/* #4.2.3 see #2.2.4 */
+
+/* #4.3.1 see #4.2.1 */
+
+/* #4.3.2 see #4.2.2 but also Feed class */
+
+/* #4.3.3 see #2.2.4 */
+
+/* #4.4.1 see #4.1.6 and #4.2.1 */
+
+/* #4.4.2 see #4.2.2 */
+
+/* #4.4.3 */
+TEST_CASE("ftl::data::Frame parallel flush events", "[4.4.3]") {
+ SECTION("event for each of multiple changes") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+ f.store();
+
+ int event = 0;
+ auto h = f.onFlush([&event](Frame &frame, Channel c) {
+ event++;
+ return true;
+ });
+
+ f.create<int>(Channel::Pose);
+ f.create<int>(Channel::Colour);
+ f.create<int>(Channel::Depth);
+ REQUIRE( event == 0 );
+
+ f.flush();
+ REQUIRE( event == 3 );
+ }
+}
+
+/* #4.4.4 see #4.4.3 */
+
+/* #4.4.5 */
+TEST_CASE("ftl::data::Frame aggregate flush events", "[4.4.5]") {
+ ftl::data::make_channel<std::list<int>>(Channel::Density, "density", ftl::data::StorageMode::AGGREGATE);
+
+ SECTION("multiple changes cause single event") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+ f.store();
+
+ int event = 0;
+ auto h = f.onFlush([&event](Frame &frame, Channel c) {
+ event++;
+ return true;
+ });
+
+ f.create<std::list<int>>(Channel::Density) = {34};
+ f.create<std::list<int>>(Channel::Density) = {55};
+ f.create<std::list<int>>(Channel::Density) = {12,89};
+ REQUIRE( event == 0 );
+
+ f.flush();
+ REQUIRE( event == 1 );
+ }
+
+ ftl::data::clearRegistry();
+}
+
+/* #4.4.6 */
+// TODO: Check function signature
+
+/* #4.4.7 FIXME: Review specification */
+TEST_CASE("ftl::data::Frame status after flush", "[4.4.7]") {
+ SECTION("still changed after flush") {
+ Session p;
+ Frame f = Feed::make(&p, FrameID(0,0), 0);
+ f.store();
+
+ f.create<int>(Channel::Colour) = 55;
+ f.flush();
+
+ REQUIRE( f.changed(Channel::Colour) );
+ }
+}
+
+/* #5 FIXME: RPC not implemented. */
+
+/* #6 See pool unit tests */
+
+
+
+// ==== Complex type overload test =============================================
+
+struct TestA {
+ int a=55;
+};
+
+struct TestB {
+ int b=99;
+};
+
+struct TestC {
+ TestA a;
+ TestB b;
+};
+
+template <>
+bool ftl::data::make_type<TestC>() {
+ return false;
+}
+
+template <>
+TestA &ftl::data::Frame::create<TestA>(ftl::codecs::Channel c) {
+ return create<TestC>(c).a;
+}
+
+template <>
+TestB &ftl::data::Frame::create<TestB>(ftl::codecs::Channel c) {
+ return create<TestC>(c).b;
+}
+
+template <>
+const TestA *ftl::data::Frame::getPtr<TestA>(ftl::codecs::Channel c) const noexcept {
+ auto *ptr = getPtr<TestC>(c);
+ return (ptr) ? &ptr->a : nullptr;
+}
+
+template <>
+const TestB *ftl::data::Frame::getPtr<TestB>(ftl::codecs::Channel c) const noexcept {
+ auto *ptr = getPtr<TestC>(c);
+ return (ptr) ? &ptr->b : nullptr;
+}
+
+TEST_CASE("ftl::data::Frame Complex Overload", "[Frame]") {
+ ftl::data::make_channel<TestC>(Channel::Pose, "pose", ftl::data::StorageMode::PERSISTENT);
+
+ SECTION("Create and get first type with default") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ f.store();
+ f.create<TestA>(Channel::Pose);
+
+ auto *x = f.getPtr<TestA>(Channel::Pose);
+ REQUIRE( x );
+ REQUIRE( x->a == 55 );
+
+ auto *y = f.getPtr<TestB>(Channel::Pose);
+ REQUIRE( y );
+ REQUIRE( y->b == 99 );
+ }
+
+ SECTION("Create and get first type with value") {
+ Frame f = Feed::make(nullptr, FrameID(0,0), 0);
+ f.store();
+ f.create<TestA>(Channel::Pose) = {77};
+
+ auto *x = f.getPtr<TestA>(Channel::Pose);
+ REQUIRE( x );
+ REQUIRE( x->a == 77 );
+
+ auto *y = f.getPtr<TestB>(Channel::Pose);
+ REQUIRE( y );
+ REQUIRE( y->b == 99 );
+ }
+
+ ftl::data::clearRegistry();
+}
diff --git a/components/structures/test/pool_unit.cpp b/components/structures/test/pool_unit.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..141acfb0de7af204f71e7ce8aad87c9668982f00
--- /dev/null
+++ b/components/structures/test/pool_unit.cpp
@@ -0,0 +1,227 @@
+/*
+ * These tests directly relate to the specification found at:
+ * https://gitlab.utu.fi/nicolas.pope/ftl/-/wikis/Design/Frames
+ *
+ * Starting from section 5 on memory management.
+ */
+
+#include "catch.hpp"
+
+#include <ftl/data/framepool.hpp>
+
+using ftl::data::Session;
+using ftl::data::Frame;
+using ftl::data::Pool;
+using ftl::codecs::Channel;
+using ftl::data::ChangeType;
+using ftl::data::StorageMode;
+using ftl::data::FrameStatus;
+using ftl::data::FrameID;
+
+/* #5.1 */
+TEST_CASE("ftl::data::Pool create frames", "[5.1]") {
+ SECTION("can allocate valid frame from pool") {
+ Pool pool(5,5);
+
+ Frame f = pool.allocate(ftl::data::FrameID(0,2), 100);
+ REQUIRE( f.status() == FrameStatus::CREATED );
+ REQUIRE( pool.size() == 4 );
+ REQUIRE( f.source() == 2 );
+ REQUIRE( f.timestamp() == 100 );
+ }
+}
+
+/* #5.2 */
+TEST_CASE("ftl::data::Pool release frames on destruct", "[5.1]") {
+ SECTION("can destroy allocated frame") {
+ Pool pool(5,5);
+
+ {
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), 0);
+ REQUIRE( f.status() == FrameStatus::CREATED );
+ REQUIRE( pool.size() == 4 );
+ }
+
+ REQUIRE( pool.size() == 5 );
+ }
+
+ SECTION("data reused between allocations") {
+ Pool pool(1,1);
+
+ const int *ptr = nullptr;
+
+ {
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), 0);
+ f.store();
+ f.create<std::vector<int>>(Channel::Colour) = {44,55,66};
+ ptr = f.get<std::vector<int>>(Channel::Colour).data();
+ }
+
+ REQUIRE( pool.size() == 1 );
+
+ {
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), 0);
+ f.store();
+ auto &v = f.create<std::vector<int>>(Channel::Colour);
+
+ REQUIRE( v[0] == 44 );
+ REQUIRE( v[1] == 55 );
+ REQUIRE( v[2] == 66 );
+
+ REQUIRE( (ptr && ptr == v.data()) );
+ }
+ }
+}
+
+/* #5.3 */
+TEST_CASE("ftl::data::Pool reused frames are stale", "[5.3]") {
+ SECTION("data reused is stale") {
+ Pool pool(1,1);
+
+ {
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), 0);
+ f.store();
+ f.create<std::vector<int>>(Channel::Colour) = {44,55,66};
+ }
+
+ REQUIRE( pool.size() == 1 );
+
+ {
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), 0);
+ f.store();
+
+ REQUIRE( !f.has(Channel::Colour) );
+ REQUIRE( !f.changed(Channel::Colour) );
+
+ auto &v = f.create<std::vector<int>>(Channel::Colour);
+ REQUIRE( v[0] == 44 );
+ }
+ }
+}
+
+/* #5.4 */
+// Hard to test
+
+/* #5.5 */
+TEST_CASE("ftl::data::Pool excessive allocations", "[5.5]") {
+ SECTION("allocate far beyond pool size") {
+ Pool pool(10,20);
+
+ {
+ std::list<Frame> l;
+ for (int i=0; i<100; ++i) {
+ l.push_back(std::move(pool.allocate(FrameID(0,0),0)));
+ }
+
+ REQUIRE( pool.size() >= 10 );
+ }
+
+ // 2*pool size is the chosen max
+ REQUIRE( pool.size() <= 20 );
+ }
+}
+
+TEST_CASE("ftl::data::Pool persistent sessions", "[]") {
+ SECTION("persistent across timetstamps") {
+ Pool pool(10,20);
+
+ {
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), 10);
+ f.store();
+ f.create<int>(Channel::Pose) = 567;
+ }
+
+ REQUIRE( (pool.session(FrameID(0,0)).get<int>(Channel::Pose) == 567) );
+
+ {
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), 20);
+ f.store();
+ REQUIRE( f.get<int>(Channel::Pose) == 567 );
+ }
+ }
+
+ SECTION("persistent across many timetstamps") {
+ Pool pool(10,20);
+
+ {
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), 10);
+ f.store();
+ f.create<int>(Channel::Pose) = 567;
+ }
+
+ REQUIRE( (pool.session(FrameID(0,0)).get<int>(Channel::Pose) == 567) );
+
+ {
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), 20);
+ f.store();
+ REQUIRE( f.get<int>(Channel::Pose) == 567 );
+ }
+
+ {
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), 30);
+ f.store();
+ REQUIRE( f.get<int>(Channel::Pose) == 567 );
+ }
+ }
+
+ SECTION("persistent across frames and timetstamps") {
+ Pool pool(10,20);
+
+ {
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), 10);
+ f.store();
+ f.create<int>(Channel::Pose) = 567;
+ }
+
+ {
+ Frame f = pool.allocate(ftl::data::FrameID(0,1), 10);
+ f.store();
+ f.create<int>(Channel::Pose) = 568;
+ }
+
+ REQUIRE( (pool.session(FrameID(0,0)).get<int>(Channel::Pose) == 567) );
+
+ {
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), 20);
+ f.store();
+ REQUIRE( f.get<int>(Channel::Pose) == 567 );
+ }
+
+ {
+ Frame f = pool.allocate(ftl::data::FrameID(0,1), 20);
+ f.store();
+ REQUIRE( f.get<int>(Channel::Pose) == 568 );
+ }
+ }
+
+ SECTION("persistent across framesets and timetstamps") {
+ Pool pool(10,20);
+
+ {
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), 10);
+ f.store();
+ f.create<int>(Channel::Pose) = 567;
+ }
+
+ {
+ Frame f = pool.allocate(ftl::data::FrameID(1,0), 10);
+ f.store();
+ f.create<int>(Channel::Pose) = 568;
+ }
+
+ REQUIRE( (pool.session(FrameID(0,0)).get<int>(Channel::Pose) == 567) );
+
+ {
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), 20);
+ f.store();
+ REQUIRE( f.get<int>(Channel::Pose) == 567 );
+ }
+
+ {
+ Frame f = pool.allocate(ftl::data::FrameID(1,0), 20);
+ f.store();
+ REQUIRE( f.get<int>(Channel::Pose) == 568 );
+ }
+ }
+}
+
diff --git a/env b/env
new file mode 100644
index 0000000000000000000000000000000000000000..b0f2a02e8706a08fd3c252b492277a3053a45eb7
--- /dev/null
+++ b/env
@@ -0,0 +1 @@
+[3J[H[2J
\ No newline at end of file
diff --git a/lib/libsgm/CMakeLists.txt b/lib/libsgm/CMakeLists.txt
index 497411f85b8f667e0bbb3516fa3e61782f3a34ec..6fe014026f1f77fe122bb204ed63cb4e4d6acc03 100644
--- a/lib/libsgm/CMakeLists.txt
+++ b/lib/libsgm/CMakeLists.txt
@@ -1,9 +1,9 @@
-cmake_minimum_required(VERSION 3.1)
+#cmake_minimum_required(VERSION 3.1)
-set(CMAKE_CXX_STANDARD 11)
-set(CMAKE_CXX_EXTENSIONS OFF)
+#set(CMAKE_CXX_STANDARD 11)
+#set(CMAKE_CXX_EXTENSIONS OFF)
-set(CUDA_ARCH "-arch=sm_50" CACHE STRING "Value of the NVCC -arch option.")
+#set(CUDA_ARCH "-arch=sm_50" CACHE STRING "Value of the NVCC -arch option.")
option(ENABLE_ZED_DEMO "Build a Demo using ZED Camera" OFF)
option(ENABLE_SAMPLES "Build samples" OFF)
@@ -19,10 +19,10 @@ else()
set(ZED_SDK_INCLUDE_DIR "/usr/local/zed/include" CACHE STRING "ZED SDK include path.")
endif()
-project(libSGM VERSION 2.4.0)
+#project(libSGM VERSION 2.4.0)
if(BUILD_OPENCV_WRAPPER)
- find_package(OpenCV REQUIRED core)
+ #find_package(OpenCV REQUIRED core)
include_directories(${OpenCV_INCLUDE_DIRS})
endif()
@@ -32,20 +32,3 @@ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/include/libsgm_config.h.in
add_subdirectory(src)
-if(ENABLE_SAMPLES)
- add_subdirectory(sample/image)
- add_subdirectory(sample/movie)
-# add_subdirectory(sample/reprojection)
- add_subdirectory(sample/benchmark)
- if(BUILD_OPENCV_WRAPPER)
- add_subdirectory(sample/image_cv_gpumat)
- endif()
-endif()
-
-if(ENABLE_TESTS)
- add_subdirectory(test)
-endif()
-
-if(ENABLE_ZED_DEMO)
- add_subdirectory(sample/zed)
-endif()
diff --git a/lib/libsgm/include/libsgm.h b/lib/libsgm/include/libsgm.h
index 279b3e5af2557fc2cbb93e660c96edfca6c1a006..bf2c58ea759181d3294d9cb717fd7e65b2b6d60a 100644
--- a/lib/libsgm/include/libsgm.h
+++ b/lib/libsgm/include/libsgm.h
@@ -114,13 +114,13 @@ namespace sgm {
* The element_type is uint8_t for output_depth_bits == 8 and uint16_t for output_depth_bits == 16.
* Note that dst element value would be multiplied StereoSGM::SUBPIXEL_SCALE if subpixel option was enabled.
*/
- LIBSGM_API void execute(const void* left_pixels, const void* right_pixels, void* dst, const uint8_t *P2, const uint8_t *weights, int weights_pitch, cudaStream_t stream);
+ LIBSGM_API void execute(const void* left_pixels, const void* right_pixels, void* dst, const uint8_t *P2, const uint8_t *weights, int weights_pitch, int min_disp, cudaStream_t stream);
/**
* Same as execute(left_pixels, right_pixels, dst) with image size parameters.
* Dimensions must be smaller or equal to dimensions provided in constructor.
*/
- LIBSGM_API void execute(const void* left_pixels, const void* right_pixels, void* dst, const int width, const int height, const int src_pitch, const int dst_pitch, const uint8_t *P2, const uint8_t *weights, int weights_pitch, cudaStream_t stream);
+ LIBSGM_API void execute(const void* left_pixels, const void* right_pixels, void* dst, const int width, const int height, const int src_pitch, const int dst_pitch, const uint8_t *P2, const uint8_t *weights, int weights_pitch, int min_disp, cudaStream_t stream);
/**
* Mask for invalid pixels. Must have same shape and pitch as src. Pixels which have non-zero values
diff --git a/lib/libsgm/include/libsgm_config.h b/lib/libsgm/include/libsgm_config.h
index 67444c41f80c77412b25b2109bb764d2e8f57497..eeba490fd6d0a8506007abae9b28c4badd3c9934 100644
--- a/lib/libsgm/include/libsgm_config.h
+++ b/lib/libsgm/include/libsgm_config.h
@@ -3,10 +3,10 @@
/* #undef LIBSGM_SHARED */
-#define LIBSGM_VERSION 2.4.0
-#define LIBSGM_VERSION_MAJOR 2
-#define LIBSGM_VERSION_MINOR 4
-#define LIBSGM_VERSION_PATCH 0
+#define LIBSGM_VERSION
+#define LIBSGM_VERSION_MAJOR
+#define LIBSGM_VERSION_MINOR
+#define LIBSGM_VERSION_PATCH
/* #undef BUILD_OPENCV_WRAPPER */
diff --git a/lib/libsgm/src/CMakeLists.txt b/lib/libsgm/src/CMakeLists.txt
index 89e5035877010c146dd4d0d988b263a9ccddf9df..5f09382eaa05a1b5ab8514bcfacfac3fffb474e3 100644
--- a/lib/libsgm/src/CMakeLists.txt
+++ b/lib/libsgm/src/CMakeLists.txt
@@ -1,42 +1,47 @@
-cmake_minimum_required(VERSION 3.1)
+#cmake_minimum_required(VERSION 3.1)
-find_package(CUDA REQUIRED)
+#find_package(CUDA REQUIRED)
include_directories(../include)
-if (CMAKE_COMPILER_IS_GNUCXX)
- set(CMAKE_CXX_FLAGS "-O3 -Wall -fPIC")
- set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -std=c++11")
-endif()
+#if (CMAKE_COMPILER_IS_GNUCXX)
+# set(CMAKE_CUDA_HOST_COMPILER gcc-7)
+# set(CUDA_HOST_COMPILER gcc-7)
+# set(CMAKE_CXX_FLAGS "-O3 -Wall -fPIC")
+# set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -std=c++11")
+#endif()
-SET(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} ${CUDA_ARCH}")
+#SET(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} ${CUDA_ARCH}")
file(GLOB STEREOSRCS "*.cu" "*.cpp")
-if(LIBSGM_SHARED)
- CUDA_ADD_LIBRARY(sgm stereo_sgm.cpp ${STEREOSRCS} SHARED)
- target_link_libraries(sgm ${CUDA_LIBRARIES})
- if(BUILD_OPENCV_WRAPPER)
- target_link_libraries(sgm ${OpenCV_LIBS})
- endif()
-else()
- CUDA_ADD_LIBRARY(sgm stereo_sgm.cpp ${STEREOSRCS} STATIC)
-endif()
-
-install(
- TARGETS sgm
- ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
- LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
- RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-)
-
-install(
- DIRECTORY ${CMAKE_SOURCE_DIR}/include
- DESTINATION ${CMAKE_INSTALL_PREFIX}
- FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
-)
-
-install(
- FILES ${CMAKE_SOURCE_DIR}/FindLibSGM.cmake
- DESTINATION ${CMAKE_INSTALL_PREFIX}
-)
+#if(LIBSGM_SHARED)
+# CUDA_ADD_LIBRARY(sgm stereo_sgm.cpp ${STEREOSRCS} SHARED)
+# target_link_libraries(sgm ${CUDA_LIBRARIES})
+# if(BUILD_OPENCV_WRAPPER)
+# target_link_libraries(sgm ${OpenCV_LIBS})
+# endif()
+#else()
+ #CUDA_ADD_LIBRARY(sgm stereo_sgm.cpp ${STEREOSRCS} STATIC)
+ add_library(sgm stereo_sgm.cpp ${STEREOSRCS})
+#endif()
+
+set_property(TARGET sgm PROPERTY CUDA_ARCHITECTURES 61)
+
+#install(
+# TARGETS sgm
+# ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+# LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+# RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
+#)
+
+#install(
+# DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../include
+# DESTINATION ${CMAKE_INSTALL_PREFIX}
+# FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
+#)
+
+#install(
+# FILES ${CMAKE_CURRENT_SOURCE_DIR}/../FindLibSGM.cmake
+# DESTINATION ${CMAKE_INSTALL_PREFIX}
+#)
diff --git a/lib/libsgm/src/check_consistency.cu b/lib/libsgm/src/check_consistency.cu
index fb7282250f95a23d91a33ebf2e5bc38262d3f715..dde4f5f290e86db6c73a4ec03e3e44b4eee566d9 100644
--- a/lib/libsgm/src/check_consistency.cu
+++ b/lib/libsgm/src/check_consistency.cu
@@ -19,7 +19,7 @@ limitations under the License.
namespace {
template<typename SRC_T, typename DST_T>
- __global__ void check_consistency_kernel(DST_T* d_leftDisp, const DST_T* d_rightDisp, const uint8_t* d_mask, int width, int height, int src_pitch, int dst_pitch, bool subpixel) {
+ __global__ void check_consistency_kernel(DST_T* d_leftDisp, const DST_T* d_rightDisp, const uint8_t* d_mask, int width, int height, int src_pitch, int dst_pitch, bool subpixel, int min_disp) {
const int j = blockIdx.x * blockDim.x + threadIdx.x;
const int i = blockIdx.y * blockDim.y + threadIdx.y;
@@ -28,6 +28,7 @@ namespace {
uint8_t mask = d_mask[i * src_pitch + j];
int d = d_leftDisp[i * dst_pitch + j];
+ int dout = d + (min_disp << sgm::StereoSGM::SUBPIXEL_SHIFT);
if (subpixel) {
d >>= sgm::StereoSGM::SUBPIXEL_SHIFT;
}
@@ -36,38 +37,39 @@ namespace {
int diff = abs(d_rightDisp[i * dst_pitch + k] - d);
if (mask != 0 || diff > 1) {
// masked or left-right inconsistent pixel -> invalid
- d_leftDisp[i * dst_pitch + j] = (256 << (sgm::StereoSGM::SUBPIXEL_SHIFT+1));
+ dout = (1024 << (sgm::StereoSGM::SUBPIXEL_SHIFT));
}
}
+ d_leftDisp[i * dst_pitch + j] = dout;
}
}
namespace sgm {
namespace details {
- void check_consistency(uint8_t* d_left_disp, const uint8_t* d_right_disp, const uint8_t* d_mask, int width, int height, int depth_bits, int src_pitch, int dst_pitch, bool subpixel, cudaStream_t stream) {
+ void check_consistency(uint8_t* d_left_disp, const uint8_t* d_right_disp, const uint8_t* d_mask, int width, int height, int depth_bits, int src_pitch, int dst_pitch, bool subpixel, int min_disp, cudaStream_t stream) {
const dim3 blocks(width / 16, height / 16);
const dim3 threads(16, 16);
if (depth_bits == 16) {
- check_consistency_kernel<uint16_t> << < blocks, threads, 0, stream >> > (d_left_disp, d_right_disp, d_mask, width, height, src_pitch, dst_pitch, subpixel);
+ check_consistency_kernel<uint16_t> << < blocks, threads, 0, stream >> > (d_left_disp, d_right_disp, d_mask, width, height, src_pitch, dst_pitch, subpixel, min_disp);
}
else if (depth_bits == 8) {
- check_consistency_kernel<uint8_t> << < blocks, threads, 0, stream >> > (d_left_disp, d_right_disp, d_mask, width, height, src_pitch, dst_pitch, subpixel);
+ check_consistency_kernel<uint8_t> << < blocks, threads, 0, stream >> > (d_left_disp, d_right_disp, d_mask, width, height, src_pitch, dst_pitch, subpixel, min_disp);
}
CudaKernelCheck();
}
- void check_consistency(uint16_t* d_left_disp, const uint16_t* d_right_disp, const uint8_t* d_mask, int width, int height, int depth_bits, int src_pitch, int dst_pitch, bool subpixel, cudaStream_t stream) {
+ void check_consistency(uint16_t* d_left_disp, const uint16_t* d_right_disp, const uint8_t* d_mask, int width, int height, int depth_bits, int src_pitch, int dst_pitch, bool subpixel, int min_disp, cudaStream_t stream) {
const dim3 blocks(width / 16, height / 16);
const dim3 threads(16, 16);
if (depth_bits == 16) {
- check_consistency_kernel<uint16_t> << < blocks, threads, 0, stream >> > (d_left_disp, d_right_disp, d_mask, width, height, src_pitch, dst_pitch, subpixel);
+ check_consistency_kernel<uint16_t> << < blocks, threads, 0, stream >> > (d_left_disp, d_right_disp, d_mask, width, height, src_pitch, dst_pitch, subpixel, min_disp);
}
else if (depth_bits == 8) {
- check_consistency_kernel<uint8_t> << < blocks, threads, 0, stream >> > (d_left_disp, d_right_disp, d_mask, width, height, src_pitch, dst_pitch, subpixel);
+ check_consistency_kernel<uint8_t> << < blocks, threads, 0, stream >> > (d_left_disp, d_right_disp, d_mask, width, height, src_pitch, dst_pitch, subpixel, min_disp);
}
CudaKernelCheck();
diff --git a/lib/libsgm/src/horizontal_path_aggregation.cu b/lib/libsgm/src/horizontal_path_aggregation.cu
index 5eba5372c3d67e9396aaf9569c8e7240c0c98759..8047354b4a5ac07d7a6a2087caa876bd420b5422 100644
--- a/lib/libsgm/src/horizontal_path_aggregation.cu
+++ b/lib/libsgm/src/horizontal_path_aggregation.cu
@@ -39,7 +39,8 @@ __global__ void aggregate_horizontal_path_kernel(
const uint8_t* __restrict__ p2,
int p2_pitch,
const uint8_t* __restrict__ w,
- int w_pitch)
+ int w_pitch,
+ int min_disp)
{
static const unsigned int SUBGROUP_SIZE = MAX_DISPARITY / DP_BLOCK_SIZE;
static const unsigned int SUBGROUPS_PER_WARP = WARP_SIZE / SUBGROUP_SIZE;
@@ -87,7 +88,7 @@ __global__ void aggregate_horizontal_path_kernel(
}else{
for(unsigned int i = 0; i < DP_BLOCKS_PER_THREAD; ++i){
for(unsigned int j = 0; j < DP_BLOCK_SIZE; ++j){
- const int x = static_cast<int>(width - (j + dp_offset));
+ const int x = static_cast<int>(width - (j + dp_offset)) - min_disp;
if(0 <= x && x < static_cast<int>(width)){
right_buffer[i][j] = __ldg(&right[i * feature_step + x]);
}else{
@@ -120,9 +121,9 @@ __global__ void aggregate_horizontal_path_kernel(
#else
right_buffer[j][0] = __shfl_up(t, 1, SUBGROUP_SIZE);
#endif
- if(lane_id == 0){
+ if(lane_id == 0 && x >= min_disp + dp_offset){
right_buffer[j][0] =
- __ldg(&right[j * feature_step + x - dp_offset]);
+ __ldg(&right[j * feature_step + x - min_disp - dp_offset]);
}
}else{
const feature_type t = right_buffer[j][0];
@@ -136,9 +137,9 @@ __global__ void aggregate_horizontal_path_kernel(
right_buffer[j][DP_BLOCK_SIZE - 1] = __shfl_down(t, 1, SUBGROUP_SIZE);
#endif
if(lane_id + 1 == SUBGROUP_SIZE){
- if(x >= dp_offset + DP_BLOCK_SIZE - 1){
+ if(x >= min_disp + dp_offset + DP_BLOCK_SIZE - 1){
right_buffer[j][DP_BLOCK_SIZE - 1] =
- __ldg(&right[j * feature_step + x - (dp_offset + DP_BLOCK_SIZE - 1)]);
+ __ldg(&right[j * feature_step + x - min_disp - (dp_offset + DP_BLOCK_SIZE - 1)]);
}else{
right_buffer[j][DP_BLOCK_SIZE - 1] = 0;
}
@@ -171,6 +172,7 @@ void enqueue_aggregate_left2right_path(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream)
{
static const unsigned int SUBGROUP_SIZE = MAX_DISPARITY / DP_BLOCK_SIZE;
@@ -180,7 +182,7 @@ void enqueue_aggregate_left2right_path(
const int gdim = (height + PATHS_PER_BLOCK - 1) / PATHS_PER_BLOCK;
const int bdim = BLOCK_SIZE;
aggregate_horizontal_path_kernel<1, MAX_DISPARITY><<<gdim, bdim, 0, stream>>>(
- dest, left, right, width, height, p1, p2, p2_pitch, w, w_pitch);
+ dest, left, right, width, height, p1, p2, p2_pitch, w, w_pitch, min_disp);
}
template <unsigned int MAX_DISPARITY>
@@ -195,6 +197,7 @@ void enqueue_aggregate_right2left_path(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream)
{
static const unsigned int SUBGROUP_SIZE = MAX_DISPARITY / DP_BLOCK_SIZE;
@@ -204,7 +207,7 @@ void enqueue_aggregate_right2left_path(
const int gdim = (height + PATHS_PER_BLOCK - 1) / PATHS_PER_BLOCK;
const int bdim = BLOCK_SIZE;
aggregate_horizontal_path_kernel<-1, MAX_DISPARITY><<<gdim, bdim, 0, stream>>>(
- dest, left, right, width, height, p1, p2, p2_pitch, w, w_pitch);
+ dest, left, right, width, height, p1, p2, p2_pitch, w, w_pitch, min_disp);
}
@@ -219,6 +222,7 @@ template void enqueue_aggregate_left2right_path<64u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
template void enqueue_aggregate_left2right_path<128u>(
@@ -232,6 +236,21 @@ template void enqueue_aggregate_left2right_path<128u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
+ cudaStream_t stream);
+
+template void enqueue_aggregate_left2right_path<192u>(
+ cost_type *dest,
+ const feature_type *left,
+ const feature_type *right,
+ int width,
+ int height,
+ unsigned int p1,
+ const uint8_t *p2,
+ int p2_pitch,
+ const uint8_t* w,
+ int w_pitch,
+ int min_disp,
cudaStream_t stream);
template void enqueue_aggregate_left2right_path<256u>(
@@ -245,6 +264,7 @@ template void enqueue_aggregate_left2right_path<256u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
template void enqueue_aggregate_right2left_path<64u>(
@@ -258,6 +278,7 @@ template void enqueue_aggregate_right2left_path<64u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
template void enqueue_aggregate_right2left_path<128u>(
@@ -271,6 +292,21 @@ template void enqueue_aggregate_right2left_path<128u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
+ cudaStream_t stream);
+
+template void enqueue_aggregate_right2left_path<192u>(
+ cost_type *dest,
+ const feature_type *left,
+ const feature_type *right,
+ int width,
+ int height,
+ unsigned int p1,
+ const uint8_t *p2,
+ int p2_pitch,
+ const uint8_t* w,
+ int w_pitch,
+ int min_disp,
cudaStream_t stream);
template void enqueue_aggregate_right2left_path<256u>(
@@ -284,6 +320,7 @@ template void enqueue_aggregate_right2left_path<256u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
}
diff --git a/lib/libsgm/src/horizontal_path_aggregation.hpp b/lib/libsgm/src/horizontal_path_aggregation.hpp
index 1b7a7e088f5d4dac793694ba7f4a0a876de2538b..4626dd68f91909b2aab893fea906df5586acef72 100644
--- a/lib/libsgm/src/horizontal_path_aggregation.hpp
+++ b/lib/libsgm/src/horizontal_path_aggregation.hpp
@@ -34,6 +34,7 @@ void enqueue_aggregate_left2right_path(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
template <unsigned int MAX_DISPARITY>
@@ -48,6 +49,7 @@ void enqueue_aggregate_right2left_path(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
}
diff --git a/lib/libsgm/src/internal.h b/lib/libsgm/src/internal.h
index 7d836f5d8d5e60a0cb416ddb211b5abcfad0439e..c9c9ff259288c9b78a5b07595ce213ffa58bdada 100644
--- a/lib/libsgm/src/internal.h
+++ b/lib/libsgm/src/internal.h
@@ -36,8 +36,8 @@ namespace sgm {
void median_filter(const uint8_t* d_src, uint8_t* d_dst, int width, int height, int pitch, cudaStream_t stream);
void median_filter(const uint16_t* d_src, uint16_t* d_dst, int width, int height, int pitch, cudaStream_t stream);
- void check_consistency(uint8_t* d_left_disp, const uint8_t* d_right_disp, const uint8_t* d_mask, int width, int height, int depth_bits, int src_pitch, int dst_pitch, bool subpixel, cudaStream_t stream);
- void check_consistency(uint16_t* d_left_disp, const uint16_t* d_right_disp, const uint8_t* d_mask, int width, int height, int depth_bits, int src_pitch, int dst_pitch, bool subpixel, cudaStream_t stream);
+ void check_consistency(uint8_t* d_left_disp, const uint8_t* d_right_disp, const uint8_t* d_mask, int width, int height, int depth_bits, int src_pitch, int dst_pitch, bool subpixel, int min_disp, cudaStream_t stream);
+ void check_consistency(uint16_t* d_left_disp, const uint16_t* d_right_disp, const uint8_t* d_mask, int width, int height, int depth_bits, int src_pitch, int dst_pitch, bool subpixel, int min_disp, cudaStream_t stream);
void cast_16bit_8bit_array(const uint16_t* arr16bits, uint8_t* arr8bits, int num_elements);
void cast_8bit_16bit_array(const uint8_t* arr8bits, uint16_t* arr16bits, int num_elements);
diff --git a/lib/libsgm/src/oblique_path_aggregation.cu b/lib/libsgm/src/oblique_path_aggregation.cu
index 97d9b1493c32e54a7bb1195f9a9261243b801444..3734ebae8922a370ea51165c431bc6396b30f51b 100644
--- a/lib/libsgm/src/oblique_path_aggregation.cu
+++ b/lib/libsgm/src/oblique_path_aggregation.cu
@@ -35,7 +35,8 @@ __global__ void aggregate_oblique_path_kernel(
const uint8_t* __restrict__ p2,
int p2_pitch,
const uint8_t* __restrict__ w,
- int w_pitch)
+ int w_pitch,
+ int min_disp)
{
static const unsigned int SUBGROUP_SIZE = MAX_DISPARITY / DP_BLOCK_SIZE;
static const unsigned int PATHS_PER_WARP = WARP_SIZE / SUBGROUP_SIZE;
@@ -77,7 +78,7 @@ __global__ void aggregate_oblique_path_kernel(
for(unsigned int iter = 0; iter < height; ++iter){
const int y = static_cast<int>(Y_DIRECTION > 0 ? iter : height - 1 - iter);
const int x = x0 + static_cast<int>(iter) * X_DIRECTION;
- const int right_x0 = right_x00 + static_cast<int>(iter) * X_DIRECTION;
+ const int right_x0 = right_x00 + static_cast<int>(iter) * X_DIRECTION - min_disp;
// Load right to smem
for(unsigned int i0 = 0; i0 < RIGHT_BUFFER_SIZE; i0 += BLOCK_SIZE){
const unsigned int i = i0 + threadIdx.x;
@@ -129,6 +130,7 @@ void enqueue_aggregate_upleft2downright_path(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream)
{
static const unsigned int SUBGROUP_SIZE = MAX_DISPARITY / DP_BLOCK_SIZE;
@@ -137,7 +139,7 @@ void enqueue_aggregate_upleft2downright_path(
const int gdim = (width + height + PATHS_PER_BLOCK - 2) / PATHS_PER_BLOCK;
const int bdim = BLOCK_SIZE;
aggregate_oblique_path_kernel<1, 1, MAX_DISPARITY><<<gdim, bdim, 0, stream>>>(
- dest, left, right, width, height, p1, p2, p2_pitch, w, w_pitch);
+ dest, left, right, width, height, p1, p2, p2_pitch, w, w_pitch, min_disp);
}
template <unsigned int MAX_DISPARITY>
@@ -152,6 +154,7 @@ void enqueue_aggregate_upright2downleft_path(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream)
{
static const unsigned int SUBGROUP_SIZE = MAX_DISPARITY / DP_BLOCK_SIZE;
@@ -160,7 +163,7 @@ void enqueue_aggregate_upright2downleft_path(
const int gdim = (width + height + PATHS_PER_BLOCK - 2) / PATHS_PER_BLOCK;
const int bdim = BLOCK_SIZE;
aggregate_oblique_path_kernel<-1, 1, MAX_DISPARITY><<<gdim, bdim, 0, stream>>>(
- dest, left, right, width, height, p1, p2, p2_pitch, w, w_pitch);
+ dest, left, right, width, height, p1, p2, p2_pitch, w, w_pitch, min_disp);
}
template <unsigned int MAX_DISPARITY>
@@ -175,6 +178,7 @@ void enqueue_aggregate_downright2upleft_path(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream)
{
static const unsigned int SUBGROUP_SIZE = MAX_DISPARITY / DP_BLOCK_SIZE;
@@ -183,7 +187,7 @@ void enqueue_aggregate_downright2upleft_path(
const int gdim = (width + height + PATHS_PER_BLOCK - 2) / PATHS_PER_BLOCK;
const int bdim = BLOCK_SIZE;
aggregate_oblique_path_kernel<-1, -1, MAX_DISPARITY><<<gdim, bdim, 0, stream>>>(
- dest, left, right, width, height, p1, p2, p2_pitch, w, w_pitch);
+ dest, left, right, width, height, p1, p2, p2_pitch, w, w_pitch, min_disp);
}
template <unsigned int MAX_DISPARITY>
@@ -198,6 +202,7 @@ void enqueue_aggregate_downleft2upright_path(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream)
{
static const unsigned int SUBGROUP_SIZE = MAX_DISPARITY / DP_BLOCK_SIZE;
@@ -206,7 +211,7 @@ void enqueue_aggregate_downleft2upright_path(
const int gdim = (width + height + PATHS_PER_BLOCK - 2) / PATHS_PER_BLOCK;
const int bdim = BLOCK_SIZE;
aggregate_oblique_path_kernel<1, -1, MAX_DISPARITY><<<gdim, bdim, 0, stream>>>(
- dest, left, right, width, height, p1, p2, p2_pitch, w, w_pitch);
+ dest, left, right, width, height, p1, p2, p2_pitch, w, w_pitch, min_disp);
}
@@ -221,6 +226,7 @@ template void enqueue_aggregate_upleft2downright_path<64u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
template void enqueue_aggregate_upleft2downright_path<128u>(
@@ -234,6 +240,21 @@ template void enqueue_aggregate_upleft2downright_path<128u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
+ cudaStream_t stream);
+
+template void enqueue_aggregate_upleft2downright_path<192u>(
+ cost_type *dest,
+ const feature_type *left,
+ const feature_type *right,
+ int width,
+ int height,
+ unsigned int p1,
+ const uint8_t *p2,
+ int p2_pitch,
+ const uint8_t* w,
+ int w_pitch,
+ int min_disp,
cudaStream_t stream);
template void enqueue_aggregate_upleft2downright_path<256u>(
@@ -247,6 +268,7 @@ template void enqueue_aggregate_upleft2downright_path<256u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
template void enqueue_aggregate_upright2downleft_path<64u>(
@@ -260,6 +282,7 @@ template void enqueue_aggregate_upright2downleft_path<64u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
template void enqueue_aggregate_upright2downleft_path<128u>(
@@ -273,6 +296,21 @@ template void enqueue_aggregate_upright2downleft_path<128u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
+ cudaStream_t stream);
+
+template void enqueue_aggregate_upright2downleft_path<192u>(
+ cost_type *dest,
+ const feature_type *left,
+ const feature_type *right,
+ int width,
+ int height,
+ unsigned int p1,
+ const uint8_t *p2,
+ int p2_pitch,
+ const uint8_t* w,
+ int w_pitch,
+ int min_disp,
cudaStream_t stream);
template void enqueue_aggregate_upright2downleft_path<256u>(
@@ -286,6 +324,7 @@ template void enqueue_aggregate_upright2downleft_path<256u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
template void enqueue_aggregate_downright2upleft_path<64u>(
@@ -299,6 +338,7 @@ template void enqueue_aggregate_downright2upleft_path<64u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
template void enqueue_aggregate_downright2upleft_path<128u>(
@@ -312,6 +352,21 @@ template void enqueue_aggregate_downright2upleft_path<128u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
+ cudaStream_t stream);
+
+template void enqueue_aggregate_downright2upleft_path<192u>(
+ cost_type *dest,
+ const feature_type *left,
+ const feature_type *right,
+ int width,
+ int height,
+ unsigned int p1,
+ const uint8_t *p2,
+ int p2_pitch,
+ const uint8_t* w,
+ int w_pitch,
+ int min_disp,
cudaStream_t stream);
template void enqueue_aggregate_downright2upleft_path<256u>(
@@ -325,6 +380,7 @@ template void enqueue_aggregate_downright2upleft_path<256u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
template void enqueue_aggregate_downleft2upright_path<64u>(
@@ -338,6 +394,7 @@ template void enqueue_aggregate_downleft2upright_path<64u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
template void enqueue_aggregate_downleft2upright_path<128u>(
@@ -351,6 +408,21 @@ template void enqueue_aggregate_downleft2upright_path<128u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
+ cudaStream_t stream);
+
+template void enqueue_aggregate_downleft2upright_path<192u>(
+ cost_type *dest,
+ const feature_type *left,
+ const feature_type *right,
+ int width,
+ int height,
+ unsigned int p1,
+ const uint8_t *p2,
+ int p2_pitch,
+ const uint8_t* w,
+ int w_pitch,
+ int min_disp,
cudaStream_t stream);
template void enqueue_aggregate_downleft2upright_path<256u>(
@@ -364,6 +436,7 @@ template void enqueue_aggregate_downleft2upright_path<256u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
}
diff --git a/lib/libsgm/src/oblique_path_aggregation.hpp b/lib/libsgm/src/oblique_path_aggregation.hpp
index 6504f37a2715ef64d7698b00afb5f6b0614b26af..882afed2affc344ea35bfda20c619e7521738ab3 100644
--- a/lib/libsgm/src/oblique_path_aggregation.hpp
+++ b/lib/libsgm/src/oblique_path_aggregation.hpp
@@ -34,6 +34,7 @@ void enqueue_aggregate_upleft2downright_path(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
template <unsigned int MAX_DISPARITY>
@@ -48,6 +49,7 @@ void enqueue_aggregate_upright2downleft_path(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
template <unsigned int MAX_DISPARITY>
@@ -62,6 +64,7 @@ void enqueue_aggregate_downright2upleft_path(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
template <unsigned int MAX_DISPARITY>
@@ -76,6 +79,7 @@ void enqueue_aggregate_downleft2upright_path(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
}
diff --git a/lib/libsgm/src/path_aggregation.cu b/lib/libsgm/src/path_aggregation.cu
index 16567de556520b10a8fcbb3560bcd667ab1fb7b6..5661d7bee452eb6d28486152c8dfa7bd75e5ecd1 100644
--- a/lib/libsgm/src/path_aggregation.cu
+++ b/lib/libsgm/src/path_aggregation.cu
@@ -29,6 +29,7 @@ PathAggregation<MAX_DISPARITY>::PathAggregation()
cudaStreamCreate(&m_streams[i]);
cudaEventCreate(&m_events[i]);
}
+ cudaEventCreate(&m_event);
}
template <size_t MAX_DISPARITY>
@@ -38,6 +39,7 @@ PathAggregation<MAX_DISPARITY>::~PathAggregation(){
cudaStreamDestroy(m_streams[i]);
cudaEventDestroy(m_events[i]);
}
+ cudaEventDestroy(m_event);
}
template <size_t MAX_DISPARITY>
@@ -51,6 +53,7 @@ void PathAggregation<MAX_DISPARITY>::enqueue(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream)
{
const size_t buffer_size = width * height * MAX_DISPARITY * NUM_PATHS;
@@ -58,31 +61,37 @@ void PathAggregation<MAX_DISPARITY>::enqueue(
m_cost_buffer = DeviceBuffer<cost_type>(buffer_size);
}
const size_t buffer_step = width * height * MAX_DISPARITY;
- cudaStreamSynchronize(stream);
+ //cudaStreamSynchronize(stream);
+ cudaEventRecord(m_event, stream);
+
+ for(unsigned int i = 0; i < NUM_PATHS; ++i){
+ cudaStreamWaitEvent(m_streams[i], m_event, 0);
+ }
+
path_aggregation::enqueue_aggregate_up2down_path<MAX_DISPARITY>(
m_cost_buffer.data() + 0 * buffer_step,
- left, right, width, height, p1, p2, p2_pitch, w, w_pitch, m_streams[0]);
+ left, right, width, height, p1, p2, p2_pitch, w, w_pitch, min_disp, m_streams[0]);
path_aggregation::enqueue_aggregate_down2up_path<MAX_DISPARITY>(
m_cost_buffer.data() + 1 * buffer_step,
- left, right, width, height, p1, p2, p2_pitch, w, w_pitch, m_streams[1]);
+ left, right, width, height, p1, p2, p2_pitch, w, w_pitch, min_disp, m_streams[1]);
path_aggregation::enqueue_aggregate_left2right_path<MAX_DISPARITY>(
m_cost_buffer.data() + 2 * buffer_step,
- left, right, width, height, p1, p2, p2_pitch, w, w_pitch, m_streams[2]);
+ left, right, width, height, p1, p2, p2_pitch, w, w_pitch, min_disp, m_streams[2]);
path_aggregation::enqueue_aggregate_right2left_path<MAX_DISPARITY>(
m_cost_buffer.data() + 3 * buffer_step,
- left, right, width, height, p1, p2, p2_pitch, w, w_pitch, m_streams[3]);
+ left, right, width, height, p1, p2, p2_pitch, w, w_pitch, min_disp, m_streams[3]);
path_aggregation::enqueue_aggregate_upleft2downright_path<MAX_DISPARITY>(
m_cost_buffer.data() + 4 * buffer_step,
- left, right, width, height, p1, p2, p2_pitch, w, w_pitch, m_streams[4]);
+ left, right, width, height, p1, p2, p2_pitch, w, w_pitch, min_disp, m_streams[4]);
path_aggregation::enqueue_aggregate_upright2downleft_path<MAX_DISPARITY>(
m_cost_buffer.data() + 5 * buffer_step,
- left, right, width, height, p1, p2, p2_pitch, w, w_pitch, m_streams[5]);
+ left, right, width, height, p1, p2, p2_pitch, w, w_pitch, min_disp, m_streams[5]);
path_aggregation::enqueue_aggregate_downright2upleft_path<MAX_DISPARITY>(
m_cost_buffer.data() + 6 * buffer_step,
- left, right, width, height, p1, p2, p2_pitch, w, w_pitch, m_streams[6]);
+ left, right, width, height, p1, p2, p2_pitch, w, w_pitch, min_disp, m_streams[6]);
path_aggregation::enqueue_aggregate_downleft2upright_path<MAX_DISPARITY>(
m_cost_buffer.data() + 7 * buffer_step,
- left, right, width, height, p1, p2, p2_pitch, w, w_pitch, m_streams[7]);
+ left, right, width, height, p1, p2, p2_pitch, w, w_pitch, min_disp, m_streams[7]);
for(unsigned int i = 0; i < NUM_PATHS; ++i){
cudaEventRecord(m_events[i], m_streams[i]);
cudaStreamWaitEvent(stream, m_events[i], 0);
@@ -92,6 +101,7 @@ void PathAggregation<MAX_DISPARITY>::enqueue(
template class PathAggregation< 64>;
template class PathAggregation<128>;
+template class PathAggregation<192>;
template class PathAggregation<256>;
}
diff --git a/lib/libsgm/src/path_aggregation.hpp b/lib/libsgm/src/path_aggregation.hpp
index 0b019a3b556fb92969acff843ad7431bc3d57b0e..c8abf740df09162ea65a01bc5bf0f041d2f2c6e7 100644
--- a/lib/libsgm/src/path_aggregation.hpp
+++ b/lib/libsgm/src/path_aggregation.hpp
@@ -31,6 +31,7 @@ private:
DeviceBuffer<cost_type> m_cost_buffer;
cudaStream_t m_streams[NUM_PATHS];
cudaEvent_t m_events[NUM_PATHS];
+ cudaEvent_t m_event;
public:
PathAggregation();
@@ -50,6 +51,7 @@ public:
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
};
diff --git a/lib/libsgm/src/path_aggregation_common.hpp b/lib/libsgm/src/path_aggregation_common.hpp
index c897684e7003512ccd0c9e17d7a084a39319766b..5211c98103c26a27af51fbd91111043e16858d23 100644
--- a/lib/libsgm/src/path_aggregation_common.hpp
+++ b/lib/libsgm/src/path_aggregation_common.hpp
@@ -31,9 +31,9 @@ struct DynamicProgramming {
static_assert(
DP_BLOCK_SIZE >= 2,
"DP_BLOCK_SIZE must be greater than or equal to 2");
- static_assert(
+ /*static_assert(
(SUBGROUP_SIZE & (SUBGROUP_SIZE - 1)) == 0,
- "SUBGROUP_SIZE must be a power of 2");
+ "SUBGROUP_SIZE must be a power of 2");*/
uint32_t last_min;
uint32_t dp[DP_BLOCK_SIZE];
diff --git a/lib/libsgm/src/sgm.cu b/lib/libsgm/src/sgm.cu
index 2b350da9562962aa9e10b4554bb6b6c4517e1023..eb5d4179e0a11b964e8238bbdcfac40598917396 100644
--- a/lib/libsgm/src/sgm.cu
+++ b/lib/libsgm/src/sgm.cu
@@ -57,6 +57,7 @@ public:
int weights_pitch,
float uniqueness,
bool subpixel,
+ int min_disp,
cudaStream_t stream)
{
m_census_left.enqueue(
@@ -70,11 +71,12 @@ public:
penalty1, penalty2,
src_pitch, // bug?
weights, weights_pitch,
+ min_disp,
stream);
m_winner_takes_all.enqueue(
dest_left, dest_right,
m_path_aggregation.get_output(),
- width, height, dst_pitch, uniqueness, subpixel,
+ width, height, dst_pitch, uniqueness, subpixel, min_disp,
stream);
}
@@ -106,6 +108,7 @@ void SemiGlobalMatching<T, MAX_DISPARITY>::execute(
int weights_pitch,
float uniqueness,
bool subpixel,
+ int min_disp,
cudaStream_t stream)
{
m_impl->enqueue(
@@ -116,6 +119,7 @@ void SemiGlobalMatching<T, MAX_DISPARITY>::execute(
penalty1, penalty2,
weights, weights_pitch,
uniqueness, subpixel,
+ min_disp,
stream);
//cudaStreamSynchronize(0);
}
@@ -136,6 +140,7 @@ void SemiGlobalMatching<T, MAX_DISPARITY>::enqueue(
int weights_pitch,
float uniqueness,
bool subpixel,
+ int min_disp,
cudaStream_t stream)
{
m_impl->enqueue(
@@ -146,12 +151,14 @@ void SemiGlobalMatching<T, MAX_DISPARITY>::enqueue(
penalty1, penalty2,
weights, weights_pitch,
uniqueness, subpixel,
+ min_disp,
stream);
}
template class SemiGlobalMatching<uint8_t, 64>;
template class SemiGlobalMatching<uint8_t, 128>;
+template class SemiGlobalMatching<uint8_t, 192>;
template class SemiGlobalMatching<uint8_t, 256>;
template class SemiGlobalMatching<uint16_t, 64>;
template class SemiGlobalMatching<uint16_t, 128>;
diff --git a/lib/libsgm/src/sgm.hpp b/lib/libsgm/src/sgm.hpp
index f0c3c80ee107b95890d6dc8578c72768a70abdd4..9aa2cd387782465c3398aab5cda6a8b6a292018d 100644
--- a/lib/libsgm/src/sgm.hpp
+++ b/lib/libsgm/src/sgm.hpp
@@ -53,6 +53,7 @@ public:
int weights_pitch,
float uniqueness,
bool subpixel,
+ int min_disp,
cudaStream_t stream);
void enqueue(
@@ -70,6 +71,7 @@ public:
int weights_pitch,
float uniqueness,
bool subpixel,
+ int min_disp,
cudaStream_t stream);
};
diff --git a/lib/libsgm/src/stereo_sgm.cpp b/lib/libsgm/src/stereo_sgm.cpp
index a07f2daea087e38f4102c0cb92bf7d1664655c3a..70e1263147fbe3ab4eefb948d591e8506a3be40b 100644
--- a/lib/libsgm/src/stereo_sgm.cpp
+++ b/lib/libsgm/src/stereo_sgm.cpp
@@ -29,7 +29,7 @@ namespace sgm {
public:
using output_type = sgm::output_type;
virtual void execute(output_type* dst_L, output_type* dst_R, const void* src_L, const void* src_R,
- int w, int h, int sp, int dp, unsigned int P1, const uint8_t *P2, const uint8_t *weights, int weights_pitch, float uniqueness, bool subpixel, cudaStream_t stream) = 0;
+ int w, int h, int sp, int dp, unsigned int P1, const uint8_t *P2, const uint8_t *weights, int weights_pitch, float uniqueness, bool subpixel, int min_disp, cudaStream_t stream) = 0;
virtual ~SemiGlobalMatchingBase() {}
};
@@ -38,9 +38,9 @@ namespace sgm {
class SemiGlobalMatchingImpl : public SemiGlobalMatchingBase {
public:
void execute(output_type* dst_L, output_type* dst_R, const void* src_L, const void* src_R,
- int w, int h, int sp, int dp, unsigned int P1, const uint8_t *P2, const uint8_t *weights, int weights_pitch, float uniqueness, bool subpixel, cudaStream_t stream) override
+ int w, int h, int sp, int dp, unsigned int P1, const uint8_t *P2, const uint8_t *weights, int weights_pitch, float uniqueness, bool subpixel, int min_disp, cudaStream_t stream) override
{
- sgm_engine_.execute(dst_L, dst_R, (const input_type*)src_L, (const input_type*)src_R, w, h, sp, dp, P1, P2, weights, weights_pitch, uniqueness, subpixel, stream);
+ sgm_engine_.execute(dst_L, dst_R, (const input_type*)src_L, (const input_type*)src_R, w, h, sp, dp, P1, P2, weights, weights_pitch, uniqueness, subpixel, min_disp, stream);
}
private:
SemiGlobalMatching<input_type, DISP_SIZE> sgm_engine_;
@@ -63,6 +63,8 @@ namespace sgm {
sgm_engine = new SemiGlobalMatchingImpl<uint8_t, 64>();
else if (input_depth_bits_ == 8 && disparity_size_ == 128)
sgm_engine = new SemiGlobalMatchingImpl<uint8_t, 128>();
+ else if (input_depth_bits_ == 8 && disparity_size_ == 192)
+ sgm_engine = new SemiGlobalMatchingImpl<uint8_t, 192>();
else if (input_depth_bits_ == 8 && disparity_size_ == 256)
sgm_engine = new SemiGlobalMatchingImpl<uint8_t, 256>();
else if (input_depth_bits_ == 16 && disparity_size_ == 64)
@@ -133,9 +135,9 @@ namespace sgm {
width_ = height_ = input_depth_bits_ = output_depth_bits_ = disparity_size_ = 0;
throw std::logic_error("depth bits must be 8 or 16");
}
- if (disparity_size_ != 64 && disparity_size_ != 128 && disparity_size_ != 256) {
+ if (disparity_size_ != 64 && disparity_size_ != 128 && disparity_size_ != 192 && disparity_size_ != 256) {
width_ = height_ = input_depth_bits_ = output_depth_bits_ = disparity_size_ = 0;
- throw std::logic_error("disparity size must be 64, 128 or 256");
+ throw std::logic_error("disparity size must be 64, 128, 192 or 256");
}
if (param.subpixel && output_depth_bits != 16) {
width_ = height_ = input_depth_bits_ = output_depth_bits_ = disparity_size_ = 0;
@@ -150,7 +152,7 @@ namespace sgm {
}
void StereoSGM::execute(const void* left_pixels, const void* right_pixels, void* dst, const int width, const int height, const int src_pitch, const int dst_pitch,
- const uint8_t *P2, const uint8_t *weights, int weights_pitch, cudaStream_t stream) {
+ const uint8_t *P2, const uint8_t *weights, int weights_pitch, int min_disp, cudaStream_t stream) {
const void *d_input_left, *d_input_right;
@@ -174,11 +176,11 @@ namespace sgm {
d_left_disp = dst; // when threre is no device-host copy or type conversion, use passed buffer
cu_res_->sgm_engine->execute((uint16_t*)d_tmp_left_disp, (uint16_t*)d_tmp_right_disp,
- d_input_left, d_input_right, width, height, src_pitch, dst_pitch, param_.P1, P2, weights, weights_pitch, param_.uniqueness, param_.subpixel, stream);
+ d_input_left, d_input_right, width, height, src_pitch, dst_pitch, param_.P1, P2, weights, weights_pitch, param_.uniqueness, param_.subpixel, min_disp, stream);
sgm::details::median_filter((uint16_t*)d_tmp_left_disp, (uint16_t*)d_left_disp, width, height, dst_pitch, stream);
sgm::details::median_filter((uint16_t*)d_tmp_right_disp, (uint16_t*)d_right_disp, width, height, dst_pitch, stream);
- sgm::details::check_consistency((uint16_t*)d_left_disp, (uint16_t*)d_right_disp, cu_res_->d_mask, width, height, input_depth_bits_, src_pitch, dst_pitch, param_.subpixel, stream);
+ sgm::details::check_consistency((uint16_t*)d_left_disp, (uint16_t*)d_right_disp, cu_res_->d_mask, width, height, input_depth_bits_, src_pitch, dst_pitch, param_.subpixel, min_disp, stream);
if (!is_cuda_output(inout_type_) && output_depth_bits_ == 8) {
sgm::details::cast_16bit_8bit_array((const uint16_t*)d_left_disp, (uint8_t*)d_tmp_left_disp, dst_pitch * height);
@@ -198,8 +200,8 @@ namespace sgm {
}
}
- void StereoSGM::execute(const void* left_pixels, const void* right_pixels, void* dst, const uint8_t *P2, const uint8_t *weights, int weights_pitch, cudaStream_t stream) {
- execute(left_pixels, right_pixels, dst, width_, height_, src_pitch_, dst_pitch_, P2, weights, weights_pitch, stream);
+ void StereoSGM::execute(const void* left_pixels, const void* right_pixels, void* dst, const uint8_t *P2, const uint8_t *weights, int weights_pitch, int min_disp, cudaStream_t stream) {
+ execute(left_pixels, right_pixels, dst, width_, height_, src_pitch_, dst_pitch_, P2, weights, weights_pitch, min_disp, stream);
}
bool StereoSGM::updateParameters(const Parameters ¶ms) {
diff --git a/lib/libsgm/src/utility.hpp b/lib/libsgm/src/utility.hpp
index 17b9f45f5375e1756f581a2d7fd3e72e5f588d60..bbd5dc328a878c241c9ceb4b3a57ff3162239794 100644
--- a/lib/libsgm/src/utility.hpp
+++ b/lib/libsgm/src/utility.hpp
@@ -189,6 +189,14 @@ __device__ inline void load_uint16_vector<4u>(uint32_t *dest, const uint16_t *pt
dest[0] = uint16x4.x; dest[1] = uint16x4.y; dest[2] = uint16x4.z; dest[3] = uint16x4.w;
}
+template <>
+__device__ inline void load_uint16_vector<6u>(uint32_t *dest, const uint16_t *ptr){
+ const auto uint32x3 = load_as<uint3>(ptr);
+ load_uint16_vector<2u>(dest + 0, reinterpret_cast<const uint16_t *>(&uint32x3.x));
+ load_uint16_vector<2u>(dest + 2, reinterpret_cast<const uint16_t *>(&uint32x3.y));
+ load_uint16_vector<2u>(dest + 4, reinterpret_cast<const uint16_t *>(&uint32x3.z));
+}
+
template <>
__device__ inline void load_uint16_vector<8u>(uint32_t *dest, const uint16_t *ptr){
const auto uint32x4 = load_as<uint4>(ptr);
diff --git a/lib/libsgm/src/vertical_path_aggregation.cu b/lib/libsgm/src/vertical_path_aggregation.cu
index 6fee96892cf038a0583c576688e8456e0c3ec7d7..7f705646039d5a223ca967ecebdcdd70bb6b9667 100644
--- a/lib/libsgm/src/vertical_path_aggregation.cu
+++ b/lib/libsgm/src/vertical_path_aggregation.cu
@@ -35,7 +35,8 @@ __global__ void aggregate_vertical_path_kernel(
const uint8_t* __restrict__ p2,
int p2_pitch,
const uint8_t* __restrict__ w,
- int w_pitch)
+ int w_pitch,
+ int min_disp)
{
static const unsigned int SUBGROUP_SIZE = MAX_DISPARITY / DP_BLOCK_SIZE;
static const unsigned int PATHS_PER_WARP = WARP_SIZE / SUBGROUP_SIZE;
@@ -81,7 +82,7 @@ __global__ void aggregate_vertical_path_kernel(
for(unsigned int i0 = 0; i0 < RIGHT_BUFFER_SIZE; i0 += BLOCK_SIZE){
const unsigned int i = i0 + threadIdx.x;
if(i < RIGHT_BUFFER_SIZE){
- const int x = static_cast<int>(right_x0 + PATHS_PER_BLOCK - 1 - i);
+ const int x = static_cast<int>(right_x0 + PATHS_PER_BLOCK - 1 - i) - min_disp;
feature_type right_value = 0;
if(0 <= x && x < static_cast<int>(width)){
right_value = right[x + y * width];
@@ -126,6 +127,7 @@ void enqueue_aggregate_up2down_path(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream)
{
static const unsigned int SUBGROUP_SIZE = MAX_DISPARITY / DP_BLOCK_SIZE;
@@ -134,7 +136,7 @@ void enqueue_aggregate_up2down_path(
const int gdim = (width + PATHS_PER_BLOCK - 1) / PATHS_PER_BLOCK;
const int bdim = BLOCK_SIZE;
aggregate_vertical_path_kernel<1, MAX_DISPARITY><<<gdim, bdim, 0, stream>>>(
- dest, left, right, width, height, p1, p2, p2_pitch, w, w_pitch);
+ dest, left, right, width, height, p1, p2, p2_pitch, w, w_pitch, min_disp);
}
template <unsigned int MAX_DISPARITY>
@@ -149,6 +151,7 @@ void enqueue_aggregate_down2up_path(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream)
{
static const unsigned int SUBGROUP_SIZE = MAX_DISPARITY / DP_BLOCK_SIZE;
@@ -157,7 +160,7 @@ void enqueue_aggregate_down2up_path(
const int gdim = (width + PATHS_PER_BLOCK - 1) / PATHS_PER_BLOCK;
const int bdim = BLOCK_SIZE;
aggregate_vertical_path_kernel<-1, MAX_DISPARITY><<<gdim, bdim, 0, stream>>>(
- dest, left, right, width, height, p1, p2, p2_pitch, w, w_pitch);
+ dest, left, right, width, height, p1, p2, p2_pitch, w, w_pitch, min_disp);
}
@@ -172,6 +175,7 @@ template void enqueue_aggregate_up2down_path<64u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
template void enqueue_aggregate_up2down_path<128u>(
@@ -185,6 +189,7 @@ template void enqueue_aggregate_up2down_path<128u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
template void enqueue_aggregate_up2down_path<256u>(
@@ -198,6 +203,21 @@ template void enqueue_aggregate_up2down_path<256u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
+ cudaStream_t stream);
+
+template void enqueue_aggregate_up2down_path<192u>(
+ cost_type *dest,
+ const feature_type *left,
+ const feature_type *right,
+ int width,
+ int height,
+ unsigned int p1,
+ const uint8_t *p2,
+ int p2_pitch,
+ const uint8_t* w,
+ int w_pitch,
+ int min_disp,
cudaStream_t stream);
template void enqueue_aggregate_down2up_path<64u>(
@@ -211,6 +231,7 @@ template void enqueue_aggregate_down2up_path<64u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
template void enqueue_aggregate_down2up_path<128u>(
@@ -224,6 +245,21 @@ template void enqueue_aggregate_down2up_path<128u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
+ cudaStream_t stream);
+
+template void enqueue_aggregate_down2up_path<192u>(
+ cost_type *dest,
+ const feature_type *left,
+ const feature_type *right,
+ int width,
+ int height,
+ unsigned int p1,
+ const uint8_t *p2,
+ int p2_pitch,
+ const uint8_t* w,
+ int w_pitch,
+ int min_disp,
cudaStream_t stream);
template void enqueue_aggregate_down2up_path<256u>(
@@ -237,6 +273,7 @@ template void enqueue_aggregate_down2up_path<256u>(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
}
diff --git a/lib/libsgm/src/vertical_path_aggregation.hpp b/lib/libsgm/src/vertical_path_aggregation.hpp
index 434dd9231614b821ae1dfcbb439e648a9dd10b9a..18240cf264862e8d7417200c51d1e8584ec49d43 100644
--- a/lib/libsgm/src/vertical_path_aggregation.hpp
+++ b/lib/libsgm/src/vertical_path_aggregation.hpp
@@ -34,6 +34,7 @@ void enqueue_aggregate_up2down_path(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
template <unsigned int MAX_DISPARITY>
@@ -48,6 +49,7 @@ void enqueue_aggregate_down2up_path(
int p2_pitch,
const uint8_t* w,
int w_pitch,
+ int min_disp,
cudaStream_t stream);
}
diff --git a/lib/libsgm/src/winner_takes_all.cu b/lib/libsgm/src/winner_takes_all.cu
index f33d3005289a5041d03160af960032e221055e59..ea53af6c330d18bb203bfa94ce6a59e3a45c7159 100644
--- a/lib/libsgm/src/winner_takes_all.cu
+++ b/lib/libsgm/src/winner_takes_all.cu
@@ -47,17 +47,17 @@ __device__ int unpack_index(uint32_t packed){
return packed & 0xffffu;
}
-using ComputeDisparity = uint32_t(*)(uint32_t, uint32_t, uint16_t*);
+using ComputeDisparity = uint32_t(*)(uint32_t, int, uint32_t, uint16_t*);
-__device__ inline uint32_t compute_disparity_normal(uint32_t disp, uint32_t cost = 0, uint16_t* smem = nullptr)
+__device__ inline uint32_t compute_disparity_normal(uint32_t disp, int min_disp, uint32_t cost = 0, uint16_t* smem = nullptr)
{
- return disp;
+ return disp; // + min_disp;
}
template <size_t MAX_DISPARITY>
-__device__ inline uint32_t compute_disparity_subpixel(uint32_t disp, uint32_t cost, uint16_t* smem)
+__device__ inline uint32_t compute_disparity_subpixel(uint32_t disp, int min_disp, uint32_t cost, uint16_t* smem)
{
- int subp = disp;
+ int subp = disp; // + min_disp;
subp <<= sgm::StereoSGM::SUBPIXEL_SHIFT;
if (disp > 0 && disp < MAX_DISPARITY - 1) {
const int left = smem[disp - 1];
@@ -78,7 +78,8 @@ __global__ void winner_takes_all_kernel(
int width,
int height,
int pitch,
- float uniqueness)
+ float uniqueness,
+ int min_disp)
{
static const unsigned int ACCUMULATION_PER_THREAD = 16u;
static const unsigned int REDUCTION_PER_THREAD = MAX_DISPARITY / WARP_SIZE;
@@ -178,7 +179,7 @@ __global__ void winner_takes_all_kernel(
right_best[i] = min(right_best[i], recv);
if(d == MAX_DISPARITY - 1){
if(0 <= p){
- right_dest[p] = compute_disparity_normal(unpack_index(right_best[i]));
+ right_dest[p] = compute_disparity_normal(unpack_index(right_best[i]), min_disp);
}
right_best[i] = 0xffffffffu;
}
@@ -195,7 +196,7 @@ __global__ void winner_takes_all_kernel(
}
uniq = subgroup_and<WARP_SIZE>(uniq, 0xffffffffu);
if(lane_id == 0){
- left_dest[x] = uniq ? compute_disparity(bestDisp, bestCost, smem_cost_sum[warp_id][smem_x]) : 0;
+ left_dest[x] = uniq ? compute_disparity(bestDisp, min_disp, bestCost, smem_cost_sum[warp_id][smem_x]) : 0;
}
}
}
@@ -204,7 +205,7 @@ __global__ void winner_takes_all_kernel(
const unsigned int k = lane_id * REDUCTION_PER_THREAD + i;
const int p = static_cast<int>(((width - k) & ~(MAX_DISPARITY - 1)) + k);
if(p < width){
- right_dest[p] = compute_disparity_normal(unpack_index(right_best[i]));
+ right_dest[p] = compute_disparity_normal(unpack_index(right_best[i]), min_disp);
}
}
}
@@ -219,6 +220,7 @@ void enqueue_winner_takes_all(
int pitch,
float uniqueness,
bool subpixel,
+ int min_disp,
cudaStream_t stream)
{
const int gdim =
@@ -226,10 +228,10 @@ void enqueue_winner_takes_all(
const int bdim = BLOCK_SIZE;
if (subpixel) {
winner_takes_all_kernel<MAX_DISPARITY, compute_disparity_subpixel<MAX_DISPARITY>><<<gdim, bdim, 0, stream>>>(
- left_dest, right_dest, src, width, height, pitch, uniqueness);
+ left_dest, right_dest, src, width, height, pitch, uniqueness, min_disp);
} else {
winner_takes_all_kernel<MAX_DISPARITY, compute_disparity_normal><<<gdim, bdim, 0, stream>>>(
- left_dest, right_dest, src, width, height, pitch, uniqueness);
+ left_dest, right_dest, src, width, height, pitch, uniqueness, min_disp);
}
}
@@ -250,6 +252,7 @@ void WinnerTakesAll<MAX_DISPARITY>::enqueue(
int pitch,
float uniqueness,
bool subpixel,
+ int min_disp,
cudaStream_t stream)
{
if(m_left_buffer.size() < static_cast<size_t>(pitch * height)){
@@ -267,6 +270,7 @@ void WinnerTakesAll<MAX_DISPARITY>::enqueue(
pitch,
uniqueness,
subpixel,
+ min_disp,
stream);
}
@@ -280,6 +284,7 @@ void WinnerTakesAll<MAX_DISPARITY>::enqueue(
int pitch,
float uniqueness,
bool subpixel,
+ int min_disp,
cudaStream_t stream)
{
enqueue_winner_takes_all<MAX_DISPARITY>(
@@ -291,12 +296,14 @@ void WinnerTakesAll<MAX_DISPARITY>::enqueue(
pitch,
uniqueness,
subpixel,
+ min_disp,
stream);
}
template class WinnerTakesAll< 64>;
template class WinnerTakesAll<128>;
+template class WinnerTakesAll<192>;
template class WinnerTakesAll<256>;
}
diff --git a/lib/libsgm/src/winner_takes_all.hpp b/lib/libsgm/src/winner_takes_all.hpp
index 3dbae82735581c6b1051fd973efd4346e24c2543..f2bb59765f031322c9bdbcfa833dc170edea5653 100644
--- a/lib/libsgm/src/winner_takes_all.hpp
+++ b/lib/libsgm/src/winner_takes_all.hpp
@@ -47,6 +47,7 @@ public:
int pitch,
float uniqueness,
bool subpixel,
+ int min_disp,
cudaStream_t stream);
void enqueue(
@@ -58,6 +59,7 @@ public:
int pitch,
float uniqueness,
bool subpixel,
+ int min_disp,
cudaStream_t stream);
};
diff --git a/lib/libstereo/CMakeLists.txt b/lib/libstereo/CMakeLists.txt
index 47a6aa69fe65fc5c1d542c47ea5f4721658fb2ff..a5f3255d2ca0f72a0df3e04c71b639de6984e946 100644
--- a/lib/libstereo/CMakeLists.txt
+++ b/lib/libstereo/CMakeLists.txt
@@ -1,4 +1,5 @@
cmake_minimum_required(VERSION 3.10 FATAL_ERROR)
+include(CheckLanguage)
project(libstereo)
@@ -12,6 +13,7 @@ find_package(OpenMP REQUIRED)
find_package( Threads REQUIRED )
#find_package(CUDA REQUIRED)
+check_language(CUDA)
enable_language(CUDA)
set(CMAKE_CXX_CPPCHECK "cppcheck")
@@ -20,6 +22,7 @@ set(CMAKE_USE_RELATIVE_PATHS ON)
set(CMAKE_CXX_FLAGS_RELEASE)
if (CMAKE_COMPILER_IS_GNUCXX)
+ set(CMAKE_CUDA_HOST_COMPILER gcc-7)
set(CMAKE_CUDA_FLAGS "--gpu-architecture=compute_61 -std=c++14 -Xcompiler -fPIC -Xcompiler ${OpenMP_CXX_FLAGS} --expt-relaxed-constexpr")
set(CMAKE_CUDA_FLAGS_RELEASE "-O3")
else()
@@ -67,6 +70,8 @@ if (LIBSTEREO_SHARED)
src/median_filter.cu
src/median_filter_fixstars.cu
src/dsi_tools.cu
+ src/costs/gct.cu
+ src/algorithms/gct.cu
)
set_target_properties(libstereo PROPERTIES PUBLIC_HEADER include/stereo.hpp)
@@ -104,6 +109,8 @@ else()
src/median_filter.cu
src/median_filter_fixstars.cu
src/dsi_tools.cu
+ src/costs/gct.cu
+ src/algorithms/gct.cu
)
endif()
@@ -114,6 +121,7 @@ endif()
target_include_directories(libstereo PRIVATE src/ include/)
target_include_directories(libstereo PUBLIC ${OpenCV_INCLUDE_DIRS})
target_link_libraries(libstereo Threads::Threads ${OpenCV_LIBS} ${CUDA_LIBRARIES})
+set_property(TARGET libstereo PROPERTY CUDA_ARCHITECTURES OFF)
if (BUILD_MIDDLEBURY)
add_subdirectory(middlebury/)
diff --git a/lib/libstereo/include/stereo.hpp b/lib/libstereo/include/stereo.hpp
index d0a2e6e928ea07be880027ab73f885c549746b6c..df9ccdd291b28dd924fd40144998b6e807c82431 100644
--- a/lib/libstereo/include/stereo.hpp
+++ b/lib/libstereo/include/stereo.hpp
@@ -3,6 +3,58 @@
#include <opencv2/core/mat.hpp>
#include <stereo_types.hpp>
+class StereoGCensusSgm {
+public:
+ StereoGCensusSgm();
+ ~StereoGCensusSgm();
+
+ void compute(cv::InputArray l, cv::InputArray r, cv::OutputArray disparity);
+ void setPrior(cv::InputArray disp) {};
+ void setEdges();
+
+ struct Parameters {
+ int d_min = 0;
+ int d_max = 0;
+ float P1 = 0.0645;
+ float P2 = 1.2903;
+ float uniqueness = std::numeric_limits<float>::max();
+ int subpixel = 1; // subpixel interpolation method
+ bool lr_consistency = true;
+ int paths = AggregationDirections::HORIZONTAL |
+ AggregationDirections::VERTICAL |
+ AggregationDirections::DIAGONAL;
+ bool debug = false;
+ };
+ Parameters params;
+
+ enum Pattern {
+ DENSE,
+ SPARSE,
+ RANDOM,
+ GCT,
+ };
+
+ /**
+ * Set pattern.
+ *
+ * DENSE: size required, param ignored
+ * SPARSE: size and parama required, param is step (number of skipped pixels)
+ * RANDOM: size and param required, param is number of edges
+ * GCT: param required, size ignored, param is pattern type (number of edges), see the paper for description
+ */
+ void setPattern(Pattern type, cv::Size size, int param=-1);
+ /**
+ * Set custom pattern.
+ */
+ void setPattern(const std::vector<std::pair<cv::Point2i, cv::Point2i>> &edges);
+
+private:
+ struct Impl;
+ Impl *impl_;
+ std::vector<std::pair<cv::Point2i, cv::Point2i>> pattern_;
+};
+
+
class StereoADCensusSgm {
public:
StereoADCensusSgm();
@@ -209,7 +261,7 @@ private:
/**
* STABLE Binary descriptor. This is a general implementation.
- *
+ *
* @see K. ValentÃn, R. Huber-Mörk, and S. Å tolc, “Binary descriptor-based dense
* line-scan stereo matching,†J. Electron. Imaging, vol. 26, no. 1, 2017.
*/
@@ -429,7 +481,7 @@ private:
* Ternary census, or 3 moded, where there is a noise threshold and where
* pixels can be identified as no luminance change in addition to above or
* below.
- *
+ *
* @see "TEXTURE-AWARE DENSE IMAGE MATCHING USING TERNARY CENSUS TRANSFORM" (2016)
* @see "Local disparity estimation with three-moded cross census and advanced support weight" (2013)
*/
diff --git a/lib/libstereo/middlebury/algorithms.hpp b/lib/libstereo/middlebury/algorithms.hpp
index 7c0d2ca4bf9a7f51d6ece71629dd9ab754fd0be1..094976d0cceac076bca68ce884d3e60321ef5d8e 100644
--- a/lib/libstereo/middlebury/algorithms.hpp
+++ b/lib/libstereo/middlebury/algorithms.hpp
@@ -346,12 +346,35 @@ namespace Impl {
}
};
+ /** Generalized Census Transform */
+ struct GCTSgm : public Algorithm {
+
+ GCTSgm() { P1 = 30.0f / float(9*7-1); P2 = 132.0f / float(9*7-1); }
+
+ virtual void run(const MiddleburyData &data, cv::Mat &disparity) override {
+ StereoGCensusSgm stereo;
+ stereo.setPattern(StereoGCensusSgm::Pattern::GCT, {0, 0}, 12);
+
+ stereo.params.P1 = P1;
+ stereo.params.P2 = P2;
+ stereo.params.subpixel = subpixel;
+ stereo.params.lr_consistency = lr_consistency;
+
+ stereo.params.debug = true;
+ stereo.params.d_min = data.calib.vmin;
+ stereo.params.d_max = data.calib.vmax;
+ stereo.compute(data.imL, data.imR, disparity);
+ }
+ };
}
static const std::map<std::string, Algorithm*> algorithms = {
{ "censussgm", new Impl::CensusSGM() },
{ "cluster", new Impl::ClusterSF() },
{ "mcensussgm", new Impl::MeanCensusSGM() },
+ { "gctsgm", new Impl::GCTSgm() },
+
+/* { "mcensussgm", new Impl::MeanCensusSGM() },
{ "gcensussgm", new Impl::GCensusSGM() },
{ "ecensussgm", new Impl::ECensusSGM() },
{ "stablesgm", new Impl::StableSGM() },
@@ -364,5 +387,5 @@ static const std::map<std::string, Algorithm*> algorithms = {
{ "tcensussgm", new Impl::TCensusSGM() },
{ "wcensussgm", new Impl::WCensusSGM() },
{ "misgm", new Impl::MiSGM() },
- { "varcensus", new Impl::VarCensusSGM() },
+ { "varcensus", new Impl::VarCensusSGM() },*/
};
diff --git a/lib/libstereo/middlebury/main.cpp b/lib/libstereo/middlebury/main.cpp
index 75e68a99c0e5c851d5ce1f816c71f7b8994edaaa..d0bf1966568f33bee0c05032232c44d20992678e 100644
--- a/lib/libstereo/middlebury/main.cpp
+++ b/lib/libstereo/middlebury/main.cpp
@@ -180,7 +180,7 @@ void main_default(const std::vector<std::string> &paths,
}
std::cout << "Saved\n";
}
- else if (k == 27) {
+ else if (k == 27 || k == 255) {
return;
}
}
diff --git a/lib/libstereo/src/algorithms/gct.cu b/lib/libstereo/src/algorithms/gct.cu
new file mode 100644
index 0000000000000000000000000000000000000000..cd070d1e4e15ac7d7abe4ac2df0af7ce26114bf6
--- /dev/null
+++ b/lib/libstereo/src/algorithms/gct.cu
@@ -0,0 +1,81 @@
+#include "stereo.hpp"
+#include "stereosgm.hpp"
+#include "../costs/gct.hpp"
+
+struct StereoGCensusSgm::Impl : public StereoSgm<GeneralizedCensusMatchingCost, StereoGCensusSgm::Parameters> {
+ Array2D<uchar> l;
+ Array2D<uchar> r;
+
+ Impl(StereoGCensusSgm::Parameters ¶ms, int width, int height, int dmin, int dmax) :
+ StereoSgm(params, width, height, dmin, dmax), l(width, height), r(width, height) {}
+};
+
+StereoGCensusSgm::StereoGCensusSgm() : impl_(nullptr) {
+ impl_ = new Impl(params, 0, 0, 0, 0);
+}
+
+void StereoGCensusSgm::compute(cv::InputArray l, cv::InputArray r, cv::OutputArray disparity) {
+
+ if (l.rows() != impl_->cost.height() || r.cols() != impl_->cost.width()) {
+ delete impl_; impl_ = nullptr;
+ impl_ = new Impl(params, l.cols(), l.rows(), params.d_min, params.d_max);
+ impl_->cost.setEdges(pattern_);
+ }
+
+ mat2gray(l, impl_->l);
+ mat2gray(r, impl_->r);
+ impl_->cost.set(impl_->l, impl_->r);
+
+ cudaSafeCall(cudaDeviceSynchronize());
+ impl_->compute(disparity);
+
+ median_filter(impl_->wta.disparity, disparity);
+
+ /* without sgm:
+ mat2gray(l, impl_->l);
+ mat2gray(r, impl_->r);
+ impl_->cost.set(impl_->l, impl_->r);
+
+ WinnerTakesAll<GeneralizedCensusMatchingCost> wta;
+ wta(impl_->cost, 0, true);
+
+ median_filter(wta.disparity, disparity);
+ */
+}
+
+void StereoGCensusSgm::setPattern(StereoGCensusSgm::Pattern pattern, cv::Size size, int param) {
+ switch(pattern) {
+ case Pattern::DENSE:
+ pattern_ = pattern_dense(size);
+ break;
+
+ case Pattern::SPARSE:
+ pattern_ = pattern_sparse(size, param);
+ break;
+
+ case Pattern::RANDOM:
+ pattern_ = pattern_random(size, param);
+ break;
+
+ case Pattern::GCT:
+ pattern_ = pattern_gct(param);
+ break;
+
+ default:
+ printf("invalid pattern\n");
+ throw std::exception();
+ }
+ impl_->cost.setEdges(pattern_);
+}
+
+void StereoGCensusSgm::setPattern(const std::vector<std::pair<cv::Point2i, cv::Point2i>> &edges) {
+ pattern_ = edges;
+ impl_->cost.setEdges(edges);
+}
+
+StereoGCensusSgm::~StereoGCensusSgm() {
+ if (impl_) {
+ delete impl_;
+ impl_ = nullptr;
+ }
+}
diff --git a/lib/libstereo/src/costs/census.cu b/lib/libstereo/src/costs/census.cu
index f56cedf608d3eb87ccbdf078f563dccd1f85d688..124eda70375fb6ebdf2d6d4d7d79643d8718c95d 100644
--- a/lib/libstereo/src/costs/census.cu
+++ b/lib/libstereo/src/costs/census.cu
@@ -17,22 +17,35 @@ namespace algorithms {
__host__ __device__ inline void window(const int y, const int x, uint64_t* __restrict__ out) {
short center = im(y, x);
uint8_t i = 0; // bit counter for *out
+ // possible BUG in operator(), gets called more than once per pixel;
+ // local variable for sub-bitstring to avoid data race (no read
+ // dependency to out; writes are identical)
+ uint64_t res = 0;
for (int wy = -WINY/2; wy <= WINY/2; wy++) {
for (int wx = -WINX/2; wx <= WINX/2; wx++) {
const int y_ = y + wy;
const int x_ = x + wx;
+ if (y == 0 && x == 0) {
+ continue;
+ }
+
// zero if first value, otherwise shift to left
- if (i % 64 == 0) { *out = 0; }
- else { *out = (*out << 1); }
- *out |= (center < (im(y_,x_)) ? 1 : 0);
+ res = (res << 1);
+ res |= (center < (im(y_,x_)) ? 1 : 0);
- i += 1;
// if all bits set, continue to next element
- if (i % 64 == 0) { out++; }
+ if (++i % 64 == 0) {
+ *out = res;
+ out++;
+ }
}
}
+ if ((i - 1)%64 != 0) {
+ // write remaining bits
+ *out = res;
+ }
}
__host__ __device__ void operator()(ushort2 thread, ushort2 stride, ushort2 size) {
@@ -127,6 +140,7 @@ namespace algorithms {
// zero if first value, otherwise shift to left
if (i % 64 == 0) { *out = 0; }
else { *out = (*out << 1); }
+ // symmetric pattern? also redundant
*out |= (im(y-wy,x-wx) < (im(y+wy,x+wx)) ? 1 : 0);
i += 1;
@@ -249,7 +263,7 @@ void CensusMatchingCost::set(const Array2D<uchar> &l, const Array2D<uchar> &r) {
parallel2D<algorithms::GCensusTransformRowMajor<9,7>>({l.data(), ct_l_.data()}, l.width, l.height);
parallel2D<algorithms::GCensusTransformRowMajor<9,7>>({r.data(), ct_r_.data()}, r.width, r.height);
} else {
- // TODO:
+ // TODO:
}
}
@@ -327,7 +341,7 @@ void MiniCensusMatchingCost::set(const Array2D<uchar> &l, const Array2D<uchar> &
parallel2D<algorithms::GCensusTransformRowMajor<5,3>>({l.data(), ct_l_.data()}, l.width, l.height);
parallel2D<algorithms::GCensusTransformRowMajor<5,3>>({r.data(), ct_r_.data()}, r.width, r.height);
} else {
- // TODO:
+ // TODO:
}
}
diff --git a/lib/libstereo/src/costs/census.hpp b/lib/libstereo/src/costs/census.hpp
index 4600b64a26674b5a23a9d77b65b210e618eabd63..cb577bfd7d7afcb42688d2d7749cf6f83a35b6e0 100644
--- a/lib/libstereo/src/costs/census.hpp
+++ b/lib/libstereo/src/costs/census.hpp
@@ -5,8 +5,8 @@
#include "array2d.hpp"
#include "dsbase.hpp"
#include <stereo_types.hpp>
-
#include <cuda_runtime.h>
+
namespace impl {
__host__ __device__ static inline uint64_t popcount(const uint64_t bits) {
#if defined(__CUDA_ARCH__)
@@ -52,6 +52,45 @@ namespace impl {
template<uint8_t WW, uint8_t WH, int BPP=1>
using CensusMatchingCost = HammingCost<WW*WH*BPP>;
+ /**
+ * Normalized Hamming cost, same as above except float type and normalized
+ * by number of bits (user set). Cost will always be within range [0, 1].
+ */
+ template<int SIZE>
+ struct NormalizedHammingCost : DSImplBase<float> {
+ static_assert(SIZE%64 == 0, "size must be multiple of 64");
+
+ typedef float Type;
+
+ NormalizedHammingCost(ushort w, ushort h, ushort dmin, ushort dmax) : DSImplBase<Type>({w,h,dmin,dmax}) {}
+ NormalizedHammingCost() : DSImplBase<Type>({0,0,0,0}) {}
+
+ __host__ __device__ inline Type operator()(const int y, const int x, const int d) const {
+ if ((x-d) < 0) { return COST_MAX; }
+ float c = 0;
+
+ #pragma unroll
+ for (int i = 0; i < WSTEP; i++) {
+ c+= popcount(l(y, x*WSTEP+i) ^ r(y, (x-d)*WSTEP+i));
+ }
+ return c*normalize;
+ }
+
+ // number of uint64_t values for each window
+ static constexpr int WSTEP = (SIZE - 1)/(sizeof(uint64_t)*8) + 1;
+ static constexpr Type COST_MAX = 1.0f;
+
+ Array2D<uint64_t>::Data l;
+ Array2D<uint64_t>::Data r;
+ float normalize = 1.0f; // set to 1.0f/(number of bits used)
+ };
+
+ template<uint8_t WW, uint8_t WH, int BPP=1>
+ using NormalizedCensusMatchingCost = NormalizedHammingCost<WW*WH*BPP>;
+
+ /**
+ * WeightedCensusMatchingCost
+ */
template<uint8_t R, uint8_t NBINS>
struct WeightedCensusMatchingCost : DSImplBase<unsigned short> {
static_assert(R % 2 == 1, "R must be odd");
diff --git a/lib/libstereo/src/costs/gct.cu b/lib/libstereo/src/costs/gct.cu
new file mode 100644
index 0000000000000000000000000000000000000000..db38484489936fbe143436881cda130395fce799
--- /dev/null
+++ b/lib/libstereo/src/costs/gct.cu
@@ -0,0 +1,244 @@
+#include "gct.hpp"
+#include "../util.hpp"
+
+#include <random>
+
+static const int NBITS = 128;
+
+namespace algorithms {
+ /** Fife, W. S., & Archibald, J. K. (2012). Improved census transforms for
+ * resource-optimized stereo vision. IEEE Transactions on Circuits and
+ * Systems for Video Technology, 23(1), 60-73.
+ */
+
+ template<int BITS>
+ struct GeneralizedCensusTransform {
+ static_assert(BITS%64 == 0, "size must be multiple of 64");
+
+ __host__ __device__ inline void compute(const int y, const int x, uint64_t* __restrict__ out) {
+
+ uint8_t i = 0; // bit counter for *out
+ // BUG in operator(), gets called more than once per pixel; local
+ // variable for sub-bitstring to avoid data race (no read
+ // dependency to out; writes are identical)
+ uint64_t res = 0;
+
+ for (int e = 0; e < nedges; e++) {
+
+ // edges contain window indices, calculate window coordinates
+ //const int y1 = y + edges(e,0) % WINY - WINY/2;
+ //const int x1 = x + edges(e,0) / WINY - WINX/2;
+ //const int y2 = y + edges(e,1) % WINY - WINY/2;
+ //const int x2 = x + edges(e,1) / WINY - WINX/2;
+
+ // edges contain relative pixel coordinates
+ const int x1 = x + edges(e,0);
+ const int y1 = y + edges(e,1);
+ const int x2 = x + edges(e,2);
+ const int y2 = y + edges(e,3);
+
+ res = (res << 1);
+ res |= ((im(y1,x1) < im(y2,x2)) ? 1 : 0);
+
+ // if all bits set, continue to next element
+ if (++i % 64 == 0) {
+ *out = res;
+ out++;
+ }
+ }
+
+ // zero remaining bits (less edges than bits in output array)
+ for(i = BITS/64 - i/64; i > 0; i--) {
+ *out++ = res;
+ res = 0;
+ }
+ }
+
+ __host__ __device__ void operator()(ushort2 thread, ushort2 stride, ushort2 size) {
+ for (int y = thread.y+winy/2; y<size.y-winy/2-1; y+=stride.y) {
+ for (int x = thread.x+winx/2; x<size.x-winx/2-1; x+=stride.x) {
+ compute(y, x, &(out(y, x*WSTEP)));
+ }
+ }
+ }
+
+ int nedges;
+ int winx;
+ int winy;
+ Array2D<char>::Data edges;
+ Array2D<uchar>::Data im;
+ Array2D<uint64_t>::Data out;
+
+ // number of uint64_t values for each window
+ static constexpr int WSTEP = (BITS - 1)/(sizeof(uint64_t)*8) + 1;
+ };
+}
+
+void GeneralizedCensusMatchingCost::set(const Array2D<uchar> &l, const Array2D<uchar> &r) {
+ if (edges_.height == 0) {
+ printf("edges must be set before processing input images\n");
+ throw std::exception();
+ }
+
+ int winx = std::max(std::abs(pmin.x), pmax.x)*2 + 1;
+ int winy = std::max(std::abs(pmin.y), pmax.y)*2 + 1;
+ parallel2D<algorithms::GeneralizedCensusTransform<128>>({
+ edges_.height, winx, winy,
+ edges_.data(), l.data(), ct_l_.data()
+ }, l.width, l.height);
+ parallel2D<algorithms::GeneralizedCensusTransform<128>>({
+ edges_.height, winx, winy,
+ edges_.data(), r.data(), ct_r_.data()
+ }, r.width, r.height);
+}
+
+void GeneralizedCensusMatchingCost::setEdges(const std::vector<std::pair<cv::Point2i, cv::Point2i>> &edges) {
+ if (edges.size() > NBITS) {
+ printf("Too many edges %i, maximum number %i\n", int(edges.size()), NBITS);
+ throw std::exception(); // too many edges
+ }
+
+ cv::Mat data_(cv::Size(4, edges.size()), CV_8SC1);
+ for (size_t i = 0; i < edges.size(); i++) {
+ const auto &p1 = edges[i].first;
+ const auto &p2 = edges[i].second;
+
+ data_.at<char>(i,0) = p1.x;
+ data_.at<char>(i,1) = p1.y;
+ data_.at<char>(i,2) = p2.x;
+ data_.at<char>(i,3) = p2.y;
+
+ pmax.x = std::max(pmax.x, std::max(p1.x, p2.x));
+ pmax.y = std::max(pmax.y, std::max(p1.y, p2.y));
+ pmin.x = std::min(pmax.x, std::min(p1.x, p2.x));
+ pmin.y = std::min(pmax.y, std::min(p1.y, p2.y));
+ }
+
+ edges_.create(4, edges.size());
+ #ifdef USE_GPU
+ edges_.toGpuMat().upload(data_);
+ #else
+ data_.copyTo(edges_.toMat());
+ #endif
+
+ // normalization factor: 1.0/(number of comparisons)
+ data().normalize = 1.0f/float(edges.size());
+}
+
+
+void GeneralizedCensusMatchingCost::set(cv::InputArray l, cv::InputArray r) {
+ if (l.type() != CV_8UC1 || r.type() != CV_8UC1) { throw std::exception(); }
+ if (l.rows() != r.rows() || l.cols() != r.cols() || l.rows() != height() || l.cols() != width()) {
+ throw std::exception();
+ }
+
+ if (l.isGpuMat() && r.isGpuMat()) {
+ auto ml = l.getGpuMat();
+ auto mr = r.getGpuMat();
+ set(Array2D<uchar>(ml), Array2D<uchar>(mr));
+ }
+ else if (l.isMat() && r.isMat()) {
+ auto ml = l.getMat();
+ auto mr = r.getMat();
+ set(Array2D<uchar>(ml), Array2D<uchar>(mr));
+ }
+ else {
+ printf("Bad input array type\n");
+ throw std::exception();
+ }
+}
+
+// ==== Pattern generators =====================================================
+
+std::vector<std::pair<cv::Point2i, cv::Point2i>> pattern_dense(const cv::Size size) {
+ return pattern_sparse(size, 1);
+}
+
+std::vector<std::pair<cv::Point2i, cv::Point2i>> pattern_sparse(const cv::Size size, int step) {
+ std::vector<std::pair<cv::Point2i, cv::Point2i>> pattern;
+
+ for (int y = -size.height/2; y <= size.height/2; y += step) {
+ for (int x = -size.width/2; x <= size.width/2; x += step) {
+ if (cv::Point2i{x, y} == cv::Point2i{0, 0}) { continue; }
+ pattern.push_back({{0, 0}, {x, y}});
+ }
+ }
+
+ return pattern;
+}
+
+std::vector<std::pair<cv::Point2i, cv::Point2i>> pattern_random(const cv::Size size, int nedges) {
+ std::vector<std::pair<cv::Point2i, cv::Point2i>> pattern;
+
+ std::random_device rd;
+ std::mt19937 gen(rd());
+ std::uniform_int_distribution<> rand_x(-size.width/2, size.width/2);
+ std::uniform_int_distribution<> rand_y(-size.height/2, size.height/2);
+
+ for (int i = 0; i < nedges; i++) {
+ cv::Point2i p1;
+ cv::Point2i p2;
+ do {
+ p1 = {rand_x(gen), rand_y(gen)};
+ p2 = {rand_x(gen), rand_y(gen)};
+ }
+ while (p1 == p2); // try again if points happen to be same
+
+ pattern.push_back({p1, p2});
+ }
+
+ return pattern;
+}
+
+std::vector<std::pair<cv::Point2i, cv::Point2i>> pattern_random(const cv::Size size) {
+ return pattern_random(size, size.width*size.height);
+}
+
+std::vector<std::pair<cv::Point2i, cv::Point2i>> pattern_gct(int nedges) {
+ std::vector<std::pair<cv::Point2i, cv::Point2i>> pattern;
+ pattern.reserve(nedges);
+ switch(nedges) {
+ case 16:
+ pattern.push_back({{-2, -1}, {2, 1}});
+ pattern.push_back({{-2, 1}, {2, -1}});
+ pattern.push_back({{-1, -2}, {1, 2}});
+ pattern.push_back({{1, -2}, {-1, -2}});
+ //[[fallthrough]]
+
+ case 12:
+ pattern.push_back({{-1, -1}, {1, 0}});
+ pattern.push_back({{1, -1}, {-1, 0}});
+ pattern.push_back({{-1, 1}, {1, 0}});
+ pattern.push_back({{1, 1}, {-1, 0}});
+ //[[fallthrough]]
+
+ case 8:
+ pattern.push_back({{-2, -2}, {2, 2}});
+ pattern.push_back({{-2, 2}, {2, -2}});
+ pattern.push_back({{0, -2}, {0, 2}});
+ pattern.push_back({{-2, 0}, {2, 0}});
+ //[[fallthrough]]
+
+ case 4:
+ pattern.push_back({{-1, -1}, {1, 1}});
+ pattern.push_back({{-1, 1}, {1, -1}});
+ //[[fallthrough]]
+
+ case 2:
+ pattern.push_back({{0, -1}, {0, 1}});
+ //[[fallthrough]]
+
+ case 1:
+ pattern.push_back({{-1, 0}, {1, 0}});
+ break;
+
+ default:
+ printf("Bad number of edges %i, valid values are 1, 2, 4, 8 and 16", nedges);
+ throw std::exception();
+ }
+ if (nedges != pattern.size()) {
+ printf("error (assert): pattern size incorrect");
+ throw std::exception();
+ }
+ return pattern;
+}
diff --git a/lib/libstereo/src/costs/gct.hpp b/lib/libstereo/src/costs/gct.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..4214df43f9a9a1d534dfe8e626f25cfaae5760c2
--- /dev/null
+++ b/lib/libstereo/src/costs/gct.hpp
@@ -0,0 +1,61 @@
+#pragma once
+#include <opencv2/core.hpp>
+
+#include "../dsbase.hpp"
+#include "../array2d.hpp"
+#include "census.hpp"
+
+/**
+ * Generalized Census Transform
+ */
+
+namespace impl {
+ template<uint8_t BITS>
+ using GeneralizedCensusMatchingCost = NormalizedHammingCost<BITS>;
+}
+
+class GeneralizedCensusMatchingCost : public DSBase<impl::GeneralizedCensusMatchingCost<128>> {
+public:
+ typedef impl::GeneralizedCensusMatchingCost<128> DataType;
+ typedef float Type;
+
+ GeneralizedCensusMatchingCost() : DSBase<DataType>(0, 0, 0, 0) {};
+ GeneralizedCensusMatchingCost(int width, int height, int disp_min, int disp_max)
+ : DSBase<DataType>(width, height, disp_min, disp_max),
+ ct_l_(width*data().WSTEP, height), ct_r_(width*data().WSTEP,height)
+ {
+ data().l = ct_l_.data();
+ data().r = ct_r_.data();
+ }
+
+ /** Pairs of (x, y) coordinates (relative to window, origin at center)
+ * indices must fit in signed char [-128,127].
+ * TODO: Indices must fit within 11x11 window (operator() in
+ * GeneralizedCensusTransform)
+ */
+ void setEdges(const std::vector<std::pair<cv::Point2i,cv::Point2i>> &edges);
+
+ void set(cv::InputArray l, cv::InputArray r);
+ void set(const Array2D<uchar>& l, const Array2D<uchar>& r);
+ static constexpr Type COST_MAX = DataType::COST_MAX;
+
+protected:
+ Array2D<uint64_t> ct_l_;
+ Array2D<uint64_t> ct_r_;
+ Array2D<char> edges_;
+
+ cv::Point2i pmax;
+ cv::Point2i pmin;
+};
+
+// ==== Pattern generators =====================================================
+
+std::vector<std::pair<cv::Point2i, cv::Point2i>> pattern_dense(const cv::Size size);
+
+std::vector<std::pair<cv::Point2i, cv::Point2i>> pattern_sparse(const cv::Size size, int step=2);
+
+std::vector<std::pair<cv::Point2i, cv::Point2i>> pattern_random(const cv::Size size, int nedges);
+std::vector<std::pair<cv::Point2i, cv::Point2i>> pattern_random(const cv::Size size);
+
+/** patterns presented in the original paper */
+std::vector<std::pair<cv::Point2i, cv::Point2i>> pattern_gct(int nedges);
diff --git a/lib/libstereo/src/dsbase.hpp b/lib/libstereo/src/dsbase.hpp
index d2f6fc4636d1be471aaa6f4e2762ff4a9e6c6756..bec96148cab3ab2553214927fbc2631b59ae8f79 100644
--- a/lib/libstereo/src/dsbase.hpp
+++ b/lib/libstereo/src/dsbase.hpp
@@ -1,6 +1,7 @@
#ifndef _FTL_LIBSTEREO_DSBASE_HPP_
#define _FTL_LIBSTEREO_DSBASE_HPP_
+#include <cstdint>
#include <cuda_runtime.h>
#include <type_traits>
diff --git a/lib/libstereo/src/util_opencv.hpp b/lib/libstereo/src/util_opencv.hpp
index 94e9db6fe735ddcc48661ed42ceaac95f96be94a..fc30984956fff26a27386d7426866ead584f3314 100644
--- a/lib/libstereo/src/util_opencv.hpp
+++ b/lib/libstereo/src/util_opencv.hpp
@@ -10,8 +10,14 @@
#include <opencv2/cudaimgproc.hpp>
static void mat2gray(const cv::cuda::GpuMat &in, Array2D<unsigned char> &out) {
- if (in.depth() != CV_8U) { throw std::exception(); }
- if (out.width != in.cols || out.height != in.rows) { throw std::exception(); }
+ if (in.depth() != CV_8U) {
+ printf("input must be 8-bit\n");
+ throw std::exception();
+ }
+ if (out.width != in.cols || out.height != in.rows) {
+ printf("input and output have different sizes\n");
+ throw std::exception();
+ }
switch (in.channels()) {
case 4:
@@ -27,14 +33,21 @@ static void mat2gray(const cv::cuda::GpuMat &in, Array2D<unsigned char> &out) {
break;
default:
+ printf("bad number of channels\n");
throw std::exception();
}
}
#endif
static void mat2gray(const cv::Mat &in, Array2D<unsigned char> &out) {
- if (in.depth() != CV_8U) { throw std::exception(); }
- if (out.width != in.cols || out.height != in.rows) { throw std::exception(); }
+ if (in.depth() != CV_8U) {
+ printf("input must be 8-bit\n");
+ throw std::exception();
+ }
+ if (out.width != in.cols || out.height != in.rows) {
+ printf("input and output have different sizes\n");
+ throw std::exception();
+ }
#ifndef USE_GPU
switch (in.channels()) {
@@ -51,6 +64,7 @@ static void mat2gray(const cv::Mat &in, Array2D<unsigned char> &out) {
break;
default:
+ printf("bad number of channels\n");
throw std::exception();
}
#else
@@ -69,6 +83,7 @@ static void mat2gray(const cv::Mat &in, Array2D<unsigned char> &out) {
break;
default:
+ printf("bad number of channels\n");
throw std::exception();
}
@@ -86,6 +101,7 @@ static void mat2gray(cv::InputArray in, Array2D<unsigned char> &out) {
mat2gray(in.getMat(), out);
}
else {
+ printf("bad input type\n");
throw std::exception();
}
}
diff --git a/lib/libstereo/test/CMakeLists.txt b/lib/libstereo/test/CMakeLists.txt
index ee222cd762895cbbd4c6154ad848f1f914dfd370..d5e6f318dcdcc5337516c84540137f32ef75da87 100644
--- a/lib/libstereo/test/CMakeLists.txt
+++ b/lib/libstereo/test/CMakeLists.txt
@@ -7,6 +7,7 @@ $<TARGET_OBJECTS:CatchTest>
target_include_directories(dsi_cpu_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
target_include_directories(dsi_cpu_unit PUBLIC ${OpenCV_INCLUDE_DIRS})
target_link_libraries(dsi_cpu_unit Threads::Threads ${OpenCV_LIBS})
+#set_property(TARGET dsi_cpu_unit PROPERTY CUDA_ARCHITECTURES OFF)
add_test(DSICPUUnitTest dsi_cpu_unit)
@@ -18,6 +19,7 @@ target_include_directories(dsi_gpu_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../i
target_include_directories(dsi_gpu_unit PUBLIC ${OpenCV_INCLUDE_DIRS})
target_compile_definitions(dsi_gpu_unit PUBLIC USE_GPU)
target_link_libraries(dsi_gpu_unit Threads::Threads ${OpenCV_LIBS})
+set_property(TARGET dsi_gpu_unit PROPERTY CUDA_ARCHITECTURES OFF)
add_test(DSIGPUUnitTest dsi_gpu_unit)
@@ -28,6 +30,7 @@ $<TARGET_OBJECTS:CatchTest>
target_include_directories(array2d_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
target_include_directories(array2d_unit PUBLIC ${OpenCV_INCLUDE_DIRS})
target_link_libraries(array2d_unit Threads::Threads ${OpenCV_LIBS})
+set_property(TARGET array2d_unit PROPERTY CUDA_ARCHITECTURES OFF)
add_test(Array2DUnitTest array2d_unit)
@@ -41,6 +44,7 @@ $<TARGET_OBJECTS:CatchTest>
target_include_directories(matching_cost_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include" "${CMAKE_CURRENT_SOURCE_DIR}/../src")
target_include_directories(matching_cost_unit PUBLIC ${OpenCV_INCLUDE_DIRS})
target_link_libraries(matching_cost_unit Threads::Threads ${OpenCV_LIBS})
+set_property(TARGET matching_cost_unit PROPERTY CUDA_ARCHITECTURES OFF)
add_test(MatchingCostUnitTest matching_cost_unit)
@@ -51,6 +55,7 @@ $<TARGET_OBJECTS:CatchTest>
target_include_directories(aggregation_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
target_include_directories(aggregation_unit PUBLIC ${OpenCV_INCLUDE_DIRS})
target_link_libraries(aggregation_unit Threads::Threads ${OpenCV_LIBS})
+set_property(TARGET aggregation_unit PROPERTY CUDA_ARCHITECTURES OFF)
add_test(AggregationUnitTest aggregation_unit)
@@ -61,5 +66,6 @@ $<TARGET_OBJECTS:CatchTest>
target_include_directories(wta_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
target_include_directories(wta_unit PUBLIC ${OpenCV_INCLUDE_DIRS})
target_link_libraries(wta_unit Threads::Threads ${OpenCV_LIBS})
+set_property(TARGET wta_unit PROPERTY CUDA_ARCHITECTURES OFF)
add_test(WTAUnitTest wta_unit)
diff --git a/web-service/package.json b/web-service/package.json
index d4daa130f31951bb46813a42601614aab5483fd7..973ba267987e4bbc96c8839f6fa057db1f6ad181 100644
--- a/web-service/package.json
+++ b/web-service/package.json
@@ -16,17 +16,16 @@
"license": "ISC",
"dependencies": {
"body-parser": "^1.19.0",
+ "event-emitter": "^0.3.5",
"express": "^4.16.4",
"express-ws": "^4.0.0",
- "h264-converter": "^0.1.0",
"mongoose": "^5.7.3",
"msgpack5": "^4.2.1",
+ "mux.js": "^5.6.2",
"rematrix": "^0.7.0",
"three": "^0.116.1",
"url-parse": "^1.4.7",
- "uuid": "^3.3.3",
- "video.js": "^7.7.6",
- "videojs-vr": "^1.7.1"
+ "uuid": "^3.3.3"
},
"devDependencies": {
"browserify": "^16.5.0"
diff --git a/web-service/public/js/bundle.js b/web-service/public/js/bundle.js
index 0b6999123b2a756b81cfd86cb0c0d22291f5fb2e..a89bb20e0931ebb50865ebed62c83e581bbded12 100644
--- a/web-service/public/js/bundle.js
+++ b/web-service/public/js/bundle.js
@@ -508,7 +508,7 @@ var objectKeys = Object.keys || function (obj) {
};
}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
-},{"object-assign":19,"util/":4}],2:[function(require,module,exports){
+},{"object-assign":78,"util/":4}],2:[function(require,module,exports){
if (typeof Object.create === 'function') {
// implementation from standard node.js 'util' module
module.exports = function inherits(ctor, superCtor) {
@@ -1130,7 +1130,7 @@ function hasOwnProperty(obj, prop) {
}
}).call(this,require('_process'),typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
-},{"./support/isBuffer":3,"_process":21,"inherits":2}],5:[function(require,module,exports){
+},{"./support/isBuffer":3,"_process":8,"inherits":2}],5:[function(require,module,exports){
'use strict'
exports.byteLength = byteLength
@@ -1669,9 +1669,195 @@ BufferList.prototype._match = function(offset, search) {
module.exports = BufferList
-},{"readable-stream":30,"safe-buffer":32,"util":38}],7:[function(require,module,exports){
+},{"readable-stream":88,"safe-buffer":90,"util":102}],7:[function(require,module,exports){
},{}],8:[function(require,module,exports){
+// shim for using process in browser
+var process = module.exports = {};
+
+// cached from whatever global is present so that test runners that stub it
+// don't break things. But we need to wrap it in a try catch in case it is
+// wrapped in strict mode code which doesn't define any globals. It's inside a
+// function because try/catches deoptimize in certain engines.
+
+var cachedSetTimeout;
+var cachedClearTimeout;
+
+function defaultSetTimout() {
+ throw new Error('setTimeout has not been defined');
+}
+function defaultClearTimeout () {
+ throw new Error('clearTimeout has not been defined');
+}
+(function () {
+ try {
+ if (typeof setTimeout === 'function') {
+ cachedSetTimeout = setTimeout;
+ } else {
+ cachedSetTimeout = defaultSetTimout;
+ }
+ } catch (e) {
+ cachedSetTimeout = defaultSetTimout;
+ }
+ try {
+ if (typeof clearTimeout === 'function') {
+ cachedClearTimeout = clearTimeout;
+ } else {
+ cachedClearTimeout = defaultClearTimeout;
+ }
+ } catch (e) {
+ cachedClearTimeout = defaultClearTimeout;
+ }
+} ())
+function runTimeout(fun) {
+ if (cachedSetTimeout === setTimeout) {
+ //normal enviroments in sane situations
+ return setTimeout(fun, 0);
+ }
+ // if setTimeout wasn't available but was latter defined
+ if ((cachedSetTimeout === defaultSetTimout || !cachedSetTimeout) && setTimeout) {
+ cachedSetTimeout = setTimeout;
+ return setTimeout(fun, 0);
+ }
+ try {
+ // when when somebody has screwed with setTimeout but no I.E. maddness
+ return cachedSetTimeout(fun, 0);
+ } catch(e){
+ try {
+ // When we are in I.E. but the script has been evaled so I.E. doesn't trust the global object when called normally
+ return cachedSetTimeout.call(null, fun, 0);
+ } catch(e){
+ // same as above but when it's a version of I.E. that must have the global object for 'this', hopfully our context correct otherwise it will throw a global error
+ return cachedSetTimeout.call(this, fun, 0);
+ }
+ }
+
+
+}
+function runClearTimeout(marker) {
+ if (cachedClearTimeout === clearTimeout) {
+ //normal enviroments in sane situations
+ return clearTimeout(marker);
+ }
+ // if clearTimeout wasn't available but was latter defined
+ if ((cachedClearTimeout === defaultClearTimeout || !cachedClearTimeout) && clearTimeout) {
+ cachedClearTimeout = clearTimeout;
+ return clearTimeout(marker);
+ }
+ try {
+ // when when somebody has screwed with setTimeout but no I.E. maddness
+ return cachedClearTimeout(marker);
+ } catch (e){
+ try {
+ // When we are in I.E. but the script has been evaled so I.E. doesn't trust the global object when called normally
+ return cachedClearTimeout.call(null, marker);
+ } catch (e){
+ // same as above but when it's a version of I.E. that must have the global object for 'this', hopfully our context correct otherwise it will throw a global error.
+ // Some versions of I.E. have different rules for clearTimeout vs setTimeout
+ return cachedClearTimeout.call(this, marker);
+ }
+ }
+
+
+
+}
+var queue = [];
+var draining = false;
+var currentQueue;
+var queueIndex = -1;
+
+function cleanUpNextTick() {
+ if (!draining || !currentQueue) {
+ return;
+ }
+ draining = false;
+ if (currentQueue.length) {
+ queue = currentQueue.concat(queue);
+ } else {
+ queueIndex = -1;
+ }
+ if (queue.length) {
+ drainQueue();
+ }
+}
+
+function drainQueue() {
+ if (draining) {
+ return;
+ }
+ var timeout = runTimeout(cleanUpNextTick);
+ draining = true;
+
+ var len = queue.length;
+ while(len) {
+ currentQueue = queue;
+ queue = [];
+ while (++queueIndex < len) {
+ if (currentQueue) {
+ currentQueue[queueIndex].run();
+ }
+ }
+ queueIndex = -1;
+ len = queue.length;
+ }
+ currentQueue = null;
+ draining = false;
+ runClearTimeout(timeout);
+}
+
+process.nextTick = function (fun) {
+ var args = new Array(arguments.length - 1);
+ if (arguments.length > 1) {
+ for (var i = 1; i < arguments.length; i++) {
+ args[i - 1] = arguments[i];
+ }
+ }
+ queue.push(new Item(fun, args));
+ if (queue.length === 1 && !draining) {
+ runTimeout(drainQueue);
+ }
+};
+
+// v8 likes predictible objects
+function Item(fun, array) {
+ this.fun = fun;
+ this.array = array;
+}
+Item.prototype.run = function () {
+ this.fun.apply(null, this.array);
+};
+process.title = 'browser';
+process.browser = true;
+process.env = {};
+process.argv = [];
+process.version = ''; // empty string to avoid regexp issues
+process.versions = {};
+
+function noop() {}
+
+process.on = noop;
+process.addListener = noop;
+process.once = noop;
+process.off = noop;
+process.removeListener = noop;
+process.removeAllListeners = noop;
+process.emit = noop;
+process.prependListener = noop;
+process.prependOnceListener = noop;
+
+process.listeners = function (name) { return [] }
+
+process.binding = function (name) {
+ throw new Error('process.binding is not supported');
+};
+
+process.cwd = function () { return '/' };
+process.chdir = function (dir) {
+ throw new Error('process.chdir is not supported');
+};
+process.umask = function() { return 0; };
+
+},{}],9:[function(require,module,exports){
(function (Buffer){
/*!
* The buffer module from node.js, for the browser.
@@ -3452,7 +3638,7 @@ function numberIsNaN (obj) {
}
}).call(this,require("buffer").Buffer)
-},{"base64-js":5,"buffer":8,"ieee754":11}],9:[function(require,module,exports){
+},{"base64-js":5,"buffer":9,"ieee754":28}],10:[function(require,module,exports){
(function (Buffer){
// Copyright Joyent, Inc. and other Node contributors.
//
@@ -3563,7 +3749,349 @@ function objectToString(o) {
}
}).call(this,{"isBuffer":require("../../is-buffer/index.js")})
-},{"../../is-buffer/index.js":13}],10:[function(require,module,exports){
+},{"../../is-buffer/index.js":30}],11:[function(require,module,exports){
+"use strict";
+
+var isValue = require("type/value/is")
+ , isPlainFunction = require("type/plain-function/is")
+ , assign = require("es5-ext/object/assign")
+ , normalizeOpts = require("es5-ext/object/normalize-options")
+ , contains = require("es5-ext/string/#/contains");
+
+var d = (module.exports = function (dscr, value/*, options*/) {
+ var c, e, w, options, desc;
+ if (arguments.length < 2 || typeof dscr !== "string") {
+ options = value;
+ value = dscr;
+ dscr = null;
+ } else {
+ options = arguments[2];
+ }
+ if (isValue(dscr)) {
+ c = contains.call(dscr, "c");
+ e = contains.call(dscr, "e");
+ w = contains.call(dscr, "w");
+ } else {
+ c = w = true;
+ e = false;
+ }
+
+ desc = { value: value, configurable: c, enumerable: e, writable: w };
+ return !options ? desc : assign(normalizeOpts(options), desc);
+});
+
+d.gs = function (dscr, get, set/*, options*/) {
+ var c, e, options, desc;
+ if (typeof dscr !== "string") {
+ options = set;
+ set = get;
+ get = dscr;
+ dscr = null;
+ } else {
+ options = arguments[3];
+ }
+ if (!isValue(get)) {
+ get = undefined;
+ } else if (!isPlainFunction(get)) {
+ options = get;
+ get = set = undefined;
+ } else if (!isValue(set)) {
+ set = undefined;
+ } else if (!isPlainFunction(set)) {
+ options = set;
+ set = undefined;
+ }
+ if (isValue(dscr)) {
+ c = contains.call(dscr, "c");
+ e = contains.call(dscr, "e");
+ } else {
+ c = true;
+ e = false;
+ }
+
+ desc = { get: get, set: set, configurable: c, enumerable: e };
+ return !options ? desc : assign(normalizeOpts(options), desc);
+};
+
+},{"es5-ext/object/assign":13,"es5-ext/object/normalize-options":20,"es5-ext/string/#/contains":23,"type/plain-function/is":97,"type/value/is":99}],12:[function(require,module,exports){
+"use strict";
+
+// eslint-disable-next-line no-empty-function
+module.exports = function () {};
+
+},{}],13:[function(require,module,exports){
+"use strict";
+
+module.exports = require("./is-implemented")() ? Object.assign : require("./shim");
+
+},{"./is-implemented":14,"./shim":15}],14:[function(require,module,exports){
+"use strict";
+
+module.exports = function () {
+ var assign = Object.assign, obj;
+ if (typeof assign !== "function") return false;
+ obj = { foo: "raz" };
+ assign(obj, { bar: "dwa" }, { trzy: "trzy" });
+ return obj.foo + obj.bar + obj.trzy === "razdwatrzy";
+};
+
+},{}],15:[function(require,module,exports){
+"use strict";
+
+var keys = require("../keys")
+ , value = require("../valid-value")
+ , max = Math.max;
+
+module.exports = function (dest, src/*, …srcn*/) {
+ var error, i, length = max(arguments.length, 2), assign;
+ dest = Object(value(dest));
+ assign = function (key) {
+ try {
+ dest[key] = src[key];
+ } catch (e) {
+ if (!error) error = e;
+ }
+ };
+ for (i = 1; i < length; ++i) {
+ src = arguments[i];
+ keys(src).forEach(assign);
+ }
+ if (error !== undefined) throw error;
+ return dest;
+};
+
+},{"../keys":17,"../valid-value":22}],16:[function(require,module,exports){
+"use strict";
+
+var _undefined = require("../function/noop")(); // Support ES3 engines
+
+module.exports = function (val) { return val !== _undefined && val !== null; };
+
+},{"../function/noop":12}],17:[function(require,module,exports){
+"use strict";
+
+module.exports = require("./is-implemented")() ? Object.keys : require("./shim");
+
+},{"./is-implemented":18,"./shim":19}],18:[function(require,module,exports){
+"use strict";
+
+module.exports = function () {
+ try {
+ Object.keys("primitive");
+ return true;
+ } catch (e) {
+ return false;
+ }
+};
+
+},{}],19:[function(require,module,exports){
+"use strict";
+
+var isValue = require("../is-value");
+
+var keys = Object.keys;
+
+module.exports = function (object) { return keys(isValue(object) ? Object(object) : object); };
+
+},{"../is-value":16}],20:[function(require,module,exports){
+"use strict";
+
+var isValue = require("./is-value");
+
+var forEach = Array.prototype.forEach, create = Object.create;
+
+var process = function (src, obj) {
+ var key;
+ for (key in src) obj[key] = src[key];
+};
+
+// eslint-disable-next-line no-unused-vars
+module.exports = function (opts1/*, …options*/) {
+ var result = create(null);
+ forEach.call(arguments, function (options) {
+ if (!isValue(options)) return;
+ process(Object(options), result);
+ });
+ return result;
+};
+
+},{"./is-value":16}],21:[function(require,module,exports){
+"use strict";
+
+module.exports = function (fn) {
+ if (typeof fn !== "function") throw new TypeError(fn + " is not a function");
+ return fn;
+};
+
+},{}],22:[function(require,module,exports){
+"use strict";
+
+var isValue = require("./is-value");
+
+module.exports = function (value) {
+ if (!isValue(value)) throw new TypeError("Cannot use null or undefined");
+ return value;
+};
+
+},{"./is-value":16}],23:[function(require,module,exports){
+"use strict";
+
+module.exports = require("./is-implemented")() ? String.prototype.contains : require("./shim");
+
+},{"./is-implemented":24,"./shim":25}],24:[function(require,module,exports){
+"use strict";
+
+var str = "razdwatrzy";
+
+module.exports = function () {
+ if (typeof str.contains !== "function") return false;
+ return str.contains("dwa") === true && str.contains("foo") === false;
+};
+
+},{}],25:[function(require,module,exports){
+"use strict";
+
+var indexOf = String.prototype.indexOf;
+
+module.exports = function (searchString/*, position*/) {
+ return indexOf.call(this, searchString, arguments[1]) > -1;
+};
+
+},{}],26:[function(require,module,exports){
+'use strict';
+
+var d = require('d')
+ , callable = require('es5-ext/object/valid-callable')
+
+ , apply = Function.prototype.apply, call = Function.prototype.call
+ , create = Object.create, defineProperty = Object.defineProperty
+ , defineProperties = Object.defineProperties
+ , hasOwnProperty = Object.prototype.hasOwnProperty
+ , descriptor = { configurable: true, enumerable: false, writable: true }
+
+ , on, once, off, emit, methods, descriptors, base;
+
+on = function (type, listener) {
+ var data;
+
+ callable(listener);
+
+ if (!hasOwnProperty.call(this, '__ee__')) {
+ data = descriptor.value = create(null);
+ defineProperty(this, '__ee__', descriptor);
+ descriptor.value = null;
+ } else {
+ data = this.__ee__;
+ }
+ if (!data[type]) data[type] = listener;
+ else if (typeof data[type] === 'object') data[type].push(listener);
+ else data[type] = [data[type], listener];
+
+ return this;
+};
+
+once = function (type, listener) {
+ var once, self;
+
+ callable(listener);
+ self = this;
+ on.call(this, type, once = function () {
+ off.call(self, type, once);
+ apply.call(listener, this, arguments);
+ });
+
+ once.__eeOnceListener__ = listener;
+ return this;
+};
+
+off = function (type, listener) {
+ var data, listeners, candidate, i;
+
+ callable(listener);
+
+ if (!hasOwnProperty.call(this, '__ee__')) return this;
+ data = this.__ee__;
+ if (!data[type]) return this;
+ listeners = data[type];
+
+ if (typeof listeners === 'object') {
+ for (i = 0; (candidate = listeners[i]); ++i) {
+ if ((candidate === listener) ||
+ (candidate.__eeOnceListener__ === listener)) {
+ if (listeners.length === 2) data[type] = listeners[i ? 0 : 1];
+ else listeners.splice(i, 1);
+ }
+ }
+ } else {
+ if ((listeners === listener) ||
+ (listeners.__eeOnceListener__ === listener)) {
+ delete data[type];
+ }
+ }
+
+ return this;
+};
+
+emit = function (type) {
+ var i, l, listener, listeners, args;
+
+ if (!hasOwnProperty.call(this, '__ee__')) return;
+ listeners = this.__ee__[type];
+ if (!listeners) return;
+
+ if (typeof listeners === 'object') {
+ l = arguments.length;
+ args = new Array(l - 1);
+ for (i = 1; i < l; ++i) args[i - 1] = arguments[i];
+
+ listeners = listeners.slice();
+ for (i = 0; (listener = listeners[i]); ++i) {
+ apply.call(listener, this, args);
+ }
+ } else {
+ switch (arguments.length) {
+ case 1:
+ call.call(listeners, this);
+ break;
+ case 2:
+ call.call(listeners, this, arguments[1]);
+ break;
+ case 3:
+ call.call(listeners, this, arguments[1], arguments[2]);
+ break;
+ default:
+ l = arguments.length;
+ args = new Array(l - 1);
+ for (i = 1; i < l; ++i) {
+ args[i - 1] = arguments[i];
+ }
+ apply.call(listeners, this, args);
+ }
+ }
+};
+
+methods = {
+ on: on,
+ once: once,
+ off: off,
+ emit: emit
+};
+
+descriptors = {
+ on: d(on),
+ once: d(once),
+ off: d(off),
+ emit: d(emit)
+};
+
+base = defineProperties({}, descriptors);
+
+module.exports = exports = function (o) {
+ return (o == null) ? create(base) : defineProperties(Object(o), descriptors);
+};
+exports.methods = methods;
+
+},{"d":11,"es5-ext/object/valid-callable":21}],27:[function(require,module,exports){
// Copyright Joyent, Inc. and other Node contributors.
//
// Permission is hereby granted, free of charge, to any person obtaining a
@@ -4088,7 +4616,7 @@ function functionBindPolyfill(context) {
};
}
-},{}],11:[function(require,module,exports){
+},{}],28:[function(require,module,exports){
exports.read = function (buffer, offset, isLE, mLen, nBytes) {
var e, m
var eLen = (nBytes * 8) - mLen - 1
@@ -4174,9 +4702,9 @@ exports.write = function (buffer, value, offset, isLE, mLen, nBytes) {
buffer[offset + i - d] |= s * 128
}
-},{}],12:[function(require,module,exports){
+},{}],29:[function(require,module,exports){
arguments[4][2][0].apply(exports,arguments)
-},{"dup":2}],13:[function(require,module,exports){
+},{"dup":2}],30:[function(require,module,exports){
/*!
* Determine if an object is a Buffer
*
@@ -4199,14 +4727,14 @@ function isSlowBuffer (obj) {
return typeof obj.readFloatLE === 'function' && typeof obj.slice === 'function' && isBuffer(obj.slice(0, 0))
}
-},{}],14:[function(require,module,exports){
+},{}],31:[function(require,module,exports){
var toString = {}.toString;
module.exports = Array.isArray || function (arr) {
return toString.call(arr) == '[object Array]';
};
-},{}],15:[function(require,module,exports){
+},{}],32:[function(require,module,exports){
'use strict'
var Buffer = require('safe-buffer').Buffer
@@ -4293,7 +4821,7 @@ function msgpack (options) {
module.exports = msgpack
-},{"./lib/decoder":16,"./lib/encoder":17,"./lib/streams":18,"assert":1,"bl":6,"safe-buffer":32}],16:[function(require,module,exports){
+},{"./lib/decoder":33,"./lib/encoder":34,"./lib/streams":35,"assert":1,"bl":6,"safe-buffer":90}],33:[function(require,module,exports){
'use strict'
var bl = require('bl')
@@ -4731,7 +5259,7 @@ module.exports = function buildDecode (decodingTypes) {
module.exports.IncompleteBufferError = IncompleteBufferError
-},{"bl":6,"util":38}],17:[function(require,module,exports){
+},{"bl":6,"util":102}],34:[function(require,module,exports){
'use strict'
var Buffer = require('safe-buffer').Buffer
@@ -4915,260 +5443,10815 @@ module.exports = function buildEncode (encodingTypes, forceFloat64, compatibilit
return bl().append(encoded)
}
- function encodeExt (obj) {
- var i
- var encoded
- var length = -1
- var headers = []
+ function encodeExt (obj) {
+ var i
+ var encoded
+ var length = -1
+ var headers = []
+
+ for (i = 0; i < encodingTypes.length; i++) {
+ if (encodingTypes[i].check(obj)) {
+ encoded = encodingTypes[i].encode(obj)
+ break
+ }
+ }
+
+ if (!encoded) {
+ return null
+ }
+
+ // we subtract 1 because the length does not
+ // include the type
+ length = encoded.length - 1
+
+ if (length === 1) {
+ headers.push(0xd4)
+ } else if (length === 2) {
+ headers.push(0xd5)
+ } else if (length === 4) {
+ headers.push(0xd6)
+ } else if (length === 8) {
+ headers.push(0xd7)
+ } else if (length === 16) {
+ headers.push(0xd8)
+ } else if (length < 256) {
+ headers.push(0xc7)
+ headers.push(length)
+ } else if (length < 0x10000) {
+ headers.push(0xc8)
+ headers.push(length >> 8)
+ headers.push(length & 0x00ff)
+ } else {
+ headers.push(0xc9)
+ headers.push(length >> 24)
+ headers.push((length >> 16) & 0x000000ff)
+ headers.push((length >> 8) & 0x000000ff)
+ headers.push(length & 0x000000ff)
+ }
+
+ return bl().append(Buffer.from(headers)).append(encoded)
+ }
+
+ function encodeObject (obj) {
+ var acc = []
+ var length = 0
+ var key
+ var header
+
+ for (key in obj) {
+ if (obj.hasOwnProperty(key) &&
+ obj[key] !== undefined &&
+ typeof obj[key] !== 'function') {
+ ++length
+ acc.push(encode(key, true))
+ acc.push(encode(obj[key], true))
+ }
+ }
+
+ if (length < 16) {
+ header = Buffer.allocUnsafe(1)
+ header[0] = 0x80 | length
+ } else if (length < 0xFFFF) {
+ header = Buffer.allocUnsafe(3)
+ header[0] = 0xde
+ header.writeUInt16BE(length, 1)
+ } else {
+ header = Buffer.allocUnsafe(5)
+ header[0] = 0xdf
+ header.writeUInt32BE(length, 1)
+ }
+
+ acc.unshift(header)
+
+ var result = acc.reduce(function (list, buf) {
+ return list.append(buf)
+ }, bl())
+
+ return result
+ }
+
+ return encode
+}
+
+function write64BitUint (buf, obj) {
+ // Write long byte by byte, in big-endian order
+ for (var currByte = 7; currByte >= 0; currByte--) {
+ buf[currByte + 1] = (obj & 0xff)
+ obj = obj / 256
+ }
+}
+
+function write64BitInt (buf, offset, num) {
+ var negate = num < 0
+
+ if (negate) {
+ num = Math.abs(num)
+ }
+
+ var lo = num % 4294967296
+ var hi = num / 4294967296
+ buf.writeUInt32BE(Math.floor(hi), offset + 0)
+ buf.writeUInt32BE(lo, offset + 4)
+
+ if (negate) {
+ var carry = 1
+ for (var i = offset + 7; i >= offset; i--) {
+ var v = (buf[i] ^ 0xff) + carry
+ buf[i] = v & 0xff
+ carry = v >> 8
+ }
+ }
+}
+
+function isFloat (n) {
+ return n % 1 !== 0
+}
+
+function isNaN (n) {
+ /* eslint-disable no-self-compare */
+ return n !== n && typeof n === 'number'
+ /* eslint-enable no-self-compare */
+}
+
+function encodeFloat (obj, forceFloat64) {
+ var useDoublePrecision = true
+
+ // If `fround` is supported, we can check if a float
+ // is double or single precision by rounding the object
+ // to single precision and comparing the difference.
+ // If it's not supported, it's safer to use a 64 bit
+ // float so we don't lose precision without meaning to.
+ if (Math.fround) {
+ useDoublePrecision = Math.fround(obj) !== obj
+ }
+
+ if (forceFloat64) {
+ useDoublePrecision = true
+ }
+
+ var buf
+
+ if (useDoublePrecision) {
+ buf = Buffer.allocUnsafe(9)
+ buf[0] = 0xcb
+ buf.writeDoubleBE(obj, 1)
+ } else {
+ buf = Buffer.allocUnsafe(5)
+ buf[0] = 0xca
+ buf.writeFloatBE(obj, 1)
+ }
+
+ return buf
+}
+
+},{"bl":6,"safe-buffer":90}],35:[function(require,module,exports){
+'use strict'
+
+var Transform = require('readable-stream').Transform
+var inherits = require('inherits')
+var bl = require('bl')
+
+function Base (opts) {
+ opts = opts || {}
+
+ opts.objectMode = true
+ opts.highWaterMark = 16
+
+ Transform.call(this, opts)
+
+ this._msgpack = opts.msgpack
+}
+
+inherits(Base, Transform)
+
+function Encoder (opts) {
+ if (!(this instanceof Encoder)) {
+ opts = opts || {}
+ opts.msgpack = this
+ return new Encoder(opts)
+ }
+
+ Base.call(this, opts)
+ this._wrap = ('wrap' in opts) && opts.wrap
+}
+
+inherits(Encoder, Base)
+
+Encoder.prototype._transform = function (obj, enc, done) {
+ var buf = null
+
+ try {
+ buf = this._msgpack.encode(this._wrap ? obj.value : obj).slice(0)
+ } catch (err) {
+ this.emit('error', err)
+ return done()
+ }
+
+ this.push(buf)
+ done()
+}
+
+function Decoder (opts) {
+ if (!(this instanceof Decoder)) {
+ opts = opts || {}
+ opts.msgpack = this
+ return new Decoder(opts)
+ }
+
+ Base.call(this, opts)
+
+ this._chunks = bl()
+ this._wrap = ('wrap' in opts) && opts.wrap
+}
+
+inherits(Decoder, Base)
+
+Decoder.prototype._transform = function (buf, enc, done) {
+ if (buf) {
+ this._chunks.append(buf)
+ }
+
+ try {
+ var result = this._msgpack.decode(this._chunks)
+ if (this._wrap) {
+ result = {value: result}
+ }
+ this.push(result)
+ } catch (err) {
+ if (err instanceof this._msgpack.IncompleteBufferError) {
+ done()
+ } else {
+ this.emit('error', err)
+ }
+ return
+ }
+
+ if (this._chunks.length > 0) {
+ this._transform(null, enc, done)
+ } else {
+ done()
+ }
+}
+
+module.exports.decoder = Decoder
+module.exports.encoder = Encoder
+
+},{"bl":6,"inherits":29,"readable-stream":88}],36:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ *
+ * A stream-based aac to mp4 converter. This utility can be used to
+ * deliver mp4s to a SourceBuffer on platforms that support native
+ * Media Source Extensions.
+ */
+'use strict';
+var Stream = require('../utils/stream.js');
+var aacUtils = require('./utils');
+
+// Constants
+var AacStream;
+
+/**
+ * Splits an incoming stream of binary data into ADTS and ID3 Frames.
+ */
+
+AacStream = function() {
+ var
+ everything = new Uint8Array(),
+ timeStamp = 0;
+
+ AacStream.prototype.init.call(this);
+
+ this.setTimestamp = function(timestamp) {
+ timeStamp = timestamp;
+ };
+
+ this.push = function(bytes) {
+ var
+ frameSize = 0,
+ byteIndex = 0,
+ bytesLeft,
+ chunk,
+ packet,
+ tempLength;
+
+ // If there are bytes remaining from the last segment, prepend them to the
+ // bytes that were pushed in
+ if (everything.length) {
+ tempLength = everything.length;
+ everything = new Uint8Array(bytes.byteLength + tempLength);
+ everything.set(everything.subarray(0, tempLength));
+ everything.set(bytes, tempLength);
+ } else {
+ everything = bytes;
+ }
+
+ while (everything.length - byteIndex >= 3) {
+ if ((everything[byteIndex] === 'I'.charCodeAt(0)) &&
+ (everything[byteIndex + 1] === 'D'.charCodeAt(0)) &&
+ (everything[byteIndex + 2] === '3'.charCodeAt(0))) {
+
+ // Exit early because we don't have enough to parse
+ // the ID3 tag header
+ if (everything.length - byteIndex < 10) {
+ break;
+ }
+
+ // check framesize
+ frameSize = aacUtils.parseId3TagSize(everything, byteIndex);
+
+ // Exit early if we don't have enough in the buffer
+ // to emit a full packet
+ // Add to byteIndex to support multiple ID3 tags in sequence
+ if (byteIndex + frameSize > everything.length) {
+ break;
+ }
+ chunk = {
+ type: 'timed-metadata',
+ data: everything.subarray(byteIndex, byteIndex + frameSize)
+ };
+ this.trigger('data', chunk);
+ byteIndex += frameSize;
+ continue;
+ } else if (((everything[byteIndex] & 0xff) === 0xff) &&
+ ((everything[byteIndex + 1] & 0xf0) === 0xf0)) {
+
+ // Exit early because we don't have enough to parse
+ // the ADTS frame header
+ if (everything.length - byteIndex < 7) {
+ break;
+ }
+
+ frameSize = aacUtils.parseAdtsSize(everything, byteIndex);
+
+ // Exit early if we don't have enough in the buffer
+ // to emit a full packet
+ if (byteIndex + frameSize > everything.length) {
+ break;
+ }
+
+ packet = {
+ type: 'audio',
+ data: everything.subarray(byteIndex, byteIndex + frameSize),
+ pts: timeStamp,
+ dts: timeStamp
+ };
+ this.trigger('data', packet);
+ byteIndex += frameSize;
+ continue;
+ }
+ byteIndex++;
+ }
+ bytesLeft = everything.length - byteIndex;
+
+ if (bytesLeft > 0) {
+ everything = everything.subarray(byteIndex);
+ } else {
+ everything = new Uint8Array();
+ }
+ };
+
+ this.reset = function() {
+ everything = new Uint8Array();
+ this.trigger('reset');
+ };
+
+ this.endTimeline = function() {
+ everything = new Uint8Array();
+ this.trigger('endedtimeline');
+ };
+};
+
+AacStream.prototype = new Stream();
+
+module.exports = AacStream;
+
+},{"../utils/stream.js":77,"./utils":37}],37:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ *
+ * Utilities to detect basic properties and metadata about Aac data.
+ */
+'use strict';
+
+var ADTS_SAMPLING_FREQUENCIES = [
+ 96000,
+ 88200,
+ 64000,
+ 48000,
+ 44100,
+ 32000,
+ 24000,
+ 22050,
+ 16000,
+ 12000,
+ 11025,
+ 8000,
+ 7350
+];
+
+var isLikelyAacData = function(data) {
+ if ((data[0] === 'I'.charCodeAt(0)) &&
+ (data[1] === 'D'.charCodeAt(0)) &&
+ (data[2] === '3'.charCodeAt(0))) {
+ return true;
+ }
+ return false;
+};
+
+var parseSyncSafeInteger = function(data) {
+ return (data[0] << 21) |
+ (data[1] << 14) |
+ (data[2] << 7) |
+ (data[3]);
+};
+
+// return a percent-encoded representation of the specified byte range
+// @see http://en.wikipedia.org/wiki/Percent-encoding
+var percentEncode = function(bytes, start, end) {
+ var i, result = '';
+ for (i = start; i < end; i++) {
+ result += '%' + ('00' + bytes[i].toString(16)).slice(-2);
+ }
+ return result;
+};
+
+// return the string representation of the specified byte range,
+// interpreted as ISO-8859-1.
+var parseIso88591 = function(bytes, start, end) {
+ return unescape(percentEncode(bytes, start, end)); // jshint ignore:line
+};
+
+var parseId3TagSize = function(header, byteIndex) {
+ var
+ returnSize = (header[byteIndex + 6] << 21) |
+ (header[byteIndex + 7] << 14) |
+ (header[byteIndex + 8] << 7) |
+ (header[byteIndex + 9]),
+ flags = header[byteIndex + 5],
+ footerPresent = (flags & 16) >> 4;
+
+ if (footerPresent) {
+ return returnSize + 20;
+ }
+ return returnSize + 10;
+};
+
+var parseAdtsSize = function(header, byteIndex) {
+ var
+ lowThree = (header[byteIndex + 5] & 0xE0) >> 5,
+ middle = header[byteIndex + 4] << 3,
+ highTwo = header[byteIndex + 3] & 0x3 << 11;
+
+ return (highTwo | middle) | lowThree;
+};
+
+var parseType = function(header, byteIndex) {
+ if ((header[byteIndex] === 'I'.charCodeAt(0)) &&
+ (header[byteIndex + 1] === 'D'.charCodeAt(0)) &&
+ (header[byteIndex + 2] === '3'.charCodeAt(0))) {
+ return 'timed-metadata';
+ } else if ((header[byteIndex] & 0xff === 0xff) &&
+ ((header[byteIndex + 1] & 0xf0) === 0xf0)) {
+ return 'audio';
+ }
+ return null;
+};
+
+var parseSampleRate = function(packet) {
+ var i = 0;
+
+ while (i + 5 < packet.length) {
+ if (packet[i] !== 0xFF || (packet[i + 1] & 0xF6) !== 0xF0) {
+ // If a valid header was not found, jump one forward and attempt to
+ // find a valid ADTS header starting at the next byte
+ i++;
+ continue;
+ }
+ return ADTS_SAMPLING_FREQUENCIES[(packet[i + 2] & 0x3c) >>> 2];
+ }
+
+ return null;
+};
+
+var parseAacTimestamp = function(packet) {
+ var frameStart, frameSize, frame, frameHeader;
+
+ // find the start of the first frame and the end of the tag
+ frameStart = 10;
+ if (packet[5] & 0x40) {
+ // advance the frame start past the extended header
+ frameStart += 4; // header size field
+ frameStart += parseSyncSafeInteger(packet.subarray(10, 14));
+ }
+
+ // parse one or more ID3 frames
+ // http://id3.org/id3v2.3.0#ID3v2_frame_overview
+ do {
+ // determine the number of bytes in this frame
+ frameSize = parseSyncSafeInteger(packet.subarray(frameStart + 4, frameStart + 8));
+ if (frameSize < 1) {
+ return null;
+ }
+ frameHeader = String.fromCharCode(packet[frameStart],
+ packet[frameStart + 1],
+ packet[frameStart + 2],
+ packet[frameStart + 3]);
+
+ if (frameHeader === 'PRIV') {
+ frame = packet.subarray(frameStart + 10, frameStart + frameSize + 10);
+
+ for (var i = 0; i < frame.byteLength; i++) {
+ if (frame[i] === 0) {
+ var owner = parseIso88591(frame, 0, i);
+ if (owner === 'com.apple.streaming.transportStreamTimestamp') {
+ var d = frame.subarray(i + 1);
+ var size = ((d[3] & 0x01) << 30) |
+ (d[4] << 22) |
+ (d[5] << 14) |
+ (d[6] << 6) |
+ (d[7] >>> 2);
+ size *= 4;
+ size += d[7] & 0x03;
+
+ return size;
+ }
+ break;
+ }
+ }
+ }
+
+ frameStart += 10; // advance past the frame header
+ frameStart += frameSize; // advance past the frame body
+ } while (frameStart < packet.byteLength);
+ return null;
+};
+
+module.exports = {
+ isLikelyAacData: isLikelyAacData,
+ parseId3TagSize: parseId3TagSize,
+ parseAdtsSize: parseAdtsSize,
+ parseType: parseType,
+ parseSampleRate: parseSampleRate,
+ parseAacTimestamp: parseAacTimestamp
+};
+
+},{}],38:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ */
+'use strict';
+
+var Stream = require('../utils/stream.js');
+var ONE_SECOND_IN_TS = require('../utils/clock').ONE_SECOND_IN_TS;
+
+var AdtsStream;
+
+var
+ ADTS_SAMPLING_FREQUENCIES = [
+ 96000,
+ 88200,
+ 64000,
+ 48000,
+ 44100,
+ 32000,
+ 24000,
+ 22050,
+ 16000,
+ 12000,
+ 11025,
+ 8000,
+ 7350
+ ];
+
+/*
+ * Accepts a ElementaryStream and emits data events with parsed
+ * AAC Audio Frames of the individual packets. Input audio in ADTS
+ * format is unpacked and re-emitted as AAC frames.
+ *
+ * @see http://wiki.multimedia.cx/index.php?title=ADTS
+ * @see http://wiki.multimedia.cx/?title=Understanding_AAC
+ */
+AdtsStream = function(handlePartialSegments) {
+ var
+ buffer,
+ frameNum = 0;
+
+ AdtsStream.prototype.init.call(this);
+
+ this.push = function(packet) {
+ var
+ i = 0,
+ frameLength,
+ protectionSkipBytes,
+ frameEnd,
+ oldBuffer,
+ sampleCount,
+ adtsFrameDuration;
+
+ if (!handlePartialSegments) {
+ frameNum = 0;
+ }
+
+ if (packet.type !== 'audio') {
+ // ignore non-audio data
+ return;
+ }
+
+ // Prepend any data in the buffer to the input data so that we can parse
+ // aac frames the cross a PES packet boundary
+ if (buffer) {
+ oldBuffer = buffer;
+ buffer = new Uint8Array(oldBuffer.byteLength + packet.data.byteLength);
+ buffer.set(oldBuffer);
+ buffer.set(packet.data, oldBuffer.byteLength);
+ } else {
+ buffer = packet.data;
+ }
+
+ // unpack any ADTS frames which have been fully received
+ // for details on the ADTS header, see http://wiki.multimedia.cx/index.php?title=ADTS
+ while (i + 5 < buffer.length) {
+
+ // Look for the start of an ADTS header..
+ if ((buffer[i] !== 0xFF) || (buffer[i + 1] & 0xF6) !== 0xF0) {
+ // If a valid header was not found, jump one forward and attempt to
+ // find a valid ADTS header starting at the next byte
+ i++;
+ continue;
+ }
+
+ // The protection skip bit tells us if we have 2 bytes of CRC data at the
+ // end of the ADTS header
+ protectionSkipBytes = (~buffer[i + 1] & 0x01) * 2;
+
+ // Frame length is a 13 bit integer starting 16 bits from the
+ // end of the sync sequence
+ frameLength = ((buffer[i + 3] & 0x03) << 11) |
+ (buffer[i + 4] << 3) |
+ ((buffer[i + 5] & 0xe0) >> 5);
+
+ sampleCount = ((buffer[i + 6] & 0x03) + 1) * 1024;
+ adtsFrameDuration = (sampleCount * ONE_SECOND_IN_TS) /
+ ADTS_SAMPLING_FREQUENCIES[(buffer[i + 2] & 0x3c) >>> 2];
+
+ frameEnd = i + frameLength;
+
+ // If we don't have enough data to actually finish this ADTS frame, return
+ // and wait for more data
+ if (buffer.byteLength < frameEnd) {
+ return;
+ }
+
+ // Otherwise, deliver the complete AAC frame
+ this.trigger('data', {
+ pts: packet.pts + (frameNum * adtsFrameDuration),
+ dts: packet.dts + (frameNum * adtsFrameDuration),
+ sampleCount: sampleCount,
+ audioobjecttype: ((buffer[i + 2] >>> 6) & 0x03) + 1,
+ channelcount: ((buffer[i + 2] & 1) << 2) |
+ ((buffer[i + 3] & 0xc0) >>> 6),
+ samplerate: ADTS_SAMPLING_FREQUENCIES[(buffer[i + 2] & 0x3c) >>> 2],
+ samplingfrequencyindex: (buffer[i + 2] & 0x3c) >>> 2,
+ // assume ISO/IEC 14496-12 AudioSampleEntry default of 16
+ samplesize: 16,
+ data: buffer.subarray(i + 7 + protectionSkipBytes, frameEnd)
+ });
+
+ frameNum++;
+
+ // If the buffer is empty, clear it and return
+ if (buffer.byteLength === frameEnd) {
+ buffer = undefined;
+ return;
+ }
+
+ // Remove the finished frame from the buffer and start the process again
+ buffer = buffer.subarray(frameEnd);
+ }
+ };
+
+ this.flush = function() {
+ frameNum = 0;
+ this.trigger('done');
+ };
+
+ this.reset = function() {
+ buffer = void 0;
+ this.trigger('reset');
+ };
+
+ this.endTimeline = function() {
+ buffer = void 0;
+ this.trigger('endedtimeline');
+ };
+};
+
+AdtsStream.prototype = new Stream();
+
+module.exports = AdtsStream;
+
+},{"../utils/clock":75,"../utils/stream.js":77}],39:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ */
+'use strict';
+
+var Stream = require('../utils/stream.js');
+var ExpGolomb = require('../utils/exp-golomb.js');
+
+var H264Stream, NalByteStream;
+var PROFILES_WITH_OPTIONAL_SPS_DATA;
+
+/**
+ * Accepts a NAL unit byte stream and unpacks the embedded NAL units.
+ */
+NalByteStream = function() {
+ var
+ syncPoint = 0,
+ i,
+ buffer;
+ NalByteStream.prototype.init.call(this);
+
+ /*
+ * Scans a byte stream and triggers a data event with the NAL units found.
+ * @param {Object} data Event received from H264Stream
+ * @param {Uint8Array} data.data The h264 byte stream to be scanned
+ *
+ * @see H264Stream.push
+ */
+ this.push = function(data) {
+ var swapBuffer;
+
+ if (!buffer) {
+ buffer = data.data;
+ } else {
+ swapBuffer = new Uint8Array(buffer.byteLength + data.data.byteLength);
+ swapBuffer.set(buffer);
+ swapBuffer.set(data.data, buffer.byteLength);
+ buffer = swapBuffer;
+ }
+ var len = buffer.byteLength;
+
+ // Rec. ITU-T H.264, Annex B
+ // scan for NAL unit boundaries
+
+ // a match looks like this:
+ // 0 0 1 .. NAL .. 0 0 1
+ // ^ sync point ^ i
+ // or this:
+ // 0 0 1 .. NAL .. 0 0 0
+ // ^ sync point ^ i
+
+ // advance the sync point to a NAL start, if necessary
+ for (; syncPoint < len - 3; syncPoint++) {
+ if (buffer[syncPoint + 2] === 1) {
+ // the sync point is properly aligned
+ i = syncPoint + 5;
+ break;
+ }
+ }
+
+ while (i < len) {
+ // look at the current byte to determine if we've hit the end of
+ // a NAL unit boundary
+ switch (buffer[i]) {
+ case 0:
+ // skip past non-sync sequences
+ if (buffer[i - 1] !== 0) {
+ i += 2;
+ break;
+ } else if (buffer[i - 2] !== 0) {
+ i++;
+ break;
+ }
+
+ // deliver the NAL unit if it isn't empty
+ if (syncPoint + 3 !== i - 2) {
+ this.trigger('data', buffer.subarray(syncPoint + 3, i - 2));
+ }
+
+ // drop trailing zeroes
+ do {
+ i++;
+ } while (buffer[i] !== 1 && i < len);
+ syncPoint = i - 2;
+ i += 3;
+ break;
+ case 1:
+ // skip past non-sync sequences
+ if (buffer[i - 1] !== 0 ||
+ buffer[i - 2] !== 0) {
+ i += 3;
+ break;
+ }
+
+ // deliver the NAL unit
+ this.trigger('data', buffer.subarray(syncPoint + 3, i - 2));
+ syncPoint = i - 2;
+ i += 3;
+ break;
+ default:
+ // the current byte isn't a one or zero, so it cannot be part
+ // of a sync sequence
+ i += 3;
+ break;
+ }
+ }
+ // filter out the NAL units that were delivered
+ buffer = buffer.subarray(syncPoint);
+ i -= syncPoint;
+ syncPoint = 0;
+ };
+
+ this.reset = function() {
+ buffer = null;
+ syncPoint = 0;
+ this.trigger('reset');
+ };
+
+ this.flush = function() {
+ // deliver the last buffered NAL unit
+ if (buffer && buffer.byteLength > 3) {
+ this.trigger('data', buffer.subarray(syncPoint + 3));
+ }
+ // reset the stream state
+ buffer = null;
+ syncPoint = 0;
+ this.trigger('done');
+ };
+
+ this.endTimeline = function() {
+ this.flush();
+ this.trigger('endedtimeline');
+ };
+};
+NalByteStream.prototype = new Stream();
+
+// values of profile_idc that indicate additional fields are included in the SPS
+// see Recommendation ITU-T H.264 (4/2013),
+// 7.3.2.1.1 Sequence parameter set data syntax
+PROFILES_WITH_OPTIONAL_SPS_DATA = {
+ 100: true,
+ 110: true,
+ 122: true,
+ 244: true,
+ 44: true,
+ 83: true,
+ 86: true,
+ 118: true,
+ 128: true,
+ 138: true,
+ 139: true,
+ 134: true
+};
+
+/**
+ * Accepts input from a ElementaryStream and produces H.264 NAL unit data
+ * events.
+ */
+H264Stream = function() {
+ var
+ nalByteStream = new NalByteStream(),
+ self,
+ trackId,
+ currentPts,
+ currentDts,
+
+ discardEmulationPreventionBytes,
+ readSequenceParameterSet,
+ skipScalingList;
+
+ H264Stream.prototype.init.call(this);
+ self = this;
+
+ /*
+ * Pushes a packet from a stream onto the NalByteStream
+ *
+ * @param {Object} packet - A packet received from a stream
+ * @param {Uint8Array} packet.data - The raw bytes of the packet
+ * @param {Number} packet.dts - Decode timestamp of the packet
+ * @param {Number} packet.pts - Presentation timestamp of the packet
+ * @param {Number} packet.trackId - The id of the h264 track this packet came from
+ * @param {('video'|'audio')} packet.type - The type of packet
+ *
+ */
+ this.push = function(packet) {
+ if (packet.type !== 'video') {
+ return;
+ }
+ trackId = packet.trackId;
+ currentPts = packet.pts;
+ currentDts = packet.dts;
+
+ nalByteStream.push(packet);
+ };
+
+ /*
+ * Identify NAL unit types and pass on the NALU, trackId, presentation and decode timestamps
+ * for the NALUs to the next stream component.
+ * Also, preprocess caption and sequence parameter NALUs.
+ *
+ * @param {Uint8Array} data - A NAL unit identified by `NalByteStream.push`
+ * @see NalByteStream.push
+ */
+ nalByteStream.on('data', function(data) {
+ var
+ event = {
+ trackId: trackId,
+ pts: currentPts,
+ dts: currentDts,
+ data: data
+ };
+
+ switch (data[0] & 0x1f) {
+ case 0x05:
+ event.nalUnitType = 'slice_layer_without_partitioning_rbsp_idr';
+ break;
+ case 0x06:
+ event.nalUnitType = 'sei_rbsp';
+ event.escapedRBSP = discardEmulationPreventionBytes(data.subarray(1));
+ break;
+ case 0x07:
+ event.nalUnitType = 'seq_parameter_set_rbsp';
+ event.escapedRBSP = discardEmulationPreventionBytes(data.subarray(1));
+ event.config = readSequenceParameterSet(event.escapedRBSP);
+ break;
+ case 0x08:
+ event.nalUnitType = 'pic_parameter_set_rbsp';
+ break;
+ case 0x09:
+ event.nalUnitType = 'access_unit_delimiter_rbsp';
+ break;
+
+ default:
+ break;
+ }
+ // This triggers data on the H264Stream
+ self.trigger('data', event);
+ });
+ nalByteStream.on('done', function() {
+ self.trigger('done');
+ });
+ nalByteStream.on('partialdone', function() {
+ self.trigger('partialdone');
+ });
+ nalByteStream.on('reset', function() {
+ self.trigger('reset');
+ });
+ nalByteStream.on('endedtimeline', function() {
+ self.trigger('endedtimeline');
+ });
+
+ this.flush = function() {
+ nalByteStream.flush();
+ };
+
+ this.partialFlush = function() {
+ nalByteStream.partialFlush();
+ };
+
+ this.reset = function() {
+ nalByteStream.reset();
+ };
+
+ this.endTimeline = function() {
+ nalByteStream.endTimeline();
+ };
+
+ /**
+ * Advance the ExpGolomb decoder past a scaling list. The scaling
+ * list is optionally transmitted as part of a sequence parameter
+ * set and is not relevant to transmuxing.
+ * @param count {number} the number of entries in this scaling list
+ * @param expGolombDecoder {object} an ExpGolomb pointed to the
+ * start of a scaling list
+ * @see Recommendation ITU-T H.264, Section 7.3.2.1.1.1
+ */
+ skipScalingList = function(count, expGolombDecoder) {
+ var
+ lastScale = 8,
+ nextScale = 8,
+ j,
+ deltaScale;
+
+ for (j = 0; j < count; j++) {
+ if (nextScale !== 0) {
+ deltaScale = expGolombDecoder.readExpGolomb();
+ nextScale = (lastScale + deltaScale + 256) % 256;
+ }
+
+ lastScale = (nextScale === 0) ? lastScale : nextScale;
+ }
+ };
+
+ /**
+ * Expunge any "Emulation Prevention" bytes from a "Raw Byte
+ * Sequence Payload"
+ * @param data {Uint8Array} the bytes of a RBSP from a NAL
+ * unit
+ * @return {Uint8Array} the RBSP without any Emulation
+ * Prevention Bytes
+ */
+ discardEmulationPreventionBytes = function(data) {
+ var
+ length = data.byteLength,
+ emulationPreventionBytesPositions = [],
+ i = 1,
+ newLength, newData;
+
+ // Find all `Emulation Prevention Bytes`
+ while (i < length - 2) {
+ if (data[i] === 0 && data[i + 1] === 0 && data[i + 2] === 0x03) {
+ emulationPreventionBytesPositions.push(i + 2);
+ i += 2;
+ } else {
+ i++;
+ }
+ }
+
+ // If no Emulation Prevention Bytes were found just return the original
+ // array
+ if (emulationPreventionBytesPositions.length === 0) {
+ return data;
+ }
+
+ // Create a new array to hold the NAL unit data
+ newLength = length - emulationPreventionBytesPositions.length;
+ newData = new Uint8Array(newLength);
+ var sourceIndex = 0;
+
+ for (i = 0; i < newLength; sourceIndex++, i++) {
+ if (sourceIndex === emulationPreventionBytesPositions[0]) {
+ // Skip this byte
+ sourceIndex++;
+ // Remove this position index
+ emulationPreventionBytesPositions.shift();
+ }
+ newData[i] = data[sourceIndex];
+ }
+
+ return newData;
+ };
+
+ /**
+ * Read a sequence parameter set and return some interesting video
+ * properties. A sequence parameter set is the H264 metadata that
+ * describes the properties of upcoming video frames.
+ * @param data {Uint8Array} the bytes of a sequence parameter set
+ * @return {object} an object with configuration parsed from the
+ * sequence parameter set, including the dimensions of the
+ * associated video frames.
+ */
+ readSequenceParameterSet = function(data) {
+ var
+ frameCropLeftOffset = 0,
+ frameCropRightOffset = 0,
+ frameCropTopOffset = 0,
+ frameCropBottomOffset = 0,
+ sarScale = 1,
+ expGolombDecoder, profileIdc, levelIdc, profileCompatibility,
+ chromaFormatIdc, picOrderCntType,
+ numRefFramesInPicOrderCntCycle, picWidthInMbsMinus1,
+ picHeightInMapUnitsMinus1,
+ frameMbsOnlyFlag,
+ scalingListCount,
+ sarRatio,
+ aspectRatioIdc,
+ i;
+
+ expGolombDecoder = new ExpGolomb(data);
+ profileIdc = expGolombDecoder.readUnsignedByte(); // profile_idc
+ profileCompatibility = expGolombDecoder.readUnsignedByte(); // constraint_set[0-5]_flag
+ levelIdc = expGolombDecoder.readUnsignedByte(); // level_idc u(8)
+ expGolombDecoder.skipUnsignedExpGolomb(); // seq_parameter_set_id
+
+ // some profiles have more optional data we don't need
+ if (PROFILES_WITH_OPTIONAL_SPS_DATA[profileIdc]) {
+ chromaFormatIdc = expGolombDecoder.readUnsignedExpGolomb();
+ if (chromaFormatIdc === 3) {
+ expGolombDecoder.skipBits(1); // separate_colour_plane_flag
+ }
+ expGolombDecoder.skipUnsignedExpGolomb(); // bit_depth_luma_minus8
+ expGolombDecoder.skipUnsignedExpGolomb(); // bit_depth_chroma_minus8
+ expGolombDecoder.skipBits(1); // qpprime_y_zero_transform_bypass_flag
+ if (expGolombDecoder.readBoolean()) { // seq_scaling_matrix_present_flag
+ scalingListCount = (chromaFormatIdc !== 3) ? 8 : 12;
+ for (i = 0; i < scalingListCount; i++) {
+ if (expGolombDecoder.readBoolean()) { // seq_scaling_list_present_flag[ i ]
+ if (i < 6) {
+ skipScalingList(16, expGolombDecoder);
+ } else {
+ skipScalingList(64, expGolombDecoder);
+ }
+ }
+ }
+ }
+ }
+
+ expGolombDecoder.skipUnsignedExpGolomb(); // log2_max_frame_num_minus4
+ picOrderCntType = expGolombDecoder.readUnsignedExpGolomb();
+
+ if (picOrderCntType === 0) {
+ expGolombDecoder.readUnsignedExpGolomb(); // log2_max_pic_order_cnt_lsb_minus4
+ } else if (picOrderCntType === 1) {
+ expGolombDecoder.skipBits(1); // delta_pic_order_always_zero_flag
+ expGolombDecoder.skipExpGolomb(); // offset_for_non_ref_pic
+ expGolombDecoder.skipExpGolomb(); // offset_for_top_to_bottom_field
+ numRefFramesInPicOrderCntCycle = expGolombDecoder.readUnsignedExpGolomb();
+ for (i = 0; i < numRefFramesInPicOrderCntCycle; i++) {
+ expGolombDecoder.skipExpGolomb(); // offset_for_ref_frame[ i ]
+ }
+ }
+
+ expGolombDecoder.skipUnsignedExpGolomb(); // max_num_ref_frames
+ expGolombDecoder.skipBits(1); // gaps_in_frame_num_value_allowed_flag
+
+ picWidthInMbsMinus1 = expGolombDecoder.readUnsignedExpGolomb();
+ picHeightInMapUnitsMinus1 = expGolombDecoder.readUnsignedExpGolomb();
+
+ frameMbsOnlyFlag = expGolombDecoder.readBits(1);
+ if (frameMbsOnlyFlag === 0) {
+ expGolombDecoder.skipBits(1); // mb_adaptive_frame_field_flag
+ }
+
+ expGolombDecoder.skipBits(1); // direct_8x8_inference_flag
+ if (expGolombDecoder.readBoolean()) { // frame_cropping_flag
+ frameCropLeftOffset = expGolombDecoder.readUnsignedExpGolomb();
+ frameCropRightOffset = expGolombDecoder.readUnsignedExpGolomb();
+ frameCropTopOffset = expGolombDecoder.readUnsignedExpGolomb();
+ frameCropBottomOffset = expGolombDecoder.readUnsignedExpGolomb();
+ }
+ if (expGolombDecoder.readBoolean()) {
+ // vui_parameters_present_flag
+ if (expGolombDecoder.readBoolean()) {
+ // aspect_ratio_info_present_flag
+ aspectRatioIdc = expGolombDecoder.readUnsignedByte();
+ switch (aspectRatioIdc) {
+ case 1: sarRatio = [1, 1]; break;
+ case 2: sarRatio = [12, 11]; break;
+ case 3: sarRatio = [10, 11]; break;
+ case 4: sarRatio = [16, 11]; break;
+ case 5: sarRatio = [40, 33]; break;
+ case 6: sarRatio = [24, 11]; break;
+ case 7: sarRatio = [20, 11]; break;
+ case 8: sarRatio = [32, 11]; break;
+ case 9: sarRatio = [80, 33]; break;
+ case 10: sarRatio = [18, 11]; break;
+ case 11: sarRatio = [15, 11]; break;
+ case 12: sarRatio = [64, 33]; break;
+ case 13: sarRatio = [160, 99]; break;
+ case 14: sarRatio = [4, 3]; break;
+ case 15: sarRatio = [3, 2]; break;
+ case 16: sarRatio = [2, 1]; break;
+ case 255: {
+ sarRatio = [expGolombDecoder.readUnsignedByte() << 8 |
+ expGolombDecoder.readUnsignedByte(),
+ expGolombDecoder.readUnsignedByte() << 8 |
+ expGolombDecoder.readUnsignedByte() ];
+ break;
+ }
+ }
+ if (sarRatio) {
+ sarScale = sarRatio[0] / sarRatio[1];
+ }
+ }
+ }
+ return {
+ profileIdc: profileIdc,
+ levelIdc: levelIdc,
+ profileCompatibility: profileCompatibility,
+ width: Math.ceil((((picWidthInMbsMinus1 + 1) * 16) - frameCropLeftOffset * 2 - frameCropRightOffset * 2) * sarScale),
+ height: ((2 - frameMbsOnlyFlag) * (picHeightInMapUnitsMinus1 + 1) * 16) - (frameCropTopOffset * 2) - (frameCropBottomOffset * 2),
+ sarRatio: sarRatio
+ };
+ };
+
+};
+H264Stream.prototype = new Stream();
+
+module.exports = {
+ H264Stream: H264Stream,
+ NalByteStream: NalByteStream
+};
+
+},{"../utils/exp-golomb.js":76,"../utils/stream.js":77}],40:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ */
+module.exports = {
+ Adts: require('./adts'),
+ h264: require('./h264')
+};
+
+},{"./adts":38,"./h264":39}],41:[function(require,module,exports){
+// constants
+var AUDIO_PROPERTIES = [
+ 'audioobjecttype',
+ 'channelcount',
+ 'samplerate',
+ 'samplingfrequencyindex',
+ 'samplesize'
+];
+
+module.exports = AUDIO_PROPERTIES;
+
+},{}],42:[function(require,module,exports){
+var VIDEO_PROPERTIES = [
+ 'width',
+ 'height',
+ 'profileIdc',
+ 'levelIdc',
+ 'profileCompatibility',
+ 'sarRatio'
+];
+
+
+module.exports = VIDEO_PROPERTIES;
+
+},{}],43:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ */
+var highPrefix = [33, 16, 5, 32, 164, 27];
+var lowPrefix = [33, 65, 108, 84, 1, 2, 4, 8, 168, 2, 4, 8, 17, 191, 252];
+var zeroFill = function(count) {
+ var a = [];
+ while (count--) {
+ a.push(0);
+ }
+ return a;
+};
+
+var makeTable = function(metaTable) {
+ return Object.keys(metaTable).reduce(function(obj, key) {
+ obj[key] = new Uint8Array(metaTable[key].reduce(function(arr, part) {
+ return arr.concat(part);
+ }, []));
+ return obj;
+ }, {});
+};
+
+
+var silence;
+
+module.exports = function() {
+ if (!silence) {
+ // Frames-of-silence to use for filling in missing AAC frames
+ var coneOfSilence = {
+ 96000: [highPrefix, [227, 64], zeroFill(154), [56]],
+ 88200: [highPrefix, [231], zeroFill(170), [56]],
+ 64000: [highPrefix, [248, 192], zeroFill(240), [56]],
+ 48000: [highPrefix, [255, 192], zeroFill(268), [55, 148, 128], zeroFill(54), [112]],
+ 44100: [highPrefix, [255, 192], zeroFill(268), [55, 163, 128], zeroFill(84), [112]],
+ 32000: [highPrefix, [255, 192], zeroFill(268), [55, 234], zeroFill(226), [112]],
+ 24000: [highPrefix, [255, 192], zeroFill(268), [55, 255, 128], zeroFill(268), [111, 112], zeroFill(126), [224]],
+ 16000: [highPrefix, [255, 192], zeroFill(268), [55, 255, 128], zeroFill(268), [111, 255], zeroFill(269), [223, 108], zeroFill(195), [1, 192]],
+ 12000: [lowPrefix, zeroFill(268), [3, 127, 248], zeroFill(268), [6, 255, 240], zeroFill(268), [13, 255, 224], zeroFill(268), [27, 253, 128], zeroFill(259), [56]],
+ 11025: [lowPrefix, zeroFill(268), [3, 127, 248], zeroFill(268), [6, 255, 240], zeroFill(268), [13, 255, 224], zeroFill(268), [27, 255, 192], zeroFill(268), [55, 175, 128], zeroFill(108), [112]],
+ 8000: [lowPrefix, zeroFill(268), [3, 121, 16], zeroFill(47), [7]]
+ };
+ silence = makeTable(coneOfSilence);
+ }
+ return silence;
+};
+
+},{}],44:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ */
+'use strict';
+
+var Stream = require('../utils/stream.js');
+
+/**
+ * The final stage of the transmuxer that emits the flv tags
+ * for audio, video, and metadata. Also tranlates in time and
+ * outputs caption data and id3 cues.
+ */
+var CoalesceStream = function(options) {
+ // Number of Tracks per output segment
+ // If greater than 1, we combine multiple
+ // tracks into a single segment
+ this.numberOfTracks = 0;
+ this.metadataStream = options.metadataStream;
+
+ this.videoTags = [];
+ this.audioTags = [];
+ this.videoTrack = null;
+ this.audioTrack = null;
+ this.pendingCaptions = [];
+ this.pendingMetadata = [];
+ this.pendingTracks = 0;
+ this.processedTracks = 0;
+
+ CoalesceStream.prototype.init.call(this);
+
+ // Take output from multiple
+ this.push = function(output) {
+ // buffer incoming captions until the associated video segment
+ // finishes
+ if (output.text) {
+ return this.pendingCaptions.push(output);
+ }
+ // buffer incoming id3 tags until the final flush
+ if (output.frames) {
+ return this.pendingMetadata.push(output);
+ }
+
+ if (output.track.type === 'video') {
+ this.videoTrack = output.track;
+ this.videoTags = output.tags;
+ this.pendingTracks++;
+ }
+ if (output.track.type === 'audio') {
+ this.audioTrack = output.track;
+ this.audioTags = output.tags;
+ this.pendingTracks++;
+ }
+ };
+};
+
+CoalesceStream.prototype = new Stream();
+CoalesceStream.prototype.flush = function(flushSource) {
+ var
+ id3,
+ caption,
+ i,
+ timelineStartPts,
+ event = {
+ tags: {},
+ captions: [],
+ captionStreams: {},
+ metadata: []
+ };
+
+ if (this.pendingTracks < this.numberOfTracks) {
+ if (flushSource !== 'VideoSegmentStream' &&
+ flushSource !== 'AudioSegmentStream') {
+ // Return because we haven't received a flush from a data-generating
+ // portion of the segment (meaning that we have only recieved meta-data
+ // or captions.)
+ return;
+ } else if (this.pendingTracks === 0) {
+ // In the case where we receive a flush without any data having been
+ // received we consider it an emitted track for the purposes of coalescing
+ // `done` events.
+ // We do this for the case where there is an audio and video track in the
+ // segment but no audio data. (seen in several playlists with alternate
+ // audio tracks and no audio present in the main TS segments.)
+ this.processedTracks++;
+
+ if (this.processedTracks < this.numberOfTracks) {
+ return;
+ }
+ }
+ }
+
+ this.processedTracks += this.pendingTracks;
+ this.pendingTracks = 0;
+
+ if (this.processedTracks < this.numberOfTracks) {
+ return;
+ }
+
+ if (this.videoTrack) {
+ timelineStartPts = this.videoTrack.timelineStartInfo.pts;
+ } else if (this.audioTrack) {
+ timelineStartPts = this.audioTrack.timelineStartInfo.pts;
+ }
+
+ event.tags.videoTags = this.videoTags;
+ event.tags.audioTags = this.audioTags;
+
+ // Translate caption PTS times into second offsets into the
+ // video timeline for the segment, and add track info
+ for (i = 0; i < this.pendingCaptions.length; i++) {
+ caption = this.pendingCaptions[i];
+ caption.startTime = caption.startPts - timelineStartPts;
+ caption.startTime /= 90e3;
+ caption.endTime = caption.endPts - timelineStartPts;
+ caption.endTime /= 90e3;
+ event.captionStreams[caption.stream] = true;
+ event.captions.push(caption);
+ }
+
+ // Translate ID3 frame PTS times into second offsets into the
+ // video timeline for the segment
+ for (i = 0; i < this.pendingMetadata.length; i++) {
+ id3 = this.pendingMetadata[i];
+ id3.cueTime = id3.pts - timelineStartPts;
+ id3.cueTime /= 90e3;
+ event.metadata.push(id3);
+ }
+ // We add this to every single emitted segment even though we only need
+ // it for the first
+ event.metadata.dispatchType = this.metadataStream.dispatchType;
+
+ // Reset stream state
+ this.videoTrack = null;
+ this.audioTrack = null;
+ this.videoTags = [];
+ this.audioTags = [];
+ this.pendingCaptions.length = 0;
+ this.pendingMetadata.length = 0;
+ this.pendingTracks = 0;
+ this.processedTracks = 0;
+
+ // Emit the final segment
+ this.trigger('data', event);
+
+ this.trigger('done');
+};
+
+module.exports = CoalesceStream;
+
+},{"../utils/stream.js":77}],45:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ */
+'use strict';
+
+var FlvTag = require('./flv-tag.js');
+
+// For information on the FLV format, see
+// http://download.macromedia.com/f4v/video_file_format_spec_v10_1.pdf.
+// Technically, this function returns the header and a metadata FLV tag
+// if duration is greater than zero
+// duration in seconds
+// @return {object} the bytes of the FLV header as a Uint8Array
+var getFlvHeader = function(duration, audio, video) { // :ByteArray {
+ var
+ headBytes = new Uint8Array(3 + 1 + 1 + 4),
+ head = new DataView(headBytes.buffer),
+ metadata,
+ result,
+ metadataLength;
+
+ // default arguments
+ duration = duration || 0;
+ audio = audio === undefined ? true : audio;
+ video = video === undefined ? true : video;
+
+ // signature
+ head.setUint8(0, 0x46); // 'F'
+ head.setUint8(1, 0x4c); // 'L'
+ head.setUint8(2, 0x56); // 'V'
+
+ // version
+ head.setUint8(3, 0x01);
+
+ // flags
+ head.setUint8(4, (audio ? 0x04 : 0x00) | (video ? 0x01 : 0x00));
+
+ // data offset, should be 9 for FLV v1
+ head.setUint32(5, headBytes.byteLength);
+
+ // init the first FLV tag
+ if (duration <= 0) {
+ // no duration available so just write the first field of the first
+ // FLV tag
+ result = new Uint8Array(headBytes.byteLength + 4);
+ result.set(headBytes);
+ result.set([0, 0, 0, 0], headBytes.byteLength);
+ return result;
+ }
+
+ // write out the duration metadata tag
+ metadata = new FlvTag(FlvTag.METADATA_TAG);
+ metadata.pts = metadata.dts = 0;
+ metadata.writeMetaDataDouble('duration', duration);
+ metadataLength = metadata.finalize().length;
+ result = new Uint8Array(headBytes.byteLength + metadataLength);
+ result.set(headBytes);
+ result.set(head.byteLength, metadataLength);
+
+ return result;
+};
+
+module.exports = getFlvHeader;
+
+},{"./flv-tag.js":46}],46:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ *
+ * An object that stores the bytes of an FLV tag and methods for
+ * querying and manipulating that data.
+ * @see http://download.macromedia.com/f4v/video_file_format_spec_v10_1.pdf
+ */
+'use strict';
+
+var FlvTag;
+
+// (type:uint, extraData:Boolean = false) extends ByteArray
+FlvTag = function(type, extraData) {
+ var
+ // Counter if this is a metadata tag, nal start marker if this is a video
+ // tag. unused if this is an audio tag
+ adHoc = 0, // :uint
+
+ // The default size is 16kb but this is not enough to hold iframe
+ // data and the resizing algorithm costs a bit so we create a larger
+ // starting buffer for video tags
+ bufferStartSize = 16384,
+
+ // checks whether the FLV tag has enough capacity to accept the proposed
+ // write and re-allocates the internal buffers if necessary
+ prepareWrite = function(flv, count) {
+ var
+ bytes,
+ minLength = flv.position + count;
+ if (minLength < flv.bytes.byteLength) {
+ // there's enough capacity so do nothing
+ return;
+ }
+
+ // allocate a new buffer and copy over the data that will not be modified
+ bytes = new Uint8Array(minLength * 2);
+ bytes.set(flv.bytes.subarray(0, flv.position), 0);
+ flv.bytes = bytes;
+ flv.view = new DataView(flv.bytes.buffer);
+ },
+
+ // commonly used metadata properties
+ widthBytes = FlvTag.widthBytes || new Uint8Array('width'.length),
+ heightBytes = FlvTag.heightBytes || new Uint8Array('height'.length),
+ videocodecidBytes = FlvTag.videocodecidBytes || new Uint8Array('videocodecid'.length),
+ i;
+
+ if (!FlvTag.widthBytes) {
+ // calculating the bytes of common metadata names ahead of time makes the
+ // corresponding writes faster because we don't have to loop over the
+ // characters
+ // re-test with test/perf.html if you're planning on changing this
+ for (i = 0; i < 'width'.length; i++) {
+ widthBytes[i] = 'width'.charCodeAt(i);
+ }
+ for (i = 0; i < 'height'.length; i++) {
+ heightBytes[i] = 'height'.charCodeAt(i);
+ }
+ for (i = 0; i < 'videocodecid'.length; i++) {
+ videocodecidBytes[i] = 'videocodecid'.charCodeAt(i);
+ }
+
+ FlvTag.widthBytes = widthBytes;
+ FlvTag.heightBytes = heightBytes;
+ FlvTag.videocodecidBytes = videocodecidBytes;
+ }
+
+ this.keyFrame = false; // :Boolean
+
+ switch (type) {
+ case FlvTag.VIDEO_TAG:
+ this.length = 16;
+ // Start the buffer at 256k
+ bufferStartSize *= 6;
+ break;
+ case FlvTag.AUDIO_TAG:
+ this.length = 13;
+ this.keyFrame = true;
+ break;
+ case FlvTag.METADATA_TAG:
+ this.length = 29;
+ this.keyFrame = true;
+ break;
+ default:
+ throw new Error('Unknown FLV tag type');
+ }
+
+ this.bytes = new Uint8Array(bufferStartSize);
+ this.view = new DataView(this.bytes.buffer);
+ this.bytes[0] = type;
+ this.position = this.length;
+ this.keyFrame = extraData; // Defaults to false
+
+ // presentation timestamp
+ this.pts = 0;
+ // decoder timestamp
+ this.dts = 0;
+
+ // ByteArray#writeBytes(bytes:ByteArray, offset:uint = 0, length:uint = 0)
+ this.writeBytes = function(bytes, offset, length) {
+ var
+ start = offset || 0,
+ end;
+ length = length || bytes.byteLength;
+ end = start + length;
+
+ prepareWrite(this, length);
+ this.bytes.set(bytes.subarray(start, end), this.position);
+
+ this.position += length;
+ this.length = Math.max(this.length, this.position);
+ };
+
+ // ByteArray#writeByte(value:int):void
+ this.writeByte = function(byte) {
+ prepareWrite(this, 1);
+ this.bytes[this.position] = byte;
+ this.position++;
+ this.length = Math.max(this.length, this.position);
+ };
+
+ // ByteArray#writeShort(value:int):void
+ this.writeShort = function(short) {
+ prepareWrite(this, 2);
+ this.view.setUint16(this.position, short);
+ this.position += 2;
+ this.length = Math.max(this.length, this.position);
+ };
+
+ // Negative index into array
+ // (pos:uint):int
+ this.negIndex = function(pos) {
+ return this.bytes[this.length - pos];
+ };
+
+ // The functions below ONLY work when this[0] == VIDEO_TAG.
+ // We are not going to check for that because we dont want the overhead
+ // (nal:ByteArray = null):int
+ this.nalUnitSize = function() {
+ if (adHoc === 0) {
+ return 0;
+ }
+
+ return this.length - (adHoc + 4);
+ };
+
+ this.startNalUnit = function() {
+ // remember position and add 4 bytes
+ if (adHoc > 0) {
+ throw new Error('Attempted to create new NAL wihout closing the old one');
+ }
+
+ // reserve 4 bytes for nal unit size
+ adHoc = this.length;
+ this.length += 4;
+ this.position = this.length;
+ };
+
+ // (nal:ByteArray = null):void
+ this.endNalUnit = function(nalContainer) {
+ var
+ nalStart, // :uint
+ nalLength; // :uint
+
+ // Rewind to the marker and write the size
+ if (this.length === adHoc + 4) {
+ // we started a nal unit, but didnt write one, so roll back the 4 byte size value
+ this.length -= 4;
+ } else if (adHoc > 0) {
+ nalStart = adHoc + 4;
+ nalLength = this.length - nalStart;
+
+ this.position = adHoc;
+ this.view.setUint32(this.position, nalLength);
+ this.position = this.length;
+
+ if (nalContainer) {
+ // Add the tag to the NAL unit
+ nalContainer.push(this.bytes.subarray(nalStart, nalStart + nalLength));
+ }
+ }
+
+ adHoc = 0;
+ };
+
+ /**
+ * Write out a 64-bit floating point valued metadata property. This method is
+ * called frequently during a typical parse and needs to be fast.
+ */
+ // (key:String, val:Number):void
+ this.writeMetaDataDouble = function(key, val) {
+ var i;
+ prepareWrite(this, 2 + key.length + 9);
+
+ // write size of property name
+ this.view.setUint16(this.position, key.length);
+ this.position += 2;
+
+ // this next part looks terrible but it improves parser throughput by
+ // 10kB/s in my testing
+
+ // write property name
+ if (key === 'width') {
+ this.bytes.set(widthBytes, this.position);
+ this.position += 5;
+ } else if (key === 'height') {
+ this.bytes.set(heightBytes, this.position);
+ this.position += 6;
+ } else if (key === 'videocodecid') {
+ this.bytes.set(videocodecidBytes, this.position);
+ this.position += 12;
+ } else {
+ for (i = 0; i < key.length; i++) {
+ this.bytes[this.position] = key.charCodeAt(i);
+ this.position++;
+ }
+ }
+
+ // skip null byte
+ this.position++;
+
+ // write property value
+ this.view.setFloat64(this.position, val);
+ this.position += 8;
+
+ // update flv tag length
+ this.length = Math.max(this.length, this.position);
+ ++adHoc;
+ };
+
+ // (key:String, val:Boolean):void
+ this.writeMetaDataBoolean = function(key, val) {
+ var i;
+ prepareWrite(this, 2);
+ this.view.setUint16(this.position, key.length);
+ this.position += 2;
+ for (i = 0; i < key.length; i++) {
+ // if key.charCodeAt(i) >= 255, handle error
+ prepareWrite(this, 1);
+ this.bytes[this.position] = key.charCodeAt(i);
+ this.position++;
+ }
+ prepareWrite(this, 2);
+ this.view.setUint8(this.position, 0x01);
+ this.position++;
+ this.view.setUint8(this.position, val ? 0x01 : 0x00);
+ this.position++;
+ this.length = Math.max(this.length, this.position);
+ ++adHoc;
+ };
+
+ // ():ByteArray
+ this.finalize = function() {
+ var
+ dtsDelta, // :int
+ len; // :int
+
+ switch (this.bytes[0]) {
+ // Video Data
+ case FlvTag.VIDEO_TAG:
+ // We only support AVC, 1 = key frame (for AVC, a seekable
+ // frame), 2 = inter frame (for AVC, a non-seekable frame)
+ this.bytes[11] = ((this.keyFrame || extraData) ? 0x10 : 0x20) | 0x07;
+ this.bytes[12] = extraData ? 0x00 : 0x01;
+
+ dtsDelta = this.pts - this.dts;
+ this.bytes[13] = (dtsDelta & 0x00FF0000) >>> 16;
+ this.bytes[14] = (dtsDelta & 0x0000FF00) >>> 8;
+ this.bytes[15] = (dtsDelta & 0x000000FF) >>> 0;
+ break;
+
+ case FlvTag.AUDIO_TAG:
+ this.bytes[11] = 0xAF; // 44 kHz, 16-bit stereo
+ this.bytes[12] = extraData ? 0x00 : 0x01;
+ break;
+
+ case FlvTag.METADATA_TAG:
+ this.position = 11;
+ this.view.setUint8(this.position, 0x02); // String type
+ this.position++;
+ this.view.setUint16(this.position, 0x0A); // 10 Bytes
+ this.position += 2;
+ // set "onMetaData"
+ this.bytes.set([0x6f, 0x6e, 0x4d, 0x65,
+ 0x74, 0x61, 0x44, 0x61,
+ 0x74, 0x61], this.position);
+ this.position += 10;
+ this.bytes[this.position] = 0x08; // Array type
+ this.position++;
+ this.view.setUint32(this.position, adHoc);
+ this.position = this.length;
+ this.bytes.set([0, 0, 9], this.position);
+ this.position += 3; // End Data Tag
+ this.length = this.position;
+ break;
+ }
+
+ len = this.length - 11;
+
+ // write the DataSize field
+ this.bytes[ 1] = (len & 0x00FF0000) >>> 16;
+ this.bytes[ 2] = (len & 0x0000FF00) >>> 8;
+ this.bytes[ 3] = (len & 0x000000FF) >>> 0;
+ // write the Timestamp
+ this.bytes[ 4] = (this.dts & 0x00FF0000) >>> 16;
+ this.bytes[ 5] = (this.dts & 0x0000FF00) >>> 8;
+ this.bytes[ 6] = (this.dts & 0x000000FF) >>> 0;
+ this.bytes[ 7] = (this.dts & 0xFF000000) >>> 24;
+ // write the StreamID
+ this.bytes[ 8] = 0;
+ this.bytes[ 9] = 0;
+ this.bytes[10] = 0;
+
+ // Sometimes we're at the end of the view and have one slot to write a
+ // uint32, so, prepareWrite of count 4, since, view is uint8
+ prepareWrite(this, 4);
+ this.view.setUint32(this.length, this.length);
+ this.length += 4;
+ this.position += 4;
+
+ // trim down the byte buffer to what is actually being used
+ this.bytes = this.bytes.subarray(0, this.length);
+ this.frameTime = FlvTag.frameTime(this.bytes);
+ // if bytes.bytelength isn't equal to this.length, handle error
+ return this;
+ };
+};
+
+FlvTag.AUDIO_TAG = 0x08; // == 8, :uint
+FlvTag.VIDEO_TAG = 0x09; // == 9, :uint
+FlvTag.METADATA_TAG = 0x12; // == 18, :uint
+
+// (tag:ByteArray):Boolean {
+FlvTag.isAudioFrame = function(tag) {
+ return FlvTag.AUDIO_TAG === tag[0];
+};
+
+// (tag:ByteArray):Boolean {
+FlvTag.isVideoFrame = function(tag) {
+ return FlvTag.VIDEO_TAG === tag[0];
+};
+
+// (tag:ByteArray):Boolean {
+FlvTag.isMetaData = function(tag) {
+ return FlvTag.METADATA_TAG === tag[0];
+};
+
+// (tag:ByteArray):Boolean {
+FlvTag.isKeyFrame = function(tag) {
+ if (FlvTag.isVideoFrame(tag)) {
+ return tag[11] === 0x17;
+ }
+
+ if (FlvTag.isAudioFrame(tag)) {
+ return true;
+ }
+
+ if (FlvTag.isMetaData(tag)) {
+ return true;
+ }
+
+ return false;
+};
+
+// (tag:ByteArray):uint {
+FlvTag.frameTime = function(tag) {
+ var pts = tag[ 4] << 16; // :uint
+ pts |= tag[ 5] << 8;
+ pts |= tag[ 6] << 0;
+ pts |= tag[ 7] << 24;
+ return pts;
+};
+
+module.exports = FlvTag;
+
+},{}],47:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ */
+module.exports = {
+ tag: require('./flv-tag'),
+ Transmuxer: require('./transmuxer'),
+ getFlvHeader: require('./flv-header')
+};
+
+},{"./flv-header":45,"./flv-tag":46,"./transmuxer":49}],48:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ */
+'use strict';
+
+var TagList = function() {
+ var self = this;
+
+ this.list = [];
+
+ this.push = function(tag) {
+ this.list.push({
+ bytes: tag.bytes,
+ dts: tag.dts,
+ pts: tag.pts,
+ keyFrame: tag.keyFrame,
+ metaDataTag: tag.metaDataTag
+ });
+ };
+
+ Object.defineProperty(this, 'length', {
+ get: function() {
+ return self.list.length;
+ }
+ });
+};
+
+module.exports = TagList;
+
+},{}],49:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ */
+'use strict';
+
+var Stream = require('../utils/stream.js');
+var FlvTag = require('./flv-tag.js');
+var m2ts = require('../m2ts/m2ts.js');
+var AdtsStream = require('../codecs/adts.js');
+var H264Stream = require('../codecs/h264').H264Stream;
+var CoalesceStream = require('./coalesce-stream.js');
+var TagList = require('./tag-list.js');
+
+var
+ Transmuxer,
+ VideoSegmentStream,
+ AudioSegmentStream,
+ collectTimelineInfo,
+ metaDataTag,
+ extraDataTag;
+
+/**
+ * Store information about the start and end of the tracka and the
+ * duration for each frame/sample we process in order to calculate
+ * the baseMediaDecodeTime
+ */
+collectTimelineInfo = function(track, data) {
+ if (typeof data.pts === 'number') {
+ if (track.timelineStartInfo.pts === undefined) {
+ track.timelineStartInfo.pts = data.pts;
+ } else {
+ track.timelineStartInfo.pts =
+ Math.min(track.timelineStartInfo.pts, data.pts);
+ }
+ }
+
+ if (typeof data.dts === 'number') {
+ if (track.timelineStartInfo.dts === undefined) {
+ track.timelineStartInfo.dts = data.dts;
+ } else {
+ track.timelineStartInfo.dts =
+ Math.min(track.timelineStartInfo.dts, data.dts);
+ }
+ }
+};
+
+metaDataTag = function(track, pts) {
+ var
+ tag = new FlvTag(FlvTag.METADATA_TAG); // :FlvTag
+
+ tag.dts = pts;
+ tag.pts = pts;
+
+ tag.writeMetaDataDouble('videocodecid', 7);
+ tag.writeMetaDataDouble('width', track.width);
+ tag.writeMetaDataDouble('height', track.height);
+
+ return tag;
+};
+
+extraDataTag = function(track, pts) {
+ var
+ i,
+ tag = new FlvTag(FlvTag.VIDEO_TAG, true);
+
+ tag.dts = pts;
+ tag.pts = pts;
+
+ tag.writeByte(0x01);// version
+ tag.writeByte(track.profileIdc);// profile
+ tag.writeByte(track.profileCompatibility);// compatibility
+ tag.writeByte(track.levelIdc);// level
+ tag.writeByte(0xFC | 0x03); // reserved (6 bits), NULA length size - 1 (2 bits)
+ tag.writeByte(0xE0 | 0x01); // reserved (3 bits), num of SPS (5 bits)
+ tag.writeShort(track.sps[0].length); // data of SPS
+ tag.writeBytes(track.sps[0]); // SPS
+
+ tag.writeByte(track.pps.length); // num of PPS (will there ever be more that 1 PPS?)
+ for (i = 0; i < track.pps.length; ++i) {
+ tag.writeShort(track.pps[i].length); // 2 bytes for length of PPS
+ tag.writeBytes(track.pps[i]); // data of PPS
+ }
+
+ return tag;
+};
+
+/**
+ * Constructs a single-track, media segment from AAC data
+ * events. The output of this stream can be fed to flash.
+ */
+AudioSegmentStream = function(track) {
+ var
+ adtsFrames = [],
+ videoKeyFrames = [],
+ oldExtraData;
+
+ AudioSegmentStream.prototype.init.call(this);
+
+ this.push = function(data) {
+ collectTimelineInfo(track, data);
+
+ if (track) {
+ track.audioobjecttype = data.audioobjecttype;
+ track.channelcount = data.channelcount;
+ track.samplerate = data.samplerate;
+ track.samplingfrequencyindex = data.samplingfrequencyindex;
+ track.samplesize = data.samplesize;
+ track.extraData = (track.audioobjecttype << 11) |
+ (track.samplingfrequencyindex << 7) |
+ (track.channelcount << 3);
+ }
+
+ data.pts = Math.round(data.pts / 90);
+ data.dts = Math.round(data.dts / 90);
+
+ // buffer audio data until end() is called
+ adtsFrames.push(data);
+ };
+
+ this.flush = function() {
+ var currentFrame, adtsFrame, lastMetaPts, tags = new TagList();
+ // return early if no audio data has been observed
+ if (adtsFrames.length === 0) {
+ this.trigger('done', 'AudioSegmentStream');
+ return;
+ }
+
+ lastMetaPts = -Infinity;
+
+ while (adtsFrames.length) {
+ currentFrame = adtsFrames.shift();
+
+ // write out a metadata frame at every video key frame
+ if (videoKeyFrames.length && currentFrame.pts >= videoKeyFrames[0]) {
+ lastMetaPts = videoKeyFrames.shift();
+ this.writeMetaDataTags(tags, lastMetaPts);
+ }
+
+ // also write out metadata tags every 1 second so that the decoder
+ // is re-initialized quickly after seeking into a different
+ // audio configuration.
+ if (track.extraData !== oldExtraData || currentFrame.pts - lastMetaPts >= 1000) {
+ this.writeMetaDataTags(tags, currentFrame.pts);
+ oldExtraData = track.extraData;
+ lastMetaPts = currentFrame.pts;
+ }
+
+ adtsFrame = new FlvTag(FlvTag.AUDIO_TAG);
+ adtsFrame.pts = currentFrame.pts;
+ adtsFrame.dts = currentFrame.dts;
+
+ adtsFrame.writeBytes(currentFrame.data);
+
+ tags.push(adtsFrame.finalize());
+ }
+
+ videoKeyFrames.length = 0;
+ oldExtraData = null;
+ this.trigger('data', {track: track, tags: tags.list});
+
+ this.trigger('done', 'AudioSegmentStream');
+ };
+
+ this.writeMetaDataTags = function(tags, pts) {
+ var adtsFrame;
+
+ adtsFrame = new FlvTag(FlvTag.METADATA_TAG);
+ // For audio, DTS is always the same as PTS. We want to set the DTS
+ // however so we can compare with video DTS to determine approximate
+ // packet order
+ adtsFrame.pts = pts;
+ adtsFrame.dts = pts;
+
+ // AAC is always 10
+ adtsFrame.writeMetaDataDouble('audiocodecid', 10);
+ adtsFrame.writeMetaDataBoolean('stereo', track.channelcount === 2);
+ adtsFrame.writeMetaDataDouble('audiosamplerate', track.samplerate);
+ // Is AAC always 16 bit?
+ adtsFrame.writeMetaDataDouble('audiosamplesize', 16);
+
+ tags.push(adtsFrame.finalize());
+
+ adtsFrame = new FlvTag(FlvTag.AUDIO_TAG, true);
+ // For audio, DTS is always the same as PTS. We want to set the DTS
+ // however so we can compare with video DTS to determine approximate
+ // packet order
+ adtsFrame.pts = pts;
+ adtsFrame.dts = pts;
+
+ adtsFrame.view.setUint16(adtsFrame.position, track.extraData);
+ adtsFrame.position += 2;
+ adtsFrame.length = Math.max(adtsFrame.length, adtsFrame.position);
+
+ tags.push(adtsFrame.finalize());
+ };
+
+ this.onVideoKeyFrame = function(pts) {
+ videoKeyFrames.push(pts);
+ };
+};
+AudioSegmentStream.prototype = new Stream();
+
+/**
+ * Store FlvTags for the h264 stream
+ * @param track {object} track metadata configuration
+ */
+VideoSegmentStream = function(track) {
+ var
+ nalUnits = [],
+ config,
+ h264Frame;
+ VideoSegmentStream.prototype.init.call(this);
+
+ this.finishFrame = function(tags, frame) {
+ if (!frame) {
+ return;
+ }
+ // Check if keyframe and the length of tags.
+ // This makes sure we write metadata on the first frame of a segment.
+ if (config && track && track.newMetadata &&
+ (frame.keyFrame || tags.length === 0)) {
+ // Push extra data on every IDR frame in case we did a stream change + seek
+ var metaTag = metaDataTag(config, frame.dts).finalize();
+ var extraTag = extraDataTag(track, frame.dts).finalize();
+
+ metaTag.metaDataTag = extraTag.metaDataTag = true;
+
+ tags.push(metaTag);
+ tags.push(extraTag);
+ track.newMetadata = false;
+
+ this.trigger('keyframe', frame.dts);
+ }
+
+ frame.endNalUnit();
+ tags.push(frame.finalize());
+ h264Frame = null;
+ };
+
+ this.push = function(data) {
+ collectTimelineInfo(track, data);
+
+ data.pts = Math.round(data.pts / 90);
+ data.dts = Math.round(data.dts / 90);
+
+ // buffer video until flush() is called
+ nalUnits.push(data);
+ };
+
+ this.flush = function() {
+ var
+ currentNal,
+ tags = new TagList();
+
+ // Throw away nalUnits at the start of the byte stream until we find
+ // the first AUD
+ while (nalUnits.length) {
+ if (nalUnits[0].nalUnitType === 'access_unit_delimiter_rbsp') {
+ break;
+ }
+ nalUnits.shift();
+ }
+
+ // return early if no video data has been observed
+ if (nalUnits.length === 0) {
+ this.trigger('done', 'VideoSegmentStream');
+ return;
+ }
+
+ while (nalUnits.length) {
+ currentNal = nalUnits.shift();
+
+ // record the track config
+ if (currentNal.nalUnitType === 'seq_parameter_set_rbsp') {
+ track.newMetadata = true;
+ config = currentNal.config;
+ track.width = config.width;
+ track.height = config.height;
+ track.sps = [currentNal.data];
+ track.profileIdc = config.profileIdc;
+ track.levelIdc = config.levelIdc;
+ track.profileCompatibility = config.profileCompatibility;
+ h264Frame.endNalUnit();
+ } else if (currentNal.nalUnitType === 'pic_parameter_set_rbsp') {
+ track.newMetadata = true;
+ track.pps = [currentNal.data];
+ h264Frame.endNalUnit();
+ } else if (currentNal.nalUnitType === 'access_unit_delimiter_rbsp') {
+ if (h264Frame) {
+ this.finishFrame(tags, h264Frame);
+ }
+ h264Frame = new FlvTag(FlvTag.VIDEO_TAG);
+ h264Frame.pts = currentNal.pts;
+ h264Frame.dts = currentNal.dts;
+ } else {
+ if (currentNal.nalUnitType === 'slice_layer_without_partitioning_rbsp_idr') {
+ // the current sample is a key frame
+ h264Frame.keyFrame = true;
+ }
+ h264Frame.endNalUnit();
+ }
+ h264Frame.startNalUnit();
+ h264Frame.writeBytes(currentNal.data);
+ }
+ if (h264Frame) {
+ this.finishFrame(tags, h264Frame);
+ }
+
+ this.trigger('data', {track: track, tags: tags.list});
+
+ // Continue with the flush process now
+ this.trigger('done', 'VideoSegmentStream');
+ };
+};
+
+VideoSegmentStream.prototype = new Stream();
+
+/**
+ * An object that incrementally transmuxes MPEG2 Trasport Stream
+ * chunks into an FLV.
+ */
+Transmuxer = function(options) {
+ var
+ self = this,
+
+ packetStream, parseStream, elementaryStream,
+ videoTimestampRolloverStream, audioTimestampRolloverStream,
+ timedMetadataTimestampRolloverStream,
+ adtsStream, h264Stream,
+ videoSegmentStream, audioSegmentStream, captionStream,
+ coalesceStream;
+
+ Transmuxer.prototype.init.call(this);
+
+ options = options || {};
+
+ // expose the metadata stream
+ this.metadataStream = new m2ts.MetadataStream();
+
+ options.metadataStream = this.metadataStream;
+
+ // set up the parsing pipeline
+ packetStream = new m2ts.TransportPacketStream();
+ parseStream = new m2ts.TransportParseStream();
+ elementaryStream = new m2ts.ElementaryStream();
+ videoTimestampRolloverStream = new m2ts.TimestampRolloverStream('video');
+ audioTimestampRolloverStream = new m2ts.TimestampRolloverStream('audio');
+ timedMetadataTimestampRolloverStream = new m2ts.TimestampRolloverStream('timed-metadata');
+
+ adtsStream = new AdtsStream();
+ h264Stream = new H264Stream();
+ coalesceStream = new CoalesceStream(options);
+
+ // disassemble MPEG2-TS packets into elementary streams
+ packetStream
+ .pipe(parseStream)
+ .pipe(elementaryStream);
+
+ // !!THIS ORDER IS IMPORTANT!!
+ // demux the streams
+ elementaryStream
+ .pipe(videoTimestampRolloverStream)
+ .pipe(h264Stream);
+ elementaryStream
+ .pipe(audioTimestampRolloverStream)
+ .pipe(adtsStream);
+
+ elementaryStream
+ .pipe(timedMetadataTimestampRolloverStream)
+ .pipe(this.metadataStream)
+ .pipe(coalesceStream);
+ // if CEA-708 parsing is available, hook up a caption stream
+ captionStream = new m2ts.CaptionStream();
+ h264Stream.pipe(captionStream)
+ .pipe(coalesceStream);
+
+ // hook up the segment streams once track metadata is delivered
+ elementaryStream.on('data', function(data) {
+ var i, videoTrack, audioTrack;
+
+ if (data.type === 'metadata') {
+ i = data.tracks.length;
+
+ // scan the tracks listed in the metadata
+ while (i--) {
+ if (data.tracks[i].type === 'video') {
+ videoTrack = data.tracks[i];
+ } else if (data.tracks[i].type === 'audio') {
+ audioTrack = data.tracks[i];
+ }
+ }
+
+ // hook up the video segment stream to the first track with h264 data
+ if (videoTrack && !videoSegmentStream) {
+ coalesceStream.numberOfTracks++;
+ videoSegmentStream = new VideoSegmentStream(videoTrack);
+
+ // Set up the final part of the video pipeline
+ h264Stream
+ .pipe(videoSegmentStream)
+ .pipe(coalesceStream);
+ }
+
+ if (audioTrack && !audioSegmentStream) {
+ // hook up the audio segment stream to the first track with aac data
+ coalesceStream.numberOfTracks++;
+ audioSegmentStream = new AudioSegmentStream(audioTrack);
+
+ // Set up the final part of the audio pipeline
+ adtsStream
+ .pipe(audioSegmentStream)
+ .pipe(coalesceStream);
+
+ if (videoSegmentStream) {
+ videoSegmentStream.on('keyframe', audioSegmentStream.onVideoKeyFrame);
+ }
+ }
+ }
+ });
+
+ // feed incoming data to the front of the parsing pipeline
+ this.push = function(data) {
+ packetStream.push(data);
+ };
+
+ // flush any buffered data
+ this.flush = function() {
+ // Start at the top of the pipeline and flush all pending work
+ packetStream.flush();
+ };
+
+ // Caption data has to be reset when seeking outside buffered range
+ this.resetCaptions = function() {
+ captionStream.reset();
+ };
+
+ // Re-emit any data coming from the coalesce stream to the outside world
+ coalesceStream.on('data', function(event) {
+ self.trigger('data', event);
+ });
+
+ // Let the consumer know we have finished flushing the entire pipeline
+ coalesceStream.on('done', function() {
+ self.trigger('done');
+ });
+};
+Transmuxer.prototype = new Stream();
+
+// forward compatibility
+module.exports = Transmuxer;
+
+},{"../codecs/adts.js":38,"../codecs/h264":39,"../m2ts/m2ts.js":53,"../utils/stream.js":77,"./coalesce-stream.js":44,"./flv-tag.js":46,"./tag-list.js":48}],50:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ */
+'use strict';
+
+var muxjs = {
+ codecs: require('./codecs'),
+ mp4: require('./mp4'),
+ flv: require('./flv'),
+ mp2t: require('./m2ts'),
+ partial: require('./partial')
+};
+
+// include all the tools when the full library is required
+muxjs.mp4.tools = require('./tools/mp4-inspector');
+muxjs.flv.tools = require('./tools/flv-inspector');
+muxjs.mp2t.tools = require('./tools/ts-inspector');
+
+
+module.exports = muxjs;
+
+},{"./codecs":40,"./flv":47,"./m2ts":52,"./mp4":61,"./partial":67,"./tools/flv-inspector":71,"./tools/mp4-inspector":72,"./tools/ts-inspector":73}],51:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ *
+ * Reads in-band caption information from a video elementary
+ * stream. Captions must follow the CEA-708 standard for injection
+ * into an MPEG-2 transport streams.
+ * @see https://en.wikipedia.org/wiki/CEA-708
+ * @see https://www.gpo.gov/fdsys/pkg/CFR-2007-title47-vol1/pdf/CFR-2007-title47-vol1-sec15-119.pdf
+ */
+
+'use strict';
+
+// -----------------
+// Link To Transport
+// -----------------
+
+var Stream = require('../utils/stream');
+var cea708Parser = require('../tools/caption-packet-parser');
+
+var CaptionStream = function() {
+
+ CaptionStream.prototype.init.call(this);
+
+ this.captionPackets_ = [];
+
+ this.ccStreams_ = [
+ new Cea608Stream(0, 0), // eslint-disable-line no-use-before-define
+ new Cea608Stream(0, 1), // eslint-disable-line no-use-before-define
+ new Cea608Stream(1, 0), // eslint-disable-line no-use-before-define
+ new Cea608Stream(1, 1) // eslint-disable-line no-use-before-define
+ ];
+
+ this.reset();
+
+ // forward data and done events from CCs to this CaptionStream
+ this.ccStreams_.forEach(function(cc) {
+ cc.on('data', this.trigger.bind(this, 'data'));
+ cc.on('partialdone', this.trigger.bind(this, 'partialdone'));
+ cc.on('done', this.trigger.bind(this, 'done'));
+ }, this);
+
+};
+
+CaptionStream.prototype = new Stream();
+CaptionStream.prototype.push = function(event) {
+ var sei, userData, newCaptionPackets;
+
+ // only examine SEI NALs
+ if (event.nalUnitType !== 'sei_rbsp') {
+ return;
+ }
+
+ // parse the sei
+ sei = cea708Parser.parseSei(event.escapedRBSP);
+
+ // ignore everything but user_data_registered_itu_t_t35
+ if (sei.payloadType !== cea708Parser.USER_DATA_REGISTERED_ITU_T_T35) {
+ return;
+ }
+
+ // parse out the user data payload
+ userData = cea708Parser.parseUserData(sei);
+
+ // ignore unrecognized userData
+ if (!userData) {
+ return;
+ }
+
+ // Sometimes, the same segment # will be downloaded twice. To stop the
+ // caption data from being processed twice, we track the latest dts we've
+ // received and ignore everything with a dts before that. However, since
+ // data for a specific dts can be split across packets on either side of
+ // a segment boundary, we need to make sure we *don't* ignore the packets
+ // from the *next* segment that have dts === this.latestDts_. By constantly
+ // tracking the number of packets received with dts === this.latestDts_, we
+ // know how many should be ignored once we start receiving duplicates.
+ if (event.dts < this.latestDts_) {
+ // We've started getting older data, so set the flag.
+ this.ignoreNextEqualDts_ = true;
+ return;
+ } else if ((event.dts === this.latestDts_) && (this.ignoreNextEqualDts_)) {
+ this.numSameDts_--;
+ if (!this.numSameDts_) {
+ // We've received the last duplicate packet, time to start processing again
+ this.ignoreNextEqualDts_ = false;
+ }
+ return;
+ }
+
+ // parse out CC data packets and save them for later
+ newCaptionPackets = cea708Parser.parseCaptionPackets(event.pts, userData);
+ this.captionPackets_ = this.captionPackets_.concat(newCaptionPackets);
+ if (this.latestDts_ !== event.dts) {
+ this.numSameDts_ = 0;
+ }
+ this.numSameDts_++;
+ this.latestDts_ = event.dts;
+};
+
+CaptionStream.prototype.flushCCStreams = function(flushType) {
+ this.ccStreams_.forEach(function(cc) {
+ return flushType === 'flush' ? cc.flush() : cc.partialFlush();
+ }, this);
+};
+
+CaptionStream.prototype.flushStream = function(flushType) {
+ // make sure we actually parsed captions before proceeding
+ if (!this.captionPackets_.length) {
+ this.flushCCStreams(flushType);
+ return;
+ }
+
+ // In Chrome, the Array#sort function is not stable so add a
+ // presortIndex that we can use to ensure we get a stable-sort
+ this.captionPackets_.forEach(function(elem, idx) {
+ elem.presortIndex = idx;
+ });
+
+ // sort caption byte-pairs based on their PTS values
+ this.captionPackets_.sort(function(a, b) {
+ if (a.pts === b.pts) {
+ return a.presortIndex - b.presortIndex;
+ }
+ return a.pts - b.pts;
+ });
+
+ this.captionPackets_.forEach(function(packet) {
+ if (packet.type < 2) {
+ // Dispatch packet to the right Cea608Stream
+ this.dispatchCea608Packet(packet);
+ }
+ // this is where an 'else' would go for a dispatching packets
+ // to a theoretical Cea708Stream that handles SERVICEn data
+ }, this);
+
+ this.captionPackets_.length = 0;
+ this.flushCCStreams(flushType);
+};
+
+CaptionStream.prototype.flush = function() {
+ return this.flushStream('flush');
+};
+
+// Only called if handling partial data
+CaptionStream.prototype.partialFlush = function() {
+ return this.flushStream('partialFlush');
+};
+
+CaptionStream.prototype.reset = function() {
+ this.latestDts_ = null;
+ this.ignoreNextEqualDts_ = false;
+ this.numSameDts_ = 0;
+ this.activeCea608Channel_ = [null, null];
+ this.ccStreams_.forEach(function(ccStream) {
+ ccStream.reset();
+ });
+};
+
+// From the CEA-608 spec:
+/*
+ * When XDS sub-packets are interleaved with other services, the end of each sub-packet shall be followed
+ * by a control pair to change to a different service. When any of the control codes from 0x10 to 0x1F is
+ * used to begin a control code pair, it indicates the return to captioning or Text data. The control code pair
+ * and subsequent data should then be processed according to the FCC rules. It may be necessary for the
+ * line 21 data encoder to automatically insert a control code pair (i.e. RCL, RU2, RU3, RU4, RDC, or RTD)
+ * to switch to captioning or Text.
+*/
+// With that in mind, we ignore any data between an XDS control code and a
+// subsequent closed-captioning control code.
+CaptionStream.prototype.dispatchCea608Packet = function(packet) {
+ // NOTE: packet.type is the CEA608 field
+ if (this.setsTextOrXDSActive(packet)) {
+ this.activeCea608Channel_[packet.type] = null;
+ } else if (this.setsChannel1Active(packet)) {
+ this.activeCea608Channel_[packet.type] = 0;
+ } else if (this.setsChannel2Active(packet)) {
+ this.activeCea608Channel_[packet.type] = 1;
+ }
+ if (this.activeCea608Channel_[packet.type] === null) {
+ // If we haven't received anything to set the active channel, or the
+ // packets are Text/XDS data, discard the data; we don't want jumbled
+ // captions
+ return;
+ }
+ this.ccStreams_[(packet.type << 1) + this.activeCea608Channel_[packet.type]].push(packet);
+};
+
+CaptionStream.prototype.setsChannel1Active = function(packet) {
+ return ((packet.ccData & 0x7800) === 0x1000);
+};
+CaptionStream.prototype.setsChannel2Active = function(packet) {
+ return ((packet.ccData & 0x7800) === 0x1800);
+};
+CaptionStream.prototype.setsTextOrXDSActive = function(packet) {
+ return ((packet.ccData & 0x7100) === 0x0100) ||
+ ((packet.ccData & 0x78fe) === 0x102a) ||
+ ((packet.ccData & 0x78fe) === 0x182a);
+};
+
+// ----------------------
+// Session to Application
+// ----------------------
+
+// This hash maps non-ASCII, special, and extended character codes to their
+// proper Unicode equivalent. The first keys that are only a single byte
+// are the non-standard ASCII characters, which simply map the CEA608 byte
+// to the standard ASCII/Unicode. The two-byte keys that follow are the CEA608
+// character codes, but have their MSB bitmasked with 0x03 so that a lookup
+// can be performed regardless of the field and data channel on which the
+// character code was received.
+var CHARACTER_TRANSLATION = {
+ 0x2a: 0xe1, // á
+ 0x5c: 0xe9, // é
+ 0x5e: 0xed, // Ã
+ 0x5f: 0xf3, // ó
+ 0x60: 0xfa, // ú
+ 0x7b: 0xe7, // ç
+ 0x7c: 0xf7, // ÷
+ 0x7d: 0xd1, // Ñ
+ 0x7e: 0xf1, // ñ
+ 0x7f: 0x2588, // â–ˆ
+ 0x0130: 0xae, // ®
+ 0x0131: 0xb0, // °
+ 0x0132: 0xbd, // ½
+ 0x0133: 0xbf, // ¿
+ 0x0134: 0x2122, // â„¢
+ 0x0135: 0xa2, // ¢
+ 0x0136: 0xa3, // £
+ 0x0137: 0x266a, // ♪
+ 0x0138: 0xe0, // Ã
+ 0x0139: 0xa0, //
+ 0x013a: 0xe8, // è
+ 0x013b: 0xe2, // â
+ 0x013c: 0xea, // ê
+ 0x013d: 0xee, // î
+ 0x013e: 0xf4, // ô
+ 0x013f: 0xfb, // û
+ 0x0220: 0xc1, // Ã
+ 0x0221: 0xc9, // É
+ 0x0222: 0xd3, // Ó
+ 0x0223: 0xda, // Ú
+ 0x0224: 0xdc, // Ü
+ 0x0225: 0xfc, // ü
+ 0x0226: 0x2018, // ‘
+ 0x0227: 0xa1, // ¡
+ 0x0228: 0x2a, // *
+ 0x0229: 0x27, // '
+ 0x022a: 0x2014, // —
+ 0x022b: 0xa9, // ©
+ 0x022c: 0x2120, // â„
+ 0x022d: 0x2022, // •
+ 0x022e: 0x201c, // “
+ 0x022f: 0x201d, // â€
+ 0x0230: 0xc0, // À
+ 0x0231: 0xc2, // Â
+ 0x0232: 0xc7, // Ç
+ 0x0233: 0xc8, // È
+ 0x0234: 0xca, // Ê
+ 0x0235: 0xcb, // Ë
+ 0x0236: 0xeb, // ë
+ 0x0237: 0xce, // ÃŽ
+ 0x0238: 0xcf, // Ã
+ 0x0239: 0xef, // ï
+ 0x023a: 0xd4, // Ô
+ 0x023b: 0xd9, // Ù
+ 0x023c: 0xf9, // ù
+ 0x023d: 0xdb, // Û
+ 0x023e: 0xab, // «
+ 0x023f: 0xbb, // »
+ 0x0320: 0xc3, // Ã
+ 0x0321: 0xe3, // ã
+ 0x0322: 0xcd, // Ã
+ 0x0323: 0xcc, // Ì
+ 0x0324: 0xec, // ì
+ 0x0325: 0xd2, // Ã’
+ 0x0326: 0xf2, // ò
+ 0x0327: 0xd5, // Õ
+ 0x0328: 0xf5, // õ
+ 0x0329: 0x7b, // {
+ 0x032a: 0x7d, // }
+ 0x032b: 0x5c, // \
+ 0x032c: 0x5e, // ^
+ 0x032d: 0x5f, // _
+ 0x032e: 0x7c, // |
+ 0x032f: 0x7e, // ~
+ 0x0330: 0xc4, // Ä
+ 0x0331: 0xe4, // ä
+ 0x0332: 0xd6, // Ö
+ 0x0333: 0xf6, // ö
+ 0x0334: 0xdf, // ß
+ 0x0335: 0xa5, // ¥
+ 0x0336: 0xa4, // ¤
+ 0x0337: 0x2502, // │
+ 0x0338: 0xc5, // Ã…
+ 0x0339: 0xe5, // å
+ 0x033a: 0xd8, // Ø
+ 0x033b: 0xf8, // ø
+ 0x033c: 0x250c, // ┌
+ 0x033d: 0x2510, // â”
+ 0x033e: 0x2514, // â””
+ 0x033f: 0x2518 // ┘
+};
+
+var getCharFromCode = function(code) {
+ if (code === null) {
+ return '';
+ }
+ code = CHARACTER_TRANSLATION[code] || code;
+ return String.fromCharCode(code);
+};
+
+// the index of the last row in a CEA-608 display buffer
+var BOTTOM_ROW = 14;
+
+// This array is used for mapping PACs -> row #, since there's no way of
+// getting it through bit logic.
+var ROWS = [0x1100, 0x1120, 0x1200, 0x1220, 0x1500, 0x1520, 0x1600, 0x1620,
+ 0x1700, 0x1720, 0x1000, 0x1300, 0x1320, 0x1400, 0x1420];
+
+// CEA-608 captions are rendered onto a 34x15 matrix of character
+// cells. The "bottom" row is the last element in the outer array.
+var createDisplayBuffer = function() {
+ var result = [], i = BOTTOM_ROW + 1;
+ while (i--) {
+ result.push('');
+ }
+ return result;
+};
+
+var Cea608Stream = function(field, dataChannel) {
+ Cea608Stream.prototype.init.call(this);
+
+ this.field_ = field || 0;
+ this.dataChannel_ = dataChannel || 0;
+
+ this.name_ = 'CC' + (((this.field_ << 1) | this.dataChannel_) + 1);
+
+ this.setConstants();
+ this.reset();
+
+ this.push = function(packet) {
+ var data, swap, char0, char1, text;
+ // remove the parity bits
+ data = packet.ccData & 0x7f7f;
+
+ // ignore duplicate control codes; the spec demands they're sent twice
+ if (data === this.lastControlCode_) {
+ this.lastControlCode_ = null;
+ return;
+ }
+
+ // Store control codes
+ if ((data & 0xf000) === 0x1000) {
+ this.lastControlCode_ = data;
+ } else if (data !== this.PADDING_) {
+ this.lastControlCode_ = null;
+ }
+
+ char0 = data >>> 8;
+ char1 = data & 0xff;
+
+ if (data === this.PADDING_) {
+ return;
+
+ } else if (data === this.RESUME_CAPTION_LOADING_) {
+ this.mode_ = 'popOn';
+
+ } else if (data === this.END_OF_CAPTION_) {
+ // If an EOC is received while in paint-on mode, the displayed caption
+ // text should be swapped to non-displayed memory as if it was a pop-on
+ // caption. Because of that, we should explicitly switch back to pop-on
+ // mode
+ this.mode_ = 'popOn';
+ this.clearFormatting(packet.pts);
+ // if a caption was being displayed, it's gone now
+ this.flushDisplayed(packet.pts);
+
+ // flip memory
+ swap = this.displayed_;
+ this.displayed_ = this.nonDisplayed_;
+ this.nonDisplayed_ = swap;
+
+ // start measuring the time to display the caption
+ this.startPts_ = packet.pts;
+
+ } else if (data === this.ROLL_UP_2_ROWS_) {
+ this.rollUpRows_ = 2;
+ this.setRollUp(packet.pts);
+ } else if (data === this.ROLL_UP_3_ROWS_) {
+ this.rollUpRows_ = 3;
+ this.setRollUp(packet.pts);
+ } else if (data === this.ROLL_UP_4_ROWS_) {
+ this.rollUpRows_ = 4;
+ this.setRollUp(packet.pts);
+ } else if (data === this.CARRIAGE_RETURN_) {
+ this.clearFormatting(packet.pts);
+ this.flushDisplayed(packet.pts);
+ this.shiftRowsUp_();
+ this.startPts_ = packet.pts;
+
+ } else if (data === this.BACKSPACE_) {
+ if (this.mode_ === 'popOn') {
+ this.nonDisplayed_[this.row_] = this.nonDisplayed_[this.row_].slice(0, -1);
+ } else {
+ this.displayed_[this.row_] = this.displayed_[this.row_].slice(0, -1);
+ }
+ } else if (data === this.ERASE_DISPLAYED_MEMORY_) {
+ this.flushDisplayed(packet.pts);
+ this.displayed_ = createDisplayBuffer();
+ } else if (data === this.ERASE_NON_DISPLAYED_MEMORY_) {
+ this.nonDisplayed_ = createDisplayBuffer();
+
+ } else if (data === this.RESUME_DIRECT_CAPTIONING_) {
+ if (this.mode_ !== 'paintOn') {
+ // NOTE: This should be removed when proper caption positioning is
+ // implemented
+ this.flushDisplayed(packet.pts);
+ this.displayed_ = createDisplayBuffer();
+ }
+ this.mode_ = 'paintOn';
+ this.startPts_ = packet.pts;
+
+ // Append special characters to caption text
+ } else if (this.isSpecialCharacter(char0, char1)) {
+ // Bitmask char0 so that we can apply character transformations
+ // regardless of field and data channel.
+ // Then byte-shift to the left and OR with char1 so we can pass the
+ // entire character code to `getCharFromCode`.
+ char0 = (char0 & 0x03) << 8;
+ text = getCharFromCode(char0 | char1);
+ this[this.mode_](packet.pts, text);
+ this.column_++;
+
+ // Append extended characters to caption text
+ } else if (this.isExtCharacter(char0, char1)) {
+ // Extended characters always follow their "non-extended" equivalents.
+ // IE if a "è" is desired, you'll always receive "eè"; non-compliant
+ // decoders are supposed to drop the "è", while compliant decoders
+ // backspace the "e" and insert "è".
+
+ // Delete the previous character
+ if (this.mode_ === 'popOn') {
+ this.nonDisplayed_[this.row_] = this.nonDisplayed_[this.row_].slice(0, -1);
+ } else {
+ this.displayed_[this.row_] = this.displayed_[this.row_].slice(0, -1);
+ }
+
+ // Bitmask char0 so that we can apply character transformations
+ // regardless of field and data channel.
+ // Then byte-shift to the left and OR with char1 so we can pass the
+ // entire character code to `getCharFromCode`.
+ char0 = (char0 & 0x03) << 8;
+ text = getCharFromCode(char0 | char1);
+ this[this.mode_](packet.pts, text);
+ this.column_++;
+
+ // Process mid-row codes
+ } else if (this.isMidRowCode(char0, char1)) {
+ // Attributes are not additive, so clear all formatting
+ this.clearFormatting(packet.pts);
+
+ // According to the standard, mid-row codes
+ // should be replaced with spaces, so add one now
+ this[this.mode_](packet.pts, ' ');
+ this.column_++;
+
+ if ((char1 & 0xe) === 0xe) {
+ this.addFormatting(packet.pts, ['i']);
+ }
+
+ if ((char1 & 0x1) === 0x1) {
+ this.addFormatting(packet.pts, ['u']);
+ }
+
+ // Detect offset control codes and adjust cursor
+ } else if (this.isOffsetControlCode(char0, char1)) {
+ // Cursor position is set by indent PAC (see below) in 4-column
+ // increments, with an additional offset code of 1-3 to reach any
+ // of the 32 columns specified by CEA-608. So all we need to do
+ // here is increment the column cursor by the given offset.
+ this.column_ += (char1 & 0x03);
+
+ // Detect PACs (Preamble Address Codes)
+ } else if (this.isPAC(char0, char1)) {
+
+ // There's no logic for PAC -> row mapping, so we have to just
+ // find the row code in an array and use its index :(
+ var row = ROWS.indexOf(data & 0x1f20);
+
+ // Configure the caption window if we're in roll-up mode
+ if (this.mode_ === 'rollUp') {
+ // This implies that the base row is incorrectly set.
+ // As per the recommendation in CEA-608(Base Row Implementation), defer to the number
+ // of roll-up rows set.
+ if (row - this.rollUpRows_ + 1 < 0) {
+ row = this.rollUpRows_ - 1;
+ }
+
+ this.setRollUp(packet.pts, row);
+ }
+
+ if (row !== this.row_) {
+ // formatting is only persistent for current row
+ this.clearFormatting(packet.pts);
+ this.row_ = row;
+ }
+ // All PACs can apply underline, so detect and apply
+ // (All odd-numbered second bytes set underline)
+ if ((char1 & 0x1) && (this.formatting_.indexOf('u') === -1)) {
+ this.addFormatting(packet.pts, ['u']);
+ }
+
+ if ((data & 0x10) === 0x10) {
+ // We've got an indent level code. Each successive even number
+ // increments the column cursor by 4, so we can get the desired
+ // column position by bit-shifting to the right (to get n/2)
+ // and multiplying by 4.
+ this.column_ = ((data & 0xe) >> 1) * 4;
+ }
+
+ if (this.isColorPAC(char1)) {
+ // it's a color code, though we only support white, which
+ // can be either normal or italicized. white italics can be
+ // either 0x4e or 0x6e depending on the row, so we just
+ // bitwise-and with 0xe to see if italics should be turned on
+ if ((char1 & 0xe) === 0xe) {
+ this.addFormatting(packet.pts, ['i']);
+ }
+ }
+
+ // We have a normal character in char0, and possibly one in char1
+ } else if (this.isNormalChar(char0)) {
+ if (char1 === 0x00) {
+ char1 = null;
+ }
+ text = getCharFromCode(char0);
+ text += getCharFromCode(char1);
+ this[this.mode_](packet.pts, text);
+ this.column_ += text.length;
+
+ } // finish data processing
+
+ };
+};
+Cea608Stream.prototype = new Stream();
+// Trigger a cue point that captures the current state of the
+// display buffer
+Cea608Stream.prototype.flushDisplayed = function(pts) {
+ var content = this.displayed_
+ // remove spaces from the start and end of the string
+ .map(function(row) {
+ try {
+ return row.trim();
+ } catch (e) {
+ // Ordinarily, this shouldn't happen. However, caption
+ // parsing errors should not throw exceptions and
+ // break playback.
+ // eslint-disable-next-line no-console
+ console.error('Skipping malformed caption.');
+ return '';
+ }
+ })
+ // combine all text rows to display in one cue
+ .join('\n')
+ // and remove blank rows from the start and end, but not the middle
+ .replace(/^\n+|\n+$/g, '');
+
+ if (content.length) {
+ this.trigger('data', {
+ startPts: this.startPts_,
+ endPts: pts,
+ text: content,
+ stream: this.name_
+ });
+ }
+};
+
+/**
+ * Zero out the data, used for startup and on seek
+ */
+Cea608Stream.prototype.reset = function() {
+ this.mode_ = 'popOn';
+ // When in roll-up mode, the index of the last row that will
+ // actually display captions. If a caption is shifted to a row
+ // with a lower index than this, it is cleared from the display
+ // buffer
+ this.topRow_ = 0;
+ this.startPts_ = 0;
+ this.displayed_ = createDisplayBuffer();
+ this.nonDisplayed_ = createDisplayBuffer();
+ this.lastControlCode_ = null;
+
+ // Track row and column for proper line-breaking and spacing
+ this.column_ = 0;
+ this.row_ = BOTTOM_ROW;
+ this.rollUpRows_ = 2;
+
+ // This variable holds currently-applied formatting
+ this.formatting_ = [];
+};
+
+/**
+ * Sets up control code and related constants for this instance
+ */
+Cea608Stream.prototype.setConstants = function() {
+ // The following attributes have these uses:
+ // ext_ : char0 for mid-row codes, and the base for extended
+ // chars (ext_+0, ext_+1, and ext_+2 are char0s for
+ // extended codes)
+ // control_: char0 for control codes, except byte-shifted to the
+ // left so that we can do this.control_ | CONTROL_CODE
+ // offset_: char0 for tab offset codes
+ //
+ // It's also worth noting that control codes, and _only_ control codes,
+ // differ between field 1 and field2. Field 2 control codes are always
+ // their field 1 value plus 1. That's why there's the "| field" on the
+ // control value.
+ if (this.dataChannel_ === 0) {
+ this.BASE_ = 0x10;
+ this.EXT_ = 0x11;
+ this.CONTROL_ = (0x14 | this.field_) << 8;
+ this.OFFSET_ = 0x17;
+ } else if (this.dataChannel_ === 1) {
+ this.BASE_ = 0x18;
+ this.EXT_ = 0x19;
+ this.CONTROL_ = (0x1c | this.field_) << 8;
+ this.OFFSET_ = 0x1f;
+ }
+
+ // Constants for the LSByte command codes recognized by Cea608Stream. This
+ // list is not exhaustive. For a more comprehensive listing and semantics see
+ // http://www.gpo.gov/fdsys/pkg/CFR-2010-title47-vol1/pdf/CFR-2010-title47-vol1-sec15-119.pdf
+ // Padding
+ this.PADDING_ = 0x0000;
+ // Pop-on Mode
+ this.RESUME_CAPTION_LOADING_ = this.CONTROL_ | 0x20;
+ this.END_OF_CAPTION_ = this.CONTROL_ | 0x2f;
+ // Roll-up Mode
+ this.ROLL_UP_2_ROWS_ = this.CONTROL_ | 0x25;
+ this.ROLL_UP_3_ROWS_ = this.CONTROL_ | 0x26;
+ this.ROLL_UP_4_ROWS_ = this.CONTROL_ | 0x27;
+ this.CARRIAGE_RETURN_ = this.CONTROL_ | 0x2d;
+ // paint-on mode
+ this.RESUME_DIRECT_CAPTIONING_ = this.CONTROL_ | 0x29;
+ // Erasure
+ this.BACKSPACE_ = this.CONTROL_ | 0x21;
+ this.ERASE_DISPLAYED_MEMORY_ = this.CONTROL_ | 0x2c;
+ this.ERASE_NON_DISPLAYED_MEMORY_ = this.CONTROL_ | 0x2e;
+};
+
+/**
+ * Detects if the 2-byte packet data is a special character
+ *
+ * Special characters have a second byte in the range 0x30 to 0x3f,
+ * with the first byte being 0x11 (for data channel 1) or 0x19 (for
+ * data channel 2).
+ *
+ * @param {Integer} char0 The first byte
+ * @param {Integer} char1 The second byte
+ * @return {Boolean} Whether the 2 bytes are an special character
+ */
+Cea608Stream.prototype.isSpecialCharacter = function(char0, char1) {
+ return (char0 === this.EXT_ && char1 >= 0x30 && char1 <= 0x3f);
+};
+
+/**
+ * Detects if the 2-byte packet data is an extended character
+ *
+ * Extended characters have a second byte in the range 0x20 to 0x3f,
+ * with the first byte being 0x12 or 0x13 (for data channel 1) or
+ * 0x1a or 0x1b (for data channel 2).
+ *
+ * @param {Integer} char0 The first byte
+ * @param {Integer} char1 The second byte
+ * @return {Boolean} Whether the 2 bytes are an extended character
+ */
+Cea608Stream.prototype.isExtCharacter = function(char0, char1) {
+ return ((char0 === (this.EXT_ + 1) || char0 === (this.EXT_ + 2)) &&
+ (char1 >= 0x20 && char1 <= 0x3f));
+};
+
+/**
+ * Detects if the 2-byte packet is a mid-row code
+ *
+ * Mid-row codes have a second byte in the range 0x20 to 0x2f, with
+ * the first byte being 0x11 (for data channel 1) or 0x19 (for data
+ * channel 2).
+ *
+ * @param {Integer} char0 The first byte
+ * @param {Integer} char1 The second byte
+ * @return {Boolean} Whether the 2 bytes are a mid-row code
+ */
+Cea608Stream.prototype.isMidRowCode = function(char0, char1) {
+ return (char0 === this.EXT_ && (char1 >= 0x20 && char1 <= 0x2f));
+};
+
+/**
+ * Detects if the 2-byte packet is an offset control code
+ *
+ * Offset control codes have a second byte in the range 0x21 to 0x23,
+ * with the first byte being 0x17 (for data channel 1) or 0x1f (for
+ * data channel 2).
+ *
+ * @param {Integer} char0 The first byte
+ * @param {Integer} char1 The second byte
+ * @return {Boolean} Whether the 2 bytes are an offset control code
+ */
+Cea608Stream.prototype.isOffsetControlCode = function(char0, char1) {
+ return (char0 === this.OFFSET_ && (char1 >= 0x21 && char1 <= 0x23));
+};
+
+/**
+ * Detects if the 2-byte packet is a Preamble Address Code
+ *
+ * PACs have a first byte in the range 0x10 to 0x17 (for data channel 1)
+ * or 0x18 to 0x1f (for data channel 2), with the second byte in the
+ * range 0x40 to 0x7f.
+ *
+ * @param {Integer} char0 The first byte
+ * @param {Integer} char1 The second byte
+ * @return {Boolean} Whether the 2 bytes are a PAC
+ */
+Cea608Stream.prototype.isPAC = function(char0, char1) {
+ return (char0 >= this.BASE_ && char0 < (this.BASE_ + 8) &&
+ (char1 >= 0x40 && char1 <= 0x7f));
+};
+
+/**
+ * Detects if a packet's second byte is in the range of a PAC color code
+ *
+ * PAC color codes have the second byte be in the range 0x40 to 0x4f, or
+ * 0x60 to 0x6f.
+ *
+ * @param {Integer} char1 The second byte
+ * @return {Boolean} Whether the byte is a color PAC
+ */
+Cea608Stream.prototype.isColorPAC = function(char1) {
+ return ((char1 >= 0x40 && char1 <= 0x4f) || (char1 >= 0x60 && char1 <= 0x7f));
+};
+
+/**
+ * Detects if a single byte is in the range of a normal character
+ *
+ * Normal text bytes are in the range 0x20 to 0x7f.
+ *
+ * @param {Integer} char The byte
+ * @return {Boolean} Whether the byte is a normal character
+ */
+Cea608Stream.prototype.isNormalChar = function(char) {
+ return (char >= 0x20 && char <= 0x7f);
+};
+
+/**
+ * Configures roll-up
+ *
+ * @param {Integer} pts Current PTS
+ * @param {Integer} newBaseRow Used by PACs to slide the current window to
+ * a new position
+ */
+Cea608Stream.prototype.setRollUp = function(pts, newBaseRow) {
+ // Reset the base row to the bottom row when switching modes
+ if (this.mode_ !== 'rollUp') {
+ this.row_ = BOTTOM_ROW;
+ this.mode_ = 'rollUp';
+ // Spec says to wipe memories when switching to roll-up
+ this.flushDisplayed(pts);
+ this.nonDisplayed_ = createDisplayBuffer();
+ this.displayed_ = createDisplayBuffer();
+ }
+
+ if (newBaseRow !== undefined && newBaseRow !== this.row_) {
+ // move currently displayed captions (up or down) to the new base row
+ for (var i = 0; i < this.rollUpRows_; i++) {
+ this.displayed_[newBaseRow - i] = this.displayed_[this.row_ - i];
+ this.displayed_[this.row_ - i] = '';
+ }
+ }
+
+ if (newBaseRow === undefined) {
+ newBaseRow = this.row_;
+ }
+
+ this.topRow_ = newBaseRow - this.rollUpRows_ + 1;
+};
+
+// Adds the opening HTML tag for the passed character to the caption text,
+// and keeps track of it for later closing
+Cea608Stream.prototype.addFormatting = function(pts, format) {
+ this.formatting_ = this.formatting_.concat(format);
+ var text = format.reduce(function(text, format) {
+ return text + '<' + format + '>';
+ }, '');
+ this[this.mode_](pts, text);
+};
+
+// Adds HTML closing tags for current formatting to caption text and
+// clears remembered formatting
+Cea608Stream.prototype.clearFormatting = function(pts) {
+ if (!this.formatting_.length) {
+ return;
+ }
+ var text = this.formatting_.reverse().reduce(function(text, format) {
+ return text + '</' + format + '>';
+ }, '');
+ this.formatting_ = [];
+ this[this.mode_](pts, text);
+};
+
+// Mode Implementations
+Cea608Stream.prototype.popOn = function(pts, text) {
+ var baseRow = this.nonDisplayed_[this.row_];
+
+ // buffer characters
+ baseRow += text;
+ this.nonDisplayed_[this.row_] = baseRow;
+};
+
+Cea608Stream.prototype.rollUp = function(pts, text) {
+ var baseRow = this.displayed_[this.row_];
+
+ baseRow += text;
+ this.displayed_[this.row_] = baseRow;
+
+};
+
+Cea608Stream.prototype.shiftRowsUp_ = function() {
+ var i;
+ // clear out inactive rows
+ for (i = 0; i < this.topRow_; i++) {
+ this.displayed_[i] = '';
+ }
+ for (i = this.row_ + 1; i < BOTTOM_ROW + 1; i++) {
+ this.displayed_[i] = '';
+ }
+ // shift displayed rows up
+ for (i = this.topRow_; i < this.row_; i++) {
+ this.displayed_[i] = this.displayed_[i + 1];
+ }
+ // clear out the bottom row
+ this.displayed_[this.row_] = '';
+};
+
+Cea608Stream.prototype.paintOn = function(pts, text) {
+ var baseRow = this.displayed_[this.row_];
+
+ baseRow += text;
+ this.displayed_[this.row_] = baseRow;
+};
+
+// exports
+module.exports = {
+ CaptionStream: CaptionStream,
+ Cea608Stream: Cea608Stream
+};
+
+},{"../tools/caption-packet-parser":70,"../utils/stream":77}],52:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ */
+module.exports = require('./m2ts');
+
+},{"./m2ts":53}],53:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ *
+ * A stream-based mp2t to mp4 converter. This utility can be used to
+ * deliver mp4s to a SourceBuffer on platforms that support native
+ * Media Source Extensions.
+ */
+'use strict';
+var Stream = require('../utils/stream.js'),
+ CaptionStream = require('./caption-stream'),
+ StreamTypes = require('./stream-types'),
+ TimestampRolloverStream = require('./timestamp-rollover-stream').TimestampRolloverStream;
+
+// object types
+var TransportPacketStream, TransportParseStream, ElementaryStream;
+
+// constants
+var
+ MP2T_PACKET_LENGTH = 188, // bytes
+ SYNC_BYTE = 0x47;
+
+/**
+ * Splits an incoming stream of binary data into MPEG-2 Transport
+ * Stream packets.
+ */
+TransportPacketStream = function() {
+ var
+ buffer = new Uint8Array(MP2T_PACKET_LENGTH),
+ bytesInBuffer = 0;
+
+ TransportPacketStream.prototype.init.call(this);
+
+ // Deliver new bytes to the stream.
+
+ /**
+ * Split a stream of data into M2TS packets
+ **/
+ this.push = function(bytes) {
+ var
+ startIndex = 0,
+ endIndex = MP2T_PACKET_LENGTH,
+ everything;
+
+ // If there are bytes remaining from the last segment, prepend them to the
+ // bytes that were pushed in
+ if (bytesInBuffer) {
+ everything = new Uint8Array(bytes.byteLength + bytesInBuffer);
+ everything.set(buffer.subarray(0, bytesInBuffer));
+ everything.set(bytes, bytesInBuffer);
+ bytesInBuffer = 0;
+ } else {
+ everything = bytes;
+ }
+
+ // While we have enough data for a packet
+ while (endIndex < everything.byteLength) {
+ // Look for a pair of start and end sync bytes in the data..
+ if (everything[startIndex] === SYNC_BYTE && everything[endIndex] === SYNC_BYTE) {
+ // We found a packet so emit it and jump one whole packet forward in
+ // the stream
+ this.trigger('data', everything.subarray(startIndex, endIndex));
+ startIndex += MP2T_PACKET_LENGTH;
+ endIndex += MP2T_PACKET_LENGTH;
+ continue;
+ }
+ // If we get here, we have somehow become de-synchronized and we need to step
+ // forward one byte at a time until we find a pair of sync bytes that denote
+ // a packet
+ startIndex++;
+ endIndex++;
+ }
+
+ // If there was some data left over at the end of the segment that couldn't
+ // possibly be a whole packet, keep it because it might be the start of a packet
+ // that continues in the next segment
+ if (startIndex < everything.byteLength) {
+ buffer.set(everything.subarray(startIndex), 0);
+ bytesInBuffer = everything.byteLength - startIndex;
+ }
+ };
+
+ /**
+ * Passes identified M2TS packets to the TransportParseStream to be parsed
+ **/
+ this.flush = function() {
+ // If the buffer contains a whole packet when we are being flushed, emit it
+ // and empty the buffer. Otherwise hold onto the data because it may be
+ // important for decoding the next segment
+ if (bytesInBuffer === MP2T_PACKET_LENGTH && buffer[0] === SYNC_BYTE) {
+ this.trigger('data', buffer);
+ bytesInBuffer = 0;
+ }
+ this.trigger('done');
+ };
+
+ this.endTimeline = function() {
+ this.flush();
+ this.trigger('endedtimeline');
+ };
+
+ this.reset = function() {
+ bytesInBuffer = 0;
+ this.trigger('reset');
+ };
+};
+TransportPacketStream.prototype = new Stream();
+
+/**
+ * Accepts an MP2T TransportPacketStream and emits data events with parsed
+ * forms of the individual transport stream packets.
+ */
+TransportParseStream = function() {
+ var parsePsi, parsePat, parsePmt, self;
+ TransportParseStream.prototype.init.call(this);
+ self = this;
+
+ this.packetsWaitingForPmt = [];
+ this.programMapTable = undefined;
+
+ parsePsi = function(payload, psi) {
+ var offset = 0;
+
+ // PSI packets may be split into multiple sections and those
+ // sections may be split into multiple packets. If a PSI
+ // section starts in this packet, the payload_unit_start_indicator
+ // will be true and the first byte of the payload will indicate
+ // the offset from the current position to the start of the
+ // section.
+ if (psi.payloadUnitStartIndicator) {
+ offset += payload[offset] + 1;
+ }
+
+ if (psi.type === 'pat') {
+ parsePat(payload.subarray(offset), psi);
+ } else {
+ parsePmt(payload.subarray(offset), psi);
+ }
+ };
+
+ parsePat = function(payload, pat) {
+ pat.section_number = payload[7]; // eslint-disable-line camelcase
+ pat.last_section_number = payload[8]; // eslint-disable-line camelcase
+
+ // skip the PSI header and parse the first PMT entry
+ self.pmtPid = (payload[10] & 0x1F) << 8 | payload[11];
+ pat.pmtPid = self.pmtPid;
+ };
+
+ /**
+ * Parse out the relevant fields of a Program Map Table (PMT).
+ * @param payload {Uint8Array} the PMT-specific portion of an MP2T
+ * packet. The first byte in this array should be the table_id
+ * field.
+ * @param pmt {object} the object that should be decorated with
+ * fields parsed from the PMT.
+ */
+ parsePmt = function(payload, pmt) {
+ var sectionLength, tableEnd, programInfoLength, offset;
+
+ // PMTs can be sent ahead of the time when they should actually
+ // take effect. We don't believe this should ever be the case
+ // for HLS but we'll ignore "forward" PMT declarations if we see
+ // them. Future PMT declarations have the current_next_indicator
+ // set to zero.
+ if (!(payload[5] & 0x01)) {
+ return;
+ }
+
+ // overwrite any existing program map table
+ self.programMapTable = {
+ video: null,
+ audio: null,
+ 'timed-metadata': {}
+ };
+
+ // the mapping table ends at the end of the current section
+ sectionLength = (payload[1] & 0x0f) << 8 | payload[2];
+ tableEnd = 3 + sectionLength - 4;
+
+ // to determine where the table is, we have to figure out how
+ // long the program info descriptors are
+ programInfoLength = (payload[10] & 0x0f) << 8 | payload[11];
+
+ // advance the offset to the first entry in the mapping table
+ offset = 12 + programInfoLength;
+ while (offset < tableEnd) {
+ var streamType = payload[offset];
+ var pid = (payload[offset + 1] & 0x1F) << 8 | payload[offset + 2];
+
+ // only map a single elementary_pid for audio and video stream types
+ // TODO: should this be done for metadata too? for now maintain behavior of
+ // multiple metadata streams
+ if (streamType === StreamTypes.H264_STREAM_TYPE &&
+ self.programMapTable.video === null) {
+ self.programMapTable.video = pid;
+ } else if (streamType === StreamTypes.ADTS_STREAM_TYPE &&
+ self.programMapTable.audio === null) {
+ self.programMapTable.audio = pid;
+ } else if (streamType === StreamTypes.METADATA_STREAM_TYPE) {
+ // map pid to stream type for metadata streams
+ self.programMapTable['timed-metadata'][pid] = streamType;
+ }
+
+ // move to the next table entry
+ // skip past the elementary stream descriptors, if present
+ offset += ((payload[offset + 3] & 0x0F) << 8 | payload[offset + 4]) + 5;
+ }
+
+ // record the map on the packet as well
+ pmt.programMapTable = self.programMapTable;
+ };
+
+ /**
+ * Deliver a new MP2T packet to the next stream in the pipeline.
+ */
+ this.push = function(packet) {
+ var
+ result = {},
+ offset = 4;
+
+ result.payloadUnitStartIndicator = !!(packet[1] & 0x40);
+
+ // pid is a 13-bit field starting at the last bit of packet[1]
+ result.pid = packet[1] & 0x1f;
+ result.pid <<= 8;
+ result.pid |= packet[2];
+
+ // if an adaption field is present, its length is specified by the
+ // fifth byte of the TS packet header. The adaptation field is
+ // used to add stuffing to PES packets that don't fill a complete
+ // TS packet, and to specify some forms of timing and control data
+ // that we do not currently use.
+ if (((packet[3] & 0x30) >>> 4) > 0x01) {
+ offset += packet[offset] + 1;
+ }
+
+ // parse the rest of the packet based on the type
+ if (result.pid === 0) {
+ result.type = 'pat';
+ parsePsi(packet.subarray(offset), result);
+ this.trigger('data', result);
+ } else if (result.pid === this.pmtPid) {
+ result.type = 'pmt';
+ parsePsi(packet.subarray(offset), result);
+ this.trigger('data', result);
+
+ // if there are any packets waiting for a PMT to be found, process them now
+ while (this.packetsWaitingForPmt.length) {
+ this.processPes_.apply(this, this.packetsWaitingForPmt.shift());
+ }
+ } else if (this.programMapTable === undefined) {
+ // When we have not seen a PMT yet, defer further processing of
+ // PES packets until one has been parsed
+ this.packetsWaitingForPmt.push([packet, offset, result]);
+ } else {
+ this.processPes_(packet, offset, result);
+ }
+ };
+
+ this.processPes_ = function(packet, offset, result) {
+ // set the appropriate stream type
+ if (result.pid === this.programMapTable.video) {
+ result.streamType = StreamTypes.H264_STREAM_TYPE;
+ } else if (result.pid === this.programMapTable.audio) {
+ result.streamType = StreamTypes.ADTS_STREAM_TYPE;
+ } else {
+ // if not video or audio, it is timed-metadata or unknown
+ // if unknown, streamType will be undefined
+ result.streamType = this.programMapTable['timed-metadata'][result.pid];
+ }
+
+ result.type = 'pes';
+ result.data = packet.subarray(offset);
+ this.trigger('data', result);
+ };
+};
+TransportParseStream.prototype = new Stream();
+TransportParseStream.STREAM_TYPES = {
+ h264: 0x1b,
+ adts: 0x0f
+};
+
+/**
+ * Reconsistutes program elementary stream (PES) packets from parsed
+ * transport stream packets. That is, if you pipe an
+ * mp2t.TransportParseStream into a mp2t.ElementaryStream, the output
+ * events will be events which capture the bytes for individual PES
+ * packets plus relevant metadata that has been extracted from the
+ * container.
+ */
+ElementaryStream = function() {
+ var
+ self = this,
+ // PES packet fragments
+ video = {
+ data: [],
+ size: 0
+ },
+ audio = {
+ data: [],
+ size: 0
+ },
+ timedMetadata = {
+ data: [],
+ size: 0
+ },
+ programMapTable,
+ parsePes = function(payload, pes) {
+ var ptsDtsFlags;
+
+ // get the packet length, this will be 0 for video
+ pes.packetLength = 6 + ((payload[4] << 8) | payload[5]);
+
+ // find out if this packets starts a new keyframe
+ pes.dataAlignmentIndicator = (payload[6] & 0x04) !== 0;
+ // PES packets may be annotated with a PTS value, or a PTS value
+ // and a DTS value. Determine what combination of values is
+ // available to work with.
+ ptsDtsFlags = payload[7];
+
+ // PTS and DTS are normally stored as a 33-bit number. Javascript
+ // performs all bitwise operations on 32-bit integers but javascript
+ // supports a much greater range (52-bits) of integer using standard
+ // mathematical operations.
+ // We construct a 31-bit value using bitwise operators over the 31
+ // most significant bits and then multiply by 4 (equal to a left-shift
+ // of 2) before we add the final 2 least significant bits of the
+ // timestamp (equal to an OR.)
+ if (ptsDtsFlags & 0xC0) {
+ // the PTS and DTS are not written out directly. For information
+ // on how they are encoded, see
+ // http://dvd.sourceforge.net/dvdinfo/pes-hdr.html
+ pes.pts = (payload[9] & 0x0E) << 27 |
+ (payload[10] & 0xFF) << 20 |
+ (payload[11] & 0xFE) << 12 |
+ (payload[12] & 0xFF) << 5 |
+ (payload[13] & 0xFE) >>> 3;
+ pes.pts *= 4; // Left shift by 2
+ pes.pts += (payload[13] & 0x06) >>> 1; // OR by the two LSBs
+ pes.dts = pes.pts;
+ if (ptsDtsFlags & 0x40) {
+ pes.dts = (payload[14] & 0x0E) << 27 |
+ (payload[15] & 0xFF) << 20 |
+ (payload[16] & 0xFE) << 12 |
+ (payload[17] & 0xFF) << 5 |
+ (payload[18] & 0xFE) >>> 3;
+ pes.dts *= 4; // Left shift by 2
+ pes.dts += (payload[18] & 0x06) >>> 1; // OR by the two LSBs
+ }
+ }
+ // the data section starts immediately after the PES header.
+ // pes_header_data_length specifies the number of header bytes
+ // that follow the last byte of the field.
+ pes.data = payload.subarray(9 + payload[8]);
+ },
+ /**
+ * Pass completely parsed PES packets to the next stream in the pipeline
+ **/
+ flushStream = function(stream, type, forceFlush) {
+ var
+ packetData = new Uint8Array(stream.size),
+ event = {
+ type: type
+ },
+ i = 0,
+ offset = 0,
+ packetFlushable = false,
+ fragment;
+
+ // do nothing if there is not enough buffered data for a complete
+ // PES header
+ if (!stream.data.length || stream.size < 9) {
+ return;
+ }
+ event.trackId = stream.data[0].pid;
+
+ // reassemble the packet
+ for (i = 0; i < stream.data.length; i++) {
+ fragment = stream.data[i];
+
+ packetData.set(fragment.data, offset);
+ offset += fragment.data.byteLength;
+ }
+
+ // parse assembled packet's PES header
+ parsePes(packetData, event);
+
+ // non-video PES packets MUST have a non-zero PES_packet_length
+ // check that there is enough stream data to fill the packet
+ packetFlushable = type === 'video' || event.packetLength <= stream.size;
+
+ // flush pending packets if the conditions are right
+ if (forceFlush || packetFlushable) {
+ stream.size = 0;
+ stream.data.length = 0;
+ }
+
+ // only emit packets that are complete. this is to avoid assembling
+ // incomplete PES packets due to poor segmentation
+ if (packetFlushable) {
+ self.trigger('data', event);
+ }
+ };
+
+ ElementaryStream.prototype.init.call(this);
+
+ /**
+ * Identifies M2TS packet types and parses PES packets using metadata
+ * parsed from the PMT
+ **/
+ this.push = function(data) {
+ ({
+ pat: function() {
+ // we have to wait for the PMT to arrive as well before we
+ // have any meaningful metadata
+ },
+ pes: function() {
+ var stream, streamType;
+
+ switch (data.streamType) {
+ case StreamTypes.H264_STREAM_TYPE:
+ stream = video;
+ streamType = 'video';
+ break;
+ case StreamTypes.ADTS_STREAM_TYPE:
+ stream = audio;
+ streamType = 'audio';
+ break;
+ case StreamTypes.METADATA_STREAM_TYPE:
+ stream = timedMetadata;
+ streamType = 'timed-metadata';
+ break;
+ default:
+ // ignore unknown stream types
+ return;
+ }
+
+ // if a new packet is starting, we can flush the completed
+ // packet
+ if (data.payloadUnitStartIndicator) {
+ flushStream(stream, streamType, true);
+ }
+
+ // buffer this fragment until we are sure we've received the
+ // complete payload
+ stream.data.push(data);
+ stream.size += data.data.byteLength;
+ },
+ pmt: function() {
+ var
+ event = {
+ type: 'metadata',
+ tracks: []
+ };
+
+ programMapTable = data.programMapTable;
+
+ // translate audio and video streams to tracks
+ if (programMapTable.video !== null) {
+ event.tracks.push({
+ timelineStartInfo: {
+ baseMediaDecodeTime: 0
+ },
+ id: +programMapTable.video,
+ codec: 'avc',
+ type: 'video'
+ });
+ }
+ if (programMapTable.audio !== null) {
+ event.tracks.push({
+ timelineStartInfo: {
+ baseMediaDecodeTime: 0
+ },
+ id: +programMapTable.audio,
+ codec: 'adts',
+ type: 'audio'
+ });
+ }
+
+ self.trigger('data', event);
+ }
+ })[data.type]();
+ };
+
+ this.reset = function() {
+ video.size = 0;
+ video.data.length = 0;
+ audio.size = 0;
+ audio.data.length = 0;
+ this.trigger('reset');
+ };
+
+ /**
+ * Flush any remaining input. Video PES packets may be of variable
+ * length. Normally, the start of a new video packet can trigger the
+ * finalization of the previous packet. That is not possible if no
+ * more video is forthcoming, however. In that case, some other
+ * mechanism (like the end of the file) has to be employed. When it is
+ * clear that no additional data is forthcoming, calling this method
+ * will flush the buffered packets.
+ */
+ this.flushStreams_ = function() {
+ // !!THIS ORDER IS IMPORTANT!!
+ // video first then audio
+ flushStream(video, 'video');
+ flushStream(audio, 'audio');
+ flushStream(timedMetadata, 'timed-metadata');
+ };
+
+ this.flush = function() {
+ this.flushStreams_();
+ this.trigger('done');
+ };
+};
+ElementaryStream.prototype = new Stream();
+
+var m2ts = {
+ PAT_PID: 0x0000,
+ MP2T_PACKET_LENGTH: MP2T_PACKET_LENGTH,
+ TransportPacketStream: TransportPacketStream,
+ TransportParseStream: TransportParseStream,
+ ElementaryStream: ElementaryStream,
+ TimestampRolloverStream: TimestampRolloverStream,
+ CaptionStream: CaptionStream.CaptionStream,
+ Cea608Stream: CaptionStream.Cea608Stream,
+ MetadataStream: require('./metadata-stream')
+};
+
+for (var type in StreamTypes) {
+ if (StreamTypes.hasOwnProperty(type)) {
+ m2ts[type] = StreamTypes[type];
+ }
+}
+
+module.exports = m2ts;
+
+},{"../utils/stream.js":77,"./caption-stream":51,"./metadata-stream":54,"./stream-types":56,"./timestamp-rollover-stream":57}],54:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ *
+ * Accepts program elementary stream (PES) data events and parses out
+ * ID3 metadata from them, if present.
+ * @see http://id3.org/id3v2.3.0
+ */
+'use strict';
+var
+ Stream = require('../utils/stream'),
+ StreamTypes = require('./stream-types'),
+ // return a percent-encoded representation of the specified byte range
+ // @see http://en.wikipedia.org/wiki/Percent-encoding
+ percentEncode = function(bytes, start, end) {
+ var i, result = '';
+ for (i = start; i < end; i++) {
+ result += '%' + ('00' + bytes[i].toString(16)).slice(-2);
+ }
+ return result;
+ },
+ // return the string representation of the specified byte range,
+ // interpreted as UTf-8.
+ parseUtf8 = function(bytes, start, end) {
+ return decodeURIComponent(percentEncode(bytes, start, end));
+ },
+ // return the string representation of the specified byte range,
+ // interpreted as ISO-8859-1.
+ parseIso88591 = function(bytes, start, end) {
+ return unescape(percentEncode(bytes, start, end)); // jshint ignore:line
+ },
+ parseSyncSafeInteger = function(data) {
+ return (data[0] << 21) |
+ (data[1] << 14) |
+ (data[2] << 7) |
+ (data[3]);
+ },
+ tagParsers = {
+ TXXX: function(tag) {
+ var i;
+ if (tag.data[0] !== 3) {
+ // ignore frames with unrecognized character encodings
+ return;
+ }
+
+ for (i = 1; i < tag.data.length; i++) {
+ if (tag.data[i] === 0) {
+ // parse the text fields
+ tag.description = parseUtf8(tag.data, 1, i);
+ // do not include the null terminator in the tag value
+ tag.value = parseUtf8(tag.data, i + 1, tag.data.length).replace(/\0*$/, '');
+ break;
+ }
+ }
+ tag.data = tag.value;
+ },
+ WXXX: function(tag) {
+ var i;
+ if (tag.data[0] !== 3) {
+ // ignore frames with unrecognized character encodings
+ return;
+ }
+
+ for (i = 1; i < tag.data.length; i++) {
+ if (tag.data[i] === 0) {
+ // parse the description and URL fields
+ tag.description = parseUtf8(tag.data, 1, i);
+ tag.url = parseUtf8(tag.data, i + 1, tag.data.length);
+ break;
+ }
+ }
+ },
+ PRIV: function(tag) {
+ var i;
+
+ for (i = 0; i < tag.data.length; i++) {
+ if (tag.data[i] === 0) {
+ // parse the description and URL fields
+ tag.owner = parseIso88591(tag.data, 0, i);
+ break;
+ }
+ }
+ tag.privateData = tag.data.subarray(i + 1);
+ tag.data = tag.privateData;
+ }
+ },
+ MetadataStream;
+
+MetadataStream = function(options) {
+ var
+ settings = {
+ debug: !!(options && options.debug),
+
+ // the bytes of the program-level descriptor field in MP2T
+ // see ISO/IEC 13818-1:2013 (E), section 2.6 "Program and
+ // program element descriptors"
+ descriptor: options && options.descriptor
+ },
+ // the total size in bytes of the ID3 tag being parsed
+ tagSize = 0,
+ // tag data that is not complete enough to be parsed
+ buffer = [],
+ // the total number of bytes currently in the buffer
+ bufferSize = 0,
+ i;
+
+ MetadataStream.prototype.init.call(this);
+
+ // calculate the text track in-band metadata track dispatch type
+ // https://html.spec.whatwg.org/multipage/embedded-content.html#steps-to-expose-a-media-resource-specific-text-track
+ this.dispatchType = StreamTypes.METADATA_STREAM_TYPE.toString(16);
+ if (settings.descriptor) {
+ for (i = 0; i < settings.descriptor.length; i++) {
+ this.dispatchType += ('00' + settings.descriptor[i].toString(16)).slice(-2);
+ }
+ }
+
+ this.push = function(chunk) {
+ var tag, frameStart, frameSize, frame, i, frameHeader;
+ if (chunk.type !== 'timed-metadata') {
+ return;
+ }
+
+ // if data_alignment_indicator is set in the PES header,
+ // we must have the start of a new ID3 tag. Assume anything
+ // remaining in the buffer was malformed and throw it out
+ if (chunk.dataAlignmentIndicator) {
+ bufferSize = 0;
+ buffer.length = 0;
+ }
+
+ // ignore events that don't look like ID3 data
+ if (buffer.length === 0 &&
+ (chunk.data.length < 10 ||
+ chunk.data[0] !== 'I'.charCodeAt(0) ||
+ chunk.data[1] !== 'D'.charCodeAt(0) ||
+ chunk.data[2] !== '3'.charCodeAt(0))) {
+ if (settings.debug) {
+ // eslint-disable-next-line no-console
+ console.log('Skipping unrecognized metadata packet');
+ }
+ return;
+ }
+
+ // add this chunk to the data we've collected so far
+
+ buffer.push(chunk);
+ bufferSize += chunk.data.byteLength;
+
+ // grab the size of the entire frame from the ID3 header
+ if (buffer.length === 1) {
+ // the frame size is transmitted as a 28-bit integer in the
+ // last four bytes of the ID3 header.
+ // The most significant bit of each byte is dropped and the
+ // results concatenated to recover the actual value.
+ tagSize = parseSyncSafeInteger(chunk.data.subarray(6, 10));
+
+ // ID3 reports the tag size excluding the header but it's more
+ // convenient for our comparisons to include it
+ tagSize += 10;
+ }
+
+ // if the entire frame has not arrived, wait for more data
+ if (bufferSize < tagSize) {
+ return;
+ }
+
+ // collect the entire frame so it can be parsed
+ tag = {
+ data: new Uint8Array(tagSize),
+ frames: [],
+ pts: buffer[0].pts,
+ dts: buffer[0].dts
+ };
+ for (i = 0; i < tagSize;) {
+ tag.data.set(buffer[0].data.subarray(0, tagSize - i), i);
+ i += buffer[0].data.byteLength;
+ bufferSize -= buffer[0].data.byteLength;
+ buffer.shift();
+ }
+
+ // find the start of the first frame and the end of the tag
+ frameStart = 10;
+ if (tag.data[5] & 0x40) {
+ // advance the frame start past the extended header
+ frameStart += 4; // header size field
+ frameStart += parseSyncSafeInteger(tag.data.subarray(10, 14));
+
+ // clip any padding off the end
+ tagSize -= parseSyncSafeInteger(tag.data.subarray(16, 20));
+ }
+
+ // parse one or more ID3 frames
+ // http://id3.org/id3v2.3.0#ID3v2_frame_overview
+ do {
+ // determine the number of bytes in this frame
+ frameSize = parseSyncSafeInteger(tag.data.subarray(frameStart + 4, frameStart + 8));
+ if (frameSize < 1) {
+ // eslint-disable-next-line no-console
+ return console.log('Malformed ID3 frame encountered. Skipping metadata parsing.');
+ }
+ frameHeader = String.fromCharCode(tag.data[frameStart],
+ tag.data[frameStart + 1],
+ tag.data[frameStart + 2],
+ tag.data[frameStart + 3]);
+
+
+ frame = {
+ id: frameHeader,
+ data: tag.data.subarray(frameStart + 10, frameStart + frameSize + 10)
+ };
+ frame.key = frame.id;
+ if (tagParsers[frame.id]) {
+ tagParsers[frame.id](frame);
+
+ // handle the special PRIV frame used to indicate the start
+ // time for raw AAC data
+ if (frame.owner === 'com.apple.streaming.transportStreamTimestamp') {
+ var
+ d = frame.data,
+ size = ((d[3] & 0x01) << 30) |
+ (d[4] << 22) |
+ (d[5] << 14) |
+ (d[6] << 6) |
+ (d[7] >>> 2);
+
+ size *= 4;
+ size += d[7] & 0x03;
+ frame.timeStamp = size;
+ // in raw AAC, all subsequent data will be timestamped based
+ // on the value of this frame
+ // we couldn't have known the appropriate pts and dts before
+ // parsing this ID3 tag so set those values now
+ if (tag.pts === undefined && tag.dts === undefined) {
+ tag.pts = frame.timeStamp;
+ tag.dts = frame.timeStamp;
+ }
+ this.trigger('timestamp', frame);
+ }
+ }
+ tag.frames.push(frame);
+
+ frameStart += 10; // advance past the frame header
+ frameStart += frameSize; // advance past the frame body
+ } while (frameStart < tagSize);
+ this.trigger('data', tag);
+ };
+};
+MetadataStream.prototype = new Stream();
+
+module.exports = MetadataStream;
+
+},{"../utils/stream":77,"./stream-types":56}],55:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ *
+ * Utilities to detect basic properties and metadata about TS Segments.
+ */
+'use strict';
+
+var StreamTypes = require('./stream-types.js');
+
+var parsePid = function(packet) {
+ var pid = packet[1] & 0x1f;
+ pid <<= 8;
+ pid |= packet[2];
+ return pid;
+};
+
+var parsePayloadUnitStartIndicator = function(packet) {
+ return !!(packet[1] & 0x40);
+};
+
+var parseAdaptionField = function(packet) {
+ var offset = 0;
+ // if an adaption field is present, its length is specified by the
+ // fifth byte of the TS packet header. The adaptation field is
+ // used to add stuffing to PES packets that don't fill a complete
+ // TS packet, and to specify some forms of timing and control data
+ // that we do not currently use.
+ if (((packet[3] & 0x30) >>> 4) > 0x01) {
+ offset += packet[4] + 1;
+ }
+ return offset;
+};
+
+var parseType = function(packet, pmtPid) {
+ var pid = parsePid(packet);
+ if (pid === 0) {
+ return 'pat';
+ } else if (pid === pmtPid) {
+ return 'pmt';
+ } else if (pmtPid) {
+ return 'pes';
+ }
+ return null;
+};
+
+var parsePat = function(packet) {
+ var pusi = parsePayloadUnitStartIndicator(packet);
+ var offset = 4 + parseAdaptionField(packet);
+
+ if (pusi) {
+ offset += packet[offset] + 1;
+ }
+
+ return (packet[offset + 10] & 0x1f) << 8 | packet[offset + 11];
+};
+
+var parsePmt = function(packet) {
+ var programMapTable = {};
+ var pusi = parsePayloadUnitStartIndicator(packet);
+ var payloadOffset = 4 + parseAdaptionField(packet);
+
+ if (pusi) {
+ payloadOffset += packet[payloadOffset] + 1;
+ }
+
+ // PMTs can be sent ahead of the time when they should actually
+ // take effect. We don't believe this should ever be the case
+ // for HLS but we'll ignore "forward" PMT declarations if we see
+ // them. Future PMT declarations have the current_next_indicator
+ // set to zero.
+ if (!(packet[payloadOffset + 5] & 0x01)) {
+ return;
+ }
+
+ var sectionLength, tableEnd, programInfoLength;
+ // the mapping table ends at the end of the current section
+ sectionLength = (packet[payloadOffset + 1] & 0x0f) << 8 | packet[payloadOffset + 2];
+ tableEnd = 3 + sectionLength - 4;
+
+ // to determine where the table is, we have to figure out how
+ // long the program info descriptors are
+ programInfoLength = (packet[payloadOffset + 10] & 0x0f) << 8 | packet[payloadOffset + 11];
+
+ // advance the offset to the first entry in the mapping table
+ var offset = 12 + programInfoLength;
+ while (offset < tableEnd) {
+ var i = payloadOffset + offset;
+ // add an entry that maps the elementary_pid to the stream_type
+ programMapTable[(packet[i + 1] & 0x1F) << 8 | packet[i + 2]] = packet[i];
+
+ // move to the next table entry
+ // skip past the elementary stream descriptors, if present
+ offset += ((packet[i + 3] & 0x0F) << 8 | packet[i + 4]) + 5;
+ }
+ return programMapTable;
+};
+
+var parsePesType = function(packet, programMapTable) {
+ var pid = parsePid(packet);
+ var type = programMapTable[pid];
+ switch (type) {
+ case StreamTypes.H264_STREAM_TYPE:
+ return 'video';
+ case StreamTypes.ADTS_STREAM_TYPE:
+ return 'audio';
+ case StreamTypes.METADATA_STREAM_TYPE:
+ return 'timed-metadata';
+ default:
+ return null;
+ }
+};
+
+var parsePesTime = function(packet) {
+ var pusi = parsePayloadUnitStartIndicator(packet);
+ if (!pusi) {
+ return null;
+ }
+
+ var offset = 4 + parseAdaptionField(packet);
+
+ if (offset >= packet.byteLength) {
+ // From the H 222.0 MPEG-TS spec
+ // "For transport stream packets carrying PES packets, stuffing is needed when there
+ // is insufficient PES packet data to completely fill the transport stream packet
+ // payload bytes. Stuffing is accomplished by defining an adaptation field longer than
+ // the sum of the lengths of the data elements in it, so that the payload bytes
+ // remaining after the adaptation field exactly accommodates the available PES packet
+ // data."
+ //
+ // If the offset is >= the length of the packet, then the packet contains no data
+ // and instead is just adaption field stuffing bytes
+ return null;
+ }
+
+ var pes = null;
+ var ptsDtsFlags;
+
+ // PES packets may be annotated with a PTS value, or a PTS value
+ // and a DTS value. Determine what combination of values is
+ // available to work with.
+ ptsDtsFlags = packet[offset + 7];
+
+ // PTS and DTS are normally stored as a 33-bit number. Javascript
+ // performs all bitwise operations on 32-bit integers but javascript
+ // supports a much greater range (52-bits) of integer using standard
+ // mathematical operations.
+ // We construct a 31-bit value using bitwise operators over the 31
+ // most significant bits and then multiply by 4 (equal to a left-shift
+ // of 2) before we add the final 2 least significant bits of the
+ // timestamp (equal to an OR.)
+ if (ptsDtsFlags & 0xC0) {
+ pes = {};
+ // the PTS and DTS are not written out directly. For information
+ // on how they are encoded, see
+ // http://dvd.sourceforge.net/dvdinfo/pes-hdr.html
+ pes.pts = (packet[offset + 9] & 0x0E) << 27 |
+ (packet[offset + 10] & 0xFF) << 20 |
+ (packet[offset + 11] & 0xFE) << 12 |
+ (packet[offset + 12] & 0xFF) << 5 |
+ (packet[offset + 13] & 0xFE) >>> 3;
+ pes.pts *= 4; // Left shift by 2
+ pes.pts += (packet[offset + 13] & 0x06) >>> 1; // OR by the two LSBs
+ pes.dts = pes.pts;
+ if (ptsDtsFlags & 0x40) {
+ pes.dts = (packet[offset + 14] & 0x0E) << 27 |
+ (packet[offset + 15] & 0xFF) << 20 |
+ (packet[offset + 16] & 0xFE) << 12 |
+ (packet[offset + 17] & 0xFF) << 5 |
+ (packet[offset + 18] & 0xFE) >>> 3;
+ pes.dts *= 4; // Left shift by 2
+ pes.dts += (packet[offset + 18] & 0x06) >>> 1; // OR by the two LSBs
+ }
+ }
+ return pes;
+};
+
+var parseNalUnitType = function(type) {
+ switch (type) {
+ case 0x05:
+ return 'slice_layer_without_partitioning_rbsp_idr';
+ case 0x06:
+ return 'sei_rbsp';
+ case 0x07:
+ return 'seq_parameter_set_rbsp';
+ case 0x08:
+ return 'pic_parameter_set_rbsp';
+ case 0x09:
+ return 'access_unit_delimiter_rbsp';
+ default:
+ return null;
+ }
+};
+
+var videoPacketContainsKeyFrame = function(packet) {
+ var offset = 4 + parseAdaptionField(packet);
+ var frameBuffer = packet.subarray(offset);
+ var frameI = 0;
+ var frameSyncPoint = 0;
+ var foundKeyFrame = false;
+ var nalType;
+
+ // advance the sync point to a NAL start, if necessary
+ for (; frameSyncPoint < frameBuffer.byteLength - 3; frameSyncPoint++) {
+ if (frameBuffer[frameSyncPoint + 2] === 1) {
+ // the sync point is properly aligned
+ frameI = frameSyncPoint + 5;
+ break;
+ }
+ }
+
+ while (frameI < frameBuffer.byteLength) {
+ // look at the current byte to determine if we've hit the end of
+ // a NAL unit boundary
+ switch (frameBuffer[frameI]) {
+ case 0:
+ // skip past non-sync sequences
+ if (frameBuffer[frameI - 1] !== 0) {
+ frameI += 2;
+ break;
+ } else if (frameBuffer[frameI - 2] !== 0) {
+ frameI++;
+ break;
+ }
+
+ if (frameSyncPoint + 3 !== frameI - 2) {
+ nalType = parseNalUnitType(frameBuffer[frameSyncPoint + 3] & 0x1f);
+ if (nalType === 'slice_layer_without_partitioning_rbsp_idr') {
+ foundKeyFrame = true;
+ }
+ }
+
+ // drop trailing zeroes
+ do {
+ frameI++;
+ } while (frameBuffer[frameI] !== 1 && frameI < frameBuffer.length);
+ frameSyncPoint = frameI - 2;
+ frameI += 3;
+ break;
+ case 1:
+ // skip past non-sync sequences
+ if (frameBuffer[frameI - 1] !== 0 ||
+ frameBuffer[frameI - 2] !== 0) {
+ frameI += 3;
+ break;
+ }
+
+ nalType = parseNalUnitType(frameBuffer[frameSyncPoint + 3] & 0x1f);
+ if (nalType === 'slice_layer_without_partitioning_rbsp_idr') {
+ foundKeyFrame = true;
+ }
+ frameSyncPoint = frameI - 2;
+ frameI += 3;
+ break;
+ default:
+ // the current byte isn't a one or zero, so it cannot be part
+ // of a sync sequence
+ frameI += 3;
+ break;
+ }
+ }
+ frameBuffer = frameBuffer.subarray(frameSyncPoint);
+ frameI -= frameSyncPoint;
+ frameSyncPoint = 0;
+ // parse the final nal
+ if (frameBuffer && frameBuffer.byteLength > 3) {
+ nalType = parseNalUnitType(frameBuffer[frameSyncPoint + 3] & 0x1f);
+ if (nalType === 'slice_layer_without_partitioning_rbsp_idr') {
+ foundKeyFrame = true;
+ }
+ }
+
+ return foundKeyFrame;
+};
+
+
+module.exports = {
+ parseType: parseType,
+ parsePat: parsePat,
+ parsePmt: parsePmt,
+ parsePayloadUnitStartIndicator: parsePayloadUnitStartIndicator,
+ parsePesType: parsePesType,
+ parsePesTime: parsePesTime,
+ videoPacketContainsKeyFrame: videoPacketContainsKeyFrame
+};
+
+},{"./stream-types.js":56}],56:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ */
+'use strict';
+
+module.exports = {
+ H264_STREAM_TYPE: 0x1B,
+ ADTS_STREAM_TYPE: 0x0F,
+ METADATA_STREAM_TYPE: 0x15
+};
+
+},{}],57:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ *
+ * Accepts program elementary stream (PES) data events and corrects
+ * decode and presentation time stamps to account for a rollover
+ * of the 33 bit value.
+ */
+
+'use strict';
+
+var Stream = require('../utils/stream');
+
+var MAX_TS = 8589934592;
+
+var RO_THRESH = 4294967296;
+
+var TYPE_SHARED = 'shared';
+
+var handleRollover = function(value, reference) {
+ var direction = 1;
+
+ if (value > reference) {
+ // If the current timestamp value is greater than our reference timestamp and we detect a
+ // timestamp rollover, this means the roll over is happening in the opposite direction.
+ // Example scenario: Enter a long stream/video just after a rollover occurred. The reference
+ // point will be set to a small number, e.g. 1. The user then seeks backwards over the
+ // rollover point. In loading this segment, the timestamp values will be very large,
+ // e.g. 2^33 - 1. Since this comes before the data we loaded previously, we want to adjust
+ // the time stamp to be `value - 2^33`.
+ direction = -1;
+ }
+
+ // Note: A seek forwards or back that is greater than the RO_THRESH (2^32, ~13 hours) will
+ // cause an incorrect adjustment.
+ while (Math.abs(reference - value) > RO_THRESH) {
+ value += (direction * MAX_TS);
+ }
+
+ return value;
+};
+
+var TimestampRolloverStream = function(type) {
+ var lastDTS, referenceDTS;
+
+ TimestampRolloverStream.prototype.init.call(this);
+
+ // The "shared" type is used in cases where a stream will contain muxed
+ // video and audio. We could use `undefined` here, but having a string
+ // makes debugging a little clearer.
+ this.type_ = type || TYPE_SHARED;
+
+ this.push = function(data) {
+
+ // Any "shared" rollover streams will accept _all_ data. Otherwise,
+ // streams will only accept data that matches their type.
+ if (this.type_ !== TYPE_SHARED && data.type !== this.type_) {
+ return;
+ }
+
+ if (referenceDTS === undefined) {
+ referenceDTS = data.dts;
+ }
+
+ data.dts = handleRollover(data.dts, referenceDTS);
+ data.pts = handleRollover(data.pts, referenceDTS);
+
+ lastDTS = data.dts;
+
+ this.trigger('data', data);
+ };
+
+ this.flush = function() {
+ referenceDTS = lastDTS;
+ this.trigger('done');
+ };
+
+ this.endTimeline = function() {
+ this.flush();
+ this.trigger('endedtimeline');
+ };
+
+ this.discontinuity = function() {
+ referenceDTS = void 0;
+ lastDTS = void 0;
+ };
+
+ this.reset = function() {
+ this.discontinuity();
+ this.trigger('reset');
+ };
+};
+
+TimestampRolloverStream.prototype = new Stream();
+
+module.exports = {
+ TimestampRolloverStream: TimestampRolloverStream,
+ handleRollover: handleRollover
+};
+
+},{"../utils/stream":77}],58:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ */
+var coneOfSilence = require('../data/silence');
+var clock = require('../utils/clock');
+
+/**
+ * Sum the `byteLength` properties of the data in each AAC frame
+ */
+var sumFrameByteLengths = function(array) {
+ var
+ i,
+ currentObj,
+ sum = 0;
+
+ // sum the byteLength's all each nal unit in the frame
+ for (i = 0; i < array.length; i++) {
+ currentObj = array[i];
+ sum += currentObj.data.byteLength;
+ }
+
+ return sum;
+};
+
+// Possibly pad (prefix) the audio track with silence if appending this track
+// would lead to the introduction of a gap in the audio buffer
+var prefixWithSilence = function(
+ track,
+ frames,
+ audioAppendStartTs,
+ videoBaseMediaDecodeTime
+) {
+ var
+ baseMediaDecodeTimeTs,
+ frameDuration = 0,
+ audioGapDuration = 0,
+ audioFillFrameCount = 0,
+ audioFillDuration = 0,
+ silentFrame,
+ i,
+ firstFrame;
+
+ if (!frames.length) {
+ return;
+ }
+
+ baseMediaDecodeTimeTs =
+ clock.audioTsToVideoTs(track.baseMediaDecodeTime, track.samplerate);
+ // determine frame clock duration based on sample rate, round up to avoid overfills
+ frameDuration = Math.ceil(clock.ONE_SECOND_IN_TS / (track.samplerate / 1024));
+
+ if (audioAppendStartTs && videoBaseMediaDecodeTime) {
+ // insert the shortest possible amount (audio gap or audio to video gap)
+ audioGapDuration =
+ baseMediaDecodeTimeTs - Math.max(audioAppendStartTs, videoBaseMediaDecodeTime);
+ // number of full frames in the audio gap
+ audioFillFrameCount = Math.floor(audioGapDuration / frameDuration);
+ audioFillDuration = audioFillFrameCount * frameDuration;
+ }
+
+ // don't attempt to fill gaps smaller than a single frame or larger
+ // than a half second
+ if (audioFillFrameCount < 1 || audioFillDuration > clock.ONE_SECOND_IN_TS / 2) {
+ return;
+ }
+
+ silentFrame = coneOfSilence()[track.samplerate];
+
+ if (!silentFrame) {
+ // we don't have a silent frame pregenerated for the sample rate, so use a frame
+ // from the content instead
+ silentFrame = frames[0].data;
+ }
+
+ for (i = 0; i < audioFillFrameCount; i++) {
+ firstFrame = frames[0];
+
+ frames.splice(0, 0, {
+ data: silentFrame,
+ dts: firstFrame.dts - frameDuration,
+ pts: firstFrame.pts - frameDuration
+ });
+ }
+
+ track.baseMediaDecodeTime -=
+ Math.floor(clock.videoTsToAudioTs(audioFillDuration, track.samplerate));
+};
+
+// If the audio segment extends before the earliest allowed dts
+// value, remove AAC frames until starts at or after the earliest
+// allowed DTS so that we don't end up with a negative baseMedia-
+// DecodeTime for the audio track
+var trimAdtsFramesByEarliestDts = function(adtsFrames, track, earliestAllowedDts) {
+ if (track.minSegmentDts >= earliestAllowedDts) {
+ return adtsFrames;
+ }
+
+ // We will need to recalculate the earliest segment Dts
+ track.minSegmentDts = Infinity;
+
+ return adtsFrames.filter(function(currentFrame) {
+ // If this is an allowed frame, keep it and record it's Dts
+ if (currentFrame.dts >= earliestAllowedDts) {
+ track.minSegmentDts = Math.min(track.minSegmentDts, currentFrame.dts);
+ track.minSegmentPts = track.minSegmentDts;
+ return true;
+ }
+ // Otherwise, discard it
+ return false;
+ });
+};
+
+// generate the track's raw mdat data from an array of frames
+var generateSampleTable = function(frames) {
+ var
+ i,
+ currentFrame,
+ samples = [];
+
+ for (i = 0; i < frames.length; i++) {
+ currentFrame = frames[i];
+ samples.push({
+ size: currentFrame.data.byteLength,
+ duration: 1024 // For AAC audio, all samples contain 1024 samples
+ });
+ }
+ return samples;
+};
+
+// generate the track's sample table from an array of frames
+var concatenateFrameData = function(frames) {
+ var
+ i,
+ currentFrame,
+ dataOffset = 0,
+ data = new Uint8Array(sumFrameByteLengths(frames));
+
+ for (i = 0; i < frames.length; i++) {
+ currentFrame = frames[i];
+
+ data.set(currentFrame.data, dataOffset);
+ dataOffset += currentFrame.data.byteLength;
+ }
+ return data;
+};
+
+module.exports = {
+ prefixWithSilence: prefixWithSilence,
+ trimAdtsFramesByEarliestDts: trimAdtsFramesByEarliestDts,
+ generateSampleTable: generateSampleTable,
+ concatenateFrameData: concatenateFrameData
+};
+
+},{"../data/silence":43,"../utils/clock":75}],59:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ *
+ * Reads in-band CEA-708 captions out of FMP4 segments.
+ * @see https://en.wikipedia.org/wiki/CEA-708
+ */
+'use strict';
+
+var discardEmulationPreventionBytes = require('../tools/caption-packet-parser').discardEmulationPreventionBytes;
+var CaptionStream = require('../m2ts/caption-stream').CaptionStream;
+var probe = require('./probe');
+var inspect = require('../tools/mp4-inspector');
+
+/**
+ * Maps an offset in the mdat to a sample based on the the size of the samples.
+ * Assumes that `parseSamples` has been called first.
+ *
+ * @param {Number} offset - The offset into the mdat
+ * @param {Object[]} samples - An array of samples, parsed using `parseSamples`
+ * @return {?Object} The matching sample, or null if no match was found.
+ *
+ * @see ISO-BMFF-12/2015, Section 8.8.8
+ **/
+var mapToSample = function(offset, samples) {
+ var approximateOffset = offset;
+
+ for (var i = 0; i < samples.length; i++) {
+ var sample = samples[i];
+
+ if (approximateOffset < sample.size) {
+ return sample;
+ }
+
+ approximateOffset -= sample.size;
+ }
+
+ return null;
+};
+
+/**
+ * Finds SEI nal units contained in a Media Data Box.
+ * Assumes that `parseSamples` has been called first.
+ *
+ * @param {Uint8Array} avcStream - The bytes of the mdat
+ * @param {Object[]} samples - The samples parsed out by `parseSamples`
+ * @param {Number} trackId - The trackId of this video track
+ * @return {Object[]} seiNals - the parsed SEI NALUs found.
+ * The contents of the seiNal should match what is expected by
+ * CaptionStream.push (nalUnitType, size, data, escapedRBSP, pts, dts)
+ *
+ * @see ISO-BMFF-12/2015, Section 8.1.1
+ * @see Rec. ITU-T H.264, 7.3.2.3.1
+ **/
+var findSeiNals = function(avcStream, samples, trackId) {
+ var
+ avcView = new DataView(avcStream.buffer, avcStream.byteOffset, avcStream.byteLength),
+ result = [],
+ seiNal,
+ i,
+ length,
+ lastMatchedSample;
+
+ for (i = 0; i + 4 < avcStream.length; i += length) {
+ length = avcView.getUint32(i);
+ i += 4;
+
+ // Bail if this doesn't appear to be an H264 stream
+ if (length <= 0) {
+ continue;
+ }
+
+ switch (avcStream[i] & 0x1F) {
+ case 0x06:
+ var data = avcStream.subarray(i + 1, i + 1 + length);
+ var matchingSample = mapToSample(i, samples);
+
+ seiNal = {
+ nalUnitType: 'sei_rbsp',
+ size: length,
+ data: data,
+ escapedRBSP: discardEmulationPreventionBytes(data),
+ trackId: trackId
+ };
+
+ if (matchingSample) {
+ seiNal.pts = matchingSample.pts;
+ seiNal.dts = matchingSample.dts;
+ lastMatchedSample = matchingSample;
+ } else if (lastMatchedSample) {
+ // If a matching sample cannot be found, use the last
+ // sample's values as they should be as close as possible
+ seiNal.pts = lastMatchedSample.pts;
+ seiNal.dts = lastMatchedSample.dts;
+ } else {
+ // eslint-disable-next-line no-console
+ console.log("We've encountered a nal unit without data. See mux.js#233.");
+ break;
+ }
+
+ result.push(seiNal);
+ break;
+ default:
+ break;
+ }
+ }
+
+ return result;
+};
+
+/**
+ * Parses sample information out of Track Run Boxes and calculates
+ * the absolute presentation and decode timestamps of each sample.
+ *
+ * @param {Array<Uint8Array>} truns - The Trun Run boxes to be parsed
+ * @param {Number} baseMediaDecodeTime - base media decode time from tfdt
+ @see ISO-BMFF-12/2015, Section 8.8.12
+ * @param {Object} tfhd - The parsed Track Fragment Header
+ * @see inspect.parseTfhd
+ * @return {Object[]} the parsed samples
+ *
+ * @see ISO-BMFF-12/2015, Section 8.8.8
+ **/
+var parseSamples = function(truns, baseMediaDecodeTime, tfhd) {
+ var currentDts = baseMediaDecodeTime;
+ var defaultSampleDuration = tfhd.defaultSampleDuration || 0;
+ var defaultSampleSize = tfhd.defaultSampleSize || 0;
+ var trackId = tfhd.trackId;
+ var allSamples = [];
+
+ truns.forEach(function(trun) {
+ // Note: We currently do not parse the sample table as well
+ // as the trun. It's possible some sources will require this.
+ // moov > trak > mdia > minf > stbl
+ var trackRun = inspect.parseTrun(trun);
+ var samples = trackRun.samples;
+
+ samples.forEach(function(sample) {
+ if (sample.duration === undefined) {
+ sample.duration = defaultSampleDuration;
+ }
+ if (sample.size === undefined) {
+ sample.size = defaultSampleSize;
+ }
+ sample.trackId = trackId;
+ sample.dts = currentDts;
+ if (sample.compositionTimeOffset === undefined) {
+ sample.compositionTimeOffset = 0;
+ }
+ sample.pts = currentDts + sample.compositionTimeOffset;
+
+ currentDts += sample.duration;
+ });
+
+ allSamples = allSamples.concat(samples);
+ });
+
+ return allSamples;
+};
+
+/**
+ * Parses out caption nals from an FMP4 segment's video tracks.
+ *
+ * @param {Uint8Array} segment - The bytes of a single segment
+ * @param {Number} videoTrackId - The trackId of a video track in the segment
+ * @return {Object.<Number, Object[]>} A mapping of video trackId to
+ * a list of seiNals found in that track
+ **/
+var parseCaptionNals = function(segment, videoTrackId) {
+ // To get the samples
+ var trafs = probe.findBox(segment, ['moof', 'traf']);
+ // To get SEI NAL units
+ var mdats = probe.findBox(segment, ['mdat']);
+ var captionNals = {};
+ var mdatTrafPairs = [];
+
+ // Pair up each traf with a mdat as moofs and mdats are in pairs
+ mdats.forEach(function(mdat, index) {
+ var matchingTraf = trafs[index];
+ mdatTrafPairs.push({
+ mdat: mdat,
+ traf: matchingTraf
+ });
+ });
+
+ mdatTrafPairs.forEach(function(pair) {
+ var mdat = pair.mdat;
+ var traf = pair.traf;
+ var tfhd = probe.findBox(traf, ['tfhd']);
+ // Exactly 1 tfhd per traf
+ var headerInfo = inspect.parseTfhd(tfhd[0]);
+ var trackId = headerInfo.trackId;
+ var tfdt = probe.findBox(traf, ['tfdt']);
+ // Either 0 or 1 tfdt per traf
+ var baseMediaDecodeTime = (tfdt.length > 0) ? inspect.parseTfdt(tfdt[0]).baseMediaDecodeTime : 0;
+ var truns = probe.findBox(traf, ['trun']);
+ var samples;
+ var seiNals;
+
+ // Only parse video data for the chosen video track
+ if (videoTrackId === trackId && truns.length > 0) {
+ samples = parseSamples(truns, baseMediaDecodeTime, headerInfo);
+
+ seiNals = findSeiNals(mdat, samples, trackId);
+
+ if (!captionNals[trackId]) {
+ captionNals[trackId] = [];
+ }
+
+ captionNals[trackId] = captionNals[trackId].concat(seiNals);
+ }
+ });
+
+ return captionNals;
+};
+
+/**
+ * Parses out inband captions from an MP4 container and returns
+ * caption objects that can be used by WebVTT and the TextTrack API.
+ * @see https://developer.mozilla.org/en-US/docs/Web/API/VTTCue
+ * @see https://developer.mozilla.org/en-US/docs/Web/API/TextTrack
+ * Assumes that `probe.getVideoTrackIds` and `probe.timescale` have been called first
+ *
+ * @param {Uint8Array} segment - The fmp4 segment containing embedded captions
+ * @param {Number} trackId - The id of the video track to parse
+ * @param {Number} timescale - The timescale for the video track from the init segment
+ *
+ * @return {?Object[]} parsedCaptions - A list of captions or null if no video tracks
+ * @return {Number} parsedCaptions[].startTime - The time to show the caption in seconds
+ * @return {Number} parsedCaptions[].endTime - The time to stop showing the caption in seconds
+ * @return {String} parsedCaptions[].text - The visible content of the caption
+ **/
+var parseEmbeddedCaptions = function(segment, trackId, timescale) {
+ var seiNals;
+
+ // the ISO-BMFF spec says that trackId can't be zero, but there's some broken content out there
+ if (trackId === null) {
+ return null;
+ }
+
+ seiNals = parseCaptionNals(segment, trackId);
+
+ return {
+ seiNals: seiNals[trackId],
+ timescale: timescale
+ };
+};
+
+/**
+ * Converts SEI NALUs into captions that can be used by video.js
+ **/
+var CaptionParser = function() {
+ var isInitialized = false;
+ var captionStream;
+
+ // Stores segments seen before trackId and timescale are set
+ var segmentCache;
+ // Stores video track ID of the track being parsed
+ var trackId;
+ // Stores the timescale of the track being parsed
+ var timescale;
+ // Stores captions parsed so far
+ var parsedCaptions;
+ // Stores whether we are receiving partial data or not
+ var parsingPartial;
+
+ /**
+ * A method to indicate whether a CaptionParser has been initalized
+ * @returns {Boolean}
+ **/
+ this.isInitialized = function() {
+ return isInitialized;
+ };
+
+ /**
+ * Initializes the underlying CaptionStream, SEI NAL parsing
+ * and management, and caption collection
+ **/
+ this.init = function(options) {
+ captionStream = new CaptionStream();
+ isInitialized = true;
+ parsingPartial = options ? options.isPartial : false;
+
+ // Collect dispatched captions
+ captionStream.on('data', function(event) {
+ // Convert to seconds in the source's timescale
+ event.startTime = event.startPts / timescale;
+ event.endTime = event.endPts / timescale;
+
+ parsedCaptions.captions.push(event);
+ parsedCaptions.captionStreams[event.stream] = true;
+ });
+ };
+
+ /**
+ * Determines if a new video track will be selected
+ * or if the timescale changed
+ * @return {Boolean}
+ **/
+ this.isNewInit = function(videoTrackIds, timescales) {
+ if ((videoTrackIds && videoTrackIds.length === 0) ||
+ (timescales && typeof timescales === 'object' &&
+ Object.keys(timescales).length === 0)) {
+ return false;
+ }
+
+ return trackId !== videoTrackIds[0] ||
+ timescale !== timescales[trackId];
+ };
+
+ /**
+ * Parses out SEI captions and interacts with underlying
+ * CaptionStream to return dispatched captions
+ *
+ * @param {Uint8Array} segment - The fmp4 segment containing embedded captions
+ * @param {Number[]} videoTrackIds - A list of video tracks found in the init segment
+ * @param {Object.<Number, Number>} timescales - The timescales found in the init segment
+ * @see parseEmbeddedCaptions
+ * @see m2ts/caption-stream.js
+ **/
+ this.parse = function(segment, videoTrackIds, timescales) {
+ var parsedData;
+
+ if (!this.isInitialized()) {
+ return null;
+
+ // This is not likely to be a video segment
+ } else if (!videoTrackIds || !timescales) {
+ return null;
+
+ } else if (this.isNewInit(videoTrackIds, timescales)) {
+ // Use the first video track only as there is no
+ // mechanism to switch to other video tracks
+ trackId = videoTrackIds[0];
+ timescale = timescales[trackId];
+
+ // If an init segment has not been seen yet, hold onto segment
+ // data until we have one.
+ // the ISO-BMFF spec says that trackId can't be zero, but there's some broken content out there
+ } else if (trackId === null || !timescale) {
+ segmentCache.push(segment);
+ return null;
+ }
+
+ // Now that a timescale and trackId is set, parse cached segments
+ while (segmentCache.length > 0) {
+ var cachedSegment = segmentCache.shift();
+
+ this.parse(cachedSegment, videoTrackIds, timescales);
+ }
+
+ parsedData = parseEmbeddedCaptions(segment, trackId, timescale);
+
+ if (parsedData === null || !parsedData.seiNals) {
+ return null;
+ }
+
+ this.pushNals(parsedData.seiNals);
+ // Force the parsed captions to be dispatched
+ this.flushStream();
+
+ return parsedCaptions;
+ };
+
+ /**
+ * Pushes SEI NALUs onto CaptionStream
+ * @param {Object[]} nals - A list of SEI nals parsed using `parseCaptionNals`
+ * Assumes that `parseCaptionNals` has been called first
+ * @see m2ts/caption-stream.js
+ **/
+ this.pushNals = function(nals) {
+ if (!this.isInitialized() || !nals || nals.length === 0) {
+ return null;
+ }
+
+ nals.forEach(function(nal) {
+ captionStream.push(nal);
+ });
+ };
+
+ /**
+ * Flushes underlying CaptionStream to dispatch processed, displayable captions
+ * @see m2ts/caption-stream.js
+ **/
+ this.flushStream = function() {
+ if (!this.isInitialized()) {
+ return null;
+ }
+
+ if (!parsingPartial) {
+ captionStream.flush();
+ } else {
+ captionStream.partialFlush();
+ }
+ };
+
+ /**
+ * Reset caption buckets for new data
+ **/
+ this.clearParsedCaptions = function() {
+ parsedCaptions.captions = [];
+ parsedCaptions.captionStreams = {};
+ };
+
+ /**
+ * Resets underlying CaptionStream
+ * @see m2ts/caption-stream.js
+ **/
+ this.resetCaptionStream = function() {
+ if (!this.isInitialized()) {
+ return null;
+ }
+
+ captionStream.reset();
+ };
+
+ /**
+ * Convenience method to clear all captions flushed from the
+ * CaptionStream and still being parsed
+ * @see m2ts/caption-stream.js
+ **/
+ this.clearAllCaptions = function() {
+ this.clearParsedCaptions();
+ this.resetCaptionStream();
+ };
+
+ /**
+ * Reset caption parser
+ **/
+ this.reset = function() {
+ segmentCache = [];
+ trackId = null;
+ timescale = null;
+
+ if (!parsedCaptions) {
+ parsedCaptions = {
+ captions: [],
+ // CC1, CC2, CC3, CC4
+ captionStreams: {}
+ };
+ } else {
+ this.clearParsedCaptions();
+ }
+
+ this.resetCaptionStream();
+ };
+
+ this.reset();
+};
+
+module.exports = CaptionParser;
+
+},{"../m2ts/caption-stream":51,"../tools/caption-packet-parser":70,"../tools/mp4-inspector":72,"./probe":63}],60:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ */
+// Convert an array of nal units into an array of frames with each frame being
+// composed of the nal units that make up that frame
+// Also keep track of cummulative data about the frame from the nal units such
+// as the frame duration, starting pts, etc.
+var groupNalsIntoFrames = function(nalUnits) {
+ var
+ i,
+ currentNal,
+ currentFrame = [],
+ frames = [];
+
+ // TODO added for LHLS, make sure this is OK
+ frames.byteLength = 0;
+ frames.nalCount = 0;
+ frames.duration = 0;
+
+ currentFrame.byteLength = 0;
+
+ for (i = 0; i < nalUnits.length; i++) {
+ currentNal = nalUnits[i];
+
+ // Split on 'aud'-type nal units
+ if (currentNal.nalUnitType === 'access_unit_delimiter_rbsp') {
+ // Since the very first nal unit is expected to be an AUD
+ // only push to the frames array when currentFrame is not empty
+ if (currentFrame.length) {
+ currentFrame.duration = currentNal.dts - currentFrame.dts;
+ // TODO added for LHLS, make sure this is OK
+ frames.byteLength += currentFrame.byteLength;
+ frames.nalCount += currentFrame.length;
+ frames.duration += currentFrame.duration;
+ frames.push(currentFrame);
+ }
+ currentFrame = [currentNal];
+ currentFrame.byteLength = currentNal.data.byteLength;
+ currentFrame.pts = currentNal.pts;
+ currentFrame.dts = currentNal.dts;
+ } else {
+ // Specifically flag key frames for ease of use later
+ if (currentNal.nalUnitType === 'slice_layer_without_partitioning_rbsp_idr') {
+ currentFrame.keyFrame = true;
+ }
+ currentFrame.duration = currentNal.dts - currentFrame.dts;
+ currentFrame.byteLength += currentNal.data.byteLength;
+ currentFrame.push(currentNal);
+ }
+ }
+
+ // For the last frame, use the duration of the previous frame if we
+ // have nothing better to go on
+ if (frames.length &&
+ (!currentFrame.duration ||
+ currentFrame.duration <= 0)) {
+ currentFrame.duration = frames[frames.length - 1].duration;
+ }
+
+ // Push the final frame
+ // TODO added for LHLS, make sure this is OK
+ frames.byteLength += currentFrame.byteLength;
+ frames.nalCount += currentFrame.length;
+ frames.duration += currentFrame.duration;
+
+ frames.push(currentFrame);
+ return frames;
+};
+
+// Convert an array of frames into an array of Gop with each Gop being composed
+// of the frames that make up that Gop
+// Also keep track of cummulative data about the Gop from the frames such as the
+// Gop duration, starting pts, etc.
+var groupFramesIntoGops = function(frames) {
+ var
+ i,
+ currentFrame,
+ currentGop = [],
+ gops = [];
+
+ // We must pre-set some of the values on the Gop since we
+ // keep running totals of these values
+ currentGop.byteLength = 0;
+ currentGop.nalCount = 0;
+ currentGop.duration = 0;
+ currentGop.pts = frames[0].pts;
+ currentGop.dts = frames[0].dts;
+
+ // store some metadata about all the Gops
+ gops.byteLength = 0;
+ gops.nalCount = 0;
+ gops.duration = 0;
+ gops.pts = frames[0].pts;
+ gops.dts = frames[0].dts;
+
+ for (i = 0; i < frames.length; i++) {
+ currentFrame = frames[i];
+
+ if (currentFrame.keyFrame) {
+ // Since the very first frame is expected to be an keyframe
+ // only push to the gops array when currentGop is not empty
+ if (currentGop.length) {
+ gops.push(currentGop);
+ gops.byteLength += currentGop.byteLength;
+ gops.nalCount += currentGop.nalCount;
+ gops.duration += currentGop.duration;
+ }
+
+ currentGop = [currentFrame];
+ currentGop.nalCount = currentFrame.length;
+ currentGop.byteLength = currentFrame.byteLength;
+ currentGop.pts = currentFrame.pts;
+ currentGop.dts = currentFrame.dts;
+ currentGop.duration = currentFrame.duration;
+ } else {
+ currentGop.duration += currentFrame.duration;
+ currentGop.nalCount += currentFrame.length;
+ currentGop.byteLength += currentFrame.byteLength;
+ currentGop.push(currentFrame);
+ }
+ }
+
+ if (gops.length && currentGop.duration <= 0) {
+ currentGop.duration = gops[gops.length - 1].duration;
+ }
+ gops.byteLength += currentGop.byteLength;
+ gops.nalCount += currentGop.nalCount;
+ gops.duration += currentGop.duration;
+
+ // push the final Gop
+ gops.push(currentGop);
+ return gops;
+};
+
+/*
+ * Search for the first keyframe in the GOPs and throw away all frames
+ * until that keyframe. Then extend the duration of the pulled keyframe
+ * and pull the PTS and DTS of the keyframe so that it covers the time
+ * range of the frames that were disposed.
+ *
+ * @param {Array} gops video GOPs
+ * @returns {Array} modified video GOPs
+ */
+var extendFirstKeyFrame = function(gops) {
+ var currentGop;
+
+ if (!gops[0][0].keyFrame && gops.length > 1) {
+ // Remove the first GOP
+ currentGop = gops.shift();
+
+ gops.byteLength -= currentGop.byteLength;
+ gops.nalCount -= currentGop.nalCount;
+
+ // Extend the first frame of what is now the
+ // first gop to cover the time period of the
+ // frames we just removed
+ gops[0][0].dts = currentGop.dts;
+ gops[0][0].pts = currentGop.pts;
+ gops[0][0].duration += currentGop.duration;
+ }
+
+ return gops;
+};
+
+/**
+ * Default sample object
+ * see ISO/IEC 14496-12:2012, section 8.6.4.3
+ */
+var createDefaultSample = function() {
+ return {
+ size: 0,
+ flags: {
+ isLeading: 0,
+ dependsOn: 1,
+ isDependedOn: 0,
+ hasRedundancy: 0,
+ degradationPriority: 0,
+ isNonSyncSample: 1
+ }
+ };
+};
+
+/*
+ * Collates information from a video frame into an object for eventual
+ * entry into an MP4 sample table.
+ *
+ * @param {Object} frame the video frame
+ * @param {Number} dataOffset the byte offset to position the sample
+ * @return {Object} object containing sample table info for a frame
+ */
+var sampleForFrame = function(frame, dataOffset) {
+ var sample = createDefaultSample();
+
+ sample.dataOffset = dataOffset;
+ sample.compositionTimeOffset = frame.pts - frame.dts;
+ sample.duration = frame.duration;
+ sample.size = 4 * frame.length; // Space for nal unit size
+ sample.size += frame.byteLength;
+
+ if (frame.keyFrame) {
+ sample.flags.dependsOn = 2;
+ sample.flags.isNonSyncSample = 0;
+ }
+
+ return sample;
+};
+
+// generate the track's sample table from an array of gops
+var generateSampleTable = function(gops, baseDataOffset) {
+ var
+ h, i,
+ sample,
+ currentGop,
+ currentFrame,
+ dataOffset = baseDataOffset || 0,
+ samples = [];
+
+ for (h = 0; h < gops.length; h++) {
+ currentGop = gops[h];
+
+ for (i = 0; i < currentGop.length; i++) {
+ currentFrame = currentGop[i];
+
+ sample = sampleForFrame(currentFrame, dataOffset);
+
+ dataOffset += sample.size;
+
+ samples.push(sample);
+ }
+ }
+ return samples;
+};
+
+// generate the track's raw mdat data from an array of gops
+var concatenateNalData = function(gops) {
+ var
+ h, i, j,
+ currentGop,
+ currentFrame,
+ currentNal,
+ dataOffset = 0,
+ nalsByteLength = gops.byteLength,
+ numberOfNals = gops.nalCount,
+ totalByteLength = nalsByteLength + 4 * numberOfNals,
+ data = new Uint8Array(totalByteLength),
+ view = new DataView(data.buffer);
+
+ // For each Gop..
+ for (h = 0; h < gops.length; h++) {
+ currentGop = gops[h];
+
+ // For each Frame..
+ for (i = 0; i < currentGop.length; i++) {
+ currentFrame = currentGop[i];
+
+ // For each NAL..
+ for (j = 0; j < currentFrame.length; j++) {
+ currentNal = currentFrame[j];
+
+ view.setUint32(dataOffset, currentNal.data.byteLength);
+ dataOffset += 4;
+ data.set(currentNal.data, dataOffset);
+ dataOffset += currentNal.data.byteLength;
+ }
+ }
+ }
+ return data;
+};
+
+// generate the track's sample table from a frame
+var generateSampleTableForFrame = function(frame, baseDataOffset) {
+ var
+ sample,
+ dataOffset = baseDataOffset || 0,
+ samples = [];
+
+ sample = sampleForFrame(frame, dataOffset);
+ samples.push(sample);
+
+ return samples;
+};
+
+// generate the track's raw mdat data from a frame
+var concatenateNalDataForFrame = function(frame) {
+ var
+ i,
+ currentNal,
+ dataOffset = 0,
+ nalsByteLength = frame.byteLength,
+ numberOfNals = frame.length,
+ totalByteLength = nalsByteLength + 4 * numberOfNals,
+ data = new Uint8Array(totalByteLength),
+ view = new DataView(data.buffer);
+
+ // For each NAL..
+ for (i = 0; i < frame.length; i++) {
+ currentNal = frame[i];
+
+ view.setUint32(dataOffset, currentNal.data.byteLength);
+ dataOffset += 4;
+ data.set(currentNal.data, dataOffset);
+ dataOffset += currentNal.data.byteLength;
+ }
+
+ return data;
+};
+
+module.exports = {
+ groupNalsIntoFrames: groupNalsIntoFrames,
+ groupFramesIntoGops: groupFramesIntoGops,
+ extendFirstKeyFrame: extendFirstKeyFrame,
+ generateSampleTable: generateSampleTable,
+ concatenateNalData: concatenateNalData,
+ generateSampleTableForFrame: generateSampleTableForFrame,
+ concatenateNalDataForFrame: concatenateNalDataForFrame
+};
+
+},{}],61:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ */
+module.exports = {
+ generator: require('./mp4-generator'),
+ probe: require('./probe'),
+ Transmuxer: require('./transmuxer').Transmuxer,
+ AudioSegmentStream: require('./transmuxer').AudioSegmentStream,
+ VideoSegmentStream: require('./transmuxer').VideoSegmentStream,
+ CaptionParser: require('./caption-parser')
+};
+
+},{"./caption-parser":59,"./mp4-generator":62,"./probe":63,"./transmuxer":65}],62:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ *
+ * Functions that generate fragmented MP4s suitable for use with Media
+ * Source Extensions.
+ */
+'use strict';
+
+var UINT32_MAX = Math.pow(2, 32) - 1;
+
+var box, dinf, esds, ftyp, mdat, mfhd, minf, moof, moov, mvex, mvhd,
+ trak, tkhd, mdia, mdhd, hdlr, sdtp, stbl, stsd, traf, trex,
+ trun, types, MAJOR_BRAND, MINOR_VERSION, AVC1_BRAND, VIDEO_HDLR,
+ AUDIO_HDLR, HDLR_TYPES, VMHD, SMHD, DREF, STCO, STSC, STSZ, STTS;
+
+// pre-calculate constants
+(function() {
+ var i;
+ types = {
+ avc1: [], // codingname
+ avcC: [],
+ btrt: [],
+ dinf: [],
+ dref: [],
+ esds: [],
+ ftyp: [],
+ hdlr: [],
+ mdat: [],
+ mdhd: [],
+ mdia: [],
+ mfhd: [],
+ minf: [],
+ moof: [],
+ moov: [],
+ mp4a: [], // codingname
+ mvex: [],
+ mvhd: [],
+ pasp: [],
+ sdtp: [],
+ smhd: [],
+ stbl: [],
+ stco: [],
+ stsc: [],
+ stsd: [],
+ stsz: [],
+ stts: [],
+ styp: [],
+ tfdt: [],
+ tfhd: [],
+ traf: [],
+ trak: [],
+ trun: [],
+ trex: [],
+ tkhd: [],
+ vmhd: []
+ };
+
+ // In environments where Uint8Array is undefined (e.g., IE8), skip set up so that we
+ // don't throw an error
+ if (typeof Uint8Array === 'undefined') {
+ return;
+ }
+
+ for (i in types) {
+ if (types.hasOwnProperty(i)) {
+ types[i] = [
+ i.charCodeAt(0),
+ i.charCodeAt(1),
+ i.charCodeAt(2),
+ i.charCodeAt(3)
+ ];
+ }
+ }
+
+ MAJOR_BRAND = new Uint8Array([
+ 'i'.charCodeAt(0),
+ 's'.charCodeAt(0),
+ 'o'.charCodeAt(0),
+ 'm'.charCodeAt(0)
+ ]);
+ AVC1_BRAND = new Uint8Array([
+ 'a'.charCodeAt(0),
+ 'v'.charCodeAt(0),
+ 'c'.charCodeAt(0),
+ '1'.charCodeAt(0)
+ ]);
+ MINOR_VERSION = new Uint8Array([0, 0, 0, 1]);
+ VIDEO_HDLR = new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x00, // pre_defined
+ 0x76, 0x69, 0x64, 0x65, // handler_type: 'vide'
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x56, 0x69, 0x64, 0x65,
+ 0x6f, 0x48, 0x61, 0x6e,
+ 0x64, 0x6c, 0x65, 0x72, 0x00 // name: 'VideoHandler'
+ ]);
+ AUDIO_HDLR = new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x00, // pre_defined
+ 0x73, 0x6f, 0x75, 0x6e, // handler_type: 'soun'
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x53, 0x6f, 0x75, 0x6e,
+ 0x64, 0x48, 0x61, 0x6e,
+ 0x64, 0x6c, 0x65, 0x72, 0x00 // name: 'SoundHandler'
+ ]);
+ HDLR_TYPES = {
+ video: VIDEO_HDLR,
+ audio: AUDIO_HDLR
+ };
+ DREF = new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x01, // entry_count
+ 0x00, 0x00, 0x00, 0x0c, // entry_size
+ 0x75, 0x72, 0x6c, 0x20, // 'url' type
+ 0x00, // version 0
+ 0x00, 0x00, 0x01 // entry_flags
+ ]);
+ SMHD = new Uint8Array([
+ 0x00, // version
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, // balance, 0 means centered
+ 0x00, 0x00 // reserved
+ ]);
+ STCO = new Uint8Array([
+ 0x00, // version
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x00 // entry_count
+ ]);
+ STSC = STCO;
+ STSZ = new Uint8Array([
+ 0x00, // version
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x00, // sample_size
+ 0x00, 0x00, 0x00, 0x00 // sample_count
+ ]);
+ STTS = STCO;
+ VMHD = new Uint8Array([
+ 0x00, // version
+ 0x00, 0x00, 0x01, // flags
+ 0x00, 0x00, // graphicsmode
+ 0x00, 0x00,
+ 0x00, 0x00,
+ 0x00, 0x00 // opcolor
+ ]);
+}());
+
+box = function(type) {
+ var
+ payload = [],
+ size = 0,
+ i,
+ result,
+ view;
+
+ for (i = 1; i < arguments.length; i++) {
+ payload.push(arguments[i]);
+ }
+
+ i = payload.length;
+
+ // calculate the total size we need to allocate
+ while (i--) {
+ size += payload[i].byteLength;
+ }
+ result = new Uint8Array(size + 8);
+ view = new DataView(result.buffer, result.byteOffset, result.byteLength);
+ view.setUint32(0, result.byteLength);
+ result.set(type, 4);
+
+ // copy the payload into the result
+ for (i = 0, size = 8; i < payload.length; i++) {
+ result.set(payload[i], size);
+ size += payload[i].byteLength;
+ }
+ return result;
+};
+
+dinf = function() {
+ return box(types.dinf, box(types.dref, DREF));
+};
+
+esds = function(track) {
+ return box(types.esds, new Uint8Array([
+ 0x00, // version
+ 0x00, 0x00, 0x00, // flags
+
+ // ES_Descriptor
+ 0x03, // tag, ES_DescrTag
+ 0x19, // length
+ 0x00, 0x00, // ES_ID
+ 0x00, // streamDependenceFlag, URL_flag, reserved, streamPriority
+
+ // DecoderConfigDescriptor
+ 0x04, // tag, DecoderConfigDescrTag
+ 0x11, // length
+ 0x40, // object type
+ 0x15, // streamType
+ 0x00, 0x06, 0x00, // bufferSizeDB
+ 0x00, 0x00, 0xda, 0xc0, // maxBitrate
+ 0x00, 0x00, 0xda, 0xc0, // avgBitrate
+
+ // DecoderSpecificInfo
+ 0x05, // tag, DecoderSpecificInfoTag
+ 0x02, // length
+ // ISO/IEC 14496-3, AudioSpecificConfig
+ // for samplingFrequencyIndex see ISO/IEC 13818-7:2006, 8.1.3.2.2, Table 35
+ (track.audioobjecttype << 3) | (track.samplingfrequencyindex >>> 1),
+ (track.samplingfrequencyindex << 7) | (track.channelcount << 3),
+ 0x06, 0x01, 0x02 // GASpecificConfig
+ ]));
+};
+
+ftyp = function() {
+ return box(types.ftyp, MAJOR_BRAND, MINOR_VERSION, MAJOR_BRAND, AVC1_BRAND);
+};
+
+hdlr = function(type) {
+ return box(types.hdlr, HDLR_TYPES[type]);
+};
+mdat = function(data) {
+ return box(types.mdat, data);
+};
+mdhd = function(track) {
+ var result = new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x02, // creation_time
+ 0x00, 0x00, 0x00, 0x03, // modification_time
+ 0x00, 0x01, 0x5f, 0x90, // timescale, 90,000 "ticks" per second
+
+ (track.duration >>> 24) & 0xFF,
+ (track.duration >>> 16) & 0xFF,
+ (track.duration >>> 8) & 0xFF,
+ track.duration & 0xFF, // duration
+ 0x55, 0xc4, // 'und' language (undetermined)
+ 0x00, 0x00
+ ]);
+
+ // Use the sample rate from the track metadata, when it is
+ // defined. The sample rate can be parsed out of an ADTS header, for
+ // instance.
+ if (track.samplerate) {
+ result[12] = (track.samplerate >>> 24) & 0xFF;
+ result[13] = (track.samplerate >>> 16) & 0xFF;
+ result[14] = (track.samplerate >>> 8) & 0xFF;
+ result[15] = (track.samplerate) & 0xFF;
+ }
+
+ return box(types.mdhd, result);
+};
+mdia = function(track) {
+ return box(types.mdia, mdhd(track), hdlr(track.type), minf(track));
+};
+mfhd = function(sequenceNumber) {
+ return box(types.mfhd, new Uint8Array([
+ 0x00,
+ 0x00, 0x00, 0x00, // flags
+ (sequenceNumber & 0xFF000000) >> 24,
+ (sequenceNumber & 0xFF0000) >> 16,
+ (sequenceNumber & 0xFF00) >> 8,
+ sequenceNumber & 0xFF // sequence_number
+ ]));
+};
+minf = function(track) {
+ return box(types.minf,
+ track.type === 'video' ? box(types.vmhd, VMHD) : box(types.smhd, SMHD),
+ dinf(),
+ stbl(track));
+};
+moof = function(sequenceNumber, tracks) {
+ var
+ trackFragments = [],
+ i = tracks.length;
+ // build traf boxes for each track fragment
+ while (i--) {
+ trackFragments[i] = traf(tracks[i]);
+ }
+ return box.apply(null, [
+ types.moof,
+ mfhd(sequenceNumber)
+ ].concat(trackFragments));
+};
+/**
+ * Returns a movie box.
+ * @param tracks {array} the tracks associated with this movie
+ * @see ISO/IEC 14496-12:2012(E), section 8.2.1
+ */
+moov = function(tracks) {
+ var
+ i = tracks.length,
+ boxes = [];
+
+ while (i--) {
+ boxes[i] = trak(tracks[i]);
+ }
+
+ return box.apply(null, [types.moov, mvhd(0xffffffff)].concat(boxes).concat(mvex(tracks)));
+};
+mvex = function(tracks) {
+ var
+ i = tracks.length,
+ boxes = [];
+
+ while (i--) {
+ boxes[i] = trex(tracks[i]);
+ }
+ return box.apply(null, [types.mvex].concat(boxes));
+};
+mvhd = function(duration) {
+ var
+ bytes = new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x01, // creation_time
+ 0x00, 0x00, 0x00, 0x02, // modification_time
+ 0x00, 0x01, 0x5f, 0x90, // timescale, 90,000 "ticks" per second
+ (duration & 0xFF000000) >> 24,
+ (duration & 0xFF0000) >> 16,
+ (duration & 0xFF00) >> 8,
+ duration & 0xFF, // duration
+ 0x00, 0x01, 0x00, 0x00, // 1.0 rate
+ 0x01, 0x00, // 1.0 volume
+ 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x01, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x01, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x40, 0x00, 0x00, 0x00, // transformation: unity matrix
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, // pre_defined
+ 0xff, 0xff, 0xff, 0xff // next_track_ID
+ ]);
+ return box(types.mvhd, bytes);
+};
+
+sdtp = function(track) {
+ var
+ samples = track.samples || [],
+ bytes = new Uint8Array(4 + samples.length),
+ flags,
+ i;
+
+ // leave the full box header (4 bytes) all zero
+
+ // write the sample table
+ for (i = 0; i < samples.length; i++) {
+ flags = samples[i].flags;
+
+ bytes[i + 4] = (flags.dependsOn << 4) |
+ (flags.isDependedOn << 2) |
+ (flags.hasRedundancy);
+ }
+
+ return box(types.sdtp,
+ bytes);
+};
+
+stbl = function(track) {
+ return box(types.stbl,
+ stsd(track),
+ box(types.stts, STTS),
+ box(types.stsc, STSC),
+ box(types.stsz, STSZ),
+ box(types.stco, STCO));
+};
+
+(function() {
+ var videoSample, audioSample;
+
+ stsd = function(track) {
+
+ return box(types.stsd, new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x01
+ ]), track.type === 'video' ? videoSample(track) : audioSample(track));
+ };
+
+ videoSample = function(track) {
+ var
+ sps = track.sps || [],
+ pps = track.pps || [],
+ sequenceParameterSets = [],
+ pictureParameterSets = [],
+ i,
+ avc1Box;
+
+ // assemble the SPSs
+ for (i = 0; i < sps.length; i++) {
+ sequenceParameterSets.push((sps[i].byteLength & 0xFF00) >>> 8);
+ sequenceParameterSets.push((sps[i].byteLength & 0xFF)); // sequenceParameterSetLength
+ sequenceParameterSets = sequenceParameterSets.concat(Array.prototype.slice.call(sps[i])); // SPS
+ }
+
+ // assemble the PPSs
+ for (i = 0; i < pps.length; i++) {
+ pictureParameterSets.push((pps[i].byteLength & 0xFF00) >>> 8);
+ pictureParameterSets.push((pps[i].byteLength & 0xFF));
+ pictureParameterSets = pictureParameterSets.concat(Array.prototype.slice.call(pps[i]));
+ }
+
+ avc1Box = [
+ types.avc1, new Uint8Array([
+ 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x01, // data_reference_index
+ 0x00, 0x00, // pre_defined
+ 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, // pre_defined
+ (track.width & 0xff00) >> 8,
+ track.width & 0xff, // width
+ (track.height & 0xff00) >> 8,
+ track.height & 0xff, // height
+ 0x00, 0x48, 0x00, 0x00, // horizresolution
+ 0x00, 0x48, 0x00, 0x00, // vertresolution
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x01, // frame_count
+ 0x13,
+ 0x76, 0x69, 0x64, 0x65,
+ 0x6f, 0x6a, 0x73, 0x2d,
+ 0x63, 0x6f, 0x6e, 0x74,
+ 0x72, 0x69, 0x62, 0x2d,
+ 0x68, 0x6c, 0x73, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, // compressorname
+ 0x00, 0x18, // depth = 24
+ 0x11, 0x11 // pre_defined = -1
+ ]),
+ box(types.avcC, new Uint8Array([
+ 0x01, // configurationVersion
+ track.profileIdc, // AVCProfileIndication
+ track.profileCompatibility, // profile_compatibility
+ track.levelIdc, // AVCLevelIndication
+ 0xff // lengthSizeMinusOne, hard-coded to 4 bytes
+ ].concat(
+ [sps.length], // numOfSequenceParameterSets
+ sequenceParameterSets, // "SPS"
+ [pps.length], // numOfPictureParameterSets
+ pictureParameterSets // "PPS"
+ ))),
+ box(types.btrt, new Uint8Array([
+ 0x00, 0x1c, 0x9c, 0x80, // bufferSizeDB
+ 0x00, 0x2d, 0xc6, 0xc0, // maxBitrate
+ 0x00, 0x2d, 0xc6, 0xc0 // avgBitrate
+ ]))
+ ];
+
+ if (track.sarRatio) {
+ var
+ hSpacing = track.sarRatio[0],
+ vSpacing = track.sarRatio[1];
+
+ avc1Box.push(
+ box(types.pasp, new Uint8Array([
+ (hSpacing & 0xFF000000) >> 24,
+ (hSpacing & 0xFF0000) >> 16,
+ (hSpacing & 0xFF00) >> 8,
+ hSpacing & 0xFF,
+ (vSpacing & 0xFF000000) >> 24,
+ (vSpacing & 0xFF0000) >> 16,
+ (vSpacing & 0xFF00) >> 8,
+ vSpacing & 0xFF
+ ]))
+ );
+ }
+
+ return box.apply(null, avc1Box);
+ };
+
+ audioSample = function(track) {
+ return box(types.mp4a, new Uint8Array([
+
+ // SampleEntry, ISO/IEC 14496-12
+ 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x01, // data_reference_index
+
+ // AudioSampleEntry, ISO/IEC 14496-12
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ (track.channelcount & 0xff00) >> 8,
+ (track.channelcount & 0xff), // channelcount
+
+ (track.samplesize & 0xff00) >> 8,
+ (track.samplesize & 0xff), // samplesize
+ 0x00, 0x00, // pre_defined
+ 0x00, 0x00, // reserved
+
+ (track.samplerate & 0xff00) >> 8,
+ (track.samplerate & 0xff),
+ 0x00, 0x00 // samplerate, 16.16
+
+ // MP4AudioSampleEntry, ISO/IEC 14496-14
+ ]), esds(track));
+ };
+}());
+
+tkhd = function(track) {
+ var result = new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x07, // flags
+ 0x00, 0x00, 0x00, 0x00, // creation_time
+ 0x00, 0x00, 0x00, 0x00, // modification_time
+ (track.id & 0xFF000000) >> 24,
+ (track.id & 0xFF0000) >> 16,
+ (track.id & 0xFF00) >> 8,
+ track.id & 0xFF, // track_ID
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ (track.duration & 0xFF000000) >> 24,
+ (track.duration & 0xFF0000) >> 16,
+ (track.duration & 0xFF00) >> 8,
+ track.duration & 0xFF, // duration
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, // layer
+ 0x00, 0x00, // alternate_group
+ 0x01, 0x00, // non-audio track volume
+ 0x00, 0x00, // reserved
+ 0x00, 0x01, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x01, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x40, 0x00, 0x00, 0x00, // transformation: unity matrix
+ (track.width & 0xFF00) >> 8,
+ track.width & 0xFF,
+ 0x00, 0x00, // width
+ (track.height & 0xFF00) >> 8,
+ track.height & 0xFF,
+ 0x00, 0x00 // height
+ ]);
+
+ return box(types.tkhd, result);
+};
+
+/**
+ * Generate a track fragment (traf) box. A traf box collects metadata
+ * about tracks in a movie fragment (moof) box.
+ */
+traf = function(track) {
+ var trackFragmentHeader, trackFragmentDecodeTime, trackFragmentRun,
+ sampleDependencyTable, dataOffset,
+ upperWordBaseMediaDecodeTime, lowerWordBaseMediaDecodeTime;
+
+ trackFragmentHeader = box(types.tfhd, new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x3a, // flags
+ (track.id & 0xFF000000) >> 24,
+ (track.id & 0xFF0000) >> 16,
+ (track.id & 0xFF00) >> 8,
+ (track.id & 0xFF), // track_ID
+ 0x00, 0x00, 0x00, 0x01, // sample_description_index
+ 0x00, 0x00, 0x00, 0x00, // default_sample_duration
+ 0x00, 0x00, 0x00, 0x00, // default_sample_size
+ 0x00, 0x00, 0x00, 0x00 // default_sample_flags
+ ]));
+
+ upperWordBaseMediaDecodeTime = Math.floor(track.baseMediaDecodeTime / (UINT32_MAX + 1));
+ lowerWordBaseMediaDecodeTime = Math.floor(track.baseMediaDecodeTime % (UINT32_MAX + 1));
+
+ trackFragmentDecodeTime = box(types.tfdt, new Uint8Array([
+ 0x01, // version 1
+ 0x00, 0x00, 0x00, // flags
+ // baseMediaDecodeTime
+ (upperWordBaseMediaDecodeTime >>> 24) & 0xFF,
+ (upperWordBaseMediaDecodeTime >>> 16) & 0xFF,
+ (upperWordBaseMediaDecodeTime >>> 8) & 0xFF,
+ upperWordBaseMediaDecodeTime & 0xFF,
+ (lowerWordBaseMediaDecodeTime >>> 24) & 0xFF,
+ (lowerWordBaseMediaDecodeTime >>> 16) & 0xFF,
+ (lowerWordBaseMediaDecodeTime >>> 8) & 0xFF,
+ lowerWordBaseMediaDecodeTime & 0xFF
+ ]));
+
+ // the data offset specifies the number of bytes from the start of
+ // the containing moof to the first payload byte of the associated
+ // mdat
+ dataOffset = (32 + // tfhd
+ 20 + // tfdt
+ 8 + // traf header
+ 16 + // mfhd
+ 8 + // moof header
+ 8); // mdat header
+
+ // audio tracks require less metadata
+ if (track.type === 'audio') {
+ trackFragmentRun = trun(track, dataOffset);
+ return box(types.traf,
+ trackFragmentHeader,
+ trackFragmentDecodeTime,
+ trackFragmentRun);
+ }
+
+ // video tracks should contain an independent and disposable samples
+ // box (sdtp)
+ // generate one and adjust offsets to match
+ sampleDependencyTable = sdtp(track);
+ trackFragmentRun = trun(track,
+ sampleDependencyTable.length + dataOffset);
+ return box(types.traf,
+ trackFragmentHeader,
+ trackFragmentDecodeTime,
+ trackFragmentRun,
+ sampleDependencyTable);
+};
+
+/**
+ * Generate a track box.
+ * @param track {object} a track definition
+ * @return {Uint8Array} the track box
+ */
+trak = function(track) {
+ track.duration = track.duration || 0xffffffff;
+ return box(types.trak,
+ tkhd(track),
+ mdia(track));
+};
+
+trex = function(track) {
+ var result = new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x00, // flags
+ (track.id & 0xFF000000) >> 24,
+ (track.id & 0xFF0000) >> 16,
+ (track.id & 0xFF00) >> 8,
+ (track.id & 0xFF), // track_ID
+ 0x00, 0x00, 0x00, 0x01, // default_sample_description_index
+ 0x00, 0x00, 0x00, 0x00, // default_sample_duration
+ 0x00, 0x00, 0x00, 0x00, // default_sample_size
+ 0x00, 0x01, 0x00, 0x01 // default_sample_flags
+ ]);
+ // the last two bytes of default_sample_flags is the sample
+ // degradation priority, a hint about the importance of this sample
+ // relative to others. Lower the degradation priority for all sample
+ // types other than video.
+ if (track.type !== 'video') {
+ result[result.length - 1] = 0x00;
+ }
+
+ return box(types.trex, result);
+};
+
+(function() {
+ var audioTrun, videoTrun, trunHeader;
+
+ // This method assumes all samples are uniform. That is, if a
+ // duration is present for the first sample, it will be present for
+ // all subsequent samples.
+ // see ISO/IEC 14496-12:2012, Section 8.8.8.1
+ trunHeader = function(samples, offset) {
+ var durationPresent = 0, sizePresent = 0,
+ flagsPresent = 0, compositionTimeOffset = 0;
+
+ // trun flag constants
+ if (samples.length) {
+ if (samples[0].duration !== undefined) {
+ durationPresent = 0x1;
+ }
+ if (samples[0].size !== undefined) {
+ sizePresent = 0x2;
+ }
+ if (samples[0].flags !== undefined) {
+ flagsPresent = 0x4;
+ }
+ if (samples[0].compositionTimeOffset !== undefined) {
+ compositionTimeOffset = 0x8;
+ }
+ }
+
+ return [
+ 0x00, // version 0
+ 0x00,
+ durationPresent | sizePresent | flagsPresent | compositionTimeOffset,
+ 0x01, // flags
+ (samples.length & 0xFF000000) >>> 24,
+ (samples.length & 0xFF0000) >>> 16,
+ (samples.length & 0xFF00) >>> 8,
+ samples.length & 0xFF, // sample_count
+ (offset & 0xFF000000) >>> 24,
+ (offset & 0xFF0000) >>> 16,
+ (offset & 0xFF00) >>> 8,
+ offset & 0xFF // data_offset
+ ];
+ };
+
+ videoTrun = function(track, offset) {
+ var bytesOffest, bytes, header, samples, sample, i;
+
+ samples = track.samples || [];
+ offset += 8 + 12 + (16 * samples.length);
+ header = trunHeader(samples, offset);
+ bytes = new Uint8Array(header.length + samples.length * 16);
+ bytes.set(header);
+ bytesOffest = header.length;
+
+ for (i = 0; i < samples.length; i++) {
+ sample = samples[i];
+
+ bytes[bytesOffest++] = (sample.duration & 0xFF000000) >>> 24;
+ bytes[bytesOffest++] = (sample.duration & 0xFF0000) >>> 16;
+ bytes[bytesOffest++] = (sample.duration & 0xFF00) >>> 8;
+ bytes[bytesOffest++] = sample.duration & 0xFF; // sample_duration
+ bytes[bytesOffest++] = (sample.size & 0xFF000000) >>> 24;
+ bytes[bytesOffest++] = (sample.size & 0xFF0000) >>> 16;
+ bytes[bytesOffest++] = (sample.size & 0xFF00) >>> 8;
+ bytes[bytesOffest++] = sample.size & 0xFF; // sample_size
+ bytes[bytesOffest++] = (sample.flags.isLeading << 2) | sample.flags.dependsOn;
+ bytes[bytesOffest++] = (sample.flags.isDependedOn << 6) |
+ (sample.flags.hasRedundancy << 4) |
+ (sample.flags.paddingValue << 1) |
+ sample.flags.isNonSyncSample;
+ bytes[bytesOffest++] = sample.flags.degradationPriority & 0xF0 << 8;
+ bytes[bytesOffest++] = sample.flags.degradationPriority & 0x0F; // sample_flags
+ bytes[bytesOffest++] = (sample.compositionTimeOffset & 0xFF000000) >>> 24;
+ bytes[bytesOffest++] = (sample.compositionTimeOffset & 0xFF0000) >>> 16;
+ bytes[bytesOffest++] = (sample.compositionTimeOffset & 0xFF00) >>> 8;
+ bytes[bytesOffest++] = sample.compositionTimeOffset & 0xFF; // sample_composition_time_offset
+ }
+ return box(types.trun, bytes);
+ };
+
+ audioTrun = function(track, offset) {
+ var bytes, bytesOffest, header, samples, sample, i;
+
+ samples = track.samples || [];
+ offset += 8 + 12 + (8 * samples.length);
+
+ header = trunHeader(samples, offset);
+ bytes = new Uint8Array(header.length + samples.length * 8);
+ bytes.set(header);
+ bytesOffest = header.length;
+
+ for (i = 0; i < samples.length; i++) {
+ sample = samples[i];
+ bytes[bytesOffest++] = (sample.duration & 0xFF000000) >>> 24;
+ bytes[bytesOffest++] = (sample.duration & 0xFF0000) >>> 16;
+ bytes[bytesOffest++] = (sample.duration & 0xFF00) >>> 8;
+ bytes[bytesOffest++] = sample.duration & 0xFF; // sample_duration
+ bytes[bytesOffest++] = (sample.size & 0xFF000000) >>> 24;
+ bytes[bytesOffest++] = (sample.size & 0xFF0000) >>> 16;
+ bytes[bytesOffest++] = (sample.size & 0xFF00) >>> 8;
+ bytes[bytesOffest++] = sample.size & 0xFF; // sample_size
+ }
+
+ return box(types.trun, bytes);
+ };
+
+ trun = function(track, offset) {
+ if (track.type === 'audio') {
+ return audioTrun(track, offset);
+ }
+
+ return videoTrun(track, offset);
+ };
+}());
+
+module.exports = {
+ ftyp: ftyp,
+ mdat: mdat,
+ moof: moof,
+ moov: moov,
+ initSegment: function(tracks) {
+ var
+ fileType = ftyp(),
+ movie = moov(tracks),
+ result;
+
+ result = new Uint8Array(fileType.byteLength + movie.byteLength);
+ result.set(fileType);
+ result.set(movie, fileType.byteLength);
+ return result;
+ }
+};
+
+},{}],63:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ *
+ * Utilities to detect basic properties and metadata about MP4s.
+ */
+'use strict';
+
+var toUnsigned = require('../utils/bin').toUnsigned;
+var toHexString = require('../utils/bin').toHexString;
+var mp4Inspector = require('../tools/mp4-inspector.js');
+var timescale, startTime, compositionStartTime, getVideoTrackIds, getTracks,
+ getTimescaleFromMediaHeader;
+
+/**
+ * Parses an MP4 initialization segment and extracts the timescale
+ * values for any declared tracks. Timescale values indicate the
+ * number of clock ticks per second to assume for time-based values
+ * elsewhere in the MP4.
+ *
+ * To determine the start time of an MP4, you need two pieces of
+ * information: the timescale unit and the earliest base media decode
+ * time. Multiple timescales can be specified within an MP4 but the
+ * base media decode time is always expressed in the timescale from
+ * the media header box for the track:
+ * ```
+ * moov > trak > mdia > mdhd.timescale
+ * ```
+ * @param init {Uint8Array} the bytes of the init segment
+ * @return {object} a hash of track ids to timescale values or null if
+ * the init segment is malformed.
+ */
+timescale = function(init) {
+ var
+ result = {},
+ traks = mp4Inspector.findBox(init, ['moov', 'trak']);
+
+ // mdhd timescale
+ return traks.reduce(function(result, trak) {
+ var tkhd, version, index, id, mdhd;
+
+ tkhd = mp4Inspector.findBox(trak, ['tkhd'])[0];
+ if (!tkhd) {
+ return null;
+ }
+ version = tkhd[0];
+ index = version === 0 ? 12 : 20;
+ id = toUnsigned(tkhd[index] << 24 |
+ tkhd[index + 1] << 16 |
+ tkhd[index + 2] << 8 |
+ tkhd[index + 3]);
+
+ mdhd = mp4Inspector.findBox(trak, ['mdia', 'mdhd'])[0];
+ if (!mdhd) {
+ return null;
+ }
+ version = mdhd[0];
+ index = version === 0 ? 12 : 20;
+ result[id] = toUnsigned(mdhd[index] << 24 |
+ mdhd[index + 1] << 16 |
+ mdhd[index + 2] << 8 |
+ mdhd[index + 3]);
+ return result;
+ }, result);
+};
+
+/**
+ * Determine the base media decode start time, in seconds, for an MP4
+ * fragment. If multiple fragments are specified, the earliest time is
+ * returned.
+ *
+ * The base media decode time can be parsed from track fragment
+ * metadata:
+ * ```
+ * moof > traf > tfdt.baseMediaDecodeTime
+ * ```
+ * It requires the timescale value from the mdhd to interpret.
+ *
+ * @param timescale {object} a hash of track ids to timescale values.
+ * @return {number} the earliest base media decode start time for the
+ * fragment, in seconds
+ */
+startTime = function(timescale, fragment) {
+ var trafs, baseTimes, result;
+
+ // we need info from two childrend of each track fragment box
+ trafs = mp4Inspector.findBox(fragment, ['moof', 'traf']);
+
+ // determine the start times for each track
+ baseTimes = [].concat.apply([], trafs.map(function(traf) {
+ return mp4Inspector.findBox(traf, ['tfhd']).map(function(tfhd) {
+ var id, scale, baseTime;
+
+ // get the track id from the tfhd
+ id = toUnsigned(tfhd[4] << 24 |
+ tfhd[5] << 16 |
+ tfhd[6] << 8 |
+ tfhd[7]);
+ // assume a 90kHz clock if no timescale was specified
+ scale = timescale[id] || 90e3;
+
+ // get the base media decode time from the tfdt
+ baseTime = mp4Inspector.findBox(traf, ['tfdt']).map(function(tfdt) {
+ var version, result;
+
+ version = tfdt[0];
+ result = toUnsigned(tfdt[4] << 24 |
+ tfdt[5] << 16 |
+ tfdt[6] << 8 |
+ tfdt[7]);
+ if (version === 1) {
+ result *= Math.pow(2, 32);
+ result += toUnsigned(tfdt[8] << 24 |
+ tfdt[9] << 16 |
+ tfdt[10] << 8 |
+ tfdt[11]);
+ }
+ return result;
+ })[0];
+ baseTime = baseTime || Infinity;
+
+ // convert base time to seconds
+ return baseTime / scale;
+ });
+ }));
+
+ // return the minimum
+ result = Math.min.apply(null, baseTimes);
+ return isFinite(result) ? result : 0;
+};
+
+/**
+ * Determine the composition start, in seconds, for an MP4
+ * fragment.
+ *
+ * The composition start time of a fragment can be calculated using the base
+ * media decode time, composition time offset, and timescale, as follows:
+ *
+ * compositionStartTime = (baseMediaDecodeTime + compositionTimeOffset) / timescale
+ *
+ * All of the aforementioned information is contained within a media fragment's
+ * `traf` box, except for timescale info, which comes from the initialization
+ * segment, so a track id (also contained within a `traf`) is also necessary to
+ * associate it with a timescale
+ *
+ *
+ * @param timescales {object} - a hash of track ids to timescale values.
+ * @param fragment {Unit8Array} - the bytes of a media segment
+ * @return {number} the composition start time for the fragment, in seconds
+ **/
+compositionStartTime = function(timescales, fragment) {
+ var trafBoxes = mp4Inspector.findBox(fragment, ['moof', 'traf']);
+ var baseMediaDecodeTime = 0;
+ var compositionTimeOffset = 0;
+ var trackId;
+
+ if (trafBoxes && trafBoxes.length) {
+ // The spec states that track run samples contained within a `traf` box are contiguous, but
+ // it does not explicitly state whether the `traf` boxes themselves are contiguous.
+ // We will assume that they are, so we only need the first to calculate start time.
+ var parsedTraf = mp4Inspector.parseTraf(trafBoxes[0]);
+
+ for (var i = 0; i < parsedTraf.boxes.length; i++) {
+ if (parsedTraf.boxes[i].type === 'tfhd') {
+ trackId = parsedTraf.boxes[i].trackId;
+ } else if (parsedTraf.boxes[i].type === 'tfdt') {
+ baseMediaDecodeTime = parsedTraf.boxes[i].baseMediaDecodeTime;
+ } else if (parsedTraf.boxes[i].type === 'trun' && parsedTraf.boxes[i].samples.length) {
+ compositionTimeOffset = parsedTraf.boxes[i].samples[0].compositionTimeOffset || 0;
+ }
+ }
+ }
+
+ // Get timescale for this specific track. Assume a 90kHz clock if no timescale was
+ // specified.
+ var timescale = timescales[trackId] || 90e3;
+
+ // return the composition start time, in seconds
+ return (baseMediaDecodeTime + compositionTimeOffset) / timescale;
+};
+
+/**
+ * Find the trackIds of the video tracks in this source.
+ * Found by parsing the Handler Reference and Track Header Boxes:
+ * moov > trak > mdia > hdlr
+ * moov > trak > tkhd
+ *
+ * @param {Uint8Array} init - The bytes of the init segment for this source
+ * @return {Number[]} A list of trackIds
+ *
+ * @see ISO-BMFF-12/2015, Section 8.4.3
+ **/
+getVideoTrackIds = function(init) {
+ var traks = mp4Inspector.findBox(init, ['moov', 'trak']);
+ var videoTrackIds = [];
+
+ traks.forEach(function(trak) {
+ var hdlrs = mp4Inspector.findBox(trak, ['mdia', 'hdlr']);
+ var tkhds = mp4Inspector.findBox(trak, ['tkhd']);
+
+ hdlrs.forEach(function(hdlr, index) {
+ var handlerType = mp4Inspector.parseType(hdlr.subarray(8, 12));
+ var tkhd = tkhds[index];
+ var view;
+ var version;
+ var trackId;
+
+ if (handlerType === 'vide') {
+ view = new DataView(tkhd.buffer, tkhd.byteOffset, tkhd.byteLength);
+ version = view.getUint8(0);
+ trackId = (version === 0) ? view.getUint32(12) : view.getUint32(20);
+
+ videoTrackIds.push(trackId);
+ }
+ });
+ });
+
+ return videoTrackIds;
+};
+
+getTimescaleFromMediaHeader = function(mdhd) {
+ // mdhd is a FullBox, meaning it will have its own version as the first byte
+ var version = mdhd[0];
+ var index = version === 0 ? 12 : 20;
+
+ return toUnsigned(
+ mdhd[index] << 24 |
+ mdhd[index + 1] << 16 |
+ mdhd[index + 2] << 8 |
+ mdhd[index + 3]
+ );
+};
+
+/**
+ * Get all the video, audio, and hint tracks from a non fragmented
+ * mp4 segment
+ */
+getTracks = function(init) {
+ var traks = mp4Inspector.findBox(init, ['moov', 'trak']);
+ var tracks = [];
+
+ traks.forEach(function(trak) {
+ var track = {};
+ var tkhd = mp4Inspector.findBox(trak, ['tkhd'])[0];
+ var view, tkhdVersion;
+
+ // id
+ if (tkhd) {
+ view = new DataView(tkhd.buffer, tkhd.byteOffset, tkhd.byteLength);
+ tkhdVersion = view.getUint8(0);
+
+ track.id = (tkhdVersion === 0) ? view.getUint32(12) : view.getUint32(20);
+ }
+
+ var hdlr = mp4Inspector.findBox(trak, ['mdia', 'hdlr'])[0];
+
+ // type
+ if (hdlr) {
+ var type = mp4Inspector.parseType(hdlr.subarray(8, 12));
+
+ if (type === 'vide') {
+ track.type = 'video';
+ } else if (type === 'soun') {
+ track.type = 'audio';
+ } else {
+ track.type = type;
+ }
+ }
+
+
+ // codec
+ var stsd = mp4Inspector.findBox(trak, ['mdia', 'minf', 'stbl', 'stsd'])[0];
+
+ if (stsd) {
+ var sampleDescriptions = stsd.subarray(8);
+ // gives the codec type string
+ track.codec = mp4Inspector.parseType(sampleDescriptions.subarray(4, 8));
+
+ var codecBox = mp4Inspector.findBox(sampleDescriptions, [track.codec])[0];
+ var codecConfig, codecConfigType;
+
+ if (codecBox) {
+ // https://tools.ietf.org/html/rfc6381#section-3.3
+ if ((/^[a-z]vc[1-9]$/i).test(track.codec)) {
+ // we don't need anything but the "config" parameter of the
+ // avc1 codecBox
+ codecConfig = codecBox.subarray(78);
+ codecConfigType = mp4Inspector.parseType(codecConfig.subarray(4, 8));
+
+ if (codecConfigType === 'avcC' && codecConfig.length > 11) {
+ track.codec += '.';
+
+ // left padded with zeroes for single digit hex
+ // profile idc
+ track.codec += toHexString(codecConfig[9]);
+ // the byte containing the constraint_set flags
+ track.codec += toHexString(codecConfig[10]);
+ // level idc
+ track.codec += toHexString(codecConfig[11]);
+ } else {
+ // TODO: show a warning that we couldn't parse the codec
+ // and are using the default
+ track.codec = 'avc1.4d400d';
+ }
+ } else if ((/^mp4[a,v]$/i).test(track.codec)) {
+ // we do not need anything but the streamDescriptor of the mp4a codecBox
+ codecConfig = codecBox.subarray(28);
+ codecConfigType = mp4Inspector.parseType(codecConfig.subarray(4, 8));
+
+ if (codecConfigType === 'esds' && codecConfig.length > 20 && codecConfig[19] !== 0) {
+ track.codec += '.' + toHexString(codecConfig[19]);
+ // this value is only a single digit
+ track.codec += '.' + toHexString((codecConfig[20] >>> 2) & 0x3f).replace(/^0/, '');
+ } else {
+ // TODO: show a warning that we couldn't parse the codec
+ // and are using the default
+ track.codec = 'mp4a.40.2';
+ }
+ } else {
+ // TODO: show a warning? for unknown codec type
+ }
+ }
+ }
+
+ var mdhd = mp4Inspector.findBox(trak, ['mdia', 'mdhd'])[0];
+
+ if (mdhd) {
+ track.timescale = getTimescaleFromMediaHeader(mdhd);
+ }
+
+ tracks.push(track);
+ });
+
+ return tracks;
+};
+
+module.exports = {
+ // export mp4 inspector's findBox and parseType for backwards compatibility
+ findBox: mp4Inspector.findBox,
+ parseType: mp4Inspector.parseType,
+ timescale: timescale,
+ startTime: startTime,
+ compositionStartTime: compositionStartTime,
+ videoTrackIds: getVideoTrackIds,
+ tracks: getTracks,
+ getTimescaleFromMediaHeader: getTimescaleFromMediaHeader
+};
+
+},{"../tools/mp4-inspector.js":72,"../utils/bin":74}],64:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ */
+var ONE_SECOND_IN_TS = require('../utils/clock').ONE_SECOND_IN_TS;
+
+/**
+ * Store information about the start and end of the track and the
+ * duration for each frame/sample we process in order to calculate
+ * the baseMediaDecodeTime
+ */
+var collectDtsInfo = function(track, data) {
+ if (typeof data.pts === 'number') {
+ if (track.timelineStartInfo.pts === undefined) {
+ track.timelineStartInfo.pts = data.pts;
+ }
+
+ if (track.minSegmentPts === undefined) {
+ track.minSegmentPts = data.pts;
+ } else {
+ track.minSegmentPts = Math.min(track.minSegmentPts, data.pts);
+ }
+
+ if (track.maxSegmentPts === undefined) {
+ track.maxSegmentPts = data.pts;
+ } else {
+ track.maxSegmentPts = Math.max(track.maxSegmentPts, data.pts);
+ }
+ }
+
+ if (typeof data.dts === 'number') {
+ if (track.timelineStartInfo.dts === undefined) {
+ track.timelineStartInfo.dts = data.dts;
+ }
+
+ if (track.minSegmentDts === undefined) {
+ track.minSegmentDts = data.dts;
+ } else {
+ track.minSegmentDts = Math.min(track.minSegmentDts, data.dts);
+ }
+
+ if (track.maxSegmentDts === undefined) {
+ track.maxSegmentDts = data.dts;
+ } else {
+ track.maxSegmentDts = Math.max(track.maxSegmentDts, data.dts);
+ }
+ }
+};
+
+/**
+ * Clear values used to calculate the baseMediaDecodeTime between
+ * tracks
+ */
+var clearDtsInfo = function(track) {
+ delete track.minSegmentDts;
+ delete track.maxSegmentDts;
+ delete track.minSegmentPts;
+ delete track.maxSegmentPts;
+};
+
+/**
+ * Calculate the track's baseMediaDecodeTime based on the earliest
+ * DTS the transmuxer has ever seen and the minimum DTS for the
+ * current track
+ * @param track {object} track metadata configuration
+ * @param keepOriginalTimestamps {boolean} If true, keep the timestamps
+ * in the source; false to adjust the first segment to start at 0.
+ */
+var calculateTrackBaseMediaDecodeTime = function(track, keepOriginalTimestamps) {
+ var
+ baseMediaDecodeTime,
+ scale,
+ minSegmentDts = track.minSegmentDts;
+
+ // Optionally adjust the time so the first segment starts at zero.
+ if (!keepOriginalTimestamps) {
+ minSegmentDts -= track.timelineStartInfo.dts;
+ }
+
+ // track.timelineStartInfo.baseMediaDecodeTime is the location, in time, where
+ // we want the start of the first segment to be placed
+ baseMediaDecodeTime = track.timelineStartInfo.baseMediaDecodeTime;
+
+ // Add to that the distance this segment is from the very first
+ baseMediaDecodeTime += minSegmentDts;
+
+ // baseMediaDecodeTime must not become negative
+ baseMediaDecodeTime = Math.max(0, baseMediaDecodeTime);
+
+ if (track.type === 'audio') {
+ // Audio has a different clock equal to the sampling_rate so we need to
+ // scale the PTS values into the clock rate of the track
+ scale = track.samplerate / ONE_SECOND_IN_TS;
+ baseMediaDecodeTime *= scale;
+ baseMediaDecodeTime = Math.floor(baseMediaDecodeTime);
+ }
+
+ return baseMediaDecodeTime;
+};
+
+module.exports = {
+ clearDtsInfo: clearDtsInfo,
+ calculateTrackBaseMediaDecodeTime: calculateTrackBaseMediaDecodeTime,
+ collectDtsInfo: collectDtsInfo
+};
+
+},{"../utils/clock":75}],65:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ *
+ * A stream-based mp2t to mp4 converter. This utility can be used to
+ * deliver mp4s to a SourceBuffer on platforms that support native
+ * Media Source Extensions.
+ */
+'use strict';
+
+var Stream = require('../utils/stream.js');
+var mp4 = require('./mp4-generator.js');
+var frameUtils = require('./frame-utils');
+var audioFrameUtils = require('./audio-frame-utils');
+var trackDecodeInfo = require('./track-decode-info');
+var m2ts = require('../m2ts/m2ts.js');
+var clock = require('../utils/clock');
+var AdtsStream = require('../codecs/adts.js');
+var H264Stream = require('../codecs/h264').H264Stream;
+var AacStream = require('../aac');
+var isLikelyAacData = require('../aac/utils').isLikelyAacData;
+var ONE_SECOND_IN_TS = require('../utils/clock').ONE_SECOND_IN_TS;
+var AUDIO_PROPERTIES = require('../constants/audio-properties.js');
+var VIDEO_PROPERTIES = require('../constants/video-properties.js');
+
+// object types
+var VideoSegmentStream, AudioSegmentStream, Transmuxer, CoalesceStream;
+
+/**
+ * Compare two arrays (even typed) for same-ness
+ */
+var arrayEquals = function(a, b) {
+ var
+ i;
+
+ if (a.length !== b.length) {
+ return false;
+ }
+
+ // compare the value of each element in the array
+ for (i = 0; i < a.length; i++) {
+ if (a[i] !== b[i]) {
+ return false;
+ }
+ }
+
+ return true;
+};
+
+var generateVideoSegmentTimingInfo = function(
+ baseMediaDecodeTime,
+ startDts,
+ startPts,
+ endDts,
+ endPts,
+ prependedContentDuration
+) {
+ var
+ ptsOffsetFromDts = startPts - startDts,
+ decodeDuration = endDts - startDts,
+ presentationDuration = endPts - startPts;
+
+ // The PTS and DTS values are based on the actual stream times from the segment,
+ // however, the player time values will reflect a start from the baseMediaDecodeTime.
+ // In order to provide relevant values for the player times, base timing info on the
+ // baseMediaDecodeTime and the DTS and PTS durations of the segment.
+ return {
+ start: {
+ dts: baseMediaDecodeTime,
+ pts: baseMediaDecodeTime + ptsOffsetFromDts
+ },
+ end: {
+ dts: baseMediaDecodeTime + decodeDuration,
+ pts: baseMediaDecodeTime + presentationDuration
+ },
+ prependedContentDuration: prependedContentDuration,
+ baseMediaDecodeTime: baseMediaDecodeTime
+ };
+};
+
+/**
+ * Constructs a single-track, ISO BMFF media segment from AAC data
+ * events. The output of this stream can be fed to a SourceBuffer
+ * configured with a suitable initialization segment.
+ * @param track {object} track metadata configuration
+ * @param options {object} transmuxer options object
+ * @param options.keepOriginalTimestamps {boolean} If true, keep the timestamps
+ * in the source; false to adjust the first segment to start at 0.
+ */
+AudioSegmentStream = function(track, options) {
+ var
+ adtsFrames = [],
+ sequenceNumber = 0,
+ earliestAllowedDts = 0,
+ audioAppendStartTs = 0,
+ videoBaseMediaDecodeTime = Infinity;
+
+ options = options || {};
+
+ AudioSegmentStream.prototype.init.call(this);
+
+ this.push = function(data) {
+ trackDecodeInfo.collectDtsInfo(track, data);
+
+ if (track) {
+ AUDIO_PROPERTIES.forEach(function(prop) {
+ track[prop] = data[prop];
+ });
+ }
+
+ // buffer audio data until end() is called
+ adtsFrames.push(data);
+ };
+
+ this.setEarliestDts = function(earliestDts) {
+ earliestAllowedDts = earliestDts;
+ };
+
+ this.setVideoBaseMediaDecodeTime = function(baseMediaDecodeTime) {
+ videoBaseMediaDecodeTime = baseMediaDecodeTime;
+ };
+
+ this.setAudioAppendStart = function(timestamp) {
+ audioAppendStartTs = timestamp;
+ };
+
+ this.flush = function() {
+ var
+ frames,
+ moof,
+ mdat,
+ boxes,
+ frameDuration;
+
+ // return early if no audio data has been observed
+ if (adtsFrames.length === 0) {
+ this.trigger('done', 'AudioSegmentStream');
+ return;
+ }
+
+ frames = audioFrameUtils.trimAdtsFramesByEarliestDts(
+ adtsFrames, track, earliestAllowedDts);
+ track.baseMediaDecodeTime = trackDecodeInfo.calculateTrackBaseMediaDecodeTime(
+ track, options.keepOriginalTimestamps);
+
+ audioFrameUtils.prefixWithSilence(
+ track, frames, audioAppendStartTs, videoBaseMediaDecodeTime);
+
+ // we have to build the index from byte locations to
+ // samples (that is, adts frames) in the audio data
+ track.samples = audioFrameUtils.generateSampleTable(frames);
+
+ // concatenate the audio data to constuct the mdat
+ mdat = mp4.mdat(audioFrameUtils.concatenateFrameData(frames));
+
+ adtsFrames = [];
+
+ moof = mp4.moof(sequenceNumber, [track]);
+ boxes = new Uint8Array(moof.byteLength + mdat.byteLength);
+
+ // bump the sequence number for next time
+ sequenceNumber++;
+
+ boxes.set(moof);
+ boxes.set(mdat, moof.byteLength);
+
+ trackDecodeInfo.clearDtsInfo(track);
+
+ frameDuration = Math.ceil(ONE_SECOND_IN_TS * 1024 / track.samplerate);
+
+ // TODO this check was added to maintain backwards compatibility (particularly with
+ // tests) on adding the timingInfo event. However, it seems unlikely that there's a
+ // valid use-case where an init segment/data should be triggered without associated
+ // frames. Leaving for now, but should be looked into.
+ if (frames.length) {
+ this.trigger('timingInfo', {
+ start: frames[0].pts,
+ end: frames[0].pts + (frames.length * frameDuration)
+ });
+ }
+ this.trigger('data', {track: track, boxes: boxes});
+ this.trigger('done', 'AudioSegmentStream');
+ };
+
+ this.reset = function() {
+ trackDecodeInfo.clearDtsInfo(track);
+ adtsFrames = [];
+ this.trigger('reset');
+ };
+};
+
+AudioSegmentStream.prototype = new Stream();
+
+/**
+ * Constructs a single-track, ISO BMFF media segment from H264 data
+ * events. The output of this stream can be fed to a SourceBuffer
+ * configured with a suitable initialization segment.
+ * @param track {object} track metadata configuration
+ * @param options {object} transmuxer options object
+ * @param options.alignGopsAtEnd {boolean} If true, start from the end of the
+ * gopsToAlignWith list when attempting to align gop pts
+ * @param options.keepOriginalTimestamps {boolean} If true, keep the timestamps
+ * in the source; false to adjust the first segment to start at 0.
+ */
+VideoSegmentStream = function(track, options) {
+ var
+ sequenceNumber = 0,
+ nalUnits = [],
+ gopsToAlignWith = [],
+ config,
+ pps;
+
+ options = options || {};
+
+ VideoSegmentStream.prototype.init.call(this);
+
+ delete track.minPTS;
+
+ this.gopCache_ = [];
+
+ /**
+ * Constructs a ISO BMFF segment given H264 nalUnits
+ * @param {Object} nalUnit A data event representing a nalUnit
+ * @param {String} nalUnit.nalUnitType
+ * @param {Object} nalUnit.config Properties for a mp4 track
+ * @param {Uint8Array} nalUnit.data The nalUnit bytes
+ * @see lib/codecs/h264.js
+ **/
+ this.push = function(nalUnit) {
+ trackDecodeInfo.collectDtsInfo(track, nalUnit);
+
+ // record the track config
+ if (nalUnit.nalUnitType === 'seq_parameter_set_rbsp' && !config) {
+ config = nalUnit.config;
+ track.sps = [nalUnit.data];
+
+ VIDEO_PROPERTIES.forEach(function(prop) {
+ track[prop] = config[prop];
+ }, this);
+ }
+
+ if (nalUnit.nalUnitType === 'pic_parameter_set_rbsp' &&
+ !pps) {
+ pps = nalUnit.data;
+ track.pps = [nalUnit.data];
+ }
+
+ // buffer video until flush() is called
+ nalUnits.push(nalUnit);
+ };
+
+ /**
+ * Pass constructed ISO BMFF track and boxes on to the
+ * next stream in the pipeline
+ **/
+ this.flush = function() {
+ var
+ frames,
+ gopForFusion,
+ gops,
+ moof,
+ mdat,
+ boxes,
+ prependedContentDuration = 0,
+ firstGop,
+ lastGop;
+
+ // Throw away nalUnits at the start of the byte stream until
+ // we find the first AUD
+ while (nalUnits.length) {
+ if (nalUnits[0].nalUnitType === 'access_unit_delimiter_rbsp') {
+ break;
+ }
+ nalUnits.shift();
+ }
+
+ // Return early if no video data has been observed
+ if (nalUnits.length === 0) {
+ this.resetStream_();
+ this.trigger('done', 'VideoSegmentStream');
+ return;
+ }
+
+ // Organize the raw nal-units into arrays that represent
+ // higher-level constructs such as frames and gops
+ // (group-of-pictures)
+ frames = frameUtils.groupNalsIntoFrames(nalUnits);
+ gops = frameUtils.groupFramesIntoGops(frames);
+
+ // If the first frame of this fragment is not a keyframe we have
+ // a problem since MSE (on Chrome) requires a leading keyframe.
+ //
+ // We have two approaches to repairing this situation:
+ // 1) GOP-FUSION:
+ // This is where we keep track of the GOPS (group-of-pictures)
+ // from previous fragments and attempt to find one that we can
+ // prepend to the current fragment in order to create a valid
+ // fragment.
+ // 2) KEYFRAME-PULLING:
+ // Here we search for the first keyframe in the fragment and
+ // throw away all the frames between the start of the fragment
+ // and that keyframe. We then extend the duration and pull the
+ // PTS of the keyframe forward so that it covers the time range
+ // of the frames that were disposed of.
+ //
+ // #1 is far prefereable over #2 which can cause "stuttering" but
+ // requires more things to be just right.
+ if (!gops[0][0].keyFrame) {
+ // Search for a gop for fusion from our gopCache
+ gopForFusion = this.getGopForFusion_(nalUnits[0], track);
+
+ if (gopForFusion) {
+ // in order to provide more accurate timing information about the segment, save
+ // the number of seconds prepended to the original segment due to GOP fusion
+ prependedContentDuration = gopForFusion.duration;
+
+ gops.unshift(gopForFusion);
+ // Adjust Gops' metadata to account for the inclusion of the
+ // new gop at the beginning
+ gops.byteLength += gopForFusion.byteLength;
+ gops.nalCount += gopForFusion.nalCount;
+ gops.pts = gopForFusion.pts;
+ gops.dts = gopForFusion.dts;
+ gops.duration += gopForFusion.duration;
+ } else {
+ // If we didn't find a candidate gop fall back to keyframe-pulling
+ gops = frameUtils.extendFirstKeyFrame(gops);
+ }
+ }
+
+ // Trim gops to align with gopsToAlignWith
+ if (gopsToAlignWith.length) {
+ var alignedGops;
+
+ if (options.alignGopsAtEnd) {
+ alignedGops = this.alignGopsAtEnd_(gops);
+ } else {
+ alignedGops = this.alignGopsAtStart_(gops);
+ }
+
+ if (!alignedGops) {
+ // save all the nals in the last GOP into the gop cache
+ this.gopCache_.unshift({
+ gop: gops.pop(),
+ pps: track.pps,
+ sps: track.sps
+ });
+
+ // Keep a maximum of 6 GOPs in the cache
+ this.gopCache_.length = Math.min(6, this.gopCache_.length);
+
+ // Clear nalUnits
+ nalUnits = [];
+
+ // return early no gops can be aligned with desired gopsToAlignWith
+ this.resetStream_();
+ this.trigger('done', 'VideoSegmentStream');
+ return;
+ }
+
+ // Some gops were trimmed. clear dts info so minSegmentDts and pts are correct
+ // when recalculated before sending off to CoalesceStream
+ trackDecodeInfo.clearDtsInfo(track);
+
+ gops = alignedGops;
+ }
+
+ trackDecodeInfo.collectDtsInfo(track, gops);
+
+ // First, we have to build the index from byte locations to
+ // samples (that is, frames) in the video data
+ track.samples = frameUtils.generateSampleTable(gops);
+
+ // Concatenate the video data and construct the mdat
+ mdat = mp4.mdat(frameUtils.concatenateNalData(gops));
+
+ track.baseMediaDecodeTime = trackDecodeInfo.calculateTrackBaseMediaDecodeTime(
+ track, options.keepOriginalTimestamps);
+
+ this.trigger('processedGopsInfo', gops.map(function(gop) {
+ return {
+ pts: gop.pts,
+ dts: gop.dts,
+ byteLength: gop.byteLength
+ };
+ }));
+
+ firstGop = gops[0];
+ lastGop = gops[gops.length - 1];
+
+ this.trigger(
+ 'segmentTimingInfo',
+ generateVideoSegmentTimingInfo(
+ track.baseMediaDecodeTime,
+ firstGop.dts,
+ firstGop.pts,
+ lastGop.dts + lastGop.duration,
+ lastGop.pts + lastGop.duration,
+ prependedContentDuration));
+
+ this.trigger('timingInfo', {
+ start: gops[0].pts,
+ end: gops[gops.length - 1].pts + gops[gops.length - 1].duration
+ });
+
+ // save all the nals in the last GOP into the gop cache
+ this.gopCache_.unshift({
+ gop: gops.pop(),
+ pps: track.pps,
+ sps: track.sps
+ });
+
+ // Keep a maximum of 6 GOPs in the cache
+ this.gopCache_.length = Math.min(6, this.gopCache_.length);
+
+ // Clear nalUnits
+ nalUnits = [];
+
+ this.trigger('baseMediaDecodeTime', track.baseMediaDecodeTime);
+ this.trigger('timelineStartInfo', track.timelineStartInfo);
+
+ moof = mp4.moof(sequenceNumber, [track]);
+
+ // it would be great to allocate this array up front instead of
+ // throwing away hundreds of media segment fragments
+ boxes = new Uint8Array(moof.byteLength + mdat.byteLength);
+
+ // Bump the sequence number for next time
+ sequenceNumber++;
+
+ boxes.set(moof);
+ boxes.set(mdat, moof.byteLength);
+
+ this.trigger('data', {track: track, boxes: boxes});
+
+ this.resetStream_();
+
+ // Continue with the flush process now
+ this.trigger('done', 'VideoSegmentStream');
+ };
+
+ this.reset = function() {
+ this.resetStream_();
+ nalUnits = [];
+ this.gopCache_.length = 0;
+ gopsToAlignWith.length = 0;
+ this.trigger('reset');
+ };
+
+ this.resetStream_ = function() {
+ trackDecodeInfo.clearDtsInfo(track);
+
+ // reset config and pps because they may differ across segments
+ // for instance, when we are rendition switching
+ config = undefined;
+ pps = undefined;
+ };
+
+ // Search for a candidate Gop for gop-fusion from the gop cache and
+ // return it or return null if no good candidate was found
+ this.getGopForFusion_ = function(nalUnit) {
+ var
+ halfSecond = 45000, // Half-a-second in a 90khz clock
+ allowableOverlap = 10000, // About 3 frames @ 30fps
+ nearestDistance = Infinity,
+ dtsDistance,
+ nearestGopObj,
+ currentGop,
+ currentGopObj,
+ i;
+
+ // Search for the GOP nearest to the beginning of this nal unit
+ for (i = 0; i < this.gopCache_.length; i++) {
+ currentGopObj = this.gopCache_[i];
+ currentGop = currentGopObj.gop;
+
+ // Reject Gops with different SPS or PPS
+ if (!(track.pps && arrayEquals(track.pps[0], currentGopObj.pps[0])) ||
+ !(track.sps && arrayEquals(track.sps[0], currentGopObj.sps[0]))) {
+ continue;
+ }
+
+ // Reject Gops that would require a negative baseMediaDecodeTime
+ if (currentGop.dts < track.timelineStartInfo.dts) {
+ continue;
+ }
+
+ // The distance between the end of the gop and the start of the nalUnit
+ dtsDistance = (nalUnit.dts - currentGop.dts) - currentGop.duration;
+
+ // Only consider GOPS that start before the nal unit and end within
+ // a half-second of the nal unit
+ if (dtsDistance >= -allowableOverlap &&
+ dtsDistance <= halfSecond) {
+
+ // Always use the closest GOP we found if there is more than
+ // one candidate
+ if (!nearestGopObj ||
+ nearestDistance > dtsDistance) {
+ nearestGopObj = currentGopObj;
+ nearestDistance = dtsDistance;
+ }
+ }
+ }
+
+ if (nearestGopObj) {
+ return nearestGopObj.gop;
+ }
+ return null;
+ };
+
+ // trim gop list to the first gop found that has a matching pts with a gop in the list
+ // of gopsToAlignWith starting from the START of the list
+ this.alignGopsAtStart_ = function(gops) {
+ var alignIndex, gopIndex, align, gop, byteLength, nalCount, duration, alignedGops;
+
+ byteLength = gops.byteLength;
+ nalCount = gops.nalCount;
+ duration = gops.duration;
+ alignIndex = gopIndex = 0;
+
+ while (alignIndex < gopsToAlignWith.length && gopIndex < gops.length) {
+ align = gopsToAlignWith[alignIndex];
+ gop = gops[gopIndex];
+
+ if (align.pts === gop.pts) {
+ break;
+ }
+
+ if (gop.pts > align.pts) {
+ // this current gop starts after the current gop we want to align on, so increment
+ // align index
+ alignIndex++;
+ continue;
+ }
+
+ // current gop starts before the current gop we want to align on. so increment gop
+ // index
+ gopIndex++;
+ byteLength -= gop.byteLength;
+ nalCount -= gop.nalCount;
+ duration -= gop.duration;
+ }
+
+ if (gopIndex === 0) {
+ // no gops to trim
+ return gops;
+ }
+
+ if (gopIndex === gops.length) {
+ // all gops trimmed, skip appending all gops
+ return null;
+ }
+
+ alignedGops = gops.slice(gopIndex);
+ alignedGops.byteLength = byteLength;
+ alignedGops.duration = duration;
+ alignedGops.nalCount = nalCount;
+ alignedGops.pts = alignedGops[0].pts;
+ alignedGops.dts = alignedGops[0].dts;
+
+ return alignedGops;
+ };
+
+ // trim gop list to the first gop found that has a matching pts with a gop in the list
+ // of gopsToAlignWith starting from the END of the list
+ this.alignGopsAtEnd_ = function(gops) {
+ var alignIndex, gopIndex, align, gop, alignEndIndex, matchFound;
+
+ alignIndex = gopsToAlignWith.length - 1;
+ gopIndex = gops.length - 1;
+ alignEndIndex = null;
+ matchFound = false;
+
+ while (alignIndex >= 0 && gopIndex >= 0) {
+ align = gopsToAlignWith[alignIndex];
+ gop = gops[gopIndex];
+
+ if (align.pts === gop.pts) {
+ matchFound = true;
+ break;
+ }
+
+ if (align.pts > gop.pts) {
+ alignIndex--;
+ continue;
+ }
+
+ if (alignIndex === gopsToAlignWith.length - 1) {
+ // gop.pts is greater than the last alignment candidate. If no match is found
+ // by the end of this loop, we still want to append gops that come after this
+ // point
+ alignEndIndex = gopIndex;
+ }
+
+ gopIndex--;
+ }
+
+ if (!matchFound && alignEndIndex === null) {
+ return null;
+ }
+
+ var trimIndex;
+
+ if (matchFound) {
+ trimIndex = gopIndex;
+ } else {
+ trimIndex = alignEndIndex;
+ }
+
+ if (trimIndex === 0) {
+ return gops;
+ }
+
+ var alignedGops = gops.slice(trimIndex);
+ var metadata = alignedGops.reduce(function(total, gop) {
+ total.byteLength += gop.byteLength;
+ total.duration += gop.duration;
+ total.nalCount += gop.nalCount;
+ return total;
+ }, { byteLength: 0, duration: 0, nalCount: 0 });
+
+ alignedGops.byteLength = metadata.byteLength;
+ alignedGops.duration = metadata.duration;
+ alignedGops.nalCount = metadata.nalCount;
+ alignedGops.pts = alignedGops[0].pts;
+ alignedGops.dts = alignedGops[0].dts;
+
+ return alignedGops;
+ };
+
+ this.alignGopsWith = function(newGopsToAlignWith) {
+ gopsToAlignWith = newGopsToAlignWith;
+ };
+};
+
+VideoSegmentStream.prototype = new Stream();
+
+/**
+ * A Stream that can combine multiple streams (ie. audio & video)
+ * into a single output segment for MSE. Also supports audio-only
+ * and video-only streams.
+ * @param options {object} transmuxer options object
+ * @param options.keepOriginalTimestamps {boolean} If true, keep the timestamps
+ * in the source; false to adjust the first segment to start at media timeline start.
+ */
+CoalesceStream = function(options, metadataStream) {
+ // Number of Tracks per output segment
+ // If greater than 1, we combine multiple
+ // tracks into a single segment
+ this.numberOfTracks = 0;
+ this.metadataStream = metadataStream;
+
+ options = options || {};
+
+ if (typeof options.remux !== 'undefined') {
+ this.remuxTracks = !!options.remux;
+ } else {
+ this.remuxTracks = true;
+ }
+
+ if (typeof options.keepOriginalTimestamps === 'boolean') {
+ this.keepOriginalTimestamps = options.keepOriginalTimestamps;
+ } else {
+ this.keepOriginalTimestamps = false;
+ }
+
+ this.pendingTracks = [];
+ this.videoTrack = null;
+ this.pendingBoxes = [];
+ this.pendingCaptions = [];
+ this.pendingMetadata = [];
+ this.pendingBytes = 0;
+ this.emittedTracks = 0;
+
+ CoalesceStream.prototype.init.call(this);
+
+ // Take output from multiple
+ this.push = function(output) {
+ // buffer incoming captions until the associated video segment
+ // finishes
+ if (output.text) {
+ return this.pendingCaptions.push(output);
+ }
+ // buffer incoming id3 tags until the final flush
+ if (output.frames) {
+ return this.pendingMetadata.push(output);
+ }
+
+ // Add this track to the list of pending tracks and store
+ // important information required for the construction of
+ // the final segment
+ this.pendingTracks.push(output.track);
+ this.pendingBytes += output.boxes.byteLength;
+
+ // TODO: is there an issue for this against chrome?
+ // We unshift audio and push video because
+ // as of Chrome 75 when switching from
+ // one init segment to another if the video
+ // mdat does not appear after the audio mdat
+ // only audio will play for the duration of our transmux.
+ if (output.track.type === 'video') {
+ this.videoTrack = output.track;
+ this.pendingBoxes.push(output.boxes);
+ }
+ if (output.track.type === 'audio') {
+ this.audioTrack = output.track;
+ this.pendingBoxes.unshift(output.boxes);
+ }
+ };
+};
+
+CoalesceStream.prototype = new Stream();
+CoalesceStream.prototype.flush = function(flushSource) {
+ var
+ offset = 0,
+ event = {
+ captions: [],
+ captionStreams: {},
+ metadata: [],
+ info: {}
+ },
+ caption,
+ id3,
+ initSegment,
+ timelineStartPts = 0,
+ i;
+
+ if (this.pendingTracks.length < this.numberOfTracks) {
+ if (flushSource !== 'VideoSegmentStream' &&
+ flushSource !== 'AudioSegmentStream') {
+ // Return because we haven't received a flush from a data-generating
+ // portion of the segment (meaning that we have only recieved meta-data
+ // or captions.)
+ return;
+ } else if (this.remuxTracks) {
+ // Return until we have enough tracks from the pipeline to remux (if we
+ // are remuxing audio and video into a single MP4)
+ return;
+ } else if (this.pendingTracks.length === 0) {
+ // In the case where we receive a flush without any data having been
+ // received we consider it an emitted track for the purposes of coalescing
+ // `done` events.
+ // We do this for the case where there is an audio and video track in the
+ // segment but no audio data. (seen in several playlists with alternate
+ // audio tracks and no audio present in the main TS segments.)
+ this.emittedTracks++;
+
+ if (this.emittedTracks >= this.numberOfTracks) {
+ this.trigger('done');
+ this.emittedTracks = 0;
+ }
+ return;
+ }
+ }
+
+ if (this.videoTrack) {
+ timelineStartPts = this.videoTrack.timelineStartInfo.pts;
+ VIDEO_PROPERTIES.forEach(function(prop) {
+ event.info[prop] = this.videoTrack[prop];
+ }, this);
+ } else if (this.audioTrack) {
+ timelineStartPts = this.audioTrack.timelineStartInfo.pts;
+ AUDIO_PROPERTIES.forEach(function(prop) {
+ event.info[prop] = this.audioTrack[prop];
+ }, this);
+ }
+
+ if (this.videoTrack || this.audioTrack) {
+ if (this.pendingTracks.length === 1) {
+ event.type = this.pendingTracks[0].type;
+ } else {
+ event.type = 'combined';
+ }
+
+ this.emittedTracks += this.pendingTracks.length;
+
+ initSegment = mp4.initSegment(this.pendingTracks);
+
+ // Create a new typed array to hold the init segment
+ event.initSegment = new Uint8Array(initSegment.byteLength);
+
+ // Create an init segment containing a moov
+ // and track definitions
+ event.initSegment.set(initSegment);
+
+ // Create a new typed array to hold the moof+mdats
+ event.data = new Uint8Array(this.pendingBytes);
+
+ // Append each moof+mdat (one per track) together
+ for (i = 0; i < this.pendingBoxes.length; i++) {
+ event.data.set(this.pendingBoxes[i], offset);
+ offset += this.pendingBoxes[i].byteLength;
+ }
+
+ // Translate caption PTS times into second offsets to match the
+ // video timeline for the segment, and add track info
+ for (i = 0; i < this.pendingCaptions.length; i++) {
+ caption = this.pendingCaptions[i];
+ caption.startTime = clock.metadataTsToSeconds(
+ caption.startPts, timelineStartPts, this.keepOriginalTimestamps);
+ caption.endTime = clock.metadataTsToSeconds(
+ caption.endPts, timelineStartPts, this.keepOriginalTimestamps);
+
+ event.captionStreams[caption.stream] = true;
+ event.captions.push(caption);
+ }
+
+ // Translate ID3 frame PTS times into second offsets to match the
+ // video timeline for the segment
+ for (i = 0; i < this.pendingMetadata.length; i++) {
+ id3 = this.pendingMetadata[i];
+ id3.cueTime = clock.metadataTsToSeconds(
+ id3.pts, timelineStartPts, this.keepOriginalTimestamps);
+
+ event.metadata.push(id3);
+ }
+
+ // We add this to every single emitted segment even though we only need
+ // it for the first
+ event.metadata.dispatchType = this.metadataStream.dispatchType;
+
+ // Reset stream state
+ this.pendingTracks.length = 0;
+ this.videoTrack = null;
+ this.pendingBoxes.length = 0;
+ this.pendingCaptions.length = 0;
+ this.pendingBytes = 0;
+ this.pendingMetadata.length = 0;
+
+ // Emit the built segment
+ // We include captions and ID3 tags for backwards compatibility,
+ // ideally we should send only video and audio in the data event
+ this.trigger('data', event);
+ // Emit each caption to the outside world
+ // Ideally, this would happen immediately on parsing captions,
+ // but we need to ensure that video data is sent back first
+ // so that caption timing can be adjusted to match video timing
+ for (i = 0; i < event.captions.length; i++) {
+ caption = event.captions[i];
+
+ this.trigger('caption', caption);
+ }
+ // Emit each id3 tag to the outside world
+ // Ideally, this would happen immediately on parsing the tag,
+ // but we need to ensure that video data is sent back first
+ // so that ID3 frame timing can be adjusted to match video timing
+ for (i = 0; i < event.metadata.length; i++) {
+ id3 = event.metadata[i];
+
+ this.trigger('id3Frame', id3);
+ }
+ }
+
+ // Only emit `done` if all tracks have been flushed and emitted
+ if (this.emittedTracks >= this.numberOfTracks) {
+ this.trigger('done');
+ this.emittedTracks = 0;
+ }
+};
+
+CoalesceStream.prototype.setRemux = function(val) {
+ this.remuxTracks = val;
+};
+/**
+ * A Stream that expects MP2T binary data as input and produces
+ * corresponding media segments, suitable for use with Media Source
+ * Extension (MSE) implementations that support the ISO BMFF byte
+ * stream format, like Chrome.
+ */
+Transmuxer = function(options) {
+ var
+ self = this,
+ hasFlushed = true,
+ videoTrack,
+ audioTrack;
+
+ Transmuxer.prototype.init.call(this);
+
+ options = options || {};
+ this.baseMediaDecodeTime = options.baseMediaDecodeTime || 0;
+ this.transmuxPipeline_ = {};
+
+ this.setupAacPipeline = function() {
+ var pipeline = {};
+ this.transmuxPipeline_ = pipeline;
+
+ pipeline.type = 'aac';
+ pipeline.metadataStream = new m2ts.MetadataStream();
+
+ // set up the parsing pipeline
+ pipeline.aacStream = new AacStream();
+ pipeline.audioTimestampRolloverStream = new m2ts.TimestampRolloverStream('audio');
+ pipeline.timedMetadataTimestampRolloverStream = new m2ts.TimestampRolloverStream('timed-metadata');
+ pipeline.adtsStream = new AdtsStream();
+ pipeline.coalesceStream = new CoalesceStream(options, pipeline.metadataStream);
+ pipeline.headOfPipeline = pipeline.aacStream;
+
+ pipeline.aacStream
+ .pipe(pipeline.audioTimestampRolloverStream)
+ .pipe(pipeline.adtsStream);
+ pipeline.aacStream
+ .pipe(pipeline.timedMetadataTimestampRolloverStream)
+ .pipe(pipeline.metadataStream)
+ .pipe(pipeline.coalesceStream);
+
+ pipeline.metadataStream.on('timestamp', function(frame) {
+ pipeline.aacStream.setTimestamp(frame.timeStamp);
+ });
+
+ pipeline.aacStream.on('data', function(data) {
+ if (data.type === 'timed-metadata' && !pipeline.audioSegmentStream) {
+ audioTrack = audioTrack || {
+ timelineStartInfo: {
+ baseMediaDecodeTime: self.baseMediaDecodeTime
+ },
+ codec: 'adts',
+ type: 'audio'
+ };
+ // hook up the audio segment stream to the first track with aac data
+ pipeline.coalesceStream.numberOfTracks++;
+ pipeline.audioSegmentStream = new AudioSegmentStream(audioTrack, options);
+
+ pipeline.audioSegmentStream.on('timingInfo',
+ self.trigger.bind(self, 'audioTimingInfo'));
+
+ // Set up the final part of the audio pipeline
+ pipeline.adtsStream
+ .pipe(pipeline.audioSegmentStream)
+ .pipe(pipeline.coalesceStream);
+ }
+
+ // emit pmt info
+ self.trigger('trackinfo', {
+ hasAudio: !!audioTrack,
+ hasVideo: !!videoTrack
+ });
+ });
+
+ // Re-emit any data coming from the coalesce stream to the outside world
+ pipeline.coalesceStream.on('data', this.trigger.bind(this, 'data'));
+ // Let the consumer know we have finished flushing the entire pipeline
+ pipeline.coalesceStream.on('done', this.trigger.bind(this, 'done'));
+ };
+
+ this.setupTsPipeline = function() {
+ var pipeline = {};
+ this.transmuxPipeline_ = pipeline;
+
+ pipeline.type = 'ts';
+ pipeline.metadataStream = new m2ts.MetadataStream();
+
+ // set up the parsing pipeline
+ pipeline.packetStream = new m2ts.TransportPacketStream();
+ pipeline.parseStream = new m2ts.TransportParseStream();
+ pipeline.elementaryStream = new m2ts.ElementaryStream();
+ pipeline.timestampRolloverStream = new m2ts.TimestampRolloverStream();
+ pipeline.adtsStream = new AdtsStream();
+ pipeline.h264Stream = new H264Stream();
+ pipeline.captionStream = new m2ts.CaptionStream();
+ pipeline.coalesceStream = new CoalesceStream(options, pipeline.metadataStream);
+ pipeline.headOfPipeline = pipeline.packetStream;
+
+ // disassemble MPEG2-TS packets into elementary streams
+ pipeline.packetStream
+ .pipe(pipeline.parseStream)
+ .pipe(pipeline.elementaryStream)
+ .pipe(pipeline.timestampRolloverStream);
+
+ // !!THIS ORDER IS IMPORTANT!!
+ // demux the streams
+ pipeline.timestampRolloverStream
+ .pipe(pipeline.h264Stream);
+
+ pipeline.timestampRolloverStream
+ .pipe(pipeline.adtsStream);
+
+ pipeline.timestampRolloverStream
+ .pipe(pipeline.metadataStream)
+ .pipe(pipeline.coalesceStream);
+
+ // Hook up CEA-608/708 caption stream
+ pipeline.h264Stream.pipe(pipeline.captionStream)
+ .pipe(pipeline.coalesceStream);
+
+ pipeline.elementaryStream.on('data', function(data) {
+ var i;
+
+ if (data.type === 'metadata') {
+ i = data.tracks.length;
+
+ // scan the tracks listed in the metadata
+ while (i--) {
+ if (!videoTrack && data.tracks[i].type === 'video') {
+ videoTrack = data.tracks[i];
+ videoTrack.timelineStartInfo.baseMediaDecodeTime = self.baseMediaDecodeTime;
+ } else if (!audioTrack && data.tracks[i].type === 'audio') {
+ audioTrack = data.tracks[i];
+ audioTrack.timelineStartInfo.baseMediaDecodeTime = self.baseMediaDecodeTime;
+ }
+ }
+
+ // hook up the video segment stream to the first track with h264 data
+ if (videoTrack && !pipeline.videoSegmentStream) {
+ pipeline.coalesceStream.numberOfTracks++;
+ pipeline.videoSegmentStream = new VideoSegmentStream(videoTrack, options);
+
+ pipeline.videoSegmentStream.on('timelineStartInfo', function(timelineStartInfo) {
+ // When video emits timelineStartInfo data after a flush, we forward that
+ // info to the AudioSegmentStream, if it exists, because video timeline
+ // data takes precedence. Do not do this if keepOriginalTimestamps is set,
+ // because this is a particularly subtle form of timestamp alteration.
+ if (audioTrack && !options.keepOriginalTimestamps) {
+ audioTrack.timelineStartInfo = timelineStartInfo;
+ // On the first segment we trim AAC frames that exist before the
+ // very earliest DTS we have seen in video because Chrome will
+ // interpret any video track with a baseMediaDecodeTime that is
+ // non-zero as a gap.
+ pipeline.audioSegmentStream.setEarliestDts(timelineStartInfo.dts - self.baseMediaDecodeTime);
+ }
+ });
+
+ pipeline.videoSegmentStream.on('processedGopsInfo',
+ self.trigger.bind(self, 'gopInfo'));
+ pipeline.videoSegmentStream.on('segmentTimingInfo',
+ self.trigger.bind(self, 'videoSegmentTimingInfo'));
+
+ pipeline.videoSegmentStream.on('baseMediaDecodeTime', function(baseMediaDecodeTime) {
+ if (audioTrack) {
+ pipeline.audioSegmentStream.setVideoBaseMediaDecodeTime(baseMediaDecodeTime);
+ }
+ });
+
+ pipeline.videoSegmentStream.on('timingInfo',
+ self.trigger.bind(self, 'videoTimingInfo'));
+
+ // Set up the final part of the video pipeline
+ pipeline.h264Stream
+ .pipe(pipeline.videoSegmentStream)
+ .pipe(pipeline.coalesceStream);
+ }
+
+ if (audioTrack && !pipeline.audioSegmentStream) {
+ // hook up the audio segment stream to the first track with aac data
+ pipeline.coalesceStream.numberOfTracks++;
+ pipeline.audioSegmentStream = new AudioSegmentStream(audioTrack, options);
+
+ pipeline.audioSegmentStream.on('timingInfo',
+ self.trigger.bind(self, 'audioTimingInfo'));
+
+ // Set up the final part of the audio pipeline
+ pipeline.adtsStream
+ .pipe(pipeline.audioSegmentStream)
+ .pipe(pipeline.coalesceStream);
+ }
+
+ // emit pmt info
+ self.trigger('trackinfo', {
+ hasAudio: !!audioTrack,
+ hasVideo: !!videoTrack
+ });
+ }
+ });
+
+ // Re-emit any data coming from the coalesce stream to the outside world
+ pipeline.coalesceStream.on('data', this.trigger.bind(this, 'data'));
+ pipeline.coalesceStream.on('id3Frame', function(id3Frame) {
+ id3Frame.dispatchType = pipeline.metadataStream.dispatchType;
+
+ self.trigger('id3Frame', id3Frame);
+ });
+ pipeline.coalesceStream.on('caption', this.trigger.bind(this, 'caption'));
+ // Let the consumer know we have finished flushing the entire pipeline
+ pipeline.coalesceStream.on('done', this.trigger.bind(this, 'done'));
+ };
+
+ // hook up the segment streams once track metadata is delivered
+ this.setBaseMediaDecodeTime = function(baseMediaDecodeTime) {
+ var pipeline = this.transmuxPipeline_;
+
+ if (!options.keepOriginalTimestamps) {
+ this.baseMediaDecodeTime = baseMediaDecodeTime;
+ }
+
+ if (audioTrack) {
+ audioTrack.timelineStartInfo.dts = undefined;
+ audioTrack.timelineStartInfo.pts = undefined;
+ trackDecodeInfo.clearDtsInfo(audioTrack);
+ if (pipeline.audioTimestampRolloverStream) {
+ pipeline.audioTimestampRolloverStream.discontinuity();
+ }
+ }
+ if (videoTrack) {
+ if (pipeline.videoSegmentStream) {
+ pipeline.videoSegmentStream.gopCache_ = [];
+ }
+ videoTrack.timelineStartInfo.dts = undefined;
+ videoTrack.timelineStartInfo.pts = undefined;
+ trackDecodeInfo.clearDtsInfo(videoTrack);
+ pipeline.captionStream.reset();
+ }
+
+ if (pipeline.timestampRolloverStream) {
+ pipeline.timestampRolloverStream.discontinuity();
+ }
+ };
+
+ this.setAudioAppendStart = function(timestamp) {
+ if (audioTrack) {
+ this.transmuxPipeline_.audioSegmentStream.setAudioAppendStart(timestamp);
+ }
+ };
+
+ this.setRemux = function(val) {
+ var pipeline = this.transmuxPipeline_;
+
+ options.remux = val;
+
+ if (pipeline && pipeline.coalesceStream) {
+ pipeline.coalesceStream.setRemux(val);
+ }
+ };
+
+ this.alignGopsWith = function(gopsToAlignWith) {
+ if (videoTrack && this.transmuxPipeline_.videoSegmentStream) {
+ this.transmuxPipeline_.videoSegmentStream.alignGopsWith(gopsToAlignWith);
+ }
+ };
+
+ // feed incoming data to the front of the parsing pipeline
+ this.push = function(data) {
+ if (hasFlushed) {
+ var isAac = isLikelyAacData(data);
+
+ if (isAac && this.transmuxPipeline_.type !== 'aac') {
+ this.setupAacPipeline();
+ } else if (!isAac && this.transmuxPipeline_.type !== 'ts') {
+ this.setupTsPipeline();
+ }
+ hasFlushed = false;
+ }
+ this.transmuxPipeline_.headOfPipeline.push(data);
+ };
+
+ // flush any buffered data
+ this.flush = function() {
+ hasFlushed = true;
+ // Start at the top of the pipeline and flush all pending work
+ this.transmuxPipeline_.headOfPipeline.flush();
+ };
+
+ this.endTimeline = function() {
+ this.transmuxPipeline_.headOfPipeline.endTimeline();
+ };
+
+ this.reset = function() {
+ if (this.transmuxPipeline_.headOfPipeline) {
+ this.transmuxPipeline_.headOfPipeline.reset();
+ }
+ };
+
+ // Caption data has to be reset when seeking outside buffered range
+ this.resetCaptions = function() {
+ if (this.transmuxPipeline_.captionStream) {
+ this.transmuxPipeline_.captionStream.reset();
+ }
+ };
+
+};
+Transmuxer.prototype = new Stream();
+
+module.exports = {
+ Transmuxer: Transmuxer,
+ VideoSegmentStream: VideoSegmentStream,
+ AudioSegmentStream: AudioSegmentStream,
+ AUDIO_PROPERTIES: AUDIO_PROPERTIES,
+ VIDEO_PROPERTIES: VIDEO_PROPERTIES,
+ // exported for testing
+ generateVideoSegmentTimingInfo: generateVideoSegmentTimingInfo
+};
+
+},{"../aac":36,"../aac/utils":37,"../codecs/adts.js":38,"../codecs/h264":39,"../constants/audio-properties.js":41,"../constants/video-properties.js":42,"../m2ts/m2ts.js":53,"../utils/clock":75,"../utils/stream.js":77,"./audio-frame-utils":58,"./frame-utils":60,"./mp4-generator.js":62,"./track-decode-info":64}],66:[function(require,module,exports){
+'use strict';
+
+var Stream = require('../utils/stream.js');
+var mp4 = require('../mp4/mp4-generator.js');
+var audioFrameUtils = require('../mp4/audio-frame-utils');
+var trackInfo = require('../mp4/track-decode-info.js');
+var ONE_SECOND_IN_TS = require('../utils/clock').ONE_SECOND_IN_TS;
+var AUDIO_PROPERTIES = require('../constants/audio-properties.js');
+
+/**
+ * Constructs a single-track, ISO BMFF media segment from AAC data
+ * events. The output of this stream can be fed to a SourceBuffer
+ * configured with a suitable initialization segment.
+ */
+var AudioSegmentStream = function(track, options) {
+ var
+ adtsFrames = [],
+ sequenceNumber = 0,
+ earliestAllowedDts = 0,
+ audioAppendStartTs = 0,
+ videoBaseMediaDecodeTime = Infinity,
+ segmentStartPts = null,
+ segmentEndPts = null;
+
+ options = options || {};
+
+ AudioSegmentStream.prototype.init.call(this);
+
+ this.push = function(data) {
+ trackInfo.collectDtsInfo(track, data);
+
+ if (track) {
+ AUDIO_PROPERTIES.forEach(function(prop) {
+ track[prop] = data[prop];
+ });
+ }
+
+ // buffer audio data until end() is called
+ adtsFrames.push(data);
+ };
+
+ this.setEarliestDts = function(earliestDts) {
+ earliestAllowedDts = earliestDts;
+ };
+
+ this.setVideoBaseMediaDecodeTime = function(baseMediaDecodeTime) {
+ videoBaseMediaDecodeTime = baseMediaDecodeTime;
+ };
+
+ this.setAudioAppendStart = function(timestamp) {
+ audioAppendStartTs = timestamp;
+ };
+
+ this.processFrames_ = function() {
+ var
+ frames,
+ moof,
+ mdat,
+ boxes,
+ timingInfo;
+
+ // return early if no audio data has been observed
+ if (adtsFrames.length === 0) {
+ return;
+ }
+
+ frames = audioFrameUtils.trimAdtsFramesByEarliestDts(
+ adtsFrames, track, earliestAllowedDts);
+ if (frames.length === 0) {
+ // return early if the frames are all after the earliest allowed DTS
+ // TODO should we clear the adtsFrames?
+ return;
+ }
+
+ track.baseMediaDecodeTime = trackInfo.calculateTrackBaseMediaDecodeTime(
+ track, options.keepOriginalTimestamps);
+
+ audioFrameUtils.prefixWithSilence(
+ track, frames, audioAppendStartTs, videoBaseMediaDecodeTime);
+
+ // we have to build the index from byte locations to
+ // samples (that is, adts frames) in the audio data
+ track.samples = audioFrameUtils.generateSampleTable(frames);
+
+ // concatenate the audio data to constuct the mdat
+ mdat = mp4.mdat(audioFrameUtils.concatenateFrameData(frames));
+
+ adtsFrames = [];
+
+ moof = mp4.moof(sequenceNumber, [track]);
+
+ // bump the sequence number for next time
+ sequenceNumber++;
+
+ track.initSegment = mp4.initSegment([track]);
+
+ // it would be great to allocate this array up front instead of
+ // throwing away hundreds of media segment fragments
+ boxes = new Uint8Array(moof.byteLength + mdat.byteLength);
+
+ boxes.set(moof);
+ boxes.set(mdat, moof.byteLength);
+
+ trackInfo.clearDtsInfo(track);
+
+ if (segmentStartPts === null) {
+ segmentEndPts = segmentStartPts = frames[0].pts;
+ }
+
+ segmentEndPts += frames.length * (ONE_SECOND_IN_TS * 1024 / track.samplerate);
+
+ timingInfo = { start: segmentStartPts };
+
+ this.trigger('timingInfo', timingInfo);
+ this.trigger('data', {track: track, boxes: boxes});
+ };
+
+ this.flush = function() {
+ this.processFrames_();
+ // trigger final timing info
+ this.trigger('timingInfo', {
+ start: segmentStartPts,
+ end: segmentEndPts
+ });
+ this.resetTiming_();
+ this.trigger('done', 'AudioSegmentStream');
+ };
+
+ this.partialFlush = function() {
+ this.processFrames_();
+ this.trigger('partialdone', 'AudioSegmentStream');
+ };
+
+ this.endTimeline = function() {
+ this.flush();
+ this.trigger('endedtimeline', 'AudioSegmentStream');
+ };
+
+ this.resetTiming_ = function() {
+ trackInfo.clearDtsInfo(track);
+ segmentStartPts = null;
+ segmentEndPts = null;
+ };
+
+ this.reset = function() {
+ this.resetTiming_();
+ adtsFrames = [];
+ this.trigger('reset');
+ };
+};
+
+AudioSegmentStream.prototype = new Stream();
+
+module.exports = AudioSegmentStream;
+
+},{"../constants/audio-properties.js":41,"../mp4/audio-frame-utils":58,"../mp4/mp4-generator.js":62,"../mp4/track-decode-info.js":64,"../utils/clock":75,"../utils/stream.js":77}],67:[function(require,module,exports){
+module.exports = {
+ Transmuxer: require('./transmuxer')
+};
+
+},{"./transmuxer":68}],68:[function(require,module,exports){
+var Stream = require('../utils/stream.js');
+var m2ts = require('../m2ts/m2ts.js');
+var codecs = require('../codecs/index.js');
+var AudioSegmentStream = require('./audio-segment-stream.js');
+var VideoSegmentStream = require('./video-segment-stream.js');
+var trackInfo = require('../mp4/track-decode-info.js');
+var isLikelyAacData = require('../aac/utils').isLikelyAacData;
+var AdtsStream = require('../codecs/adts');
+var AacStream = require('../aac/index');
+var clock = require('../utils/clock');
+
+var createPipeline = function(object) {
+ object.prototype = new Stream();
+ object.prototype.init.call(object);
+
+ return object;
+};
+
+var tsPipeline = function(options) {
+ var
+ pipeline = {
+ type: 'ts',
+ tracks: {
+ audio: null,
+ video: null
+ },
+ packet: new m2ts.TransportPacketStream(),
+ parse: new m2ts.TransportParseStream(),
+ elementary: new m2ts.ElementaryStream(),
+ timestampRollover: new m2ts.TimestampRolloverStream(),
+ adts: new codecs.Adts(),
+ h264: new codecs.h264.H264Stream(),
+ captionStream: new m2ts.CaptionStream(),
+ metadataStream: new m2ts.MetadataStream()
+ };
+
+ pipeline.headOfPipeline = pipeline.packet;
+
+ // Transport Stream
+ pipeline.packet
+ .pipe(pipeline.parse)
+ .pipe(pipeline.elementary)
+ .pipe(pipeline.timestampRollover);
+
+ // H264
+ pipeline.timestampRollover
+ .pipe(pipeline.h264);
+
+ // Hook up CEA-608/708 caption stream
+ pipeline.h264
+ .pipe(pipeline.captionStream);
+
+ pipeline.timestampRollover
+ .pipe(pipeline.metadataStream);
+
+ // ADTS
+ pipeline.timestampRollover
+ .pipe(pipeline.adts);
+
+ pipeline.elementary.on('data', function(data) {
+ if (data.type !== 'metadata') {
+ return;
+ }
+
+ for (var i = 0; i < data.tracks.length; i++) {
+ if (!pipeline.tracks[data.tracks[i].type]) {
+ pipeline.tracks[data.tracks[i].type] = data.tracks[i];
+ pipeline.tracks[data.tracks[i].type].timelineStartInfo.baseMediaDecodeTime = options.baseMediaDecodeTime;
+ }
+ }
+
+ if (pipeline.tracks.video && !pipeline.videoSegmentStream) {
+ pipeline.videoSegmentStream = new VideoSegmentStream(pipeline.tracks.video, options);
+
+ pipeline.videoSegmentStream.on('timelineStartInfo', function(timelineStartInfo) {
+ if (pipeline.tracks.audio && !options.keepOriginalTimestamps) {
+ pipeline.audioSegmentStream.setEarliestDts(timelineStartInfo.dts - options.baseMediaDecodeTime);
+ }
+ });
+
+ pipeline.videoSegmentStream.on('timingInfo',
+ pipeline.trigger.bind(pipeline, 'videoTimingInfo'));
+
+ pipeline.videoSegmentStream.on('data', function(data) {
+ pipeline.trigger('data', {
+ type: 'video',
+ data: data
+ });
+ });
+
+ pipeline.videoSegmentStream.on('done',
+ pipeline.trigger.bind(pipeline, 'done'));
+ pipeline.videoSegmentStream.on('partialdone',
+ pipeline.trigger.bind(pipeline, 'partialdone'));
+ pipeline.videoSegmentStream.on('endedtimeline',
+ pipeline.trigger.bind(pipeline, 'endedtimeline'));
+
+ pipeline.h264
+ .pipe(pipeline.videoSegmentStream);
+ }
+
+ if (pipeline.tracks.audio && !pipeline.audioSegmentStream) {
+ pipeline.audioSegmentStream = new AudioSegmentStream(pipeline.tracks.audio, options);
+
+ pipeline.audioSegmentStream.on('data', function(data) {
+ pipeline.trigger('data', {
+ type: 'audio',
+ data: data
+ });
+ });
+
+ pipeline.audioSegmentStream.on('done',
+ pipeline.trigger.bind(pipeline, 'done'));
+ pipeline.audioSegmentStream.on('partialdone',
+ pipeline.trigger.bind(pipeline, 'partialdone'));
+ pipeline.audioSegmentStream.on('endedtimeline',
+ pipeline.trigger.bind(pipeline, 'endedtimeline'));
+
+ pipeline.audioSegmentStream.on('timingInfo',
+ pipeline.trigger.bind(pipeline, 'audioTimingInfo'));
+
+ pipeline.adts
+ .pipe(pipeline.audioSegmentStream);
+ }
+
+ // emit pmt info
+ pipeline.trigger('trackinfo', {
+ hasAudio: !!pipeline.tracks.audio,
+ hasVideo: !!pipeline.tracks.video
+ });
+ });
+
+ pipeline.captionStream.on('data', function(caption) {
+ var timelineStartPts;
+
+ if (pipeline.tracks.video) {
+ timelineStartPts = pipeline.tracks.video.timelineStartInfo.pts || 0;
+ } else {
+ // This will only happen if we encounter caption packets before
+ // video data in a segment. This is an unusual/unlikely scenario,
+ // so we assume the timeline starts at zero for now.
+ timelineStartPts = 0;
+ }
+
+ // Translate caption PTS times into second offsets into the
+ // video timeline for the segment
+ caption.startTime = clock.metadataTsToSeconds(caption.startPts, timelineStartPts, options.keepOriginalTimestamps);
+ caption.endTime = clock.metadataTsToSeconds(caption.endPts, timelineStartPts, options.keepOriginalTimestamps);
+
+ pipeline.trigger('caption', caption);
+ });
+
+ pipeline = createPipeline(pipeline);
+
+ pipeline.metadataStream.on('data', pipeline.trigger.bind(pipeline, 'id3Frame'));
+
+ return pipeline;
+};
+
+var aacPipeline = function(options) {
+ var
+ pipeline = {
+ type: 'aac',
+ tracks: {
+ audio: null
+ },
+ metadataStream: new m2ts.MetadataStream(),
+ aacStream: new AacStream(),
+ audioRollover: new m2ts.TimestampRolloverStream('audio'),
+ timedMetadataRollover: new m2ts.TimestampRolloverStream('timed-metadata'),
+ adtsStream: new AdtsStream(true)
+ };
+
+ // set up the parsing pipeline
+ pipeline.headOfPipeline = pipeline.aacStream;
+
+ pipeline.aacStream
+ .pipe(pipeline.audioRollover)
+ .pipe(pipeline.adtsStream);
+ pipeline.aacStream
+ .pipe(pipeline.timedMetadataRollover)
+ .pipe(pipeline.metadataStream);
+
+ pipeline.metadataStream.on('timestamp', function(frame) {
+ pipeline.aacStream.setTimestamp(frame.timeStamp);
+ });
+
+ pipeline.aacStream.on('data', function(data) {
+ if (data.type !== 'timed-metadata' || pipeline.audioSegmentStream) {
+ return;
+ }
+
+ pipeline.tracks.audio = pipeline.tracks.audio || {
+ timelineStartInfo: {
+ baseMediaDecodeTime: options.baseMediaDecodeTime
+ },
+ codec: 'adts',
+ type: 'audio'
+ };
+
+ // hook up the audio segment stream to the first track with aac data
+ pipeline.audioSegmentStream = new AudioSegmentStream(pipeline.tracks.audio, options);
+
+ pipeline.audioSegmentStream.on('data', function(data) {
+ pipeline.trigger('data', {
+ type: 'audio',
+ data: data
+ });
+ });
+
+ pipeline.audioSegmentStream.on('partialdone',
+ pipeline.trigger.bind(pipeline, 'partialdone'));
+ pipeline.audioSegmentStream.on('done', pipeline.trigger.bind(pipeline, 'done'));
+ pipeline.audioSegmentStream.on('endedtimeline',
+ pipeline.trigger.bind(pipeline, 'endedtimeline'));
+ pipeline.audioSegmentStream.on('timingInfo',
+ pipeline.trigger.bind(pipeline, 'audioTimingInfo'));
+
+ // Set up the final part of the audio pipeline
+ pipeline.adtsStream
+ .pipe(pipeline.audioSegmentStream);
+
+ pipeline.trigger('trackinfo', {
+ hasAudio: !!pipeline.tracks.audio,
+ hasVideo: !!pipeline.tracks.video
+ });
+ });
+
+ // set the pipeline up as a stream before binding to get access to the trigger function
+ pipeline = createPipeline(pipeline);
+
+ pipeline.metadataStream.on('data', pipeline.trigger.bind(pipeline, 'id3Frame'));
+
+ return pipeline;
+};
+
+var setupPipelineListeners = function(pipeline, transmuxer) {
+ pipeline.on('data', transmuxer.trigger.bind(transmuxer, 'data'));
+ pipeline.on('done', transmuxer.trigger.bind(transmuxer, 'done'));
+ pipeline.on('partialdone', transmuxer.trigger.bind(transmuxer, 'partialdone'));
+ pipeline.on('endedtimeline', transmuxer.trigger.bind(transmuxer, 'endedtimeline'));
+ pipeline.on('audioTimingInfo', transmuxer.trigger.bind(transmuxer, 'audioTimingInfo'));
+ pipeline.on('videoTimingInfo', transmuxer.trigger.bind(transmuxer, 'videoTimingInfo'));
+ pipeline.on('trackinfo', transmuxer.trigger.bind(transmuxer, 'trackinfo'));
+ pipeline.on('id3Frame', function(event) {
+ // add this to every single emitted segment even though it's only needed for the first
+ event.dispatchType = pipeline.metadataStream.dispatchType;
+ // keep original time, can be adjusted if needed at a higher level
+ event.cueTime = clock.videoTsToSeconds(event.pts);
+
+ transmuxer.trigger('id3Frame', event);
+ });
+ pipeline.on('caption', function(event) {
+ transmuxer.trigger('caption', event);
+ });
+};
+
+var Transmuxer = function(options) {
+ var
+ pipeline = null,
+ hasFlushed = true;
+
+ options = options || {};
+
+ Transmuxer.prototype.init.call(this);
+ options.baseMediaDecodeTime = options.baseMediaDecodeTime || 0;
+
+ this.push = function(bytes) {
+ if (hasFlushed) {
+ var isAac = isLikelyAacData(bytes);
+
+ if (isAac && (!pipeline || pipeline.type !== 'aac')) {
+ pipeline = aacPipeline(options);
+ setupPipelineListeners(pipeline, this);
+ } else if (!isAac && (!pipeline || pipeline.type !== 'ts')) {
+ pipeline = tsPipeline(options);
+ setupPipelineListeners(pipeline, this);
+ }
+ hasFlushed = false;
+ }
+
+ pipeline.headOfPipeline.push(bytes);
+ };
+
+ this.flush = function() {
+ if (!pipeline) {
+ return;
+ }
+
+ hasFlushed = true;
+ pipeline.headOfPipeline.flush();
+ };
+
+ this.partialFlush = function() {
+ if (!pipeline) {
+ return;
+ }
+
+ pipeline.headOfPipeline.partialFlush();
+ };
+
+ this.endTimeline = function() {
+ if (!pipeline) {
+ return;
+ }
+
+ pipeline.headOfPipeline.endTimeline();
+ };
+
+ this.reset = function() {
+ if (!pipeline) {
+ return;
+ }
+
+ pipeline.headOfPipeline.reset();
+ };
+
+ this.setBaseMediaDecodeTime = function(baseMediaDecodeTime) {
+ if (!options.keepOriginalTimestamps) {
+ options.baseMediaDecodeTime = baseMediaDecodeTime;
+ }
+
+ if (!pipeline) {
+ return;
+ }
+
+ if (pipeline.tracks.audio) {
+ pipeline.tracks.audio.timelineStartInfo.dts = undefined;
+ pipeline.tracks.audio.timelineStartInfo.pts = undefined;
+ trackInfo.clearDtsInfo(pipeline.tracks.audio);
+ if (pipeline.audioRollover) {
+ pipeline.audioRollover.discontinuity();
+ }
+ }
+ if (pipeline.tracks.video) {
+ if (pipeline.videoSegmentStream) {
+ pipeline.videoSegmentStream.gopCache_ = [];
+ }
+ pipeline.tracks.video.timelineStartInfo.dts = undefined;
+ pipeline.tracks.video.timelineStartInfo.pts = undefined;
+ trackInfo.clearDtsInfo(pipeline.tracks.video);
+ // pipeline.captionStream.reset();
+ }
+
+ if (pipeline.timestampRollover) {
+ pipeline.timestampRollover.discontinuity();
+
+ }
+ };
+
+ this.setRemux = function(val) {
+ options.remux = val;
+
+ if (pipeline && pipeline.coalesceStream) {
+ pipeline.coalesceStream.setRemux(val);
+ }
+ };
+
+
+ this.setAudioAppendStart = function(audioAppendStart) {
+ if (!pipeline || !pipeline.tracks.audio || !pipeline.audioSegmentStream) {
+ return;
+ }
+
+ pipeline.audioSegmentStream.setAudioAppendStart(audioAppendStart);
+ };
+
+ // TODO GOP alignment support
+ // Support may be a bit trickier than with full segment appends, as GOPs may be split
+ // and processed in a more granular fashion
+ this.alignGopsWith = function(gopsToAlignWith) {
+ return;
+ };
+};
+
+Transmuxer.prototype = new Stream();
+
+module.exports = Transmuxer;
+
+},{"../aac/index":36,"../aac/utils":37,"../codecs/adts":38,"../codecs/index.js":40,"../m2ts/m2ts.js":53,"../mp4/track-decode-info.js":64,"../utils/clock":75,"../utils/stream.js":77,"./audio-segment-stream.js":66,"./video-segment-stream.js":69}],69:[function(require,module,exports){
+/**
+ * Constructs a single-track, ISO BMFF media segment from H264 data
+ * events. The output of this stream can be fed to a SourceBuffer
+ * configured with a suitable initialization segment.
+ * @param track {object} track metadata configuration
+ * @param options {object} transmuxer options object
+ * @param options.alignGopsAtEnd {boolean} If true, start from the end of the
+ * gopsToAlignWith list when attempting to align gop pts
+ */
+'use strict';
+
+var Stream = require('../utils/stream.js');
+var mp4 = require('../mp4/mp4-generator.js');
+var trackInfo = require('../mp4/track-decode-info.js');
+var frameUtils = require('../mp4/frame-utils');
+var VIDEO_PROPERTIES = require('../constants/video-properties.js');
+
+var VideoSegmentStream = function(track, options) {
+ var
+ sequenceNumber = 0,
+ nalUnits = [],
+ frameCache = [],
+ // gopsToAlignWith = [],
+ config,
+ pps,
+ segmentStartPts = null,
+ segmentEndPts = null,
+ gops,
+ ensureNextFrameIsKeyFrame = true;
+
+ options = options || {};
+
+ VideoSegmentStream.prototype.init.call(this);
+
+ this.push = function(nalUnit) {
+ trackInfo.collectDtsInfo(track, nalUnit);
+ if (typeof track.timelineStartInfo.dts === 'undefined') {
+ track.timelineStartInfo.dts = nalUnit.dts;
+ }
+
+ // record the track config
+ if (nalUnit.nalUnitType === 'seq_parameter_set_rbsp' && !config) {
+ config = nalUnit.config;
+ track.sps = [nalUnit.data];
+
+ VIDEO_PROPERTIES.forEach(function(prop) {
+ track[prop] = config[prop];
+ }, this);
+ }
+
+ if (nalUnit.nalUnitType === 'pic_parameter_set_rbsp' &&
+ !pps) {
+ pps = nalUnit.data;
+ track.pps = [nalUnit.data];
+ }
+
+ // buffer video until flush() is called
+ nalUnits.push(nalUnit);
+ };
+
+ this.processNals_ = function(cacheLastFrame) {
+ var i;
+
+ nalUnits = frameCache.concat(nalUnits);
+
+ // Throw away nalUnits at the start of the byte stream until
+ // we find the first AUD
+ while (nalUnits.length) {
+ if (nalUnits[0].nalUnitType === 'access_unit_delimiter_rbsp') {
+ break;
+ }
+ nalUnits.shift();
+ }
+
+ // Return early if no video data has been observed
+ if (nalUnits.length === 0) {
+ return;
+ }
+
+ var frames = frameUtils.groupNalsIntoFrames(nalUnits);
+
+ if (!frames.length) {
+ return;
+ }
+
+ // note that the frame cache may also protect us from cases where we haven't
+ // pushed data for the entire first or last frame yet
+ frameCache = frames[frames.length - 1];
+
+ if (cacheLastFrame) {
+ frames.pop();
+ frames.duration -= frameCache.duration;
+ frames.nalCount -= frameCache.length;
+ frames.byteLength -= frameCache.byteLength;
+ }
+
+ if (!frames.length) {
+ nalUnits = [];
+ return;
+ }
+
+ this.trigger('timelineStartInfo', track.timelineStartInfo);
+
+ if (ensureNextFrameIsKeyFrame) {
+ gops = frameUtils.groupFramesIntoGops(frames);
+
+ if (!gops[0][0].keyFrame) {
+ gops = frameUtils.extendFirstKeyFrame(gops);
+
+ if (!gops[0][0].keyFrame) {
+ // we haven't yet gotten a key frame, so reset nal units to wait for more nal
+ // units
+ nalUnits = ([].concat.apply([], frames)).concat(frameCache);
+ frameCache = [];
+ return;
+ }
+
+ frames = [].concat.apply([], gops);
+ frames.duration = gops.duration;
+ }
+ ensureNextFrameIsKeyFrame = false;
+ }
+
+ if (segmentStartPts === null) {
+ segmentStartPts = frames[0].pts;
+ segmentEndPts = segmentStartPts;
+ }
+
+ segmentEndPts += frames.duration;
+
+ this.trigger('timingInfo', {
+ start: segmentStartPts,
+ end: segmentEndPts
+ });
+
+ for (i = 0; i < frames.length; i++) {
+ var frame = frames[i];
+
+ track.samples = frameUtils.generateSampleTableForFrame(frame);
+
+ var mdat = mp4.mdat(frameUtils.concatenateNalDataForFrame(frame));
+
+ trackInfo.clearDtsInfo(track);
+ trackInfo.collectDtsInfo(track, frame);
+
+ track.baseMediaDecodeTime = trackInfo.calculateTrackBaseMediaDecodeTime(
+ track, options.keepOriginalTimestamps);
+
+ var moof = mp4.moof(sequenceNumber, [track]);
+
+ sequenceNumber++;
+
+ track.initSegment = mp4.initSegment([track]);
+
+ var boxes = new Uint8Array(moof.byteLength + mdat.byteLength);
+
+ boxes.set(moof);
+ boxes.set(mdat, moof.byteLength);
+
+ this.trigger('data', {
+ track: track,
+ boxes: boxes,
+ sequence: sequenceNumber,
+ videoFrameDts: frame.dts,
+ videoFramePts: frame.pts
+ });
+ }
+
+ nalUnits = [];
+ };
+
+ this.resetTimingAndConfig_ = function() {
+ config = undefined;
+ pps = undefined;
+ segmentStartPts = null;
+ segmentEndPts = null;
+ };
+
+ this.partialFlush = function() {
+ this.processNals_(true);
+ this.trigger('partialdone', 'VideoSegmentStream');
+ };
+
+ this.flush = function() {
+ this.processNals_(false);
+ // reset config and pps because they may differ across segments
+ // for instance, when we are rendition switching
+ this.resetTimingAndConfig_();
+ this.trigger('done', 'VideoSegmentStream');
+ };
+
+ this.endTimeline = function() {
+ this.flush();
+ this.trigger('endedtimeline', 'VideoSegmentStream');
+ };
+
+ this.reset = function() {
+ this.resetTimingAndConfig_();
+ frameCache = [];
+ nalUnits = [];
+ ensureNextFrameIsKeyFrame = true;
+ this.trigger('reset');
+ };
+};
+
+VideoSegmentStream.prototype = new Stream();
+
+module.exports = VideoSegmentStream;
+
+},{"../constants/video-properties.js":42,"../mp4/frame-utils":60,"../mp4/mp4-generator.js":62,"../mp4/track-decode-info.js":64,"../utils/stream.js":77}],70:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ *
+ * Reads in-band caption information from a video elementary
+ * stream. Captions must follow the CEA-708 standard for injection
+ * into an MPEG-2 transport streams.
+ * @see https://en.wikipedia.org/wiki/CEA-708
+ * @see https://www.gpo.gov/fdsys/pkg/CFR-2007-title47-vol1/pdf/CFR-2007-title47-vol1-sec15-119.pdf
+ */
+
+'use strict';
+
+// Supplemental enhancement information (SEI) NAL units have a
+// payload type field to indicate how they are to be
+// interpreted. CEAS-708 caption content is always transmitted with
+// payload type 0x04.
+var USER_DATA_REGISTERED_ITU_T_T35 = 4,
+ RBSP_TRAILING_BITS = 128;
+
+/**
+ * Parse a supplemental enhancement information (SEI) NAL unit.
+ * Stops parsing once a message of type ITU T T35 has been found.
+ *
+ * @param bytes {Uint8Array} the bytes of a SEI NAL unit
+ * @return {object} the parsed SEI payload
+ * @see Rec. ITU-T H.264, 7.3.2.3.1
+ */
+var parseSei = function(bytes) {
+ var
+ i = 0,
+ result = {
+ payloadType: -1,
+ payloadSize: 0
+ },
+ payloadType = 0,
+ payloadSize = 0;
+
+ // go through the sei_rbsp parsing each each individual sei_message
+ while (i < bytes.byteLength) {
+ // stop once we have hit the end of the sei_rbsp
+ if (bytes[i] === RBSP_TRAILING_BITS) {
+ break;
+ }
+
+ // Parse payload type
+ while (bytes[i] === 0xFF) {
+ payloadType += 255;
+ i++;
+ }
+ payloadType += bytes[i++];
+
+ // Parse payload size
+ while (bytes[i] === 0xFF) {
+ payloadSize += 255;
+ i++;
+ }
+ payloadSize += bytes[i++];
+
+ // this sei_message is a 608/708 caption so save it and break
+ // there can only ever be one caption message in a frame's sei
+ if (!result.payload && payloadType === USER_DATA_REGISTERED_ITU_T_T35) {
+ var userIdentifier = String.fromCharCode(
+ bytes[i + 3],
+ bytes[i + 4],
+ bytes[i + 5],
+ bytes[i + 6]);
+
+ if (userIdentifier === 'GA94') {
+ result.payloadType = payloadType;
+ result.payloadSize = payloadSize;
+ result.payload = bytes.subarray(i, i + payloadSize);
+ break;
+ } else {
+ result.payload = void 0;
+ }
+ }
+
+ // skip the payload and parse the next message
+ i += payloadSize;
+ payloadType = 0;
+ payloadSize = 0;
+ }
+
+ return result;
+};
+
+// see ANSI/SCTE 128-1 (2013), section 8.1
+var parseUserData = function(sei) {
+ // itu_t_t35_contry_code must be 181 (United States) for
+ // captions
+ if (sei.payload[0] !== 181) {
+ return null;
+ }
+
+ // itu_t_t35_provider_code should be 49 (ATSC) for captions
+ if (((sei.payload[1] << 8) | sei.payload[2]) !== 49) {
+ return null;
+ }
+
+ // the user_identifier should be "GA94" to indicate ATSC1 data
+ if (String.fromCharCode(sei.payload[3],
+ sei.payload[4],
+ sei.payload[5],
+ sei.payload[6]) !== 'GA94') {
+ return null;
+ }
+
+ // finally, user_data_type_code should be 0x03 for caption data
+ if (sei.payload[7] !== 0x03) {
+ return null;
+ }
+
+ // return the user_data_type_structure and strip the trailing
+ // marker bits
+ return sei.payload.subarray(8, sei.payload.length - 1);
+};
+
+// see CEA-708-D, section 4.4
+var parseCaptionPackets = function(pts, userData) {
+ var results = [], i, count, offset, data;
+
+ // if this is just filler, return immediately
+ if (!(userData[0] & 0x40)) {
+ return results;
+ }
+
+ // parse out the cc_data_1 and cc_data_2 fields
+ count = userData[0] & 0x1f;
+ for (i = 0; i < count; i++) {
+ offset = i * 3;
+ data = {
+ type: userData[offset + 2] & 0x03,
+ pts: pts
+ };
+
+ // capture cc data when cc_valid is 1
+ if (userData[offset + 2] & 0x04) {
+ data.ccData = (userData[offset + 3] << 8) | userData[offset + 4];
+ results.push(data);
+ }
+ }
+ return results;
+};
+
+var discardEmulationPreventionBytes = function(data) {
+ var
+ length = data.byteLength,
+ emulationPreventionBytesPositions = [],
+ i = 1,
+ newLength, newData;
+
+ // Find all `Emulation Prevention Bytes`
+ while (i < length - 2) {
+ if (data[i] === 0 && data[i + 1] === 0 && data[i + 2] === 0x03) {
+ emulationPreventionBytesPositions.push(i + 2);
+ i += 2;
+ } else {
+ i++;
+ }
+ }
+
+ // If no Emulation Prevention Bytes were found just return the original
+ // array
+ if (emulationPreventionBytesPositions.length === 0) {
+ return data;
+ }
+
+ // Create a new array to hold the NAL unit data
+ newLength = length - emulationPreventionBytesPositions.length;
+ newData = new Uint8Array(newLength);
+ var sourceIndex = 0;
+
+ for (i = 0; i < newLength; sourceIndex++, i++) {
+ if (sourceIndex === emulationPreventionBytesPositions[0]) {
+ // Skip this byte
+ sourceIndex++;
+ // Remove this position index
+ emulationPreventionBytesPositions.shift();
+ }
+ newData[i] = data[sourceIndex];
+ }
+
+ return newData;
+};
+
+// exports
+module.exports = {
+ parseSei: parseSei,
+ parseUserData: parseUserData,
+ parseCaptionPackets: parseCaptionPackets,
+ discardEmulationPreventionBytes: discardEmulationPreventionBytes,
+ USER_DATA_REGISTERED_ITU_T_T35: USER_DATA_REGISTERED_ITU_T_T35
+};
+
+},{}],71:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ */
+'use strict';
+
+var
+ tagTypes = {
+ 0x08: 'audio',
+ 0x09: 'video',
+ 0x12: 'metadata'
+ },
+ hex = function(val) {
+ return '0x' + ('00' + val.toString(16)).slice(-2).toUpperCase();
+ },
+ hexStringList = function(data) {
+ var arr = [], i;
+
+ while (data.byteLength > 0) {
+ i = 0;
+ arr.push(hex(data[i++]));
+ data = data.subarray(i);
+ }
+ return arr.join(' ');
+ },
+ parseAVCTag = function(tag, obj) {
+ var
+ avcPacketTypes = [
+ 'AVC Sequence Header',
+ 'AVC NALU',
+ 'AVC End-of-Sequence'
+ ],
+ compositionTime = (tag[1] & parseInt('01111111', 2) << 16) | (tag[2] << 8) | tag[3];
+
+ obj = obj || {};
+
+ obj.avcPacketType = avcPacketTypes[tag[0]];
+ obj.CompositionTime = (tag[1] & parseInt('10000000', 2)) ? -compositionTime : compositionTime;
+
+ if (tag[0] === 1) {
+ obj.nalUnitTypeRaw = hexStringList(tag.subarray(4, 100));
+ } else {
+ obj.data = hexStringList(tag.subarray(4));
+ }
+
+ return obj;
+ },
+ parseVideoTag = function(tag, obj) {
+ var
+ frameTypes = [
+ 'Unknown',
+ 'Keyframe (for AVC, a seekable frame)',
+ 'Inter frame (for AVC, a nonseekable frame)',
+ 'Disposable inter frame (H.263 only)',
+ 'Generated keyframe (reserved for server use only)',
+ 'Video info/command frame'
+ ],
+ codecID = tag[0] & parseInt('00001111', 2);
+
+ obj = obj || {};
+
+ obj.frameType = frameTypes[(tag[0] & parseInt('11110000', 2)) >>> 4];
+ obj.codecID = codecID;
+
+ if (codecID === 7) {
+ return parseAVCTag(tag.subarray(1), obj);
+ }
+ return obj;
+ },
+ parseAACTag = function(tag, obj) {
+ var packetTypes = [
+ 'AAC Sequence Header',
+ 'AAC Raw'
+ ];
+
+ obj = obj || {};
+
+ obj.aacPacketType = packetTypes[tag[0]];
+ obj.data = hexStringList(tag.subarray(1));
+
+ return obj;
+ },
+ parseAudioTag = function(tag, obj) {
+ var
+ formatTable = [
+ 'Linear PCM, platform endian',
+ 'ADPCM',
+ 'MP3',
+ 'Linear PCM, little endian',
+ 'Nellymoser 16-kHz mono',
+ 'Nellymoser 8-kHz mono',
+ 'Nellymoser',
+ 'G.711 A-law logarithmic PCM',
+ 'G.711 mu-law logarithmic PCM',
+ 'reserved',
+ 'AAC',
+ 'Speex',
+ 'MP3 8-Khz',
+ 'Device-specific sound'
+ ],
+ samplingRateTable = [
+ '5.5-kHz',
+ '11-kHz',
+ '22-kHz',
+ '44-kHz'
+ ],
+ soundFormat = (tag[0] & parseInt('11110000', 2)) >>> 4;
+
+ obj = obj || {};
+
+ obj.soundFormat = formatTable[soundFormat];
+ obj.soundRate = samplingRateTable[(tag[0] & parseInt('00001100', 2)) >>> 2];
+ obj.soundSize = ((tag[0] & parseInt('00000010', 2)) >>> 1) ? '16-bit' : '8-bit';
+ obj.soundType = (tag[0] & parseInt('00000001', 2)) ? 'Stereo' : 'Mono';
+
+ if (soundFormat === 10) {
+ return parseAACTag(tag.subarray(1), obj);
+ }
+ return obj;
+ },
+ parseGenericTag = function(tag) {
+ return {
+ tagType: tagTypes[tag[0]],
+ dataSize: (tag[1] << 16) | (tag[2] << 8) | tag[3],
+ timestamp: (tag[7] << 24) | (tag[4] << 16) | (tag[5] << 8) | tag[6],
+ streamID: (tag[8] << 16) | (tag[9] << 8) | tag[10]
+ };
+ },
+ inspectFlvTag = function(tag) {
+ var header = parseGenericTag(tag);
+ switch (tag[0]) {
+ case 0x08:
+ parseAudioTag(tag.subarray(11), header);
+ break;
+ case 0x09:
+ parseVideoTag(tag.subarray(11), header);
+ break;
+ case 0x12:
+ }
+ return header;
+ },
+ inspectFlv = function(bytes) {
+ var i = 9, // header
+ dataSize,
+ parsedResults = [],
+ tag;
+
+ // traverse the tags
+ i += 4; // skip previous tag size
+ while (i < bytes.byteLength) {
+ dataSize = bytes[i + 1] << 16;
+ dataSize |= bytes[i + 2] << 8;
+ dataSize |= bytes[i + 3];
+ dataSize += 11;
+
+ tag = bytes.subarray(i, i + dataSize);
+ parsedResults.push(inspectFlvTag(tag));
+ i += dataSize + 4;
+ }
+ return parsedResults;
+ },
+ textifyFlv = function(flvTagArray) {
+ return JSON.stringify(flvTagArray, null, 2);
+ };
+
+module.exports = {
+ inspectTag: inspectFlvTag,
+ inspect: inspectFlv,
+ textify: textifyFlv
+};
+
+},{}],72:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ *
+ * Parse the internal MP4 structure into an equivalent javascript
+ * object.
+ */
+'use strict';
+
+var
+ inspectMp4,
+ textifyMp4,
+ toUnsigned = require('../utils/bin').toUnsigned,
+ parseMp4Date = function(seconds) {
+ return new Date(seconds * 1000 - 2082844800000);
+ },
+ parseSampleFlags = function(flags) {
+ return {
+ isLeading: (flags[0] & 0x0c) >>> 2,
+ dependsOn: flags[0] & 0x03,
+ isDependedOn: (flags[1] & 0xc0) >>> 6,
+ hasRedundancy: (flags[1] & 0x30) >>> 4,
+ paddingValue: (flags[1] & 0x0e) >>> 1,
+ isNonSyncSample: flags[1] & 0x01,
+ degradationPriority: (flags[2] << 8) | flags[3]
+ };
+ },
+ /**
+ * Returns the string representation of an ASCII encoded four byte buffer.
+ * @param buffer {Uint8Array} a four-byte buffer to translate
+ * @return {string} the corresponding string
+ */
+ parseType = function(buffer) {
+ var result = '';
+ result += String.fromCharCode(buffer[0]);
+ result += String.fromCharCode(buffer[1]);
+ result += String.fromCharCode(buffer[2]);
+ result += String.fromCharCode(buffer[3]);
+ return result;
+ },
+ // Find the data for a box specified by its path
+ findBox = function(data, path) {
+ var results = [],
+ i, size, type, end, subresults;
+
+ if (!path.length) {
+ // short-circuit the search for empty paths
+ return null;
+ }
+
+ for (i = 0; i < data.byteLength;) {
+ size = toUnsigned(data[i] << 24 |
+ data[i + 1] << 16 |
+ data[i + 2] << 8 |
+ data[i + 3]);
+
+ type = parseType(data.subarray(i + 4, i + 8));
+
+ end = size > 1 ? i + size : data.byteLength;
+
+ if (type === path[0]) {
+ if (path.length === 1) {
+ // this is the end of the path and we've found the box we were
+ // looking for
+ results.push(data.subarray(i + 8, end));
+ } else {
+ // recursively search for the next box along the path
+ subresults = findBox(data.subarray(i + 8, end), path.slice(1));
+ if (subresults.length) {
+ results = results.concat(subresults);
+ }
+ }
+ }
+ i = end;
+ }
+
+ // we've finished searching all of data
+ return results;
+ },
+ nalParse = function(avcStream) {
+ var
+ avcView = new DataView(avcStream.buffer, avcStream.byteOffset, avcStream.byteLength),
+ result = [],
+ i,
+ length;
+ for (i = 0; i + 4 < avcStream.length; i += length) {
+ length = avcView.getUint32(i);
+ i += 4;
+
+ // bail if this doesn't appear to be an H264 stream
+ if (length <= 0) {
+ result.push('<span style=\'color:red;\'>MALFORMED DATA</span>');
+ continue;
+ }
+
+ switch (avcStream[i] & 0x1F) {
+ case 0x01:
+ result.push('slice_layer_without_partitioning_rbsp');
+ break;
+ case 0x05:
+ result.push('slice_layer_without_partitioning_rbsp_idr');
+ break;
+ case 0x06:
+ result.push('sei_rbsp');
+ break;
+ case 0x07:
+ result.push('seq_parameter_set_rbsp');
+ break;
+ case 0x08:
+ result.push('pic_parameter_set_rbsp');
+ break;
+ case 0x09:
+ result.push('access_unit_delimiter_rbsp');
+ break;
+ default:
+ result.push('UNKNOWN NAL - ' + avcStream[i] & 0x1F);
+ break;
+ }
+ }
+ return result;
+ },
+
+ // registry of handlers for individual mp4 box types
+ parse = {
+ // codingname, not a first-class box type. stsd entries share the
+ // same format as real boxes so the parsing infrastructure can be
+ // shared
+ avc1: function(data) {
+ var view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+ return {
+ dataReferenceIndex: view.getUint16(6),
+ width: view.getUint16(24),
+ height: view.getUint16(26),
+ horizresolution: view.getUint16(28) + (view.getUint16(30) / 16),
+ vertresolution: view.getUint16(32) + (view.getUint16(34) / 16),
+ frameCount: view.getUint16(40),
+ depth: view.getUint16(74),
+ config: inspectMp4(data.subarray(78, data.byteLength))
+ };
+ },
+ avcC: function(data) {
+ var
+ view = new DataView(data.buffer, data.byteOffset, data.byteLength),
+ result = {
+ configurationVersion: data[0],
+ avcProfileIndication: data[1],
+ profileCompatibility: data[2],
+ avcLevelIndication: data[3],
+ lengthSizeMinusOne: data[4] & 0x03,
+ sps: [],
+ pps: []
+ },
+ numOfSequenceParameterSets = data[5] & 0x1f,
+ numOfPictureParameterSets,
+ nalSize,
+ offset,
+ i;
+
+ // iterate past any SPSs
+ offset = 6;
+ for (i = 0; i < numOfSequenceParameterSets; i++) {
+ nalSize = view.getUint16(offset);
+ offset += 2;
+ result.sps.push(new Uint8Array(data.subarray(offset, offset + nalSize)));
+ offset += nalSize;
+ }
+ // iterate past any PPSs
+ numOfPictureParameterSets = data[offset];
+ offset++;
+ for (i = 0; i < numOfPictureParameterSets; i++) {
+ nalSize = view.getUint16(offset);
+ offset += 2;
+ result.pps.push(new Uint8Array(data.subarray(offset, offset + nalSize)));
+ offset += nalSize;
+ }
+ return result;
+ },
+ btrt: function(data) {
+ var view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+ return {
+ bufferSizeDB: view.getUint32(0),
+ maxBitrate: view.getUint32(4),
+ avgBitrate: view.getUint32(8)
+ };
+ },
+ esds: function(data) {
+ return {
+ version: data[0],
+ flags: new Uint8Array(data.subarray(1, 4)),
+ esId: (data[6] << 8) | data[7],
+ streamPriority: data[8] & 0x1f,
+ decoderConfig: {
+ objectProfileIndication: data[11],
+ streamType: (data[12] >>> 2) & 0x3f,
+ bufferSize: (data[13] << 16) | (data[14] << 8) | data[15],
+ maxBitrate: (data[16] << 24) |
+ (data[17] << 16) |
+ (data[18] << 8) |
+ data[19],
+ avgBitrate: (data[20] << 24) |
+ (data[21] << 16) |
+ (data[22] << 8) |
+ data[23],
+ decoderConfigDescriptor: {
+ tag: data[24],
+ length: data[25],
+ audioObjectType: (data[26] >>> 3) & 0x1f,
+ samplingFrequencyIndex: ((data[26] & 0x07) << 1) |
+ ((data[27] >>> 7) & 0x01),
+ channelConfiguration: (data[27] >>> 3) & 0x0f
+ }
+ }
+ };
+ },
+ ftyp: function(data) {
+ var
+ view = new DataView(data.buffer, data.byteOffset, data.byteLength),
+ result = {
+ majorBrand: parseType(data.subarray(0, 4)),
+ minorVersion: view.getUint32(4),
+ compatibleBrands: []
+ },
+ i = 8;
+ while (i < data.byteLength) {
+ result.compatibleBrands.push(parseType(data.subarray(i, i + 4)));
+ i += 4;
+ }
+ return result;
+ },
+ dinf: function(data) {
+ return {
+ boxes: inspectMp4(data)
+ };
+ },
+ dref: function(data) {
+ return {
+ version: data[0],
+ flags: new Uint8Array(data.subarray(1, 4)),
+ dataReferences: inspectMp4(data.subarray(8))
+ };
+ },
+ hdlr: function(data) {
+ var
+ view = new DataView(data.buffer, data.byteOffset, data.byteLength),
+ result = {
+ version: view.getUint8(0),
+ flags: new Uint8Array(data.subarray(1, 4)),
+ handlerType: parseType(data.subarray(8, 12)),
+ name: ''
+ },
+ i = 8;
+
+ // parse out the name field
+ for (i = 24; i < data.byteLength; i++) {
+ if (data[i] === 0x00) {
+ // the name field is null-terminated
+ i++;
+ break;
+ }
+ result.name += String.fromCharCode(data[i]);
+ }
+ // decode UTF-8 to javascript's internal representation
+ // see http://ecmanaut.blogspot.com/2006/07/encoding-decoding-utf8-in-javascript.html
+ result.name = decodeURIComponent(escape(result.name));
+
+ return result;
+ },
+ mdat: function(data) {
+ return {
+ byteLength: data.byteLength,
+ nals: nalParse(data)
+ };
+ },
+ mdhd: function(data) {
+ var
+ view = new DataView(data.buffer, data.byteOffset, data.byteLength),
+ i = 4,
+ language,
+ result = {
+ version: view.getUint8(0),
+ flags: new Uint8Array(data.subarray(1, 4)),
+ language: ''
+ };
+ if (result.version === 1) {
+ i += 4;
+ result.creationTime = parseMp4Date(view.getUint32(i)); // truncating top 4 bytes
+ i += 8;
+ result.modificationTime = parseMp4Date(view.getUint32(i)); // truncating top 4 bytes
+ i += 4;
+ result.timescale = view.getUint32(i);
+ i += 8;
+ result.duration = view.getUint32(i); // truncating top 4 bytes
+ } else {
+ result.creationTime = parseMp4Date(view.getUint32(i));
+ i += 4;
+ result.modificationTime = parseMp4Date(view.getUint32(i));
+ i += 4;
+ result.timescale = view.getUint32(i);
+ i += 4;
+ result.duration = view.getUint32(i);
+ }
+ i += 4;
+ // language is stored as an ISO-639-2/T code in an array of three 5-bit fields
+ // each field is the packed difference between its ASCII value and 0x60
+ language = view.getUint16(i);
+ result.language += String.fromCharCode((language >> 10) + 0x60);
+ result.language += String.fromCharCode(((language & 0x03e0) >> 5) + 0x60);
+ result.language += String.fromCharCode((language & 0x1f) + 0x60);
+
+ return result;
+ },
+ mdia: function(data) {
+ return {
+ boxes: inspectMp4(data)
+ };
+ },
+ mfhd: function(data) {
+ return {
+ version: data[0],
+ flags: new Uint8Array(data.subarray(1, 4)),
+ sequenceNumber: (data[4] << 24) |
+ (data[5] << 16) |
+ (data[6] << 8) |
+ (data[7])
+ };
+ },
+ minf: function(data) {
+ return {
+ boxes: inspectMp4(data)
+ };
+ },
+ // codingname, not a first-class box type. stsd entries share the
+ // same format as real boxes so the parsing infrastructure can be
+ // shared
+ mp4a: function(data) {
+ var
+ view = new DataView(data.buffer, data.byteOffset, data.byteLength),
+ result = {
+ // 6 bytes reserved
+ dataReferenceIndex: view.getUint16(6),
+ // 4 + 4 bytes reserved
+ channelcount: view.getUint16(16),
+ samplesize: view.getUint16(18),
+ // 2 bytes pre_defined
+ // 2 bytes reserved
+ samplerate: view.getUint16(24) + (view.getUint16(26) / 65536)
+ };
+
+ // if there are more bytes to process, assume this is an ISO/IEC
+ // 14496-14 MP4AudioSampleEntry and parse the ESDBox
+ if (data.byteLength > 28) {
+ result.streamDescriptor = inspectMp4(data.subarray(28))[0];
+ }
+ return result;
+ },
+ moof: function(data) {
+ return {
+ boxes: inspectMp4(data)
+ };
+ },
+ moov: function(data) {
+ return {
+ boxes: inspectMp4(data)
+ };
+ },
+ mvex: function(data) {
+ return {
+ boxes: inspectMp4(data)
+ };
+ },
+ mvhd: function(data) {
+ var
+ view = new DataView(data.buffer, data.byteOffset, data.byteLength),
+ i = 4,
+ result = {
+ version: view.getUint8(0),
+ flags: new Uint8Array(data.subarray(1, 4))
+ };
+
+ if (result.version === 1) {
+ i += 4;
+ result.creationTime = parseMp4Date(view.getUint32(i)); // truncating top 4 bytes
+ i += 8;
+ result.modificationTime = parseMp4Date(view.getUint32(i)); // truncating top 4 bytes
+ i += 4;
+ result.timescale = view.getUint32(i);
+ i += 8;
+ result.duration = view.getUint32(i); // truncating top 4 bytes
+ } else {
+ result.creationTime = parseMp4Date(view.getUint32(i));
+ i += 4;
+ result.modificationTime = parseMp4Date(view.getUint32(i));
+ i += 4;
+ result.timescale = view.getUint32(i);
+ i += 4;
+ result.duration = view.getUint32(i);
+ }
+ i += 4;
+
+ // convert fixed-point, base 16 back to a number
+ result.rate = view.getUint16(i) + (view.getUint16(i + 2) / 16);
+ i += 4;
+ result.volume = view.getUint8(i) + (view.getUint8(i + 1) / 8);
+ i += 2;
+ i += 2;
+ i += 2 * 4;
+ result.matrix = new Uint32Array(data.subarray(i, i + (9 * 4)));
+ i += 9 * 4;
+ i += 6 * 4;
+ result.nextTrackId = view.getUint32(i);
+ return result;
+ },
+ pdin: function(data) {
+ var view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+ return {
+ version: view.getUint8(0),
+ flags: new Uint8Array(data.subarray(1, 4)),
+ rate: view.getUint32(4),
+ initialDelay: view.getUint32(8)
+ };
+ },
+ sdtp: function(data) {
+ var
+ result = {
+ version: data[0],
+ flags: new Uint8Array(data.subarray(1, 4)),
+ samples: []
+ }, i;
+
+ for (i = 4; i < data.byteLength; i++) {
+ result.samples.push({
+ dependsOn: (data[i] & 0x30) >> 4,
+ isDependedOn: (data[i] & 0x0c) >> 2,
+ hasRedundancy: data[i] & 0x03
+ });
+ }
+ return result;
+ },
+ sidx: function(data) {
+ var view = new DataView(data.buffer, data.byteOffset, data.byteLength),
+ result = {
+ version: data[0],
+ flags: new Uint8Array(data.subarray(1, 4)),
+ references: [],
+ referenceId: view.getUint32(4),
+ timescale: view.getUint32(8),
+ earliestPresentationTime: view.getUint32(12),
+ firstOffset: view.getUint32(16)
+ },
+ referenceCount = view.getUint16(22),
+ i;
+
+ for (i = 24; referenceCount; i += 12, referenceCount--) {
+ result.references.push({
+ referenceType: (data[i] & 0x80) >>> 7,
+ referencedSize: view.getUint32(i) & 0x7FFFFFFF,
+ subsegmentDuration: view.getUint32(i + 4),
+ startsWithSap: !!(data[i + 8] & 0x80),
+ sapType: (data[i + 8] & 0x70) >>> 4,
+ sapDeltaTime: view.getUint32(i + 8) & 0x0FFFFFFF
+ });
+ }
+
+ return result;
+ },
+ smhd: function(data) {
+ return {
+ version: data[0],
+ flags: new Uint8Array(data.subarray(1, 4)),
+ balance: data[4] + (data[5] / 256)
+ };
+ },
+ stbl: function(data) {
+ return {
+ boxes: inspectMp4(data)
+ };
+ },
+ stco: function(data) {
+ var
+ view = new DataView(data.buffer, data.byteOffset, data.byteLength),
+ result = {
+ version: data[0],
+ flags: new Uint8Array(data.subarray(1, 4)),
+ chunkOffsets: []
+ },
+ entryCount = view.getUint32(4),
+ i;
+ for (i = 8; entryCount; i += 4, entryCount--) {
+ result.chunkOffsets.push(view.getUint32(i));
+ }
+ return result;
+ },
+ stsc: function(data) {
+ var
+ view = new DataView(data.buffer, data.byteOffset, data.byteLength),
+ entryCount = view.getUint32(4),
+ result = {
+ version: data[0],
+ flags: new Uint8Array(data.subarray(1, 4)),
+ sampleToChunks: []
+ },
+ i;
+ for (i = 8; entryCount; i += 12, entryCount--) {
+ result.sampleToChunks.push({
+ firstChunk: view.getUint32(i),
+ samplesPerChunk: view.getUint32(i + 4),
+ sampleDescriptionIndex: view.getUint32(i + 8)
+ });
+ }
+ return result;
+ },
+ stsd: function(data) {
+ return {
+ version: data[0],
+ flags: new Uint8Array(data.subarray(1, 4)),
+ sampleDescriptions: inspectMp4(data.subarray(8))
+ };
+ },
+ stsz: function(data) {
+ var
+ view = new DataView(data.buffer, data.byteOffset, data.byteLength),
+ result = {
+ version: data[0],
+ flags: new Uint8Array(data.subarray(1, 4)),
+ sampleSize: view.getUint32(4),
+ entries: []
+ },
+ i;
+ for (i = 12; i < data.byteLength; i += 4) {
+ result.entries.push(view.getUint32(i));
+ }
+ return result;
+ },
+ stts: function(data) {
+ var
+ view = new DataView(data.buffer, data.byteOffset, data.byteLength),
+ result = {
+ version: data[0],
+ flags: new Uint8Array(data.subarray(1, 4)),
+ timeToSamples: []
+ },
+ entryCount = view.getUint32(4),
+ i;
+
+ for (i = 8; entryCount; i += 8, entryCount--) {
+ result.timeToSamples.push({
+ sampleCount: view.getUint32(i),
+ sampleDelta: view.getUint32(i + 4)
+ });
+ }
+ return result;
+ },
+ styp: function(data) {
+ return parse.ftyp(data);
+ },
+ tfdt: function(data) {
+ var result = {
+ version: data[0],
+ flags: new Uint8Array(data.subarray(1, 4)),
+ baseMediaDecodeTime: toUnsigned(data[4] << 24 | data[5] << 16 | data[6] << 8 | data[7])
+ };
+ if (result.version === 1) {
+ result.baseMediaDecodeTime *= Math.pow(2, 32);
+ result.baseMediaDecodeTime += toUnsigned(data[8] << 24 | data[9] << 16 | data[10] << 8 | data[11]);
+ }
+ return result;
+ },
+ tfhd: function(data) {
+ var
+ view = new DataView(data.buffer, data.byteOffset, data.byteLength),
+ result = {
+ version: data[0],
+ flags: new Uint8Array(data.subarray(1, 4)),
+ trackId: view.getUint32(4)
+ },
+ baseDataOffsetPresent = result.flags[2] & 0x01,
+ sampleDescriptionIndexPresent = result.flags[2] & 0x02,
+ defaultSampleDurationPresent = result.flags[2] & 0x08,
+ defaultSampleSizePresent = result.flags[2] & 0x10,
+ defaultSampleFlagsPresent = result.flags[2] & 0x20,
+ durationIsEmpty = result.flags[0] & 0x010000,
+ defaultBaseIsMoof = result.flags[0] & 0x020000,
+ i;
+
+ i = 8;
+ if (baseDataOffsetPresent) {
+ i += 4; // truncate top 4 bytes
+ // FIXME: should we read the full 64 bits?
+ result.baseDataOffset = view.getUint32(12);
+ i += 4;
+ }
+ if (sampleDescriptionIndexPresent) {
+ result.sampleDescriptionIndex = view.getUint32(i);
+ i += 4;
+ }
+ if (defaultSampleDurationPresent) {
+ result.defaultSampleDuration = view.getUint32(i);
+ i += 4;
+ }
+ if (defaultSampleSizePresent) {
+ result.defaultSampleSize = view.getUint32(i);
+ i += 4;
+ }
+ if (defaultSampleFlagsPresent) {
+ result.defaultSampleFlags = view.getUint32(i);
+ }
+ if (durationIsEmpty) {
+ result.durationIsEmpty = true;
+ }
+ if (!baseDataOffsetPresent && defaultBaseIsMoof) {
+ result.baseDataOffsetIsMoof = true;
+ }
+ return result;
+ },
+ tkhd: function(data) {
+ var
+ view = new DataView(data.buffer, data.byteOffset, data.byteLength),
+ i = 4,
+ result = {
+ version: view.getUint8(0),
+ flags: new Uint8Array(data.subarray(1, 4))
+ };
+ if (result.version === 1) {
+ i += 4;
+ result.creationTime = parseMp4Date(view.getUint32(i)); // truncating top 4 bytes
+ i += 8;
+ result.modificationTime = parseMp4Date(view.getUint32(i)); // truncating top 4 bytes
+ i += 4;
+ result.trackId = view.getUint32(i);
+ i += 4;
+ i += 8;
+ result.duration = view.getUint32(i); // truncating top 4 bytes
+ } else {
+ result.creationTime = parseMp4Date(view.getUint32(i));
+ i += 4;
+ result.modificationTime = parseMp4Date(view.getUint32(i));
+ i += 4;
+ result.trackId = view.getUint32(i);
+ i += 4;
+ i += 4;
+ result.duration = view.getUint32(i);
+ }
+ i += 4;
+ i += 2 * 4;
+ result.layer = view.getUint16(i);
+ i += 2;
+ result.alternateGroup = view.getUint16(i);
+ i += 2;
+ // convert fixed-point, base 16 back to a number
+ result.volume = view.getUint8(i) + (view.getUint8(i + 1) / 8);
+ i += 2;
+ i += 2;
+ result.matrix = new Uint32Array(data.subarray(i, i + (9 * 4)));
+ i += 9 * 4;
+ result.width = view.getUint16(i) + (view.getUint16(i + 2) / 65536);
+ i += 4;
+ result.height = view.getUint16(i) + (view.getUint16(i + 2) / 65536);
+ return result;
+ },
+ traf: function(data) {
+ return {
+ boxes: inspectMp4(data)
+ };
+ },
+ trak: function(data) {
+ return {
+ boxes: inspectMp4(data)
+ };
+ },
+ trex: function(data) {
+ var view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+ return {
+ version: data[0],
+ flags: new Uint8Array(data.subarray(1, 4)),
+ trackId: view.getUint32(4),
+ defaultSampleDescriptionIndex: view.getUint32(8),
+ defaultSampleDuration: view.getUint32(12),
+ defaultSampleSize: view.getUint32(16),
+ sampleDependsOn: data[20] & 0x03,
+ sampleIsDependedOn: (data[21] & 0xc0) >> 6,
+ sampleHasRedundancy: (data[21] & 0x30) >> 4,
+ samplePaddingValue: (data[21] & 0x0e) >> 1,
+ sampleIsDifferenceSample: !!(data[21] & 0x01),
+ sampleDegradationPriority: view.getUint16(22)
+ };
+ },
+ trun: function(data) {
+ var
+ result = {
+ version: data[0],
+ flags: new Uint8Array(data.subarray(1, 4)),
+ samples: []
+ },
+ view = new DataView(data.buffer, data.byteOffset, data.byteLength),
+ // Flag interpretation
+ dataOffsetPresent = result.flags[2] & 0x01, // compare with 2nd byte of 0x1
+ firstSampleFlagsPresent = result.flags[2] & 0x04, // compare with 2nd byte of 0x4
+ sampleDurationPresent = result.flags[1] & 0x01, // compare with 2nd byte of 0x100
+ sampleSizePresent = result.flags[1] & 0x02, // compare with 2nd byte of 0x200
+ sampleFlagsPresent = result.flags[1] & 0x04, // compare with 2nd byte of 0x400
+ sampleCompositionTimeOffsetPresent = result.flags[1] & 0x08, // compare with 2nd byte of 0x800
+ sampleCount = view.getUint32(4),
+ offset = 8,
+ sample;
+
+ if (dataOffsetPresent) {
+ // 32 bit signed integer
+ result.dataOffset = view.getInt32(offset);
+ offset += 4;
+ }
+
+ // Overrides the flags for the first sample only. The order of
+ // optional values will be: duration, size, compositionTimeOffset
+ if (firstSampleFlagsPresent && sampleCount) {
+ sample = {
+ flags: parseSampleFlags(data.subarray(offset, offset + 4))
+ };
+ offset += 4;
+ if (sampleDurationPresent) {
+ sample.duration = view.getUint32(offset);
+ offset += 4;
+ }
+ if (sampleSizePresent) {
+ sample.size = view.getUint32(offset);
+ offset += 4;
+ }
+ if (sampleCompositionTimeOffsetPresent) {
+ // Note: this should be a signed int if version is 1
+ sample.compositionTimeOffset = view.getUint32(offset);
+ offset += 4;
+ }
+ result.samples.push(sample);
+ sampleCount--;
+ }
+
+ while (sampleCount--) {
+ sample = {};
+ if (sampleDurationPresent) {
+ sample.duration = view.getUint32(offset);
+ offset += 4;
+ }
+ if (sampleSizePresent) {
+ sample.size = view.getUint32(offset);
+ offset += 4;
+ }
+ if (sampleFlagsPresent) {
+ sample.flags = parseSampleFlags(data.subarray(offset, offset + 4));
+ offset += 4;
+ }
+ if (sampleCompositionTimeOffsetPresent) {
+ // Note: this should be a signed int if version is 1
+ sample.compositionTimeOffset = view.getUint32(offset);
+ offset += 4;
+ }
+ result.samples.push(sample);
+ }
+ return result;
+ },
+ 'url ': function(data) {
+ return {
+ version: data[0],
+ flags: new Uint8Array(data.subarray(1, 4))
+ };
+ },
+ vmhd: function(data) {
+ var view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+ return {
+ version: data[0],
+ flags: new Uint8Array(data.subarray(1, 4)),
+ graphicsmode: view.getUint16(4),
+ opcolor: new Uint16Array([view.getUint16(6),
+ view.getUint16(8),
+ view.getUint16(10)])
+ };
+ }
+ };
+
+
+/**
+ * Return a javascript array of box objects parsed from an ISO base
+ * media file.
+ * @param data {Uint8Array} the binary data of the media to be inspected
+ * @return {array} a javascript array of potentially nested box objects
+ */
+inspectMp4 = function(data) {
+ var
+ i = 0,
+ result = [],
+ view,
+ size,
+ type,
+ end,
+ box;
+
+ // Convert data from Uint8Array to ArrayBuffer, to follow Dataview API
+ var ab = new ArrayBuffer(data.length);
+ var v = new Uint8Array(ab);
+ for (var z = 0; z < data.length; ++z) {
+ v[z] = data[z];
+ }
+ view = new DataView(ab);
+
+ while (i < data.byteLength) {
+ // parse box data
+ size = view.getUint32(i);
+ type = parseType(data.subarray(i + 4, i + 8));
+ end = size > 1 ? i + size : data.byteLength;
+
+ // parse type-specific data
+ box = (parse[type] || function(data) {
+ return {
+ data: data
+ };
+ })(data.subarray(i + 8, end));
+ box.size = size;
+ box.type = type;
+
+ // store this box and move to the next
+ result.push(box);
+ i = end;
+ }
+ return result;
+};
+
+/**
+ * Returns a textual representation of the javascript represtentation
+ * of an MP4 file. You can use it as an alternative to
+ * JSON.stringify() to compare inspected MP4s.
+ * @param inspectedMp4 {array} the parsed array of boxes in an MP4
+ * file
+ * @param depth {number} (optional) the number of ancestor boxes of
+ * the elements of inspectedMp4. Assumed to be zero if unspecified.
+ * @return {string} a text representation of the parsed MP4
+ */
+textifyMp4 = function(inspectedMp4, depth) {
+ var indent;
+ depth = depth || 0;
+ indent = new Array(depth * 2 + 1).join(' ');
+
+ // iterate over all the boxes
+ return inspectedMp4.map(function(box, index) {
+
+ // list the box type first at the current indentation level
+ return indent + box.type + '\n' +
+
+ // the type is already included and handle child boxes separately
+ Object.keys(box).filter(function(key) {
+ return key !== 'type' && key !== 'boxes';
+
+ // output all the box properties
+ }).map(function(key) {
+ var prefix = indent + ' ' + key + ': ',
+ value = box[key];
+
+ // print out raw bytes as hexademical
+ if (value instanceof Uint8Array || value instanceof Uint32Array) {
+ var bytes = Array.prototype.slice.call(new Uint8Array(value.buffer, value.byteOffset, value.byteLength))
+ .map(function(byte) {
+ return ' ' + ('00' + byte.toString(16)).slice(-2);
+ }).join('').match(/.{1,24}/g);
+ if (!bytes) {
+ return prefix + '<>';
+ }
+ if (bytes.length === 1) {
+ return prefix + '<' + bytes.join('').slice(1) + '>';
+ }
+ return prefix + '<\n' + bytes.map(function(line) {
+ return indent + ' ' + line;
+ }).join('\n') + '\n' + indent + ' >';
+ }
+
+ // stringify generic objects
+ return prefix +
+ JSON.stringify(value, null, 2)
+ .split('\n').map(function(line, index) {
+ if (index === 0) {
+ return line;
+ }
+ return indent + ' ' + line;
+ }).join('\n');
+ }).join('\n') +
+
+ // recursively textify the child boxes
+ (box.boxes ? '\n' + textifyMp4(box.boxes, depth + 1) : '');
+ }).join('\n');
+};
+
+module.exports = {
+ inspect: inspectMp4,
+ textify: textifyMp4,
+ parseType: parseType,
+ findBox: findBox,
+ parseTraf: parse.traf,
+ parseTfdt: parse.tfdt,
+ parseHdlr: parse.hdlr,
+ parseTfhd: parse.tfhd,
+ parseTrun: parse.trun,
+ parseSidx: parse.sidx
+};
+
+},{"../utils/bin":74}],73:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ *
+ * Parse mpeg2 transport stream packets to extract basic timing information
+ */
+'use strict';
+
+var StreamTypes = require('../m2ts/stream-types.js');
+var handleRollover = require('../m2ts/timestamp-rollover-stream.js').handleRollover;
+var probe = {};
+probe.ts = require('../m2ts/probe.js');
+probe.aac = require('../aac/utils.js');
+var ONE_SECOND_IN_TS = require('../utils/clock').ONE_SECOND_IN_TS;
+
+var
+ MP2T_PACKET_LENGTH = 188, // bytes
+ SYNC_BYTE = 0x47;
+
+/**
+ * walks through segment data looking for pat and pmt packets to parse out
+ * program map table information
+ */
+var parsePsi_ = function(bytes, pmt) {
+ var
+ startIndex = 0,
+ endIndex = MP2T_PACKET_LENGTH,
+ packet, type;
+
+ while (endIndex < bytes.byteLength) {
+ // Look for a pair of start and end sync bytes in the data..
+ if (bytes[startIndex] === SYNC_BYTE && bytes[endIndex] === SYNC_BYTE) {
+ // We found a packet
+ packet = bytes.subarray(startIndex, endIndex);
+ type = probe.ts.parseType(packet, pmt.pid);
+
+ switch (type) {
+ case 'pat':
+ if (!pmt.pid) {
+ pmt.pid = probe.ts.parsePat(packet);
+ }
+ break;
+ case 'pmt':
+ if (!pmt.table) {
+ pmt.table = probe.ts.parsePmt(packet);
+ }
+ break;
+ default:
+ break;
+ }
+
+ // Found the pat and pmt, we can stop walking the segment
+ if (pmt.pid && pmt.table) {
+ return;
+ }
+
+ startIndex += MP2T_PACKET_LENGTH;
+ endIndex += MP2T_PACKET_LENGTH;
+ continue;
+ }
+
+ // If we get here, we have somehow become de-synchronized and we need to step
+ // forward one byte at a time until we find a pair of sync bytes that denote
+ // a packet
+ startIndex++;
+ endIndex++;
+ }
+};
+
+/**
+ * walks through the segment data from the start and end to get timing information
+ * for the first and last audio pes packets
+ */
+var parseAudioPes_ = function(bytes, pmt, result) {
+ var
+ startIndex = 0,
+ endIndex = MP2T_PACKET_LENGTH,
+ packet, type, pesType, pusi, parsed;
+
+ var endLoop = false;
+
+ // Start walking from start of segment to get first audio packet
+ while (endIndex <= bytes.byteLength) {
+ // Look for a pair of start and end sync bytes in the data..
+ if (bytes[startIndex] === SYNC_BYTE &&
+ (bytes[endIndex] === SYNC_BYTE || endIndex === bytes.byteLength)) {
+ // We found a packet
+ packet = bytes.subarray(startIndex, endIndex);
+ type = probe.ts.parseType(packet, pmt.pid);
+
+ switch (type) {
+ case 'pes':
+ pesType = probe.ts.parsePesType(packet, pmt.table);
+ pusi = probe.ts.parsePayloadUnitStartIndicator(packet);
+ if (pesType === 'audio' && pusi) {
+ parsed = probe.ts.parsePesTime(packet);
+ if (parsed) {
+ parsed.type = 'audio';
+ result.audio.push(parsed);
+ endLoop = true;
+ }
+ }
+ break;
+ default:
+ break;
+ }
+
+ if (endLoop) {
+ break;
+ }
+
+ startIndex += MP2T_PACKET_LENGTH;
+ endIndex += MP2T_PACKET_LENGTH;
+ continue;
+ }
+
+ // If we get here, we have somehow become de-synchronized and we need to step
+ // forward one byte at a time until we find a pair of sync bytes that denote
+ // a packet
+ startIndex++;
+ endIndex++;
+ }
+
+ // Start walking from end of segment to get last audio packet
+ endIndex = bytes.byteLength;
+ startIndex = endIndex - MP2T_PACKET_LENGTH;
+ endLoop = false;
+ while (startIndex >= 0) {
+ // Look for a pair of start and end sync bytes in the data..
+ if (bytes[startIndex] === SYNC_BYTE &&
+ (bytes[endIndex] === SYNC_BYTE || endIndex === bytes.byteLength)) {
+ // We found a packet
+ packet = bytes.subarray(startIndex, endIndex);
+ type = probe.ts.parseType(packet, pmt.pid);
+
+ switch (type) {
+ case 'pes':
+ pesType = probe.ts.parsePesType(packet, pmt.table);
+ pusi = probe.ts.parsePayloadUnitStartIndicator(packet);
+ if (pesType === 'audio' && pusi) {
+ parsed = probe.ts.parsePesTime(packet);
+ if (parsed) {
+ parsed.type = 'audio';
+ result.audio.push(parsed);
+ endLoop = true;
+ }
+ }
+ break;
+ default:
+ break;
+ }
+
+ if (endLoop) {
+ break;
+ }
+
+ startIndex -= MP2T_PACKET_LENGTH;
+ endIndex -= MP2T_PACKET_LENGTH;
+ continue;
+ }
+
+ // If we get here, we have somehow become de-synchronized and we need to step
+ // forward one byte at a time until we find a pair of sync bytes that denote
+ // a packet
+ startIndex--;
+ endIndex--;
+ }
+};
+
+/**
+ * walks through the segment data from the start and end to get timing information
+ * for the first and last video pes packets as well as timing information for the first
+ * key frame.
+ */
+var parseVideoPes_ = function(bytes, pmt, result) {
+ var
+ startIndex = 0,
+ endIndex = MP2T_PACKET_LENGTH,
+ packet, type, pesType, pusi, parsed, frame, i, pes;
+
+ var endLoop = false;
+
+ var currentFrame = {
+ data: [],
+ size: 0
+ };
+
+ // Start walking from start of segment to get first video packet
+ while (endIndex < bytes.byteLength) {
+ // Look for a pair of start and end sync bytes in the data..
+ if (bytes[startIndex] === SYNC_BYTE && bytes[endIndex] === SYNC_BYTE) {
+ // We found a packet
+ packet = bytes.subarray(startIndex, endIndex);
+ type = probe.ts.parseType(packet, pmt.pid);
+
+ switch (type) {
+ case 'pes':
+ pesType = probe.ts.parsePesType(packet, pmt.table);
+ pusi = probe.ts.parsePayloadUnitStartIndicator(packet);
+ if (pesType === 'video') {
+ if (pusi && !endLoop) {
+ parsed = probe.ts.parsePesTime(packet);
+ if (parsed) {
+ parsed.type = 'video';
+ result.video.push(parsed);
+ endLoop = true;
+ }
+ }
+ if (!result.firstKeyFrame) {
+ if (pusi) {
+ if (currentFrame.size !== 0) {
+ frame = new Uint8Array(currentFrame.size);
+ i = 0;
+ while (currentFrame.data.length) {
+ pes = currentFrame.data.shift();
+ frame.set(pes, i);
+ i += pes.byteLength;
+ }
+ if (probe.ts.videoPacketContainsKeyFrame(frame)) {
+ var firstKeyFrame = probe.ts.parsePesTime(frame);
+
+ // PTS/DTS may not be available. Simply *not* setting
+ // the keyframe seems to work fine with HLS playback
+ // and definitely preferable to a crash with TypeError...
+ if (firstKeyFrame) {
+ result.firstKeyFrame = firstKeyFrame;
+ result.firstKeyFrame.type = 'video';
+ } else {
+ // eslint-disable-next-line
+ console.warn(
+ 'Failed to extract PTS/DTS from PES at first keyframe. ' +
+ 'This could be an unusual TS segment, or else mux.js did not ' +
+ 'parse your TS segment correctly. If you know your TS ' +
+ 'segments do contain PTS/DTS on keyframes please file a bug ' +
+ 'report! You can try ffprobe to double check for yourself.'
+ );
+ }
+ }
+ currentFrame.size = 0;
+ }
+ }
+ currentFrame.data.push(packet);
+ currentFrame.size += packet.byteLength;
+ }
+ }
+ break;
+ default:
+ break;
+ }
+
+ if (endLoop && result.firstKeyFrame) {
+ break;
+ }
+
+ startIndex += MP2T_PACKET_LENGTH;
+ endIndex += MP2T_PACKET_LENGTH;
+ continue;
+ }
+
+ // If we get here, we have somehow become de-synchronized and we need to step
+ // forward one byte at a time until we find a pair of sync bytes that denote
+ // a packet
+ startIndex++;
+ endIndex++;
+ }
+
+ // Start walking from end of segment to get last video packet
+ endIndex = bytes.byteLength;
+ startIndex = endIndex - MP2T_PACKET_LENGTH;
+ endLoop = false;
+ while (startIndex >= 0) {
+ // Look for a pair of start and end sync bytes in the data..
+ if (bytes[startIndex] === SYNC_BYTE && bytes[endIndex] === SYNC_BYTE) {
+ // We found a packet
+ packet = bytes.subarray(startIndex, endIndex);
+ type = probe.ts.parseType(packet, pmt.pid);
+
+ switch (type) {
+ case 'pes':
+ pesType = probe.ts.parsePesType(packet, pmt.table);
+ pusi = probe.ts.parsePayloadUnitStartIndicator(packet);
+ if (pesType === 'video' && pusi) {
+ parsed = probe.ts.parsePesTime(packet);
+ if (parsed) {
+ parsed.type = 'video';
+ result.video.push(parsed);
+ endLoop = true;
+ }
+ }
+ break;
+ default:
+ break;
+ }
+
+ if (endLoop) {
+ break;
+ }
+
+ startIndex -= MP2T_PACKET_LENGTH;
+ endIndex -= MP2T_PACKET_LENGTH;
+ continue;
+ }
+
+ // If we get here, we have somehow become de-synchronized and we need to step
+ // forward one byte at a time until we find a pair of sync bytes that denote
+ // a packet
+ startIndex--;
+ endIndex--;
+ }
+};
+
+/**
+ * Adjusts the timestamp information for the segment to account for
+ * rollover and convert to seconds based on pes packet timescale (90khz clock)
+ */
+var adjustTimestamp_ = function(segmentInfo, baseTimestamp) {
+ if (segmentInfo.audio && segmentInfo.audio.length) {
+ var audioBaseTimestamp = baseTimestamp;
+ if (typeof audioBaseTimestamp === 'undefined') {
+ audioBaseTimestamp = segmentInfo.audio[0].dts;
+ }
+ segmentInfo.audio.forEach(function(info) {
+ info.dts = handleRollover(info.dts, audioBaseTimestamp);
+ info.pts = handleRollover(info.pts, audioBaseTimestamp);
+ // time in seconds
+ info.dtsTime = info.dts / ONE_SECOND_IN_TS;
+ info.ptsTime = info.pts / ONE_SECOND_IN_TS;
+ });
+ }
+
+ if (segmentInfo.video && segmentInfo.video.length) {
+ var videoBaseTimestamp = baseTimestamp;
+ if (typeof videoBaseTimestamp === 'undefined') {
+ videoBaseTimestamp = segmentInfo.video[0].dts;
+ }
+ segmentInfo.video.forEach(function(info) {
+ info.dts = handleRollover(info.dts, videoBaseTimestamp);
+ info.pts = handleRollover(info.pts, videoBaseTimestamp);
+ // time in seconds
+ info.dtsTime = info.dts / ONE_SECOND_IN_TS;
+ info.ptsTime = info.pts / ONE_SECOND_IN_TS;
+ });
+ if (segmentInfo.firstKeyFrame) {
+ var frame = segmentInfo.firstKeyFrame;
+ frame.dts = handleRollover(frame.dts, videoBaseTimestamp);
+ frame.pts = handleRollover(frame.pts, videoBaseTimestamp);
+ // time in seconds
+ frame.dtsTime = frame.dts / ONE_SECOND_IN_TS;
+ frame.ptsTime = frame.dts / ONE_SECOND_IN_TS;
+ }
+ }
+};
+
+/**
+ * inspects the aac data stream for start and end time information
+ */
+var inspectAac_ = function(bytes) {
+ var
+ endLoop = false,
+ audioCount = 0,
+ sampleRate = null,
+ timestamp = null,
+ frameSize = 0,
+ byteIndex = 0,
+ packet;
+
+ while (bytes.length - byteIndex >= 3) {
+ var type = probe.aac.parseType(bytes, byteIndex);
+ switch (type) {
+ case 'timed-metadata':
+ // Exit early because we don't have enough to parse
+ // the ID3 tag header
+ if (bytes.length - byteIndex < 10) {
+ endLoop = true;
+ break;
+ }
+
+ frameSize = probe.aac.parseId3TagSize(bytes, byteIndex);
+
+ // Exit early if we don't have enough in the buffer
+ // to emit a full packet
+ if (frameSize > bytes.length) {
+ endLoop = true;
+ break;
+ }
+ if (timestamp === null) {
+ packet = bytes.subarray(byteIndex, byteIndex + frameSize);
+ timestamp = probe.aac.parseAacTimestamp(packet);
+ }
+ byteIndex += frameSize;
+ break;
+ case 'audio':
+ // Exit early because we don't have enough to parse
+ // the ADTS frame header
+ if (bytes.length - byteIndex < 7) {
+ endLoop = true;
+ break;
+ }
+
+ frameSize = probe.aac.parseAdtsSize(bytes, byteIndex);
+
+ // Exit early if we don't have enough in the buffer
+ // to emit a full packet
+ if (frameSize > bytes.length) {
+ endLoop = true;
+ break;
+ }
+ if (sampleRate === null) {
+ packet = bytes.subarray(byteIndex, byteIndex + frameSize);
+ sampleRate = probe.aac.parseSampleRate(packet);
+ }
+ audioCount++;
+ byteIndex += frameSize;
+ break;
+ default:
+ byteIndex++;
+ break;
+ }
+ if (endLoop) {
+ return null;
+ }
+ }
+ if (sampleRate === null || timestamp === null) {
+ return null;
+ }
+
+ var audioTimescale = ONE_SECOND_IN_TS / sampleRate;
+
+ var result = {
+ audio: [
+ {
+ type: 'audio',
+ dts: timestamp,
+ pts: timestamp
+ },
+ {
+ type: 'audio',
+ dts: timestamp + (audioCount * 1024 * audioTimescale),
+ pts: timestamp + (audioCount * 1024 * audioTimescale)
+ }
+ ]
+ };
+
+ return result;
+};
+
+/**
+ * inspects the transport stream segment data for start and end time information
+ * of the audio and video tracks (when present) as well as the first key frame's
+ * start time.
+ */
+var inspectTs_ = function(bytes) {
+ var pmt = {
+ pid: null,
+ table: null
+ };
+
+ var result = {};
+
+ parsePsi_(bytes, pmt);
+
+ for (var pid in pmt.table) {
+ if (pmt.table.hasOwnProperty(pid)) {
+ var type = pmt.table[pid];
+ switch (type) {
+ case StreamTypes.H264_STREAM_TYPE:
+ result.video = [];
+ parseVideoPes_(bytes, pmt, result);
+ if (result.video.length === 0) {
+ delete result.video;
+ }
+ break;
+ case StreamTypes.ADTS_STREAM_TYPE:
+ result.audio = [];
+ parseAudioPes_(bytes, pmt, result);
+ if (result.audio.length === 0) {
+ delete result.audio;
+ }
+ break;
+ default:
+ break;
+ }
+ }
+ }
+ return result;
+};
+
+/**
+ * Inspects segment byte data and returns an object with start and end timing information
+ *
+ * @param {Uint8Array} bytes The segment byte data
+ * @param {Number} baseTimestamp Relative reference timestamp used when adjusting frame
+ * timestamps for rollover. This value must be in 90khz clock.
+ * @return {Object} Object containing start and end frame timing info of segment.
+ */
+var inspect = function(bytes, baseTimestamp) {
+ var isAacData = probe.aac.isLikelyAacData(bytes);
+
+ var result;
+
+ if (isAacData) {
+ result = inspectAac_(bytes);
+ } else {
+ result = inspectTs_(bytes);
+ }
+
+ if (!result || (!result.audio && !result.video)) {
+ return null;
+ }
+
+ adjustTimestamp_(result, baseTimestamp);
+
+ return result;
+};
+
+module.exports = {
+ inspect: inspect,
+ parseAudioPes_: parseAudioPes_
+};
+
+},{"../aac/utils.js":37,"../m2ts/probe.js":55,"../m2ts/stream-types.js":56,"../m2ts/timestamp-rollover-stream.js":57,"../utils/clock":75}],74:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ */
+var toUnsigned = function(value) {
+ return value >>> 0;
+};
+
+var toHexString = function(value) {
+ return ('00' + value.toString(16)).slice(-2);
+};
- for (i = 0; i < encodingTypes.length; i++) {
- if (encodingTypes[i].check(obj)) {
- encoded = encodingTypes[i].encode(obj)
- break
- }
- }
+module.exports = {
+ toUnsigned: toUnsigned,
+ toHexString: toHexString
+};
- if (!encoded) {
- return null
- }
+},{}],75:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ */
+var
+ ONE_SECOND_IN_TS = 90000, // 90kHz clock
+ secondsToVideoTs,
+ secondsToAudioTs,
+ videoTsToSeconds,
+ audioTsToSeconds,
+ audioTsToVideoTs,
+ videoTsToAudioTs,
+ metadataTsToSeconds;
+
+secondsToVideoTs = function(seconds) {
+ return seconds * ONE_SECOND_IN_TS;
+};
- // we subtract 1 because the length does not
- // include the type
- length = encoded.length - 1
+secondsToAudioTs = function(seconds, sampleRate) {
+ return seconds * sampleRate;
+};
- if (length === 1) {
- headers.push(0xd4)
- } else if (length === 2) {
- headers.push(0xd5)
- } else if (length === 4) {
- headers.push(0xd6)
- } else if (length === 8) {
- headers.push(0xd7)
- } else if (length === 16) {
- headers.push(0xd8)
- } else if (length < 256) {
- headers.push(0xc7)
- headers.push(length)
- } else if (length < 0x10000) {
- headers.push(0xc8)
- headers.push(length >> 8)
- headers.push(length & 0x00ff)
- } else {
- headers.push(0xc9)
- headers.push(length >> 24)
- headers.push((length >> 16) & 0x000000ff)
- headers.push((length >> 8) & 0x000000ff)
- headers.push(length & 0x000000ff)
- }
+videoTsToSeconds = function(timestamp) {
+ return timestamp / ONE_SECOND_IN_TS;
+};
- return bl().append(Buffer.from(headers)).append(encoded)
- }
+audioTsToSeconds = function(timestamp, sampleRate) {
+ return timestamp / sampleRate;
+};
- function encodeObject (obj) {
- var acc = []
- var length = 0
- var key
- var header
+audioTsToVideoTs = function(timestamp, sampleRate) {
+ return secondsToVideoTs(audioTsToSeconds(timestamp, sampleRate));
+};
- for (key in obj) {
- if (obj.hasOwnProperty(key) &&
- obj[key] !== undefined &&
- typeof obj[key] !== 'function') {
- ++length
- acc.push(encode(key, true))
- acc.push(encode(obj[key], true))
- }
- }
+videoTsToAudioTs = function(timestamp, sampleRate) {
+ return secondsToAudioTs(videoTsToSeconds(timestamp), sampleRate);
+};
- if (length < 16) {
- header = Buffer.allocUnsafe(1)
- header[0] = 0x80 | length
- } else if (length < 0xFFFF) {
- header = Buffer.allocUnsafe(3)
- header[0] = 0xde
- header.writeUInt16BE(length, 1)
- } else {
- header = Buffer.allocUnsafe(5)
- header[0] = 0xdf
- header.writeUInt32BE(length, 1)
- }
+/**
+ * Adjust ID3 tag or caption timing information by the timeline pts values
+ * (if keepOriginalTimestamps is false) and convert to seconds
+ */
+metadataTsToSeconds = function(timestamp, timelineStartPts, keepOriginalTimestamps) {
+ return videoTsToSeconds(keepOriginalTimestamps ? timestamp : timestamp - timelineStartPts);
+};
- acc.unshift(header)
+module.exports = {
+ ONE_SECOND_IN_TS: ONE_SECOND_IN_TS,
+ secondsToVideoTs: secondsToVideoTs,
+ secondsToAudioTs: secondsToAudioTs,
+ videoTsToSeconds: videoTsToSeconds,
+ audioTsToSeconds: audioTsToSeconds,
+ audioTsToVideoTs: audioTsToVideoTs,
+ videoTsToAudioTs: videoTsToAudioTs,
+ metadataTsToSeconds: metadataTsToSeconds
+};
- var result = acc.reduce(function (list, buf) {
- return list.append(buf)
- }, bl())
+},{}],76:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ */
+'use strict';
- return result
- }
+var ExpGolomb;
- return encode
-}
+/**
+ * Parser for exponential Golomb codes, a variable-bitwidth number encoding
+ * scheme used by h264.
+ */
+ExpGolomb = function(workingData) {
+ var
+ // the number of bytes left to examine in workingData
+ workingBytesAvailable = workingData.byteLength,
-function write64BitUint (buf, obj) {
- // Write long byte by byte, in big-endian order
- for (var currByte = 7; currByte >= 0; currByte--) {
- buf[currByte + 1] = (obj & 0xff)
- obj = obj / 256
- }
-}
+ // the current word being examined
+ workingWord = 0, // :uint
-function write64BitInt (buf, offset, num) {
- var negate = num < 0
+ // the number of bits left to examine in the current word
+ workingBitsAvailable = 0; // :uint;
- if (negate) {
- num = Math.abs(num)
- }
+ // ():uint
+ this.length = function() {
+ return (8 * workingBytesAvailable);
+ };
- var lo = num % 4294967296
- var hi = num / 4294967296
- buf.writeUInt32BE(Math.floor(hi), offset + 0)
- buf.writeUInt32BE(lo, offset + 4)
+ // ():uint
+ this.bitsAvailable = function() {
+ return (8 * workingBytesAvailable) + workingBitsAvailable;
+ };
- if (negate) {
- var carry = 1
- for (var i = offset + 7; i >= offset; i--) {
- var v = (buf[i] ^ 0xff) + carry
- buf[i] = v & 0xff
- carry = v >> 8
+ // ():void
+ this.loadWord = function() {
+ var
+ position = workingData.byteLength - workingBytesAvailable,
+ workingBytes = new Uint8Array(4),
+ availableBytes = Math.min(4, workingBytesAvailable);
+
+ if (availableBytes === 0) {
+ throw new Error('no bytes available');
}
- }
-}
-function isFloat (n) {
- return n % 1 !== 0
-}
+ workingBytes.set(workingData.subarray(position,
+ position + availableBytes));
+ workingWord = new DataView(workingBytes.buffer).getUint32(0);
-function isNaN (n) {
- /* eslint-disable no-self-compare */
- return n !== n && typeof n === 'number'
- /* eslint-enable no-self-compare */
-}
+ // track the amount of workingData that has been processed
+ workingBitsAvailable = availableBytes * 8;
+ workingBytesAvailable -= availableBytes;
+ };
-function encodeFloat (obj, forceFloat64) {
- var useDoublePrecision = true
+ // (count:int):void
+ this.skipBits = function(count) {
+ var skipBytes; // :int
+ if (workingBitsAvailable > count) {
+ workingWord <<= count;
+ workingBitsAvailable -= count;
+ } else {
+ count -= workingBitsAvailable;
+ skipBytes = Math.floor(count / 8);
- // If `fround` is supported, we can check if a float
- // is double or single precision by rounding the object
- // to single precision and comparing the difference.
- // If it's not supported, it's safer to use a 64 bit
- // float so we don't lose precision without meaning to.
- if (Math.fround) {
- useDoublePrecision = Math.fround(obj) !== obj
- }
+ count -= (skipBytes * 8);
+ workingBytesAvailable -= skipBytes;
- if (forceFloat64) {
- useDoublePrecision = true
- }
+ this.loadWord();
- var buf
+ workingWord <<= count;
+ workingBitsAvailable -= count;
+ }
+ };
- if (useDoublePrecision) {
- buf = Buffer.allocUnsafe(9)
- buf[0] = 0xcb
- buf.writeDoubleBE(obj, 1)
- } else {
- buf = Buffer.allocUnsafe(5)
- buf[0] = 0xca
- buf.writeFloatBE(obj, 1)
- }
+ // (size:int):uint
+ this.readBits = function(size) {
+ var
+ bits = Math.min(workingBitsAvailable, size), // :uint
+ valu = workingWord >>> (32 - bits); // :uint
+ // if size > 31, handle error
+ workingBitsAvailable -= bits;
+ if (workingBitsAvailable > 0) {
+ workingWord <<= bits;
+ } else if (workingBytesAvailable > 0) {
+ this.loadWord();
+ }
- return buf
-}
+ bits = size - bits;
+ if (bits > 0) {
+ return valu << bits | this.readBits(bits);
+ }
+ return valu;
+ };
-},{"bl":6,"safe-buffer":32}],18:[function(require,module,exports){
-'use strict'
+ // ():uint
+ this.skipLeadingZeros = function() {
+ var leadingZeroCount; // :uint
+ for (leadingZeroCount = 0; leadingZeroCount < workingBitsAvailable; ++leadingZeroCount) {
+ if ((workingWord & (0x80000000 >>> leadingZeroCount)) !== 0) {
+ // the first bit of working word is 1
+ workingWord <<= leadingZeroCount;
+ workingBitsAvailable -= leadingZeroCount;
+ return leadingZeroCount;
+ }
+ }
-var Transform = require('readable-stream').Transform
-var inherits = require('inherits')
-var bl = require('bl')
+ // we exhausted workingWord and still have not found a 1
+ this.loadWord();
+ return leadingZeroCount + this.skipLeadingZeros();
+ };
-function Base (opts) {
- opts = opts || {}
+ // ():void
+ this.skipUnsignedExpGolomb = function() {
+ this.skipBits(1 + this.skipLeadingZeros());
+ };
- opts.objectMode = true
- opts.highWaterMark = 16
+ // ():void
+ this.skipExpGolomb = function() {
+ this.skipBits(1 + this.skipLeadingZeros());
+ };
- Transform.call(this, opts)
+ // ():uint
+ this.readUnsignedExpGolomb = function() {
+ var clz = this.skipLeadingZeros(); // :uint
+ return this.readBits(clz + 1) - 1;
+ };
- this._msgpack = opts.msgpack
-}
+ // ():int
+ this.readExpGolomb = function() {
+ var valu = this.readUnsignedExpGolomb(); // :int
+ if (0x01 & valu) {
+ // the number is odd if the low order bit is set
+ return (1 + valu) >>> 1; // add 1 to make it even, and divide by 2
+ }
+ return -1 * (valu >>> 1); // divide by two then make it negative
+ };
-inherits(Base, Transform)
+ // Some convenience functions
+ // :Boolean
+ this.readBoolean = function() {
+ return this.readBits(1) === 1;
+ };
-function Encoder (opts) {
- if (!(this instanceof Encoder)) {
- opts = opts || {}
- opts.msgpack = this
- return new Encoder(opts)
- }
+ // ():int
+ this.readUnsignedByte = function() {
+ return this.readBits(8);
+ };
- Base.call(this, opts)
- this._wrap = ('wrap' in opts) && opts.wrap
-}
+ this.loadWord();
+};
-inherits(Encoder, Base)
+module.exports = ExpGolomb;
-Encoder.prototype._transform = function (obj, enc, done) {
- var buf = null
+},{}],77:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ *
+ * A lightweight readable stream implemention that handles event dispatching.
+ * Objects that inherit from streams should call init in their constructors.
+ */
+'use strict';
- try {
- buf = this._msgpack.encode(this._wrap ? obj.value : obj).slice(0)
- } catch (err) {
- this.emit('error', err)
- return done()
- }
+var Stream = function() {
+ this.init = function() {
+ var listeners = {};
+ /**
+ * Add a listener for a specified event type.
+ * @param type {string} the event name
+ * @param listener {function} the callback to be invoked when an event of
+ * the specified type occurs
+ */
+ this.on = function(type, listener) {
+ if (!listeners[type]) {
+ listeners[type] = [];
+ }
+ listeners[type] = listeners[type].concat(listener);
+ };
+ /**
+ * Remove a listener for a specified event type.
+ * @param type {string} the event name
+ * @param listener {function} a function previously registered for this
+ * type of event through `on`
+ */
+ this.off = function(type, listener) {
+ var index;
+ if (!listeners[type]) {
+ return false;
+ }
+ index = listeners[type].indexOf(listener);
+ listeners[type] = listeners[type].slice();
+ listeners[type].splice(index, 1);
+ return index > -1;
+ };
+ /**
+ * Trigger an event of the specified type on this stream. Any additional
+ * arguments to this function are passed as parameters to event listeners.
+ * @param type {string} the event name
+ */
+ this.trigger = function(type) {
+ var callbacks, i, length, args;
+ callbacks = listeners[type];
+ if (!callbacks) {
+ return;
+ }
+ // Slicing the arguments on every invocation of this method
+ // can add a significant amount of overhead. Avoid the
+ // intermediate object creation for the common case of a
+ // single callback argument
+ if (arguments.length === 2) {
+ length = callbacks.length;
+ for (i = 0; i < length; ++i) {
+ callbacks[i].call(this, arguments[1]);
+ }
+ } else {
+ args = [];
+ i = arguments.length;
+ for (i = 1; i < arguments.length; ++i) {
+ args.push(arguments[i]);
+ }
+ length = callbacks.length;
+ for (i = 0; i < length; ++i) {
+ callbacks[i].apply(this, args);
+ }
+ }
+ };
+ /**
+ * Destroys the stream and cleans up.
+ */
+ this.dispose = function() {
+ listeners = {};
+ };
+ };
+};
- this.push(buf)
- done()
-}
+/**
+ * Forwards all `data` events on this stream to the destination stream. The
+ * destination stream should provide a method `push` to receive the data
+ * events as they arrive.
+ * @param destination {stream} the stream that will receive all `data` events
+ * @param autoFlush {boolean} if false, we will not call `flush` on the destination
+ * when the current stream emits a 'done' event
+ * @see http://nodejs.org/api/stream.html#stream_readable_pipe_destination_options
+ */
+Stream.prototype.pipe = function(destination) {
+ this.on('data', function(data) {
+ destination.push(data);
+ });
-function Decoder (opts) {
- if (!(this instanceof Decoder)) {
- opts = opts || {}
- opts.msgpack = this
- return new Decoder(opts)
- }
+ this.on('done', function(flushSource) {
+ destination.flush(flushSource);
+ });
- Base.call(this, opts)
+ this.on('partialdone', function(flushSource) {
+ destination.partialFlush(flushSource);
+ });
- this._chunks = bl()
- this._wrap = ('wrap' in opts) && opts.wrap
-}
+ this.on('endedtimeline', function(flushSource) {
+ destination.endTimeline(flushSource);
+ });
-inherits(Decoder, Base)
+ this.on('reset', function(flushSource) {
+ destination.reset(flushSource);
+ });
-Decoder.prototype._transform = function (buf, enc, done) {
- if (buf) {
- this._chunks.append(buf)
- }
+ return destination;
+};
- try {
- var result = this._msgpack.decode(this._chunks)
- if (this._wrap) {
- result = {value: result}
- }
- this.push(result)
- } catch (err) {
- if (err instanceof this._msgpack.IncompleteBufferError) {
- done()
- } else {
- this.emit('error', err)
- }
- return
- }
+// Default stream functions that are expected to be overridden to perform
+// actual work. These are provided by the prototype as a sort of no-op
+// implementation so that we don't have to check for their existence in the
+// `pipe` function above.
+Stream.prototype.push = function(data) {
+ this.trigger('data', data);
+};
- if (this._chunks.length > 0) {
- this._transform(null, enc, done)
- } else {
- done()
- }
-}
+Stream.prototype.flush = function(flushSource) {
+ this.trigger('done', flushSource);
+};
-module.exports.decoder = Decoder
-module.exports.encoder = Encoder
+Stream.prototype.partialFlush = function(flushSource) {
+ this.trigger('partialdone', flushSource);
+};
+
+Stream.prototype.endTimeline = function(flushSource) {
+ this.trigger('endedtimeline', flushSource);
+};
+
+Stream.prototype.reset = function(flushSource) {
+ this.trigger('reset', flushSource);
+};
+
+module.exports = Stream;
-},{"bl":6,"inherits":12,"readable-stream":30}],19:[function(require,module,exports){
+},{}],78:[function(require,module,exports){
/*
object-assign
(c) Sindre Sorhus
@@ -5260,7 +16343,7 @@ module.exports = shouldUseNative() ? Object.assign : function (target, source) {
return to;
};
-},{}],20:[function(require,module,exports){
+},{}],79:[function(require,module,exports){
(function (process){
'use strict';
@@ -5309,193 +16392,7 @@ function nextTick(fn, arg1, arg2, arg3) {
}).call(this,require('_process'))
-},{"_process":21}],21:[function(require,module,exports){
-// shim for using process in browser
-var process = module.exports = {};
-
-// cached from whatever global is present so that test runners that stub it
-// don't break things. But we need to wrap it in a try catch in case it is
-// wrapped in strict mode code which doesn't define any globals. It's inside a
-// function because try/catches deoptimize in certain engines.
-
-var cachedSetTimeout;
-var cachedClearTimeout;
-
-function defaultSetTimout() {
- throw new Error('setTimeout has not been defined');
-}
-function defaultClearTimeout () {
- throw new Error('clearTimeout has not been defined');
-}
-(function () {
- try {
- if (typeof setTimeout === 'function') {
- cachedSetTimeout = setTimeout;
- } else {
- cachedSetTimeout = defaultSetTimout;
- }
- } catch (e) {
- cachedSetTimeout = defaultSetTimout;
- }
- try {
- if (typeof clearTimeout === 'function') {
- cachedClearTimeout = clearTimeout;
- } else {
- cachedClearTimeout = defaultClearTimeout;
- }
- } catch (e) {
- cachedClearTimeout = defaultClearTimeout;
- }
-} ())
-function runTimeout(fun) {
- if (cachedSetTimeout === setTimeout) {
- //normal enviroments in sane situations
- return setTimeout(fun, 0);
- }
- // if setTimeout wasn't available but was latter defined
- if ((cachedSetTimeout === defaultSetTimout || !cachedSetTimeout) && setTimeout) {
- cachedSetTimeout = setTimeout;
- return setTimeout(fun, 0);
- }
- try {
- // when when somebody has screwed with setTimeout but no I.E. maddness
- return cachedSetTimeout(fun, 0);
- } catch(e){
- try {
- // When we are in I.E. but the script has been evaled so I.E. doesn't trust the global object when called normally
- return cachedSetTimeout.call(null, fun, 0);
- } catch(e){
- // same as above but when it's a version of I.E. that must have the global object for 'this', hopfully our context correct otherwise it will throw a global error
- return cachedSetTimeout.call(this, fun, 0);
- }
- }
-
-
-}
-function runClearTimeout(marker) {
- if (cachedClearTimeout === clearTimeout) {
- //normal enviroments in sane situations
- return clearTimeout(marker);
- }
- // if clearTimeout wasn't available but was latter defined
- if ((cachedClearTimeout === defaultClearTimeout || !cachedClearTimeout) && clearTimeout) {
- cachedClearTimeout = clearTimeout;
- return clearTimeout(marker);
- }
- try {
- // when when somebody has screwed with setTimeout but no I.E. maddness
- return cachedClearTimeout(marker);
- } catch (e){
- try {
- // When we are in I.E. but the script has been evaled so I.E. doesn't trust the global object when called normally
- return cachedClearTimeout.call(null, marker);
- } catch (e){
- // same as above but when it's a version of I.E. that must have the global object for 'this', hopfully our context correct otherwise it will throw a global error.
- // Some versions of I.E. have different rules for clearTimeout vs setTimeout
- return cachedClearTimeout.call(this, marker);
- }
- }
-
-
-
-}
-var queue = [];
-var draining = false;
-var currentQueue;
-var queueIndex = -1;
-
-function cleanUpNextTick() {
- if (!draining || !currentQueue) {
- return;
- }
- draining = false;
- if (currentQueue.length) {
- queue = currentQueue.concat(queue);
- } else {
- queueIndex = -1;
- }
- if (queue.length) {
- drainQueue();
- }
-}
-
-function drainQueue() {
- if (draining) {
- return;
- }
- var timeout = runTimeout(cleanUpNextTick);
- draining = true;
-
- var len = queue.length;
- while(len) {
- currentQueue = queue;
- queue = [];
- while (++queueIndex < len) {
- if (currentQueue) {
- currentQueue[queueIndex].run();
- }
- }
- queueIndex = -1;
- len = queue.length;
- }
- currentQueue = null;
- draining = false;
- runClearTimeout(timeout);
-}
-
-process.nextTick = function (fun) {
- var args = new Array(arguments.length - 1);
- if (arguments.length > 1) {
- for (var i = 1; i < arguments.length; i++) {
- args[i - 1] = arguments[i];
- }
- }
- queue.push(new Item(fun, args));
- if (queue.length === 1 && !draining) {
- runTimeout(drainQueue);
- }
-};
-
-// v8 likes predictible objects
-function Item(fun, array) {
- this.fun = fun;
- this.array = array;
-}
-Item.prototype.run = function () {
- this.fun.apply(null, this.array);
-};
-process.title = 'browser';
-process.browser = true;
-process.env = {};
-process.argv = [];
-process.version = ''; // empty string to avoid regexp issues
-process.versions = {};
-
-function noop() {}
-
-process.on = noop;
-process.addListener = noop;
-process.once = noop;
-process.off = noop;
-process.removeListener = noop;
-process.removeAllListeners = noop;
-process.emit = noop;
-process.prependListener = noop;
-process.prependOnceListener = noop;
-
-process.listeners = function (name) { return [] }
-
-process.binding = function (name) {
- throw new Error('process.binding is not supported');
-};
-
-process.cwd = function () { return '/' };
-process.chdir = function (dir) {
- throw new Error('process.chdir is not supported');
-};
-process.umask = function() { return 0; };
-
-},{}],22:[function(require,module,exports){
+},{"_process":8}],80:[function(require,module,exports){
// Copyright Joyent, Inc. and other Node contributors.
//
// Permission is hereby granted, free of charge, to any person obtaining a
@@ -5627,7 +16524,7 @@ Duplex.prototype._destroy = function (err, cb) {
pna.nextTick(cb, err);
};
-},{"./_stream_readable":24,"./_stream_writable":26,"core-util-is":9,"inherits":12,"process-nextick-args":20}],23:[function(require,module,exports){
+},{"./_stream_readable":82,"./_stream_writable":84,"core-util-is":10,"inherits":29,"process-nextick-args":79}],81:[function(require,module,exports){
// Copyright Joyent, Inc. and other Node contributors.
//
// Permission is hereby granted, free of charge, to any person obtaining a
@@ -5675,7 +16572,7 @@ function PassThrough(options) {
PassThrough.prototype._transform = function (chunk, encoding, cb) {
cb(null, chunk);
};
-},{"./_stream_transform":25,"core-util-is":9,"inherits":12}],24:[function(require,module,exports){
+},{"./_stream_transform":83,"core-util-is":10,"inherits":29}],82:[function(require,module,exports){
(function (process,global){
// Copyright Joyent, Inc. and other Node contributors.
//
@@ -6697,7 +17594,7 @@ function indexOf(xs, x) {
return -1;
}
}).call(this,require('_process'),typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
-},{"./_stream_duplex":22,"./internal/streams/BufferList":27,"./internal/streams/destroy":28,"./internal/streams/stream":29,"_process":21,"core-util-is":9,"events":10,"inherits":12,"isarray":14,"process-nextick-args":20,"safe-buffer":32,"string_decoder/":33,"util":7}],25:[function(require,module,exports){
+},{"./_stream_duplex":80,"./internal/streams/BufferList":85,"./internal/streams/destroy":86,"./internal/streams/stream":87,"_process":8,"core-util-is":10,"events":27,"inherits":29,"isarray":31,"process-nextick-args":79,"safe-buffer":90,"string_decoder/":91,"util":7}],83:[function(require,module,exports){
// Copyright Joyent, Inc. and other Node contributors.
//
// Permission is hereby granted, free of charge, to any person obtaining a
@@ -6912,7 +17809,7 @@ function done(stream, er, data) {
return stream.push(null);
}
-},{"./_stream_duplex":22,"core-util-is":9,"inherits":12}],26:[function(require,module,exports){
+},{"./_stream_duplex":80,"core-util-is":10,"inherits":29}],84:[function(require,module,exports){
(function (process,global,setImmediate){
// Copyright Joyent, Inc. and other Node contributors.
//
@@ -7602,7 +18499,7 @@ Writable.prototype._destroy = function (err, cb) {
cb(err);
};
}).call(this,require('_process'),typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {},require("timers").setImmediate)
-},{"./_stream_duplex":22,"./internal/streams/destroy":28,"./internal/streams/stream":29,"_process":21,"core-util-is":9,"inherits":12,"process-nextick-args":20,"safe-buffer":32,"timers":35,"util-deprecate":36}],27:[function(require,module,exports){
+},{"./_stream_duplex":80,"./internal/streams/destroy":86,"./internal/streams/stream":87,"_process":8,"core-util-is":10,"inherits":29,"process-nextick-args":79,"safe-buffer":90,"timers":93,"util-deprecate":100}],85:[function(require,module,exports){
'use strict';
function _classCallCheck(instance, Constructor) { if (!(instance instanceof Constructor)) { throw new TypeError("Cannot call a class as a function"); } }
@@ -7682,7 +18579,7 @@ if (util && util.inspect && util.inspect.custom) {
return this.constructor.name + ' ' + obj;
};
}
-},{"safe-buffer":32,"util":7}],28:[function(require,module,exports){
+},{"safe-buffer":90,"util":7}],86:[function(require,module,exports){
'use strict';
/*<replacement>*/
@@ -7757,10 +18654,10 @@ module.exports = {
destroy: destroy,
undestroy: undestroy
};
-},{"process-nextick-args":20}],29:[function(require,module,exports){
+},{"process-nextick-args":79}],87:[function(require,module,exports){
module.exports = require('events').EventEmitter;
-},{"events":10}],30:[function(require,module,exports){
+},{"events":27}],88:[function(require,module,exports){
exports = module.exports = require('./lib/_stream_readable.js');
exports.Stream = exports;
exports.Readable = exports;
@@ -7769,7 +18666,7 @@ exports.Duplex = require('./lib/_stream_duplex.js');
exports.Transform = require('./lib/_stream_transform.js');
exports.PassThrough = require('./lib/_stream_passthrough.js');
-},{"./lib/_stream_duplex.js":22,"./lib/_stream_passthrough.js":23,"./lib/_stream_readable.js":24,"./lib/_stream_transform.js":25,"./lib/_stream_writable.js":26}],31:[function(require,module,exports){
+},{"./lib/_stream_duplex.js":80,"./lib/_stream_passthrough.js":81,"./lib/_stream_readable.js":82,"./lib/_stream_transform.js":83,"./lib/_stream_writable.js":84}],89:[function(require,module,exports){
/*! @license Rematrix v0.7.0
Copyright 2020 Julian Lloyd.
@@ -8076,7 +18973,7 @@ exports.PassThrough = require('./lib/_stream_passthrough.js');
})));
-},{}],32:[function(require,module,exports){
+},{}],90:[function(require,module,exports){
/* eslint-disable node/no-deprecated-api */
var buffer = require('buffer')
var Buffer = buffer.Buffer
@@ -8140,7 +19037,7 @@ SafeBuffer.allocUnsafeSlow = function (size) {
return buffer.SlowBuffer(size)
}
-},{"buffer":8}],33:[function(require,module,exports){
+},{"buffer":9}],91:[function(require,module,exports){
// Copyright Joyent, Inc. and other Node contributors.
//
// Permission is hereby granted, free of charge, to any person obtaining a
@@ -8437,7 +19334,7 @@ function simpleWrite(buf) {
function simpleEnd(buf) {
return buf && buf.length ? this.write(buf) : '';
}
-},{"safe-buffer":32}],34:[function(require,module,exports){
+},{"safe-buffer":90}],92:[function(require,module,exports){
(function (global, factory) {
typeof exports === 'object' && typeof module !== 'undefined' ? factory(exports) :
typeof define === 'function' && define.amd ? define(['exports'], factory) :
@@ -59480,7 +70377,7 @@ function simpleEnd(buf) {
})));
-},{}],35:[function(require,module,exports){
+},{}],93:[function(require,module,exports){
(function (setImmediate,clearImmediate){
var nextTick = require('process/browser.js').nextTick;
var apply = Function.prototype.apply;
@@ -59559,7 +70456,79 @@ exports.clearImmediate = typeof clearImmediate === "function" ? clearImmediate :
delete immediateIds[id];
};
}).call(this,require("timers").setImmediate,require("timers").clearImmediate)
-},{"process/browser.js":21,"timers":35}],36:[function(require,module,exports){
+},{"process/browser.js":94,"timers":93}],94:[function(require,module,exports){
+arguments[4][8][0].apply(exports,arguments)
+},{"dup":8}],95:[function(require,module,exports){
+"use strict";
+
+var isPrototype = require("../prototype/is");
+
+module.exports = function (value) {
+ if (typeof value !== "function") return false;
+
+ if (!hasOwnProperty.call(value, "length")) return false;
+
+ try {
+ if (typeof value.length !== "number") return false;
+ if (typeof value.call !== "function") return false;
+ if (typeof value.apply !== "function") return false;
+ } catch (error) {
+ return false;
+ }
+
+ return !isPrototype(value);
+};
+
+},{"../prototype/is":98}],96:[function(require,module,exports){
+"use strict";
+
+var isValue = require("../value/is");
+
+// prettier-ignore
+var possibleTypes = { "object": true, "function": true, "undefined": true /* document.all */ };
+
+module.exports = function (value) {
+ if (!isValue(value)) return false;
+ return hasOwnProperty.call(possibleTypes, typeof value);
+};
+
+},{"../value/is":99}],97:[function(require,module,exports){
+"use strict";
+
+var isFunction = require("../function/is");
+
+var classRe = /^\s*class[\s{/}]/, functionToString = Function.prototype.toString;
+
+module.exports = function (value) {
+ if (!isFunction(value)) return false;
+ if (classRe.test(functionToString.call(value))) return false;
+ return true;
+};
+
+},{"../function/is":95}],98:[function(require,module,exports){
+"use strict";
+
+var isObject = require("../object/is");
+
+module.exports = function (value) {
+ if (!isObject(value)) return false;
+ try {
+ if (!value.constructor) return false;
+ return value.constructor.prototype === value;
+ } catch (error) {
+ return false;
+ }
+};
+
+},{"../object/is":96}],99:[function(require,module,exports){
+"use strict";
+
+// ES3 safe
+var _undefined = void 0;
+
+module.exports = function (value) { return value !== _undefined && value !== null; };
+
+},{}],100:[function(require,module,exports){
(function (global){
/**
@@ -59630,11 +70599,11 @@ function config (name) {
}
}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
-},{}],37:[function(require,module,exports){
+},{}],101:[function(require,module,exports){
arguments[4][3][0].apply(exports,arguments)
-},{"dup":3}],38:[function(require,module,exports){
+},{"dup":3}],102:[function(require,module,exports){
arguments[4][4][0].apply(exports,arguments)
-},{"./support/isBuffer":37,"_process":21,"dup":4,"inherits":12}],39:[function(require,module,exports){
+},{"./support/isBuffer":101,"_process":8,"dup":4,"inherits":29}],103:[function(require,module,exports){
var v1 = require('./v1');
var v4 = require('./v4');
@@ -59644,7 +70613,7 @@ uuid.v4 = v4;
module.exports = uuid;
-},{"./v1":42,"./v4":43}],40:[function(require,module,exports){
+},{"./v1":106,"./v4":107}],104:[function(require,module,exports){
/**
* Convert array of 16 byte values to UUID string format of the form:
* XXXXXXXX-XXXX-XXXX-XXXX-XXXXXXXXXXXX
@@ -59672,7 +70641,7 @@ function bytesToUuid(buf, offset) {
module.exports = bytesToUuid;
-},{}],41:[function(require,module,exports){
+},{}],105:[function(require,module,exports){
// Unique ID creation requires a high quality random # generator. In the
// browser this is a little complicated due to unknown quality of Math.random()
// and inconsistent support for the `crypto` API. We do the best we can via
@@ -59708,7 +70677,7 @@ if (getRandomValues) {
};
}
-},{}],42:[function(require,module,exports){
+},{}],106:[function(require,module,exports){
var rng = require('./lib/rng');
var bytesToUuid = require('./lib/bytesToUuid');
@@ -59819,7 +70788,7 @@ function v1(options, buf, offset) {
module.exports = v1;
-},{"./lib/bytesToUuid":40,"./lib/rng":41}],43:[function(require,module,exports){
+},{"./lib/bytesToUuid":104,"./lib/rng":105}],107:[function(require,module,exports){
var rng = require('./lib/rng');
var bytesToUuid = require('./lib/bytesToUuid');
@@ -59850,13 +70819,416 @@ function v4(options, buf, offset) {
module.exports = v4;
-},{"./lib/bytesToUuid":40,"./lib/rng":41}],44:[function(require,module,exports){
+},{"./lib/bytesToUuid":104,"./lib/rng":105}],108:[function(require,module,exports){
+var ee = require('event-emitter');
+const FTLRemux = require('./ftlremux');
+
+function FTLMSE(video) {
+ this.video = video;
+ this.remux = new FTLRemux();
+
+ this.paused = false;
+ this.active = false;
+
+ this.remux.on('data', (data) => {
+ if (this.sourceBuffer.updating) {
+ this.queue.push(data);
+ } else {
+ //console.log("Direct append: ", data);
+
+ try {
+ this.sourceBuffer.appendBuffer(data);
+ } catch (e) {
+ console.error("Failed to append buffer");
+ }
+ }
+ });
+
+ // TODO: Generate
+ //this.mime = 'video/mp4; codecs="avc1.640028, opus"';
+ this.mime = null;
+
+ this.mediaSource = new MediaSource();
+ //this.element.play();
+ this.sourceBuffer = null;
+
+ this.video.addEventListener('pause', (e) => {
+ console.log("pause");
+ this.active = false;
+ });
+
+ this.video.addEventListener('play', (e) => {
+ console.log("Play");
+ this.active = true;
+ this.remux.select(0,0,0);
+ });
+
+ this.mediaSource.addEventListener('sourceopen', (e) => {
+ console.log("Source Open", e);
+ URL.revokeObjectURL(this.video.src);
+ console.log(this.mediaSource.readyState);
+ this.sourceBuffer = e.target.addSourceBuffer(this.mime);
+ //this.sourceBuffer.mode = 'sequence';
+ this.active = true;
+
+ this.sourceBuffer.addEventListener('error', (e) => {
+ console.error("SourceBuffer: ", e);
+ this.active = false;
+ });
+
+ this.sourceBuffer.addEventListener('updateend', () => {
+ if (this.queue.length > 0 && !this.sourceBuffer.updating) {
+ let s = this.queue[0];
+ this.queue.shift();
+ //console.log("Append", s);
+
+ try {
+ this.sourceBuffer.appendBuffer(s);
+ } catch(e) {
+ console.error("Failed to append buffer");
+ }
+ }
+ });
+ });
+
+ this.queue = [];
+ //this.video.src = URL.createObjectURL(this.mediaSource);
+
+ this.has_audio = false;
+ this.first_ts = 0;
+}
+
+ee(FTLMSE.prototype);
+
+FTLMSE.prototype.push = function(spkt, pkt) {
+ if (this.first_ts == 0) this.first_ts = spkt[0];
+
+ // Skip first 200ms, use to analyse the stream contents
+ if (spkt[0] < this.first_ts + 200) {
+ if (spkt[3] == 32 || spkt[3] == 33) this.has_audio = true;
+ } else {
+ if (!this.mime) {
+ if (this.has_audio) {
+ console.log("Create video with audio");
+ this.mime = 'video/mp4; codecs="avc1.640028, opus"';
+ this.remux.has_audio = true;
+ } else {
+ console.log("Create video without audio");
+ this.mime = 'video/mp4; codecs="avc1.640028"';
+ this.remux.has_audio = false;
+ }
+ this.video.src = URL.createObjectURL(this.mediaSource);
+ }
+ this.remux.push(spkt,pkt);
+ }
+}
+
+FTLMSE.prototype.select = function(frameset, source, channel) {
+ this.remux.select(frameset, source, channel);
+}
+
+module.exports = FTLMSE;
+
+},{"./ftlremux":109,"event-emitter":26}],109:[function(require,module,exports){
+var ee = require('event-emitter');
+const MUXJS = require('mux.js');
+const MP4 = require('./lib/mp4-generator');
+const H264Stream = MUXJS.codecs.h264.H264Stream;
+
+const VIDEO_PROPERTIES = [
+ 'width',
+ 'height',
+ 'profileIdc',
+ 'levelIdc',
+ 'profileCompatibility',
+ 'sarRatio'
+ ];
+
+function getNALType(data) {
+ return (data.length > 4) ? data.readUInt8(4) & 0x1F : 0;
+}
+
+function isKeyFrame(data) {
+ return getNALType(data) == 7; // SPS
+}
+
+function concatNals(sample) {
+ let length = sample.size;
+ let data = new Uint8Array(length);
+ let view = new DataView(data.buffer);
+ let dataOffset = 0;
+
+ for (var i=0; i<sample.units.length; ++i) {
+ view.setUint32(dataOffset, sample.units[i].data.byteLength);
+ dataOffset += 4;
+ data.set(sample.units[i].data, dataOffset);
+ dataOffset += sample.units[i].data.byteLength;
+ }
+
+ sample.data = data;
+}
+
+function concatAudioSamples(samples) {
+ let totallen = 0;
+ for (let i=0; i<samples.length; ++i) {
+ totallen += samples[i].size;
+ }
+
+ let result = new Uint8Array(totallen);
+ let offset = 0;
+ for (let i=0; i<samples.length; ++i) {
+ result.set(samples[i].data, offset);
+ offset += samples[i].size;
+ }
+ return MP4.mdat(result);
+}
+
+function reformAudio(data) {
+ let offset = 0;
+ let results = [];
+
+ while (offset < data.length) {
+ let l = data[offset] + (data[offset+1] << 8); //view.getInt16(offset);
+ offset += 2;
+ //console.log("Opus frame code = ", data[offset] & 0x03, l);
+ //let p;
+ let p = data.subarray(offset, offset+l);
+ /*let ll = l-1; // Remove config byte
+ if (ll <= 251) {
+ p = new Uint8Array(l+1);
+ p[0] = data[offset];
+ p[1] = ll & 0xff;
+ p.set(data.subarray(offset+1, offset+l), 2);
+ } else {
+ //let p = data.subarray(offset, offset+l);
+ p = new Uint8Array(l+2);
+ p[0] = data[offset];
+ let l2 = (ll-252) >> 2;
+ let l1 = 252 + ((ll-252) - (l2 << 2));
+ p[1] = l1;
+ p[3] = l2;
+ console.log("Opus size", l1 + 4*l2, ll, l1, l2);
+ p.set(data.subarray(offset+1, offset+l), 3);
+ }*/
+ //let mdat = MP4.mdat(p);
+ results.push({size: p.byteLength, duration: 1800, data: p});
+ offset += l;
+ }
+
+ return results;
+}
+
+var createDefaultSample = function() {
+ return {
+ units: [],
+ data: null,
+ size: 0,
+ compositionTimeOffset: 1,
+ duration: 0,
+ dataOffset: 0,
+ flags: {
+ isLeading: 0,
+ dependsOn: 1,
+ isDependedOn: 0,
+ hasRedundancy: 0,
+ degradationPriority: 0,
+ isNonSyncSample: 1
+ },
+ keyFrame: true
+ };
+ };
+
+/**
+ * Convert FTL stream packets into MP4 fragments for use with MSE. It emits
+ * 'data' events with a single argument containing the MP4 fragment.
+ */
+function FTLRemux() {
+ this.frameset = 0;
+ this.source = 0;
+ this.channel = 0;
+ this.paused = false;
+ this.active = false;
+
+ this.track = {
+ timelineStartInfo: {
+ baseMediaDecodeTime: 0
+ },
+ baseMediaDecodeTime: 0,
+ id: 0,
+ codec: 'avc',
+ type: 'video',
+ samples: [],
+ duration: 0
+ };
+
+ this.audiotrack = {
+ timelineStartInfo: {
+ baseMediaDecodeTime: 0
+ },
+ baseMediaDecodeTime: 1800,
+ id: 1,
+ codec: 'opus',
+ type: 'audio',
+ samples: [{
+ size: 0,
+ duration: 1800 //960
+ }],
+ duration: 0,
+ insamplerate: 48000,
+ channelcount: 2,
+ width: 0,
+ height: 0
+ };
+
+ this.h264 = new H264Stream();
+
+ this.h264.on('data', (nalUnit) => {
+ // record the track config
+ if (nalUnit.nalUnitType === 'seq_parameter_set_rbsp') {
+ this.track.config = nalUnit.config;
+ this.track.sps = [nalUnit.data];
+
+ VIDEO_PROPERTIES.forEach(function(prop) {
+ this.track[prop] = nalUnit.config[prop];
+ }, this);
+ }
+
+ if (nalUnit.nalUnitType === 'pic_parameter_set_rbsp') {
+ //pps = nalUnit.data;
+ this.track.pps = [nalUnit.data];
+ }
+
+ if (!this.init_seg && this.track.sps && this.track.pps) {
+ console.log("Init", this.track);
+ if (this.has_audio) {
+ this.emit('data', MP4.initSegment([this.track, this.audiotrack]));
+ } else {
+ this.emit('data', MP4.initSegment([this.track]));
+ }
+ this.init_seg = true;
+ }
+
+ let keyFrame = nalUnit.nalUnitType == 'slice_layer_without_partitioning_rbsp_idr';
+ let sample = this.track.samples[0];
+ sample.units.push(nalUnit);
+ sample.size += nalUnit.data.byteLength + 4;
+
+ sample.keyFrame &= keyFrame;
+
+ if (keyFrame) {
+ sample.flags.isNonSyncSample = 0;
+ sample.flags.dependsOn = 2;
+ }
+ });
+
+ this.sequenceNo = 0;
+ this.audioSequenceNo = 0;
+ this.seen_keyframe = false;
+ this.ts = 0;
+ this.dts = 0;
+ this.init_seg = false;
+ this.init_audio = false;
+ this.has_audio = false;
+};
+
+ee(FTLRemux.prototype);
+
+FTLRemux.prototype.push = function(spkt, pkt) {
+ if (this.paused || !this.active) {
+ return;
+ }
+
+ if (pkt[0] === 33) { // Opus audio
+ if (this.has_audio && this.init_seg) {
+ // Split into individual packets and create moof+mdat
+ let samples = reformAudio(pkt[5]);
+ this.audiotrack.samples = samples;
+
+ // TODO: Can this audio track be combined into same fragment as video frame?
+ let moof = MP4.moof(this.audioSequenceNo++, [this.audiotrack]);
+ let mdat = concatAudioSamples(samples);
+ let result = new Uint8Array(moof.byteLength + mdat.byteLength);
+ result.set(moof);
+ result.set(mdat, moof.byteLength);
+ this.emit('data', result);
+ this.audiotrack.baseMediaDecodeTime += 1800*samples.length; // 1800 = 20ms*90 or frame size 960@48000hz in 90000 ticks/s
+ }
+ } else if(pkt[0] === 2){ // H264 packet.
+ if (spkt[1] == this.frameset && spkt[2] == this.source && spkt[3] == this.channel) {
+
+ if (!this.seen_keyframe) {
+ if (isKeyFrame(pkt[5])) {
+ console.log("Key frame ", spkt[0]);
+ this.seen_keyframe = true;
+ }
+ }
+
+ if (this.seen_keyframe) {
+ if (this.ts == 0) this.ts = spkt[0];
+ //if (this.track.samples.length > 0) console.error("Unfinished sample");
+ this.dts += spkt[0]-this.ts;
+
+ this.track.samples.push(createDefaultSample());
+
+ this.h264.push({
+ type: 'video',
+ dts: this.dts,
+ pts: spkt[0],
+ data: pkt[5],
+ trackId: 0
+ });
+ this.h264.flush();
+
+ let sample = this.track.samples[0];
+ concatNals(sample);
+ let delta = (spkt[0]-this.ts)*90;
+ sample.duration = (delta > 0) ? delta : 1000;
+
+ let moof = MP4.moof(this.sequenceNo++, [this.track]);
+ let mdat = MP4.mdat(sample.data);
+ let result = new Uint8Array(moof.byteLength + mdat.byteLength);
+ //result.set(MP4.STYP);
+ result.set(moof);
+ result.set(mdat, moof.byteLength);
+ this.emit('data', result);
+
+ this.track.samples = [];
+ this.track.baseMediaDecodeTime += delta;
+
+ this.ts = spkt[0];
+ }
+ }
+ }
+}
+
+FTLRemux.prototype.select = function(frameset, source, channel) {
+ this.frameset = frameset;
+ this.source = source;
+ this.channel = channel;
+
+ this.reset();
+}
+
+FTLRemux.prototype.reset = function() {
+ this.init_seg = false;
+ this.seen_keyframe = false;
+ this.ts = 0;
+ this.track.baseMediaDecodeTime = 0;
+ this.sequenceNo = 0;
+ this.active = true;
+}
+
+module.exports = FTLRemux;
+
+},{"./lib/mp4-generator":111,"event-emitter":26,"mux.js":50}],110:[function(require,module,exports){
(function (Buffer){
const Peer = require('../../server/src/peer')
-const VideoConverter = require('./lib/dist/video-converter');
const msgpack = require('msgpack5')();
const rematrix = require('rematrix');
const THREE = require('three');
+const FTLMSE = require('./ftlmse');
+//const VIDEO_PROPERTIES = require('../../node_modules/mux.js/lib/constants/video-properties.js');
+
let current_data = {};
let peer;
@@ -59915,7 +71287,7 @@ createVideoPlayer = () => {
containerDiv.innerHTML += ''*/
createPeer();
//connectToStream();
- new FTLStream(peer, current_data.uri, containerDiv);
+ window.ftlstream = new FTLStream(peer, current_data.uri, containerDiv);
}
/**
@@ -59934,14 +71306,14 @@ renderThumbnails = async () => {
const encodedURI = encodeURIComponent(thumbnails[i])
current_data.uri = thumbnails[i]
try{
- const someData = await fetch(`./stream/rgb?uri=${encodedURI}`)
- if(!someData.ok){
- throw new Error('Image not found')
- }
- const myBlob = await someData.blob();
- const objectURL = URL.createObjectURL(myBlob);
+ //const someData = await fetch(`./stream/rgb?uri=${encodedURI}`)
+ //if(!someData.ok){
+ // throw new Error('Image not found')
+ //}
+ //const myBlob = await someData.blob();
+ //const objectURL = URL.createObjectURL(myBlob);
// containerDiv.innerHTML += createCard()
- containerDiv.innerHTML += createCard(objectURL, i+4)
+ containerDiv.innerHTML += createCard(encodedURI, i+4)
}catch(err){
console.log("Couldn't create thumbnail");
console.log(err)
@@ -59956,7 +71328,7 @@ renderThumbnails = async () => {
*/
createCard = (url, viewers) => {
return `<div class='ftlab-card-component' >
- <img src='${url}' class="thumbnail-img" alt="Hups" width="250px"></img>
+ <img src='stream/rgb?uri=${url}' class="thumbnail-img" alt="Hups" width="250px"></img>
<p>Viewers: ${viewers}</p>
<button onclick="createVideoPlayer()">button</button>
</div>`
@@ -59976,6 +71348,11 @@ webSocketTest = () => {
peer.send("update_cfg", "ftl://utu.fi#reconstruction_default/0/renderer/cool_effect", "true")
}
+function FTLFrameset(id) {
+ this.id = id;
+ this.sources = {};
+}
+
function FTLStream(peer, uri, element) {
this.uri = uri;
this.peer = peer;
@@ -59985,6 +71362,10 @@ function FTLStream(peer, uri, element) {
this.current_source = 0;
this.current_channel = 0;
+ this.framesets = {};
+
+ this.handlers = {};
+
//this.elements_ = {};
//this.converters_ = {};
@@ -60004,12 +71385,22 @@ function FTLStream(peer, uri, element) {
//this.player = videojs('ftl-video-element');
//this.player.vr({projection: '360'});
- this.camera = new THREE.PerspectiveCamera( 75, window.innerWidth / window.innerHeight, 1, 1100 );
+ if (false) {
+ this.camera = new THREE.PerspectiveCamera( 75, window.innerWidth / window.innerHeight, 1, 1100 );
+ } else {
+ this.camera = new THREE.OrthographicCamera(window.innerWidth/-2, window.innerWidth/2, window.innerHeight/2, window.innerHeight/-2, 1, 4);
+ }
this.camera.target = new THREE.Vector3( 0, 0, 0 );
this.scene = new THREE.Scene();
- var geometry = new THREE.SphereBufferGeometry( 500, 60, 40 );
+ var geometry;
+
+ if (false) {
+ geometry = new THREE.SphereBufferGeometry( 500, 60, 40 );
+ } else {
+ geometry = new THREE.PlaneGeometry(1280, 720, 32);
+ }
// invert the geometry on the x-axis so that all of the faces point inward
geometry.scale( - 1, 1, 1 );
@@ -60034,7 +71425,7 @@ function FTLStream(peer, uri, element) {
this.onPointerDownLat = 0;
this.lon = 0;
this.lat = 0;
- this.distance = 1.0;
+ this.distance = 2.0;
this.overlay = document.createElement("DIV");
this.overlay.classList.add("ftl");
@@ -60056,8 +71447,12 @@ function FTLStream(peer, uri, element) {
this.overlay.addEventListener('mousemove', (event) => {
if ( this.isUserInteracting === true ) {
- this.lon = ( this.onPointerDownPointerX - event.clientX ) * 0.1 + this.onPointerDownLon;
- this.lat = ( this.onPointerDownPointerY - event.clientY ) * 0.1 + this.onPointerDownLat;
+ //this.lon = ( this.onPointerDownPointerX - event.clientX ) * 0.1 + this.onPointerDownLon;
+ //this.lat = ( this.onPointerDownPointerY - event.clientY ) * 0.1 + this.onPointerDownLat;
+
+ this.rotationX += event.movementY * (1/25) * 5.0;
+ this.rotationY -= event.movementX * (1/25) * 5.0;
+ this.updatePose();
}
});
@@ -60076,9 +71471,13 @@ function FTLStream(peer, uri, element) {
let phi = THREE.MathUtils.degToRad( 90 - me.lat );
let theta = THREE.MathUtils.degToRad( me.lon );
- me.camera.position.x = me.distance * Math.sin( phi ) * Math.cos( theta );
- me.camera.position.y = me.distance * Math.cos( phi );
- me.camera.position.z = me.distance * Math.sin( phi ) * Math.sin( theta );
+ //me.camera.position.x = me.distance * Math.sin( phi ) * Math.cos( theta );
+ //me.camera.position.y = me.distance * Math.cos( phi );
+ //me.camera.position.z = me.distance * Math.sin( phi ) * Math.sin( theta );
+
+ me.camera.position.x = 0;
+ me.camera.position.y = 0;
+ me.camera.position.z = -2;
me.camera.lookAt( me.camera.target );
@@ -60114,6 +71513,7 @@ function FTLStream(peer, uri, element) {
this.overlay.appendChild(this.pause_button);
this.paused = false;
+ this.active = true;
this.overlay.addEventListener('keydown', (event) => {
console.log(event);
@@ -60148,16 +71548,29 @@ function FTLStream(peer, uri, element) {
//this.setPose(pose);
//}
- this.converter = null;
+ //this.converter = null;
+
+ /*this.converter = new JMuxer({
+ node: 'ftl-video-element',
+ mode: 'video',
+ //fps: 1000/dts,
+ fps: 30,
+ flushingTime: 1,
+ clearBuffer: false
+ });*/
let rxcount = 0;
- let ts = 0;
- let dts = 0;
+
+ this.mse = new FTLMSE(this.element);
this.peer.bind(uri, (latency, streampckg, pckg) => {
- if (this.paused) return;
+ if (this.paused || !this.active) {
+ return;
+ }
- if(pckg[0] === 2){ // H264 packet.
+ if (pckg[0] == 33) {
+ this.mse.push(streampckg, pckg);
+ } else if(pckg[0] === 2){ // H264 packet.
let id = "id-"+streampckg[1]+"-"+streampckg[2]+"-"+streampckg[3];
if (this.current == id) {
@@ -60167,22 +71580,8 @@ function FTLStream(peer, uri, element) {
peer.send(uri, 0, [1,0,255,0],[255,7,35,0,0,Buffer.alloc(0)]);
//peer.send(current_data.uri, 0, [255,7,35,0,0,Buffer.alloc(0)], [1,0,255,0]);
}
-
- if (this.converter) {
- /*function decode(value){
- this.converter.appendRawData(value);
- }
- decode(pckg[5]);*/
- this.converter.appendRawData(pckg[5]);
- this.converter.play();
- } else {
- if (ts > 0) {
- dts = streampckg[0] - ts;
- console.log("Framerate = ", 1000/dts);
- this.converter = new VideoConverter.default(this.element, 25, 4);
- }
- ts = streampckg[0];
- }
+
+ this.mse.push(streampckg, pckg);
}
} else if (pckg[0] === 103) {
//console.log(msgpack.decode(pckg[5]));
@@ -60197,6 +71596,24 @@ function FTLStream(peer, uri, element) {
this.start(0,0,0);
});
}
+
+ this.element.play();
+}
+
+FTLStream.prototype.on = function(name, cb) {
+ if (!this.handlers.hasOwnProperty(name)) {
+ this.handlers[name] = [];
+ }
+ this.handlers[name].push(cb);
+}
+
+FTLStream.prototype.notify = function (name, ...args) {
+ if (this.handlers.hasOwnProperty(name)) {
+ let a = this.handlers[name];
+ for (let i=0; i<a.length; ++i) {
+ a[i].apply(this, args);
+ }
+ }
}
FTLStream.prototype.pause = function() {
@@ -60234,6 +71651,8 @@ FTLStream.prototype.start = function(fs, source, channel) {
this.current_source = source;
this.current_channel = channel;
+ this.mse.select(fs, source, channel);
+
if (this.found) {
this.peer.send(this.uri, 0, [1,fs,255,channel],[255,7,35,0,0,Buffer.alloc(0)]);
} else {
@@ -60348,1342 +71767,858 @@ saveConfigs = async () => {
const content = await rawResp.json();
}
}).call(this,require("buffer").Buffer)
-},{"../../server/src/peer":53,"./lib/dist/video-converter":52,"buffer":8,"msgpack5":15,"rematrix":31,"three":34}],45:[function(require,module,exports){
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-var bit_stream_1 = require("./util/bit-stream");
-var debug = require("./util/debug");
-var NALU_1 = require("./util/NALU");
-var H264Parser = (function () {
- function H264Parser(remuxer) {
- this.remuxer = remuxer;
- this.track = remuxer.mp4track;
- }
- H264Parser.prototype.parseSEI = function (sei) {
- var messages = H264Parser.readSEI(sei);
- for (var _i = 0, messages_1 = messages; _i < messages_1.length; _i++) {
- var m = messages_1[_i];
- switch (m.type) {
- case 0:
- this.track.seiBuffering = true;
- break;
- case 5:
- return true;
- default:
- break;
- }
- }
- return false;
- };
- H264Parser.prototype.parseSPS = function (sps) {
- var config = H264Parser.readSPS(sps);
- this.track.width = config.width;
- this.track.height = config.height;
- this.track.sps = [sps];
- this.track.codec = 'avc1.';
- var codecArray = new DataView(sps.buffer, sps.byteOffset + 1, 4);
- for (var i = 0; i < 3; ++i) {
- var h = codecArray.getUint8(i).toString(16);
- if (h.length < 2) {
- h = '0' + h;
- }
- this.track.codec += h;
- }
- };
- H264Parser.prototype.parsePPS = function (pps) {
- this.track.pps = [pps];
- };
- H264Parser.prototype.parseNAL = function (unit) {
- if (!unit) {
- return false;
- }
- var push = false;
- switch (unit.type()) {
- case NALU_1.default.NDR:
- case NALU_1.default.IDR:
- push = true;
- break;
- case NALU_1.default.SEI:
- push = this.parseSEI(unit.getData().subarray(4));
- break;
- case NALU_1.default.SPS:
- if (this.track.sps.length === 0) {
- this.parseSPS(unit.getData().subarray(4));
- debug.log(" Found SPS type NALU frame.");
- if (!this.remuxer.readyToDecode && this.track.pps.length > 0 && this.track.sps.length > 0) {
- this.remuxer.readyToDecode = true;
- }
- }
- break;
- case NALU_1.default.PPS:
- if (this.track.pps.length === 0) {
- this.parsePPS(unit.getData().subarray(4));
- debug.log(" Found PPS type NALU frame.");
- if (!this.remuxer.readyToDecode && this.track.pps.length > 0 && this.track.sps.length > 0) {
- this.remuxer.readyToDecode = true;
- }
- }
- break;
- default:
- debug.log(" Found Unknown type NALU frame. type=" + unit.type());
- break;
- }
- return push;
- };
- H264Parser.skipScalingList = function (decoder, count) {
- var lastScale = 8;
- var nextScale = 8;
- for (var j = 0; j < count; j++) {
- if (nextScale !== 0) {
- var deltaScale = decoder.readEG();
- nextScale = (lastScale + deltaScale + 256) % 256;
- }
- lastScale = (nextScale === 0) ? lastScale : nextScale;
- }
- };
- H264Parser.readSPS = function (data) {
- var decoder = new bit_stream_1.default(data);
- var frameCropLeftOffset = 0;
- var frameCropRightOffset = 0;
- var frameCropTopOffset = 0;
- var frameCropBottomOffset = 0;
- var sarScale = 1;
- decoder.readUByte();
- var profileIdc = decoder.readUByte();
- decoder.skipBits(5);
- decoder.skipBits(3);
- decoder.skipBits(8);
- decoder.skipUEG();
- if (profileIdc === 100 ||
- profileIdc === 110 ||
- profileIdc === 122 ||
- profileIdc === 244 ||
- profileIdc === 44 ||
- profileIdc === 83 ||
- profileIdc === 86 ||
- profileIdc === 118 ||
- profileIdc === 128) {
- var chromaFormatIdc = decoder.readUEG();
- if (chromaFormatIdc === 3) {
- decoder.skipBits(1);
- }
- decoder.skipUEG();
- decoder.skipUEG();
- decoder.skipBits(1);
- if (decoder.readBoolean()) {
- var scalingListCount = (chromaFormatIdc !== 3) ? 8 : 12;
- for (var i = 0; i < scalingListCount; ++i) {
- if (decoder.readBoolean()) {
- if (i < 6) {
- H264Parser.skipScalingList(decoder, 16);
- }
- else {
- H264Parser.skipScalingList(decoder, 64);
- }
- }
- }
- }
- }
- decoder.skipUEG();
- var picOrderCntType = decoder.readUEG();
- if (picOrderCntType === 0) {
- decoder.readUEG();
- }
- else if (picOrderCntType === 1) {
- decoder.skipBits(1);
- decoder.skipEG();
- decoder.skipEG();
- var numRefFramesInPicOrderCntCycle = decoder.readUEG();
- for (var i = 0; i < numRefFramesInPicOrderCntCycle; ++i) {
- decoder.skipEG();
- }
- }
- decoder.skipUEG();
- decoder.skipBits(1);
- var picWidthInMbsMinus1 = decoder.readUEG();
- var picHeightInMapUnitsMinus1 = decoder.readUEG();
- var frameMbsOnlyFlag = decoder.readBits(1);
- if (frameMbsOnlyFlag === 0) {
- decoder.skipBits(1);
- }
- decoder.skipBits(1);
- if (decoder.readBoolean()) {
- frameCropLeftOffset = decoder.readUEG();
- frameCropRightOffset = decoder.readUEG();
- frameCropTopOffset = decoder.readUEG();
- frameCropBottomOffset = decoder.readUEG();
- }
- if (decoder.readBoolean()) {
- if (decoder.readBoolean()) {
- var sarRatio = void 0;
- var aspectRatioIdc = decoder.readUByte();
- switch (aspectRatioIdc) {
- case 1:
- sarRatio = [1, 1];
- break;
- case 2:
- sarRatio = [12, 11];
- break;
- case 3:
- sarRatio = [10, 11];
- break;
- case 4:
- sarRatio = [16, 11];
- break;
- case 5:
- sarRatio = [40, 33];
- break;
- case 6:
- sarRatio = [24, 11];
- break;
- case 7:
- sarRatio = [20, 11];
- break;
- case 8:
- sarRatio = [32, 11];
- break;
- case 9:
- sarRatio = [80, 33];
- break;
- case 10:
- sarRatio = [18, 11];
- break;
- case 11:
- sarRatio = [15, 11];
- break;
- case 12:
- sarRatio = [64, 33];
- break;
- case 13:
- sarRatio = [160, 99];
- break;
- case 14:
- sarRatio = [4, 3];
- break;
- case 15:
- sarRatio = [3, 2];
- break;
- case 16:
- sarRatio = [2, 1];
- break;
- case 255: {
- sarRatio = [decoder.readUByte() << 8 | decoder.readUByte(), decoder.readUByte() << 8 | decoder.readUByte()];
- break;
- }
- default: {
- debug.error(" H264: Unknown aspectRatioIdc=" + aspectRatioIdc);
- }
- }
- if (sarRatio) {
- sarScale = sarRatio[0] / sarRatio[1];
- }
- }
- if (decoder.readBoolean()) {
- decoder.skipBits(1);
- }
- if (decoder.readBoolean()) {
- decoder.skipBits(4);
- if (decoder.readBoolean()) {
- decoder.skipBits(24);
- }
- }
- if (decoder.readBoolean()) {
- decoder.skipUEG();
- decoder.skipUEG();
- }
- if (decoder.readBoolean()) {
- var unitsInTick = decoder.readUInt();
- var timeScale = decoder.readUInt();
- var fixedFrameRate = decoder.readBoolean();
- var frameDuration = timeScale / (2 * unitsInTick);
- debug.log("timescale: " + timeScale + "; unitsInTick: " + unitsInTick + "; " +
- ("fixedFramerate: " + fixedFrameRate + "; avgFrameDuration: " + frameDuration));
- }
- }
- return {
- width: Math.ceil((((picWidthInMbsMinus1 + 1) * 16) - frameCropLeftOffset * 2 - frameCropRightOffset * 2) * sarScale),
- height: ((2 - frameMbsOnlyFlag) * (picHeightInMapUnitsMinus1 + 1) * 16) -
- ((frameMbsOnlyFlag ? 2 : 4) * (frameCropTopOffset + frameCropBottomOffset)),
- };
- };
- H264Parser.readSEI = function (data) {
- var decoder = new bit_stream_1.default(data);
- decoder.skipBits(8);
- var result = [];
- while (decoder.bitsAvailable > 3 * 8) {
- result.push(this.readSEIMessage(decoder));
- }
- return result;
- };
- H264Parser.readSEIMessage = function (decoder) {
- function get() {
- var result = 0;
- while (true) {
- var value = decoder.readUByte();
- result += value;
- if (value !== 0xff) {
- break;
- }
- }
- return result;
- }
- var payloadType = get();
- var payloadSize = get();
- return this.readSEIPayload(decoder, payloadType, payloadSize);
- };
- H264Parser.readSEIPayload = function (decoder, type, size) {
- var result;
- switch (type) {
- default:
- result = { type: type };
- decoder.skipBits(size * 8);
- }
- decoder.skipBits(decoder.bitsAvailable % 8);
- return result;
- };
- return H264Parser;
-}());
-exports.default = H264Parser;
+},{"../../server/src/peer":112,"./ftlmse":108,"buffer":9,"msgpack5":32,"rematrix":89,"three":92}],111:[function(require,module,exports){
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ *
+ * Functions that generate fragmented MP4s suitable for use with Media
+ * Source Extensions.
+ *
+ * Modified by Nicolas Pope to include support for Opus audio tracks
+ */
+'use strict';
-},{"./util/NALU":48,"./util/bit-stream":49,"./util/debug":50}],46:[function(require,module,exports){
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-var h264_parser_1 = require("./h264-parser");
-var debug = require("./util/debug");
-var NALU_1 = require("./util/NALU");
-var trackId = 1;
-var H264Remuxer = (function () {
- function H264Remuxer(fps, framePerFragment, timescale) {
- this.fps = fps;
- this.framePerFragment = framePerFragment;
- this.timescale = timescale;
- this.readyToDecode = false;
- this.totalDTS = 0;
- this.stepDTS = Math.round(this.timescale / this.fps);
- this.frameCount = 0;
- this.seq = 1;
- this.mp4track = {
- id: H264Remuxer.getTrackID(),
- type: 'video',
- len: 0,
- codec: '',
- sps: [],
- pps: [],
- seiBuffering: false,
- width: 0,
- height: 0,
- timescale: timescale,
- duration: timescale,
- samples: [],
- isKeyFrame: true,
- };
- this.unitSamples = [[]];
- this.parser = new h264_parser_1.default(this);
+var UINT32_MAX = Math.pow(2, 32) - 1;
+
+var box, dinf, osse, esds, ftyp, mdat, mfhd, minf, moof, moov, mvex, mvhd,
+ trak, tkhd, mdia, mdhd, hdlr, sdtp, stbl, stsd, traf, trex,
+ trun, types, MAJOR_BRAND, MINOR_VERSION, AVC1_BRAND, VIDEO_HDLR,
+ AUDIO_HDLR, HDLR_TYPES, VMHD, SMHD, DREF, STCO, STSC, STSZ, STTS;
+
+// pre-calculate constants
+(function() {
+ var i;
+ types = {
+ avc1: [], // codingname
+ avcC: [],
+ btrt: [],
+ dinf: [],
+ dref: [],
+ esds: [],
+ ftyp: [],
+ hdlr: [],
+ mdat: [],
+ mdhd: [],
+ mdia: [],
+ mfhd: [],
+ minf: [],
+ moof: [],
+ moov: [],
+ mp4a: [], // codingname
+ mvex: [],
+ mvhd: [],
+ pasp: [],
+ sdtp: [],
+ smhd: [],
+ stbl: [],
+ stco: [],
+ stsc: [],
+ stsd: [],
+ stsz: [],
+ stts: [],
+ styp: [],
+ tfdt: [],
+ tfhd: [],
+ traf: [],
+ trak: [],
+ trun: [],
+ trex: [],
+ tkhd: [],
+ vmhd: [],
+ Opus: [],
+ dOps: []
+ };
+
+ // In environments where Uint8Array is undefined (e.g., IE8), skip set up so that we
+ // don't throw an error
+ if (typeof Uint8Array === 'undefined') {
+ return;
+ }
+
+ for (i in types) {
+ if (types.hasOwnProperty(i)) {
+ types[i] = [
+ i.charCodeAt(0),
+ i.charCodeAt(1),
+ i.charCodeAt(2),
+ i.charCodeAt(3)
+ ];
}
- H264Remuxer.getTrackID = function () {
- return trackId++;
- };
- Object.defineProperty(H264Remuxer.prototype, "seqNum", {
- get: function () {
- return this.seq;
- },
- enumerable: true,
- configurable: true
- });
- H264Remuxer.prototype.remux = function (nalu) {
- if (this.mp4track.seiBuffering && nalu.type() === NALU_1.default.SEI) {
- return this.createNextFrame();
- }
- if (this.parser.parseNAL(nalu)) {
- this.unitSamples[this.unitSamples.length - 1].push(nalu);
- this.mp4track.len += nalu.getSize();
- }
- if (!this.mp4track.seiBuffering && (nalu.type() === NALU_1.default.IDR || nalu.type() === NALU_1.default.NDR)) {
- return this.createNextFrame();
- }
- return;
- };
- H264Remuxer.prototype.createNextFrame = function () {
- if (this.mp4track.len > 0) {
- this.frameCount++;
- if (this.frameCount % this.framePerFragment === 0) {
- var fragment = this.getFragment();
- if (fragment) {
- var dts = this.totalDTS;
- this.totalDTS = this.stepDTS * this.frameCount;
- return [dts, fragment];
- }
- else {
- debug.log("No mp4 sample data.");
- }
- }
- this.unitSamples.push([]);
- }
- return;
- };
- H264Remuxer.prototype.flush = function () {
- this.seq++;
- this.mp4track.len = 0;
- this.mp4track.samples = [];
- this.mp4track.isKeyFrame = false;
- this.unitSamples = [[]];
- };
- H264Remuxer.prototype.getFragment = function () {
- if (!this.checkReadyToDecode()) {
- return undefined;
- }
- var payload = new Uint8Array(this.mp4track.len);
- this.mp4track.samples = [];
- var offset = 0;
- for (var i = 0, len = this.unitSamples.length; i < len; i++) {
- var units = this.unitSamples[i];
- if (units.length === 0) {
- continue;
- }
- var mp4Sample = {
- size: 0,
- cts: this.stepDTS * i,
- };
- for (var _i = 0, units_1 = units; _i < units_1.length; _i++) {
- var unit = units_1[_i];
- mp4Sample.size += unit.getSize();
- payload.set(unit.getData(), offset);
- offset += unit.getSize();
- }
- this.mp4track.samples.push(mp4Sample);
- }
- if (offset === 0) {
- return undefined;
- }
- return payload;
- };
- H264Remuxer.prototype.checkReadyToDecode = function () {
- if (!this.readyToDecode || this.unitSamples.filter(function (array) { return array.length > 0; }).length === 0) {
- debug.log("Not ready to decode! readyToDecode(" + this.readyToDecode + ") is false or units is empty.");
- return false;
- }
- return true;
- };
- return H264Remuxer;
-}());
-exports.default = H264Remuxer;
+ }
-},{"./h264-parser":45,"./util/NALU":48,"./util/debug":50}],47:[function(require,module,exports){
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-var MP4 = (function () {
- function MP4() {
- }
- MP4.init = function () {
- MP4.initalized = true;
- MP4.types = {
- avc1: [],
- avcC: [],
- btrt: [],
- dinf: [],
- dref: [],
- esds: [],
- ftyp: [],
- hdlr: [],
- mdat: [],
- mdhd: [],
- mdia: [],
- mfhd: [],
- minf: [],
- moof: [],
- moov: [],
- mp4a: [],
- mvex: [],
- mvhd: [],
- sdtp: [],
- stbl: [],
- stco: [],
- stsc: [],
- stsd: [],
- stsz: [],
- stts: [],
- styp: [],
- tfdt: [],
- tfhd: [],
- traf: [],
- trak: [],
- trun: [],
- trep: [],
- trex: [],
- tkhd: [],
- vmhd: [],
- smhd: [],
- };
- for (var type in MP4.types) {
- if (MP4.types.hasOwnProperty(type)) {
- MP4.types[type] = [
- type.charCodeAt(0),
- type.charCodeAt(1),
- type.charCodeAt(2),
- type.charCodeAt(3),
- ];
- }
- }
- var hdlr = new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x76, 0x69, 0x64, 0x65,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x56, 0x69, 0x64, 0x65,
- 0x6f, 0x48, 0x61, 0x6e,
- 0x64, 0x6c, 0x65, 0x72, 0x00,
- ]);
- var dref = new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x01,
- 0x00, 0x00, 0x00, 0x0c,
- 0x75, 0x72, 0x6c, 0x20,
- 0x00,
- 0x00, 0x00, 0x01,
- ]);
- var stco = new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- ]);
- MP4.STTS = MP4.STSC = MP4.STCO = stco;
- MP4.STSZ = new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- ]);
- MP4.VMHD = new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x01,
- 0x00, 0x00,
- 0x00, 0x00,
- 0x00, 0x00,
- 0x00, 0x00,
- ]);
- MP4.SMHD = new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x00,
- 0x00, 0x00,
- ]);
- MP4.STSD = new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x01
- ]);
- MP4.FTYP = MP4.box(MP4.types.ftyp, new Uint8Array([
- 0x69, 0x73, 0x6f, 0x35,
- 0x00, 0x00, 0x00, 0x01,
- 0x61, 0x76, 0x63, 0x31,
- 0x69, 0x73, 0x6f, 0x35,
- 0x64, 0x61, 0x73, 0x68,
- ]));
- MP4.STYP = MP4.box(MP4.types.styp, new Uint8Array([
- 0x6d, 0x73, 0x64, 0x68,
- 0x00, 0x00, 0x00, 0x00,
- 0x6d, 0x73, 0x64, 0x68,
- 0x6d, 0x73, 0x69, 0x78,
- ]));
- MP4.DINF = MP4.box(MP4.types.dinf, MP4.box(MP4.types.dref, dref));
- MP4.HDLR = MP4.box(MP4.types.hdlr, hdlr);
- };
- MP4.box = function (type) {
- var payload = [];
- for (var _i = 1; _i < arguments.length; _i++) {
- payload[_i - 1] = arguments[_i];
- }
- var size = 8;
- for (var _a = 0, payload_1 = payload; _a < payload_1.length; _a++) {
- var p = payload_1[_a];
- size += p.byteLength;
- }
- var result = new Uint8Array(size);
- result[0] = (size >> 24) & 0xff;
- result[1] = (size >> 16) & 0xff;
- result[2] = (size >> 8) & 0xff;
- result[3] = size & 0xff;
- result.set(type, 4);
- size = 8;
- for (var _b = 0, payload_2 = payload; _b < payload_2.length; _b++) {
- var box = payload_2[_b];
- result.set(box, size);
- size += box.byteLength;
- }
- return result;
- };
- MP4.mdat = function (data) {
- return MP4.box(MP4.types.mdat, data);
- };
- MP4.mdhd = function (timescale) {
- return MP4.box(MP4.types.mdhd, new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x01,
- 0x00, 0x00, 0x00, 0x02,
- (timescale >> 24) & 0xFF,
- (timescale >> 16) & 0xFF,
- (timescale >> 8) & 0xFF,
- timescale & 0xFF,
- 0x00, 0x00, 0x00, 0x00,
- 0x55, 0xc4,
- 0x00, 0x00,
- ]));
- };
- MP4.mdia = function (track) {
- return MP4.box(MP4.types.mdia, MP4.mdhd(track.timescale), MP4.HDLR, MP4.minf(track));
- };
- MP4.mfhd = function (sequenceNumber) {
- return MP4.box(MP4.types.mfhd, new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- (sequenceNumber >> 24),
- (sequenceNumber >> 16) & 0xFF,
- (sequenceNumber >> 8) & 0xFF,
- sequenceNumber & 0xFF,
- ]));
- };
- MP4.minf = function (track) {
- return MP4.box(MP4.types.minf, MP4.box(MP4.types.vmhd, MP4.VMHD), MP4.DINF, MP4.stbl(track));
- };
- MP4.moof = function (sn, baseMediaDecodeTime, track) {
- return MP4.box(MP4.types.moof, MP4.mfhd(sn), MP4.traf(track, baseMediaDecodeTime));
- };
- MP4.moov = function (tracks, duration, timescale) {
- var boxes = [];
- for (var _i = 0, tracks_1 = tracks; _i < tracks_1.length; _i++) {
- var track = tracks_1[_i];
- boxes.push(MP4.trak(track));
- }
- return MP4.box.apply(MP4, [MP4.types.moov, MP4.mvhd(timescale, duration), MP4.mvex(tracks)].concat(boxes));
- };
- MP4.mvhd = function (timescale, duration) {
- var bytes = new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x01,
- 0x00, 0x00, 0x00, 0x02,
- (timescale >> 24) & 0xFF,
- (timescale >> 16) & 0xFF,
- (timescale >> 8) & 0xFF,
- timescale & 0xFF,
- (duration >> 24) & 0xFF,
- (duration >> 16) & 0xFF,
- (duration >> 8) & 0xFF,
- duration & 0xFF,
- 0x00, 0x01, 0x00, 0x00,
- 0x01, 0x00,
- 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x01, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x01, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x40, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x02,
- ]);
- return MP4.box(MP4.types.mvhd, bytes);
- };
- MP4.mvex = function (tracks) {
- var boxes = [];
- for (var _i = 0, tracks_2 = tracks; _i < tracks_2.length; _i++) {
- var track = tracks_2[_i];
- boxes.push(MP4.trex(track));
- }
- return MP4.box.apply(MP4, [MP4.types.mvex].concat(boxes, [MP4.trep()]));
- };
- MP4.trep = function () {
- return MP4.box(MP4.types.trep, new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x01,
- ]));
- };
- MP4.stbl = function (track) {
- return MP4.box(MP4.types.stbl, MP4.stsd(track), MP4.box(MP4.types.stts, MP4.STTS), MP4.box(MP4.types.stsc, MP4.STSC), MP4.box(MP4.types.stsz, MP4.STSZ), MP4.box(MP4.types.stco, MP4.STCO));
- };
- MP4.avc1 = function (track) {
- var sps = [];
- var pps = [];
- for (var _i = 0, _a = track.sps; _i < _a.length; _i++) {
- var data = _a[_i];
- var len = data.byteLength;
- sps.push((len >>> 8) & 0xFF);
- sps.push((len & 0xFF));
- sps = sps.concat(Array.prototype.slice.call(data));
- }
- for (var _b = 0, _c = track.pps; _b < _c.length; _b++) {
- var data = _c[_b];
- var len = data.byteLength;
- pps.push((len >>> 8) & 0xFF);
- pps.push((len & 0xFF));
- pps = pps.concat(Array.prototype.slice.call(data));
- }
- var avcc = MP4.box(MP4.types.avcC, new Uint8Array([
- 0x01,
- sps[3],
- sps[4],
- sps[5],
- 0xfc | 3,
- 0xE0 | track.sps.length,
- ].concat(sps).concat([
- track.pps.length,
- ]).concat(pps)));
- var width = track.width;
- var height = track.height;
- return MP4.box(MP4.types.avc1, new Uint8Array([
- 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x01,
- 0x00, 0x00,
- 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- (width >> 8) & 0xFF,
- width & 0xff,
- (height >> 8) & 0xFF,
- height & 0xff,
- 0x00, 0x48, 0x00, 0x00,
- 0x00, 0x48, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x01,
- 0x12,
- 0x62, 0x69, 0x6E, 0x65,
- 0x6C, 0x70, 0x72, 0x6F,
- 0x2E, 0x72, 0x75, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x18,
- 0x11, 0x11
- ]), avcc, MP4.box(MP4.types.btrt, new Uint8Array([
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x2d, 0xc6, 0xc0,
- 0x00, 0x2d, 0xc6, 0xc0,
- ])));
- };
- MP4.stsd = function (track) {
- return MP4.box(MP4.types.stsd, MP4.STSD, MP4.avc1(track));
- };
- MP4.tkhd = function (track) {
- var id = track.id;
- var width = track.width;
- var height = track.height;
- return MP4.box(MP4.types.tkhd, new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x01,
- 0x00, 0x00, 0x00, 0x01,
- 0x00, 0x00, 0x00, 0x02,
- (id >> 24) & 0xFF,
- (id >> 16) & 0xFF,
- (id >> 8) & 0xFF,
- id & 0xFF,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00,
- 0x00, 0x00,
- (track.type === 'audio' ? 0x01 : 0x00), 0x00,
- 0x00, 0x00,
- 0x00, 0x01, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x01, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x40, 0x00, 0x00, 0x00,
- (width >> 8) & 0xFF,
- width & 0xFF,
- 0x00, 0x00,
- (height >> 8) & 0xFF,
- height & 0xFF,
- 0x00, 0x00,
- ]));
- };
- MP4.traf = function (track, baseMediaDecodeTime) {
- var id = track.id;
- return MP4.box(MP4.types.traf, MP4.box(MP4.types.tfhd, new Uint8Array([
- 0x00,
- 0x02, 0x00, 0x00,
- (id >> 24),
- (id >> 16) & 0XFF,
- (id >> 8) & 0XFF,
- (id & 0xFF),
- ])), MP4.box(MP4.types.tfdt, new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- (baseMediaDecodeTime >> 24),
- (baseMediaDecodeTime >> 16) & 0XFF,
- (baseMediaDecodeTime >> 8) & 0XFF,
- (baseMediaDecodeTime & 0xFF),
- ])), MP4.trun(track, 16 +
- 16 +
- 8 +
- 16 +
- 8 +
- 8));
- };
- MP4.trak = function (track) {
- track.duration = track.duration || 0xffffffff;
- return MP4.box(MP4.types.trak, MP4.tkhd(track), MP4.mdia(track));
- };
- MP4.trex = function (track) {
- var id = track.id;
- return MP4.box(MP4.types.trex, new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- (id >> 24),
- (id >> 16) & 0XFF,
- (id >> 8) & 0XFF,
- (id & 0xFF),
- 0x00, 0x00, 0x00, 0x01,
- 0x00, 0x00, 0x00, 0x3c,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x01, 0x00, 0x00,
- ]));
- };
- MP4.trun = function (track, offset) {
- var samples = track.samples || [];
- var len = samples.length;
- var additionalLen = track.isKeyFrame ? 4 : 0;
- var arraylen = 12 + additionalLen + (4 * len);
- var array = new Uint8Array(arraylen);
- offset += 8 + arraylen;
- array.set([
- 0x00,
- 0x00, 0x02, (track.isKeyFrame ? 0x05 : 0x01),
- (len >>> 24) & 0xFF,
- (len >>> 16) & 0xFF,
- (len >>> 8) & 0xFF,
- len & 0xFF,
- (offset >>> 24) & 0xFF,
- (offset >>> 16) & 0xFF,
- (offset >>> 8) & 0xFF,
- offset & 0xFF,
- ], 0);
- if (track.isKeyFrame) {
- array.set([
- 0x00, 0x00, 0x00, 0x00,
- ], 12);
- }
- for (var i = 0; i < len; i++) {
- var sample = samples[i];
- var size = sample.size;
- array.set([
- (size >>> 24) & 0xFF,
- (size >>> 16) & 0xFF,
- (size >>> 8) & 0xFF,
- size & 0xFF,
- ], 12 + additionalLen + 4 * i);
- }
- return MP4.box(MP4.types.trun, array);
- };
- MP4.initSegment = function (tracks, duration, timescale) {
- if (!MP4.initalized) {
- MP4.init();
- }
- var movie = MP4.moov(tracks, duration, timescale);
- var result = new Uint8Array(MP4.FTYP.byteLength + movie.byteLength);
- result.set(MP4.FTYP);
- result.set(movie, MP4.FTYP.byteLength);
- return result;
- };
- MP4.fragmentSegment = function (sn, baseMediaDecodeTime, track, payload) {
- var moof = MP4.moof(sn, baseMediaDecodeTime, track);
- var mdat = MP4.mdat(payload);
- var result = new Uint8Array(MP4.STYP.byteLength + moof.byteLength + mdat.byteLength);
- result.set(MP4.STYP);
- result.set(moof, MP4.STYP.byteLength);
- result.set(mdat, MP4.STYP.byteLength + moof.byteLength);
- return result;
- };
- return MP4;
+ MAJOR_BRAND = new Uint8Array([
+ 'i'.charCodeAt(0),
+ 's'.charCodeAt(0),
+ 'o'.charCodeAt(0),
+ 'm'.charCodeAt(0)
+ ]);
+ AVC1_BRAND = new Uint8Array([
+ 'a'.charCodeAt(0),
+ 'v'.charCodeAt(0),
+ 'c'.charCodeAt(0),
+ '1'.charCodeAt(0)
+ ]);
+ MINOR_VERSION = new Uint8Array([0, 0, 0, 1]);
+ VIDEO_HDLR = new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x00, // pre_defined
+ 0x76, 0x69, 0x64, 0x65, // handler_type: 'vide'
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x56, 0x69, 0x64, 0x65,
+ 0x6f, 0x48, 0x61, 0x6e,
+ 0x64, 0x6c, 0x65, 0x72, 0x00 // name: 'VideoHandler'
+ ]);
+ AUDIO_HDLR = new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x00, // pre_defined
+ 0x73, 0x6f, 0x75, 0x6e, // handler_type: 'soun'
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x53, 0x6f, 0x75, 0x6e,
+ 0x64, 0x48, 0x61, 0x6e,
+ 0x64, 0x6c, 0x65, 0x72, 0x00 // name: 'SoundHandler'
+ ]);
+ HDLR_TYPES = {
+ video: VIDEO_HDLR,
+ audio: AUDIO_HDLR
+ };
+ DREF = new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x01, // entry_count
+ 0x00, 0x00, 0x00, 0x0c, // entry_size
+ 0x75, 0x72, 0x6c, 0x20, // 'url' type
+ 0x00, // version 0
+ 0x00, 0x00, 0x01 // entry_flags
+ ]);
+ SMHD = new Uint8Array([
+ 0x00, // version
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, // balance, 0 means centered
+ 0x00, 0x00 // reserved
+ ]);
+ STCO = new Uint8Array([
+ 0x00, // version
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x00 // entry_count
+ ]);
+ STSC = STCO;
+ STSZ = new Uint8Array([
+ 0x00, // version
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x00, // sample_size
+ 0x00, 0x00, 0x00, 0x00 // sample_count
+ ]);
+ STTS = STCO;
+ VMHD = new Uint8Array([
+ 0x00, // version
+ 0x00, 0x00, 0x01, // flags
+ 0x00, 0x00, // graphicsmode
+ 0x00, 0x00,
+ 0x00, 0x00,
+ 0x00, 0x00 // opcolor
+ ]);
}());
-MP4.types = {};
-MP4.initalized = false;
-exports.default = MP4;
-},{}],48:[function(require,module,exports){
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-var NALU = (function () {
- function NALU(data) {
- this.data = data;
- this.nri = (data[0] & 0x60) >> 5;
- this.ntype = data[0] & 0x1f;
- }
- Object.defineProperty(NALU, "NDR", {
- get: function () { return 1; },
- enumerable: true,
- configurable: true
- });
- Object.defineProperty(NALU, "IDR", {
- get: function () { return 5; },
- enumerable: true,
- configurable: true
- });
- Object.defineProperty(NALU, "SEI", {
- get: function () { return 6; },
- enumerable: true,
- configurable: true
- });
- Object.defineProperty(NALU, "SPS", {
- get: function () { return 7; },
- enumerable: true,
- configurable: true
- });
- Object.defineProperty(NALU, "PPS", {
- get: function () { return 8; },
- enumerable: true,
- configurable: true
- });
- Object.defineProperty(NALU, "TYPES", {
- get: function () {
- return _a = {},
- _a[NALU.IDR] = 'IDR',
- _a[NALU.SEI] = 'SEI',
- _a[NALU.SPS] = 'SPS',
- _a[NALU.PPS] = 'PPS',
- _a[NALU.NDR] = 'NDR',
- _a;
- var _a;
- },
- enumerable: true,
- configurable: true
- });
- NALU.type = function (nalu) {
- if (nalu.ntype in NALU.TYPES) {
- return NALU.TYPES[nalu.ntype];
- }
- else {
- return 'UNKNOWN';
- }
- };
- NALU.prototype.type = function () {
- return this.ntype;
- };
- NALU.prototype.isKeyframe = function () {
- return this.ntype === NALU.IDR;
- };
- NALU.prototype.getSize = function () {
- return 4 + this.data.byteLength;
- };
- NALU.prototype.getData = function () {
- var result = new Uint8Array(this.getSize());
- var view = new DataView(result.buffer);
- view.setUint32(0, this.getSize() - 4);
- result.set(this.data, 4);
- return result;
- };
- return NALU;
-}());
-exports.default = NALU;
+box = function(type) {
+ var
+ payload = [],
+ size = 0,
+ i,
+ result,
+ view;
-},{}],49:[function(require,module,exports){
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-var BitStream = (function () {
- function BitStream(data) {
- this.data = data;
- this.index = 0;
- this.bitLength = data.byteLength * 8;
- }
- Object.defineProperty(BitStream.prototype, "bitsAvailable", {
- get: function () {
- return this.bitLength - this.index;
- },
- enumerable: true,
- configurable: true
- });
- BitStream.prototype.skipBits = function (size) {
- if (this.bitsAvailable < size) {
- throw new Error('no bytes available');
- }
- this.index += size;
- };
- BitStream.prototype.readBits = function (size) {
- var result = this.getBits(size, this.index);
- return result;
- };
- BitStream.prototype.getBits = function (size, offsetBits, moveIndex) {
- if (moveIndex === void 0) { moveIndex = true; }
- if (this.bitsAvailable < size) {
- throw new Error('no bytes available');
- }
- var offset = offsetBits % 8;
- var byte = this.data[(offsetBits / 8) | 0] & (0xff >>> offset);
- var bits = 8 - offset;
- if (bits >= size) {
- if (moveIndex) {
- this.index += size;
- }
- return byte >> (bits - size);
- }
- else {
- if (moveIndex) {
- this.index += bits;
- }
- var nextSize = size - bits;
- return (byte << nextSize) | this.getBits(nextSize, offsetBits + bits, moveIndex);
- }
- };
- BitStream.prototype.skipLZ = function () {
- var leadingZeroCount;
- for (leadingZeroCount = 0; leadingZeroCount < this.bitLength - this.index; ++leadingZeroCount) {
- if (0 !== this.getBits(1, this.index + leadingZeroCount, false)) {
- this.index += leadingZeroCount;
- return leadingZeroCount;
- }
- }
- return leadingZeroCount;
- };
- BitStream.prototype.skipUEG = function () {
- this.skipBits(1 + this.skipLZ());
- };
- BitStream.prototype.skipEG = function () {
- this.skipBits(1 + this.skipLZ());
- };
- BitStream.prototype.readUEG = function () {
- var prefix = this.skipLZ();
- return this.readBits(prefix + 1) - 1;
- };
- BitStream.prototype.readEG = function () {
- var value = this.readUEG();
- if (0x01 & value) {
- return (1 + value) >>> 1;
- }
- else {
- return -1 * (value >>> 1);
- }
- };
- BitStream.prototype.readBoolean = function () {
- return 1 === this.readBits(1);
- };
- BitStream.prototype.readUByte = function () {
- return this.readBits(8);
- };
- BitStream.prototype.readUShort = function () {
- return this.readBits(16);
- };
- BitStream.prototype.readUInt = function () {
- return this.readBits(32);
- };
- return BitStream;
-}());
-exports.default = BitStream;
+ for (i = 1; i < arguments.length; i++) {
+ payload.push(arguments[i]);
+ }
-},{}],50:[function(require,module,exports){
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-var logger;
-var errorLogger;
-function setLogger(log, error) {
- logger = log;
- errorLogger = error != null ? error : log;
-}
-exports.setLogger = setLogger;
-function isEnable() {
- return logger != null;
-}
-exports.isEnable = isEnable;
-function log(message) {
- var optionalParams = [];
- for (var _i = 1; _i < arguments.length; _i++) {
- optionalParams[_i - 1] = arguments[_i];
+ i = payload.length;
+
+ // calculate the total size we need to allocate
+ while (i--) {
+ size += payload[i].byteLength;
+ }
+ result = new Uint8Array(size + 8);
+ view = new DataView(result.buffer, result.byteOffset, result.byteLength);
+ view.setUint32(0, result.byteLength);
+ result.set(type, 4);
+
+ // copy the payload into the result
+ for (i = 0, size = 8; i < payload.length; i++) {
+ result.set(payload[i], size);
+ size += payload[i].byteLength;
+ }
+ return result;
+};
+
+dinf = function() {
+ return box(types.dinf, box(types.dref, DREF));
+};
+
+// Opus (Nick)
+osse = function(track) {
+ let preskip = 3840;
+ return box(types.dOps, new Uint8Array([
+ 0x00, // version
+ track.channelcount, // Output channel count
+ (preskip & 0xff00) >> 8, (preskip & 0xff), // Preskip
+ //0x00, 0x00, 0x00, 0x00, // Input sample rate
+ 0x00, 0x00, // Upper sample rate bytes
+ (track.insamplerate & 0xff00) >> 8,
+ (track.insamplerate & 0xff),
+ //0x00, 0x00, // samplerate, 16.16
+ 0x00, 0x00, // Output gain
+ 0x00 //ChannelMappingFamily
+ ]));
+ };
+
+esds = function(track) {
+ return box(types.esds, new Uint8Array([
+ 0x00, // version
+ 0x00, 0x00, 0x00, // flags
+
+ // ES_Descriptor
+ 0x03, // tag, ES_DescrTag
+ 0x19, // length
+ 0x00, 0x00, // ES_ID
+ 0x00, // streamDependenceFlag, URL_flag, reserved, streamPriority
+
+ // DecoderConfigDescriptor
+ 0x04, // tag, DecoderConfigDescrTag
+ 0x11, // length
+ 0x40, // object type
+ 0x15, // streamType
+ 0x00, 0x06, 0x00, // bufferSizeDB
+ 0x00, 0x00, 0xda, 0xc0, // maxBitrate
+ 0x00, 0x00, 0xda, 0xc0, // avgBitrate
+
+ // DecoderSpecificInfo
+ 0x05, // tag, DecoderSpecificInfoTag
+ 0x02, // length
+ // ISO/IEC 14496-3, AudioSpecificConfig
+ // for samplingFrequencyIndex see ISO/IEC 13818-7:2006, 8.1.3.2.2, Table 35
+ (track.audioobjecttype << 3) | (track.samplingfrequencyindex >>> 1),
+ (track.samplingfrequencyindex << 7) | (track.channelcount << 3),
+ 0x06, 0x01, 0x02 // GASpecificConfig
+ ]));
+};
+
+ftyp = function() {
+ return box(types.ftyp, MAJOR_BRAND, MINOR_VERSION, MAJOR_BRAND, AVC1_BRAND);
+};
+
+hdlr = function(type) {
+ return box(types.hdlr, HDLR_TYPES[type]);
+};
+mdat = function(data) {
+ return box(types.mdat, data);
+};
+mdhd = function(track) {
+ var result = new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x02, // creation_time
+ 0x00, 0x00, 0x00, 0x03, // modification_time
+ 0x00, 0x01, 0x5f, 0x90, // timescale, 90,000 "ticks" per second
+
+ (track.duration >>> 24) & 0xFF,
+ (track.duration >>> 16) & 0xFF,
+ (track.duration >>> 8) & 0xFF,
+ track.duration & 0xFF, // duration
+ 0x55, 0xc4, // 'und' language (undetermined)
+ 0x00, 0x00
+ ]);
+
+ // Use the sample rate from the track metadata, when it is
+ // defined. The sample rate can be parsed out of an ADTS header, for
+ // instance.
+ if (track.samplerate) {
+ result[12] = (track.samplerate >>> 24) & 0xFF;
+ result[13] = (track.samplerate >>> 16) & 0xFF;
+ result[14] = (track.samplerate >>> 8) & 0xFF;
+ result[15] = (track.samplerate) & 0xFF;
+ }
+
+ return box(types.mdhd, result);
+};
+mdia = function(track) {
+ return box(types.mdia, mdhd(track), hdlr(track.type), minf(track));
+};
+mfhd = function(sequenceNumber) {
+ return box(types.mfhd, new Uint8Array([
+ 0x00,
+ 0x00, 0x00, 0x00, // flags
+ (sequenceNumber & 0xFF000000) >> 24,
+ (sequenceNumber & 0xFF0000) >> 16,
+ (sequenceNumber & 0xFF00) >> 8,
+ sequenceNumber & 0xFF // sequence_number
+ ]));
+};
+minf = function(track) {
+ return box(types.minf,
+ track.type === 'video' ? box(types.vmhd, VMHD) : box(types.smhd, SMHD),
+ dinf(),
+ stbl(track));
+};
+moof = function(sequenceNumber, tracks) {
+ var
+ trackFragments = [],
+ i = tracks.length;
+ // build traf boxes for each track fragment
+ while (i--) {
+ trackFragments[i] = traf(tracks[i]);
+ }
+ return box.apply(null, [
+ types.moof,
+ mfhd(sequenceNumber)
+ ].concat(trackFragments));
+};
+/**
+ * Returns a movie box.
+ * @param tracks {array} the tracks associated with this movie
+ * @see ISO/IEC 14496-12:2012(E), section 8.2.1
+ */
+moov = function(tracks) {
+ var
+ i = tracks.length,
+ boxes = [];
+
+ while (i--) {
+ boxes[i] = trak(tracks[i]);
+ }
+
+ return box.apply(null, [types.moov, mvhd(0xffffffff)].concat(boxes).concat(mvex(tracks)));
+};
+mvex = function(tracks) {
+ var
+ i = tracks.length,
+ boxes = [];
+
+ while (i--) {
+ boxes[i] = trex(tracks[i]);
+ }
+ return box.apply(null, [types.mvex].concat(boxes));
+};
+mvhd = function(duration) {
+ var
+ bytes = new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x01, // creation_time
+ 0x00, 0x00, 0x00, 0x02, // modification_time
+ 0x00, 0x01, 0x5f, 0x90, // timescale, 90,000 "ticks" per second
+ (duration & 0xFF000000) >> 24,
+ (duration & 0xFF0000) >> 16,
+ (duration & 0xFF00) >> 8,
+ duration & 0xFF, // duration
+ 0x00, 0x01, 0x00, 0x00, // 1.0 rate
+ 0x01, 0x00, // 1.0 volume
+ 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x01, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x01, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x40, 0x00, 0x00, 0x00, // transformation: unity matrix
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, // pre_defined
+ 0xff, 0xff, 0xff, 0xff // next_track_ID
+ ]);
+ return box(types.mvhd, bytes);
+};
+
+sdtp = function(track) {
+ var
+ samples = track.samples || [],
+ bytes = new Uint8Array(4 + samples.length),
+ flags,
+ i;
+
+ // leave the full box header (4 bytes) all zero
+
+ // write the sample table
+ for (i = 0; i < samples.length; i++) {
+ flags = samples[i].flags;
+
+ bytes[i + 4] = (flags.dependsOn << 4) |
+ (flags.isDependedOn << 2) |
+ (flags.hasRedundancy);
+ }
+
+ return box(types.sdtp,
+ bytes);
+};
+
+stbl = function(track) {
+ return box(types.stbl,
+ stsd(track),
+ box(types.stts, STTS),
+ box(types.stsc, STSC),
+ box(types.stsz, STSZ),
+ box(types.stco, STCO));
+};
+
+(function() {
+ var videoSample, audioSample;
+
+ stsd = function(track) {
+
+ return box(types.stsd, new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x01
+ ]), track.type === 'video' ? videoSample(track) : audioSample(track));
+ };
+
+ videoSample = function(track) {
+ var
+ sps = track.sps || [],
+ pps = track.pps || [],
+ sequenceParameterSets = [],
+ pictureParameterSets = [],
+ i,
+ avc1Box;
+
+ // assemble the SPSs
+ for (i = 0; i < sps.length; i++) {
+ sequenceParameterSets.push((sps[i].byteLength & 0xFF00) >>> 8);
+ sequenceParameterSets.push((sps[i].byteLength & 0xFF)); // sequenceParameterSetLength
+ sequenceParameterSets = sequenceParameterSets.concat(Array.prototype.slice.call(sps[i])); // SPS
}
- if (logger) {
- logger.apply(void 0, [message].concat(optionalParams));
+
+ // assemble the PPSs
+ for (i = 0; i < pps.length; i++) {
+ pictureParameterSets.push((pps[i].byteLength & 0xFF00) >>> 8);
+ pictureParameterSets.push((pps[i].byteLength & 0xFF));
+ pictureParameterSets = pictureParameterSets.concat(Array.prototype.slice.call(pps[i]));
}
-}
-exports.log = log;
-function error(message) {
- var optionalParams = [];
- for (var _i = 1; _i < arguments.length; _i++) {
- optionalParams[_i - 1] = arguments[_i];
+
+ avc1Box = [
+ types.avc1, new Uint8Array([
+ 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x01, // data_reference_index
+ 0x00, 0x00, // pre_defined
+ 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, // pre_defined
+ (track.width & 0xff00) >> 8,
+ track.width & 0xff, // width
+ (track.height & 0xff00) >> 8,
+ track.height & 0xff, // height
+ 0x00, 0x48, 0x00, 0x00, // horizresolution
+ 0x00, 0x48, 0x00, 0x00, // vertresolution
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x01, // frame_count
+ 0x13,
+ 0x76, 0x69, 0x64, 0x65,
+ 0x6f, 0x6a, 0x73, 0x2d,
+ 0x63, 0x6f, 0x6e, 0x74,
+ 0x72, 0x69, 0x62, 0x2d,
+ 0x68, 0x6c, 0x73, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, // compressorname
+ 0x00, 0x18, // depth = 24
+ 0x11, 0x11 // pre_defined = -1
+ ]),
+ box(types.avcC, new Uint8Array([
+ 0x01, // configurationVersion
+ track.profileIdc, // AVCProfileIndication
+ track.profileCompatibility, // profile_compatibility
+ track.levelIdc, // AVCLevelIndication
+ 0xff // lengthSizeMinusOne, hard-coded to 4 bytes
+ ].concat(
+ [sps.length], // numOfSequenceParameterSets
+ sequenceParameterSets, // "SPS"
+ [pps.length], // numOfPictureParameterSets
+ pictureParameterSets // "PPS"
+ ))),
+ box(types.btrt, new Uint8Array([
+ 0x00, 0x1c, 0x9c, 0x80, // bufferSizeDB
+ 0x00, 0x2d, 0xc6, 0xc0, // maxBitrate
+ 0x00, 0x2d, 0xc6, 0xc0 // avgBitrate
+ ]))
+ ];
+
+ if (track.sarRatio) {
+ var
+ hSpacing = track.sarRatio[0],
+ vSpacing = track.sarRatio[1];
+
+ avc1Box.push(
+ box(types.pasp, new Uint8Array([
+ (hSpacing & 0xFF000000) >> 24,
+ (hSpacing & 0xFF0000) >> 16,
+ (hSpacing & 0xFF00) >> 8,
+ hSpacing & 0xFF,
+ (vSpacing & 0xFF000000) >> 24,
+ (vSpacing & 0xFF0000) >> 16,
+ (vSpacing & 0xFF00) >> 8,
+ vSpacing & 0xFF
+ ]))
+ );
}
- if (errorLogger) {
- errorLogger.apply(void 0, [message].concat(optionalParams));
+
+ return box.apply(null, avc1Box);
+ };
+
+ audioSample = function(track) {
+ console.log("AUDIO", track);
+ if (track.codec == "opus") {
+ let samplesize = 16;
+ let samplerate = 48000;
+ return box(types.Opus, new Uint8Array([
+
+ // SampleEntry, ISO/IEC 14496-12
+ 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x01, // data_reference_index
+
+ // AudioSampleEntry, ISO/IEC 14496-12
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ (track.channelcount & 0xff00) >> 8,
+ (track.channelcount & 0xff), // channelcount
+
+ (samplesize & 0xff00) >> 8,
+ (samplesize & 0xff), // samplesize
+ 0x00, 0x00, // pre_defined
+ 0x00, 0x00, // reserved
+
+ (samplerate & 0xff00) >> 8,
+ (samplerate & 0xff),
+ 0x00, 0x00 // samplerate, 16.16
+
+ // OpusSpecificSampleEntry
+ ]), osse(track));
+ } else {
+ return box(types.mp4a, new Uint8Array([
+
+ // SampleEntry, ISO/IEC 14496-12
+ 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x01, // data_reference_index
+
+ // AudioSampleEntry, ISO/IEC 14496-12
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ (track.channelcount & 0xff00) >> 8,
+ (track.channelcount & 0xff), // channelcount
+
+ (track.samplesize & 0xff00) >> 8,
+ (track.samplesize & 0xff), // samplesize
+ 0x00, 0x00, // pre_defined
+ 0x00, 0x00, // reserved
+
+ (track.samplerate & 0xff00) >> 8,
+ (track.samplerate & 0xff),
+ 0x00, 0x00 // samplerate, 16.16
+
+ // MP4AudioSampleEntry, ISO/IEC 14496-14
+ ]), esds(track));
+ };
+ }
+}());
+
+tkhd = function(track) {
+ var result = new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x07, // flags
+ 0x00, 0x00, 0x00, 0x00, // creation_time
+ 0x00, 0x00, 0x00, 0x00, // modification_time
+ (track.id & 0xFF000000) >> 24,
+ (track.id & 0xFF0000) >> 16,
+ (track.id & 0xFF00) >> 8,
+ track.id & 0xFF, // track_ID
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ (track.duration & 0xFF000000) >> 24,
+ (track.duration & 0xFF0000) >> 16,
+ (track.duration & 0xFF00) >> 8,
+ track.duration & 0xFF, // duration
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, // layer
+ 0x00, 0x00, // alternate_group
+ 0x01, 0x00, // non-audio track volume
+ 0x00, 0x00, // reserved
+ 0x00, 0x01, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x01, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x40, 0x00, 0x00, 0x00, // transformation: unity matrix
+ (track.width & 0xFF00) >> 8,
+ track.width & 0xFF,
+ 0x00, 0x00, // width
+ (track.height & 0xFF00) >> 8,
+ track.height & 0xFF,
+ 0x00, 0x00 // height
+ ]);
+
+ return box(types.tkhd, result);
+};
+
+/**
+ * Generate a track fragment (traf) box. A traf box collects metadata
+ * about tracks in a movie fragment (moof) box.
+ */
+traf = function(track) {
+ var trackFragmentHeader, trackFragmentDecodeTime, trackFragmentRun,
+ sampleDependencyTable, dataOffset,
+ upperWordBaseMediaDecodeTime, lowerWordBaseMediaDecodeTime;
+
+ trackFragmentHeader = box(types.tfhd, new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x3a, // flags
+ (track.id & 0xFF000000) >> 24,
+ (track.id & 0xFF0000) >> 16,
+ (track.id & 0xFF00) >> 8,
+ (track.id & 0xFF), // track_ID
+ 0x00, 0x00, 0x00, 0x01, // sample_description_index
+ 0x00, 0x00, 0x00, 0x00, // default_sample_duration
+ 0x00, 0x00, 0x00, 0x00, // default_sample_size
+ 0x00, 0x00, 0x00, 0x00 // default_sample_flags
+ ]));
+
+ upperWordBaseMediaDecodeTime = Math.floor(track.baseMediaDecodeTime / (UINT32_MAX + 1));
+ lowerWordBaseMediaDecodeTime = Math.floor(track.baseMediaDecodeTime % (UINT32_MAX + 1));
+
+ trackFragmentDecodeTime = box(types.tfdt, new Uint8Array([
+ 0x01, // version 1
+ 0x00, 0x00, 0x00, // flags
+ // baseMediaDecodeTime
+ (upperWordBaseMediaDecodeTime >>> 24) & 0xFF,
+ (upperWordBaseMediaDecodeTime >>> 16) & 0xFF,
+ (upperWordBaseMediaDecodeTime >>> 8) & 0xFF,
+ upperWordBaseMediaDecodeTime & 0xFF,
+ (lowerWordBaseMediaDecodeTime >>> 24) & 0xFF,
+ (lowerWordBaseMediaDecodeTime >>> 16) & 0xFF,
+ (lowerWordBaseMediaDecodeTime >>> 8) & 0xFF,
+ lowerWordBaseMediaDecodeTime & 0xFF
+ ]));
+
+ // the data offset specifies the number of bytes from the start of
+ // the containing moof to the first payload byte of the associated
+ // mdat
+ dataOffset = (32 + // tfhd
+ 20 + // tfdt
+ 8 + // traf header
+ 16 + // mfhd
+ 8 + // moof header
+ 8); // mdat header
+
+ // audio tracks require less metadata
+ if (track.type === 'audio') {
+ trackFragmentRun = trun(track, dataOffset);
+ return box(types.traf,
+ trackFragmentHeader,
+ trackFragmentDecodeTime,
+ trackFragmentRun);
+ }
+
+ // video tracks should contain an independent and disposable samples
+ // box (sdtp)
+ // generate one and adjust offsets to match
+ sampleDependencyTable = sdtp(track);
+ trackFragmentRun = trun(track,
+ sampleDependencyTable.length + dataOffset);
+ return box(types.traf,
+ trackFragmentHeader,
+ trackFragmentDecodeTime,
+ trackFragmentRun,
+ sampleDependencyTable);
+};
+
+/**
+ * Generate a track box.
+ * @param track {object} a track definition
+ * @return {Uint8Array} the track box
+ */
+trak = function(track) {
+ track.duration = track.duration || 0xffffffff;
+ return box(types.trak,
+ tkhd(track),
+ mdia(track));
+};
+
+trex = function(track) {
+ var result = new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x00, // flags
+ (track.id & 0xFF000000) >> 24,
+ (track.id & 0xFF0000) >> 16,
+ (track.id & 0xFF00) >> 8,
+ (track.id & 0xFF), // track_ID
+ 0x00, 0x00, 0x00, 0x01, // default_sample_description_index
+ 0x00, 0x00, 0x00, 0x00, // default_sample_duration
+ 0x00, 0x00, 0x00, 0x00, // default_sample_size
+ 0x00, 0x01, 0x00, 0x01 // default_sample_flags
+ ]);
+ // the last two bytes of default_sample_flags is the sample
+ // degradation priority, a hint about the importance of this sample
+ // relative to others. Lower the degradation priority for all sample
+ // types other than video.
+ if (track.type !== 'video') {
+ result[result.length - 1] = 0x00;
+ }
+
+ return box(types.trex, result);
+};
+
+(function() {
+ var audioTrun, videoTrun, trunHeader;
+
+ // This method assumes all samples are uniform. That is, if a
+ // duration is present for the first sample, it will be present for
+ // all subsequent samples.
+ // see ISO/IEC 14496-12:2012, Section 8.8.8.1
+ trunHeader = function(samples, offset) {
+ var durationPresent = 0, sizePresent = 0,
+ flagsPresent = 0, compositionTimeOffset = 0;
+
+ // trun flag constants
+ if (samples.length) {
+ if (samples[0].duration !== undefined) {
+ durationPresent = 0x1;
+ }
+ if (samples[0].size !== undefined) {
+ sizePresent = 0x2;
+ }
+ if (samples[0].flags !== undefined) {
+ flagsPresent = 0x4;
+ }
+ if (samples[0].compositionTimeOffset !== undefined) {
+ compositionTimeOffset = 0x8;
+ }
}
-}
-exports.error = error;
-},{}],51:[function(require,module,exports){
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-var NALU_1 = require("./NALU");
-var VideoStreamBuffer = (function () {
- function VideoStreamBuffer() {
+ return [
+ 0x00, // version 0
+ 0x00,
+ durationPresent | sizePresent | flagsPresent | compositionTimeOffset,
+ 0x01, // flags
+ (samples.length & 0xFF000000) >>> 24,
+ (samples.length & 0xFF0000) >>> 16,
+ (samples.length & 0xFF00) >>> 8,
+ samples.length & 0xFF, // sample_count
+ (offset & 0xFF000000) >>> 24,
+ (offset & 0xFF0000) >>> 16,
+ (offset & 0xFF00) >>> 8,
+ offset & 0xFF // data_offset
+ ];
+ };
+
+ videoTrun = function(track, offset) {
+ var bytesOffest, bytes, header, samples, sample, i;
+
+ samples = track.samples || [];
+ offset += 8 + 12 + (16 * samples.length);
+ header = trunHeader(samples, offset);
+ bytes = new Uint8Array(header.length + samples.length * 16);
+ bytes.set(header);
+ bytesOffest = header.length;
+
+ for (i = 0; i < samples.length; i++) {
+ sample = samples[i];
+
+ bytes[bytesOffest++] = (sample.duration & 0xFF000000) >>> 24;
+ bytes[bytesOffest++] = (sample.duration & 0xFF0000) >>> 16;
+ bytes[bytesOffest++] = (sample.duration & 0xFF00) >>> 8;
+ bytes[bytesOffest++] = sample.duration & 0xFF; // sample_duration
+ bytes[bytesOffest++] = (sample.size & 0xFF000000) >>> 24;
+ bytes[bytesOffest++] = (sample.size & 0xFF0000) >>> 16;
+ bytes[bytesOffest++] = (sample.size & 0xFF00) >>> 8;
+ bytes[bytesOffest++] = sample.size & 0xFF; // sample_size
+ bytes[bytesOffest++] = (sample.flags.isLeading << 2) | sample.flags.dependsOn;
+ bytes[bytesOffest++] = (sample.flags.isDependedOn << 6) |
+ (sample.flags.hasRedundancy << 4) |
+ (sample.flags.paddingValue << 1) |
+ sample.flags.isNonSyncSample;
+ bytes[bytesOffest++] = sample.flags.degradationPriority & 0xF0 << 8;
+ bytes[bytesOffest++] = sample.flags.degradationPriority & 0x0F; // sample_flags
+ bytes[bytesOffest++] = (sample.compositionTimeOffset & 0xFF000000) >>> 24;
+ bytes[bytesOffest++] = (sample.compositionTimeOffset & 0xFF0000) >>> 16;
+ bytes[bytesOffest++] = (sample.compositionTimeOffset & 0xFF00) >>> 8;
+ bytes[bytesOffest++] = sample.compositionTimeOffset & 0xFF; // sample_composition_time_offset
}
- VideoStreamBuffer.prototype.clear = function () {
- this.buffer = undefined;
- };
- VideoStreamBuffer.prototype.append = function (value) {
- var nextNalHeader = function (b) {
- var i = 3;
- return function () {
- var count = 0;
- for (; i < b.length; i++) {
- switch (b[i]) {
- case 0:
- count++;
- break;
- case 1:
- if (count === 3) {
- return i - 3;
- }
- default:
- count = 0;
- }
- }
- return;
- };
- };
- var result = [];
- var buffer;
- if (this.buffer) {
- if (value[3] === 1 && value[2] === 0 && value[1] === 0 && value[0] === 0) {
- result.push(new NALU_1.default(this.buffer.subarray(4)));
- buffer = Uint8Array.from(value);
- }
- }
- if (buffer == null) {
- buffer = this.mergeBuffer(value);
- }
- var lastIndex = 0;
- var f = nextNalHeader(buffer);
- for (var index = f(); index != null; index = f()) {
- result.push(new NALU_1.default(buffer.subarray(lastIndex + 4, index)));
- lastIndex = index;
- }
- this.buffer = buffer.subarray(lastIndex);
- return result;
- };
- VideoStreamBuffer.prototype.mergeBuffer = function (value) {
- if (this.buffer == null) {
- return Uint8Array.from(value);
- }
- else {
- var newBuffer = new Uint8Array(this.buffer.byteLength + value.length);
- if (this.buffer.byteLength > 0) {
- newBuffer.set(this.buffer, 0);
- }
- newBuffer.set(value, this.buffer.byteLength);
- return newBuffer;
- }
- };
- return VideoStreamBuffer;
-}());
-exports.default = VideoStreamBuffer;
+ return box(types.trun, bytes);
+ };
-},{"./NALU":48}],52:[function(require,module,exports){
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-var h264_remuxer_1 = require("./h264-remuxer");
-var mp4_generator_1 = require("./mp4-generator");
-var debug = require("./util/debug");
-var nalu_stream_buffer_1 = require("./util/nalu-stream-buffer");
-exports.mimeType = 'video/mp4; codecs="avc1.42E01E"';
-var VideoConverter = (function () {
- function VideoConverter(element, fps, fpf) {
- if (fps === void 0) { fps = 60; }
- if (fpf === void 0) { fpf = fps; }
- this.element = element;
- this.fps = fps;
- this.fpf = fpf;
- this.receiveBuffer = new nalu_stream_buffer_1.default();
- this.queue = [];
- if (!MediaSource || !MediaSource.isTypeSupported(exports.mimeType)) {
- throw new Error("Your browser is not supported: " + exports.mimeType);
- }
- this.reset();
- }
- Object.defineProperty(VideoConverter, "errorNotes", {
- get: function () {
- return _a = {},
- _a[MediaError.MEDIA_ERR_ABORTED] = 'fetching process aborted by user',
- _a[MediaError.MEDIA_ERR_NETWORK] = 'error occurred when downloading',
- _a[MediaError.MEDIA_ERR_DECODE] = 'error occurred when decoding',
- _a[MediaError.MEDIA_ERR_SRC_NOT_SUPPORTED] = 'audio/video not supported',
- _a;
- var _a;
- },
- enumerable: true,
- configurable: true
- });
- VideoConverter.prototype.setup = function () {
- var _this = this;
- this.mediaReadyPromise = new Promise(function (resolve, _reject) {
- _this.mediaSource.addEventListener('sourceopen', function () {
- debug.log("Media Source opened.");
- _this.sourceBuffer = _this.mediaSource.addSourceBuffer(exports.mimeType);
- _this.sourceBuffer.addEventListener('updateend', function () {
- debug.log(" SourceBuffer updateend");
- debug.log(" sourceBuffer.buffered.length=" + _this.sourceBuffer.buffered.length);
- for (var i = 0, len = _this.sourceBuffer.buffered.length; i < len; i++) {
- debug.log(" sourceBuffer.buffered [" + i + "]: " +
- (_this.sourceBuffer.buffered.start(i) + ", " + _this.sourceBuffer.buffered.end(i)));
- }
- debug.log(" mediasource.duration=" + _this.mediaSource.duration);
- debug.log(" mediasource.readyState=" + _this.mediaSource.readyState);
- debug.log(" video.duration=" + _this.element.duration);
- debug.log(" video.buffered.length=" + _this.element.buffered.length);
- if (debug.isEnable()) {
- for (var i = 0, len = _this.element.buffered.length; i < len; i++) {
- debug.log(" video.buffered [" + i + "]: " + _this.element.buffered.start(i) + ", " + _this.element.buffered.end(i));
- }
- }
- debug.log(" video.currentTime=" + _this.element.currentTime);
- debug.log(" video.readyState=" + _this.element.readyState);
- var data = _this.queue.shift();
- if (data) {
- _this.writeBuffer(data);
- }
- });
- _this.sourceBuffer.addEventListener('error', function () {
- debug.error(' SourceBuffer errored!');
- });
- _this.mediaReady = true;
- resolve();
- }, false);
- _this.mediaSource.addEventListener('sourceclose', function () {
- debug.log("Media Source closed.");
- _this.mediaReady = false;
- }, false);
- _this.element.src = URL.createObjectURL(_this.mediaSource);
- });
- return this.mediaReadyPromise;
- };
- VideoConverter.prototype.play = function () {
- var _this = this;
- if (!this.element.paused) {
- return;
- }
- if (this.mediaReady && this.element.readyState >= 2) {
- this.element.play();
- }
- else {
- var handler_1 = function () {
- _this.play();
- _this.element.removeEventListener('canplaythrough', handler_1);
- };
- this.element.addEventListener('canplaythrough', handler_1);
- }
- };
- VideoConverter.prototype.pause = function () {
- if (this.element.paused) {
- return;
- }
- this.element.pause();
- };
- VideoConverter.prototype.reset = function () {
- this.receiveBuffer.clear();
- if (this.mediaSource && this.mediaSource.readyState === 'open') {
- this.mediaSource.duration = 0;
- this.mediaSource.endOfStream();
- }
- this.mediaSource = new MediaSource();
- this.remuxer = new h264_remuxer_1.default(this.fps, this.fpf, this.fps * 60);
- this.mediaReady = false;
- this.mediaReadyPromise = undefined;
- this.queue = [];
- this.isFirstFrame = true;
- this.setup();
- };
- VideoConverter.prototype.appendRawData = function (data) {
- var nalus = this.receiveBuffer.append(data);
- for (var _i = 0, nalus_1 = nalus; _i < nalus_1.length; _i++) {
- var nalu = nalus_1[_i];
- var ret = this.remuxer.remux(nalu);
- if (ret) {
- this.writeFragment(ret[0], ret[1]);
- }
- }
- };
- VideoConverter.prototype.writeFragment = function (dts, pay) {
- var remuxer = this.remuxer;
- if (remuxer.mp4track.isKeyFrame) {
- this.writeBuffer(mp4_generator_1.default.initSegment([remuxer.mp4track], Infinity, remuxer.timescale));
- }
- if (pay && pay.byteLength) {
- debug.log(" Put fragment: " + remuxer.seqNum + ", frames=" + remuxer.mp4track.samples.length + ", size=" + pay.byteLength);
- var fragment = mp4_generator_1.default.fragmentSegment(remuxer.seqNum, dts, remuxer.mp4track, pay);
- this.writeBuffer(fragment);
- remuxer.flush();
- }
- else {
- debug.error("Nothing payload!");
- }
- };
- VideoConverter.prototype.writeBuffer = function (data) {
- var _this = this;
- if (this.mediaReady) {
- if (this.sourceBuffer.updating) {
- this.queue.push(data);
- }
- else {
- this.doAppend(data);
- }
- }
- else {
- this.queue.push(data);
- if (this.mediaReadyPromise) {
- this.mediaReadyPromise.then(function () {
- if (!_this.sourceBuffer.updating) {
- var d = _this.queue.shift();
- if (d) {
- _this.writeBuffer(d);
- }
- }
- });
- this.mediaReadyPromise = undefined;
- }
- }
- };
- VideoConverter.prototype.doAppend = function (data) {
- var error = this.element.error;
- if (error) {
- debug.error("MSE Error Occured: " + VideoConverter.errorNotes[error.code]);
- this.element.pause();
- if (this.mediaSource.readyState === 'open') {
- this.mediaSource.endOfStream();
- }
- }
- else {
- try {
- this.sourceBuffer.appendBuffer(data);
- debug.log(" appended buffer: size=" + data.byteLength);
- }
- catch (err) {
- debug.error("MSE Error occured while appending buffer. " + err.name + ": " + err.message);
- }
- }
- };
- return VideoConverter;
+ audioTrun = function(track, offset) {
+ var bytes, bytesOffest, header, samples, sample, i;
+
+ samples = track.samples || [];
+ offset += 8 + 12 + (8 * samples.length);
+
+ header = trunHeader(samples, offset);
+ bytes = new Uint8Array(header.length + samples.length * 8);
+ bytes.set(header);
+ bytesOffest = header.length;
+
+ for (i = 0; i < samples.length; i++) {
+ sample = samples[i];
+ bytes[bytesOffest++] = (sample.duration & 0xFF000000) >>> 24;
+ bytes[bytesOffest++] = (sample.duration & 0xFF0000) >>> 16;
+ bytes[bytesOffest++] = (sample.duration & 0xFF00) >>> 8;
+ bytes[bytesOffest++] = sample.duration & 0xFF; // sample_duration
+ bytes[bytesOffest++] = (sample.size & 0xFF000000) >>> 24;
+ bytes[bytesOffest++] = (sample.size & 0xFF0000) >>> 16;
+ bytes[bytesOffest++] = (sample.size & 0xFF00) >>> 8;
+ bytes[bytesOffest++] = sample.size & 0xFF; // sample_size
+ }
+
+ return box(types.trun, bytes);
+ };
+
+ trun = function(track, offset) {
+ if (track.type === 'audio') {
+ return audioTrun(track, offset);
+ }
+
+ return videoTrun(track, offset);
+ };
}());
-exports.default = VideoConverter;
-},{"./h264-remuxer":46,"./mp4-generator":47,"./util/debug":50,"./util/nalu-stream-buffer":51}],53:[function(require,module,exports){
+module.exports = {
+ ftyp: ftyp,
+ mdat: mdat,
+ moof: moof,
+ moov: moov,
+ initSegment: function(tracks) {
+ var
+ fileType = ftyp(),
+ movie = moov(tracks),
+ result;
+
+ result = new Uint8Array(fileType.byteLength + movie.byteLength);
+ result.set(fileType);
+ result.set(movie, fileType.byteLength);
+ return result;
+ }
+};
+},{}],112:[function(require,module,exports){
(function (Buffer){
const msgpack = require('msgpack5')()
, encode = msgpack.encode
@@ -61758,8 +72693,8 @@ function Peer(ws) {
this._notify("disconnect", this);
}
- let error = () => {
- console.error("Socket error");
+ let error = (e) => {
+ console.error("Socket error: ", e);
this.sock.close();
this.status = kDisconnected;
}
@@ -61972,7 +72907,7 @@ Peer.prototype.getUuid = function() {
module.exports = Peer;
}).call(this,require("buffer").Buffer)
-},{"./utils/uuidParser":54,"buffer":8,"msgpack5":15,"uuid":39}],54:[function(require,module,exports){
+},{"./utils/uuidParser":113,"buffer":9,"msgpack5":32,"uuid":103}],113:[function(require,module,exports){
// Maps for number <-> hex string conversion
var _byteToHex = [];
var _hexToByte = {};
@@ -62027,4 +72962,4 @@ module.exports = {
parse: parse,
unparse: unparse
};
-},{}]},{},[44]);
+},{}]},{},[110]);
diff --git a/web-service/public/js/ftlmse.js b/web-service/public/js/ftlmse.js
new file mode 100644
index 0000000000000000000000000000000000000000..82028c451af115165e971562a67c9982c9103977
--- /dev/null
+++ b/web-service/public/js/ftlmse.js
@@ -0,0 +1,108 @@
+var ee = require('event-emitter');
+const FTLRemux = require('./ftlremux');
+
+function FTLMSE(video) {
+ this.video = video;
+ this.remux = new FTLRemux();
+
+ this.paused = false;
+ this.active = false;
+
+ this.remux.on('data', (data) => {
+ if (this.sourceBuffer.updating) {
+ this.queue.push(data);
+ } else {
+ //console.log("Direct append: ", data);
+
+ try {
+ this.sourceBuffer.appendBuffer(data);
+ } catch (e) {
+ console.error("Failed to append buffer");
+ }
+ }
+ });
+
+ // TODO: Generate
+ //this.mime = 'video/mp4; codecs="avc1.640028, opus"';
+ this.mime = null;
+
+ this.mediaSource = new MediaSource();
+ //this.element.play();
+ this.sourceBuffer = null;
+
+ this.video.addEventListener('pause', (e) => {
+ console.log("pause");
+ this.active = false;
+ });
+
+ this.video.addEventListener('play', (e) => {
+ console.log("Play");
+ this.active = true;
+ this.remux.select(0,0,0);
+ });
+
+ this.mediaSource.addEventListener('sourceopen', (e) => {
+ console.log("Source Open", e);
+ URL.revokeObjectURL(this.video.src);
+ console.log(this.mediaSource.readyState);
+ this.sourceBuffer = e.target.addSourceBuffer(this.mime);
+ //this.sourceBuffer.mode = 'sequence';
+ this.active = true;
+
+ this.sourceBuffer.addEventListener('error', (e) => {
+ console.error("SourceBuffer: ", e);
+ this.active = false;
+ });
+
+ this.sourceBuffer.addEventListener('updateend', () => {
+ if (this.queue.length > 0 && !this.sourceBuffer.updating) {
+ let s = this.queue[0];
+ this.queue.shift();
+ //console.log("Append", s);
+
+ try {
+ this.sourceBuffer.appendBuffer(s);
+ } catch(e) {
+ console.error("Failed to append buffer");
+ }
+ }
+ });
+ });
+
+ this.queue = [];
+ //this.video.src = URL.createObjectURL(this.mediaSource);
+
+ this.has_audio = false;
+ this.first_ts = 0;
+}
+
+ee(FTLMSE.prototype);
+
+FTLMSE.prototype.push = function(spkt, pkt) {
+ if (this.first_ts == 0) this.first_ts = spkt[0];
+
+ // Skip first 200ms, use to analyse the stream contents
+ if (spkt[0] < this.first_ts + 200) {
+ if (spkt[3] == 32 || spkt[3] == 33) this.has_audio = true;
+ } else {
+ if (!this.mime) {
+ if (this.has_audio) {
+ console.log("Create video with audio");
+ this.mime = 'video/mp4; codecs="avc1.640028, opus"';
+ this.remux.has_audio = true;
+ } else {
+ console.log("Create video without audio");
+ this.mime = 'video/mp4; codecs="avc1.640028"';
+ this.remux.has_audio = false;
+ }
+ this.video.src = URL.createObjectURL(this.mediaSource);
+ }
+ this.remux.push(spkt,pkt);
+ }
+}
+
+FTLMSE.prototype.select = function(frameset, source, channel) {
+ this.remux.select(frameset, source, channel);
+}
+
+module.exports = FTLMSE;
diff --git a/applications/gui/test/CMakeLists.txt b/web-service/public/js/ftlplayer.js
similarity index 100%
rename from applications/gui/test/CMakeLists.txt
rename to web-service/public/js/ftlplayer.js
diff --git a/web-service/public/js/ftlremux.js b/web-service/public/js/ftlremux.js
new file mode 100644
index 0000000000000000000000000000000000000000..637364518d88fd8af5152ba41f7b59f79f06a48a
--- /dev/null
+++ b/web-service/public/js/ftlremux.js
@@ -0,0 +1,289 @@
+var ee = require('event-emitter');
+const MUXJS = require('mux.js');
+const MP4 = require('./lib/mp4-generator');
+const H264Stream = MUXJS.codecs.h264.H264Stream;
+
+const VIDEO_PROPERTIES = [
+ 'width',
+ 'height',
+ 'profileIdc',
+ 'levelIdc',
+ 'profileCompatibility',
+ 'sarRatio'
+ ];
+
+function getNALType(data) {
+ return (data.length > 4) ? data.readUInt8(4) & 0x1F : 0;
+}
+
+function isKeyFrame(data) {
+ return getNALType(data) == 7; // SPS
+}
+
+function concatNals(sample) {
+ let length = sample.size;
+ let data = new Uint8Array(length);
+ let view = new DataView(data.buffer);
+ let dataOffset = 0;
+
+ for (var i=0; i<sample.units.length; ++i) {
+ view.setUint32(dataOffset, sample.units[i].data.byteLength);
+ dataOffset += 4;
+ data.set(sample.units[i].data, dataOffset);
+ dataOffset += sample.units[i].data.byteLength;
+ }
+
+ sample.data = data;
+}
+
+function concatAudioSamples(samples) {
+ let totallen = 0;
+ for (let i=0; i<samples.length; ++i) {
+ totallen += samples[i].size;
+ }
+
+ let result = new Uint8Array(totallen);
+ let offset = 0;
+ for (let i=0; i<samples.length; ++i) {
+ result.set(samples[i].data, offset);
+ offset += samples[i].size;
+ }
+ return MP4.mdat(result);
+}
+
+function reformAudio(data) {
+ let offset = 0;
+ let results = [];
+
+ while (offset < data.length) {
+ let l = data[offset] + (data[offset+1] << 8); //view.getInt16(offset);
+ offset += 2;
+ //console.log("Opus frame code = ", data[offset] & 0x03, l);
+ //let p;
+ let p = data.subarray(offset, offset+l);
+ /*let ll = l-1; // Remove config byte
+ if (ll <= 251) {
+ p = new Uint8Array(l+1);
+ p[0] = data[offset];
+ p[1] = ll & 0xff;
+ p.set(data.subarray(offset+1, offset+l), 2);
+ } else {
+ //let p = data.subarray(offset, offset+l);
+ p = new Uint8Array(l+2);
+ p[0] = data[offset];
+ let l2 = (ll-252) >> 2;
+ let l1 = 252 + ((ll-252) - (l2 << 2));
+ p[1] = l1;
+ p[3] = l2;
+ console.log("Opus size", l1 + 4*l2, ll, l1, l2);
+ p.set(data.subarray(offset+1, offset+l), 3);
+ }*/
+ //let mdat = MP4.mdat(p);
+ results.push({size: p.byteLength, duration: 1800, data: p});
+ offset += l;
+ }
+
+ return results;
+}
+
+var createDefaultSample = function() {
+ return {
+ units: [],
+ data: null,
+ size: 0,
+ compositionTimeOffset: 1,
+ duration: 0,
+ dataOffset: 0,
+ flags: {
+ isLeading: 0,
+ dependsOn: 1,
+ isDependedOn: 0,
+ hasRedundancy: 0,
+ degradationPriority: 0,
+ isNonSyncSample: 1
+ },
+ keyFrame: true
+ };
+ };
+
+/**
+ * Convert FTL stream packets into MP4 fragments for use with MSE. It emits
+ * 'data' events with a single argument containing the MP4 fragment.
+ */
+function FTLRemux() {
+ this.frameset = 0;
+ this.source = 0;
+ this.channel = 0;
+ this.paused = false;
+ this.active = false;
+
+ this.track = {
+ timelineStartInfo: {
+ baseMediaDecodeTime: 0
+ },
+ baseMediaDecodeTime: 0,
+ id: 0,
+ codec: 'avc',
+ type: 'video',
+ samples: [],
+ duration: 0
+ };
+
+ this.audiotrack = {
+ timelineStartInfo: {
+ baseMediaDecodeTime: 0
+ },
+ baseMediaDecodeTime: 1800,
+ id: 1,
+ codec: 'opus',
+ type: 'audio',
+ samples: [{
+ size: 0,
+ duration: 1800 //960
+ }],
+ duration: 0,
+ insamplerate: 48000,
+ channelcount: 2,
+ width: 0,
+ height: 0
+ };
+
+ this.h264 = new H264Stream();
+
+ this.h264.on('data', (nalUnit) => {
+ // record the track config
+ if (nalUnit.nalUnitType === 'seq_parameter_set_rbsp') {
+ this.track.config = nalUnit.config;
+ this.track.sps = [nalUnit.data];
+
+ VIDEO_PROPERTIES.forEach(function(prop) {
+ this.track[prop] = nalUnit.config[prop];
+ }, this);
+ }
+
+ if (nalUnit.nalUnitType === 'pic_parameter_set_rbsp') {
+ //pps = nalUnit.data;
+ this.track.pps = [nalUnit.data];
+ }
+
+ if (!this.init_seg && this.track.sps && this.track.pps) {
+ console.log("Init", this.track);
+ if (this.has_audio) {
+ this.emit('data', MP4.initSegment([this.track, this.audiotrack]));
+ } else {
+ this.emit('data', MP4.initSegment([this.track]));
+ }
+ this.init_seg = true;
+ }
+
+ let keyFrame = nalUnit.nalUnitType == 'slice_layer_without_partitioning_rbsp_idr';
+ let sample = this.track.samples[0];
+ sample.units.push(nalUnit);
+ sample.size += nalUnit.data.byteLength + 4;
+
+ sample.keyFrame &= keyFrame;
+
+ if (keyFrame) {
+ sample.flags.isNonSyncSample = 0;
+ sample.flags.dependsOn = 2;
+ }
+ });
+
+ this.sequenceNo = 0;
+ this.audioSequenceNo = 0;
+ this.seen_keyframe = false;
+ this.ts = 0;
+ this.dts = 0;
+ this.init_seg = false;
+ this.init_audio = false;
+ this.has_audio = false;
+};
+
+ee(FTLRemux.prototype);
+
+FTLRemux.prototype.push = function(spkt, pkt) {
+ if (this.paused || !this.active) {
+ return;
+ }
+
+ if (pkt[0] === 33) { // Opus audio
+ if (this.has_audio && this.init_seg) {
+ // Split into individual packets and create moof+mdat
+ let samples = reformAudio(pkt[5]);
+ this.audiotrack.samples = samples;
+
+ // TODO: Can this audio track be combined into same fragment as video frame?
+ let moof = MP4.moof(this.audioSequenceNo++, [this.audiotrack]);
+ let mdat = concatAudioSamples(samples);
+ let result = new Uint8Array(moof.byteLength + mdat.byteLength);
+ result.set(moof);
+ result.set(mdat, moof.byteLength);
+ this.emit('data', result);
+ this.audiotrack.baseMediaDecodeTime += 1800*samples.length; // 1800 = 20ms*90 or frame size 960@48000hz in 90000 ticks/s
+ }
+ } else if(pkt[0] === 2){ // H264 packet.
+ if (spkt[1] == this.frameset && spkt[2] == this.source && spkt[3] == this.channel) {
+
+ if (!this.seen_keyframe) {
+ if (isKeyFrame(pkt[5])) {
+ console.log("Key frame ", spkt[0]);
+ this.seen_keyframe = true;
+ }
+ }
+
+ if (this.seen_keyframe) {
+ if (this.ts == 0) this.ts = spkt[0];
+ //if (this.track.samples.length > 0) console.error("Unfinished sample");
+ this.dts += spkt[0]-this.ts;
+
+ this.track.samples.push(createDefaultSample());
+
+ this.h264.push({
+ type: 'video',
+ dts: this.dts,
+ pts: spkt[0],
+ data: pkt[5],
+ trackId: 0
+ });
+ this.h264.flush();
+
+ let sample = this.track.samples[0];
+ concatNals(sample);
+ let delta = (spkt[0]-this.ts)*90;
+ sample.duration = (delta > 0) ? delta : 1000;
+
+ let moof = MP4.moof(this.sequenceNo++, [this.track]);
+ let mdat = MP4.mdat(sample.data);
+ let result = new Uint8Array(moof.byteLength + mdat.byteLength);
+ //result.set(MP4.STYP);
+ result.set(moof);
+ result.set(mdat, moof.byteLength);
+ this.emit('data', result);
+
+ this.track.samples = [];
+ this.track.baseMediaDecodeTime += delta;
+
+ this.ts = spkt[0];
+ }
+ }
+ }
+}
+
+FTLRemux.prototype.select = function(frameset, source, channel) {
+ this.frameset = frameset;
+ this.source = source;
+ this.channel = channel;
+
+ this.reset();
+}
+
+FTLRemux.prototype.reset = function() {
+ this.init_seg = false;
+ this.seen_keyframe = false;
+ this.ts = 0;
+ this.track.baseMediaDecodeTime = 0;
+ this.sequenceNo = 0;
+ this.active = true;
+}
+
+module.exports = FTLRemux;
diff --git a/web-service/public/js/ftlstream.js b/web-service/public/js/ftlstream.js
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/web-service/public/js/index.js b/web-service/public/js/index.js
index d251e0117ab792b828b16d1d10829afb752c6162..213be7a979df2b3f912819b33ea32bc08bafd5cc 100644
--- a/web-service/public/js/index.js
+++ b/web-service/public/js/index.js
@@ -1,8 +1,10 @@
const Peer = require('../../server/src/peer')
-const VideoConverter = require('./lib/dist/video-converter');
const msgpack = require('msgpack5')();
const rematrix = require('rematrix');
const THREE = require('three');
+const FTLMSE = require('./ftlmse');
+//const VIDEO_PROPERTIES = require('../../node_modules/mux.js/lib/constants/video-properties.js');
+
let current_data = {};
let peer;
@@ -61,7 +63,7 @@ createVideoPlayer = () => {
containerDiv.innerHTML += ''*/
createPeer();
//connectToStream();
- new FTLStream(peer, current_data.uri, containerDiv);
+ window.ftlstream = new FTLStream(peer, current_data.uri, containerDiv);
}
/**
@@ -80,14 +82,14 @@ renderThumbnails = async () => {
const encodedURI = encodeURIComponent(thumbnails[i])
current_data.uri = thumbnails[i]
try{
- const someData = await fetch(`./stream/rgb?uri=${encodedURI}`)
- if(!someData.ok){
- throw new Error('Image not found')
- }
- const myBlob = await someData.blob();
- const objectURL = URL.createObjectURL(myBlob);
+ //const someData = await fetch(`./stream/rgb?uri=${encodedURI}`)
+ //if(!someData.ok){
+ // throw new Error('Image not found')
+ //}
+ //const myBlob = await someData.blob();
+ //const objectURL = URL.createObjectURL(myBlob);
// containerDiv.innerHTML += createCard()
- containerDiv.innerHTML += createCard(objectURL, i+4)
+ containerDiv.innerHTML += createCard(encodedURI, i+4)
}catch(err){
console.log("Couldn't create thumbnail");
console.log(err)
@@ -102,7 +104,7 @@ renderThumbnails = async () => {
*/
createCard = (url, viewers) => {
return `<div class='ftlab-card-component' >
- <img src='${url}' class="thumbnail-img" alt="Hups" width="250px"></img>
+ <img src='stream/rgb?uri=${url}' class="thumbnail-img" alt="Hups" width="250px"></img>
<p>Viewers: ${viewers}</p>
<button onclick="createVideoPlayer()">button</button>
</div>`
@@ -122,6 +124,11 @@ webSocketTest = () => {
peer.send("update_cfg", "ftl://utu.fi#reconstruction_default/0/renderer/cool_effect", "true")
}
+function FTLFrameset(id) {
+ this.id = id;
+ this.sources = {};
+}
+
function FTLStream(peer, uri, element) {
this.uri = uri;
this.peer = peer;
@@ -131,6 +138,10 @@ function FTLStream(peer, uri, element) {
this.current_source = 0;
this.current_channel = 0;
+ this.framesets = {};
+
+ this.handlers = {};
+
//this.elements_ = {};
//this.converters_ = {};
@@ -150,12 +161,22 @@ function FTLStream(peer, uri, element) {
//this.player = videojs('ftl-video-element');
//this.player.vr({projection: '360'});
- this.camera = new THREE.PerspectiveCamera( 75, window.innerWidth / window.innerHeight, 1, 1100 );
+ if (false) {
+ this.camera = new THREE.PerspectiveCamera( 75, window.innerWidth / window.innerHeight, 1, 1100 );
+ } else {
+ this.camera = new THREE.OrthographicCamera(window.innerWidth/-2, window.innerWidth/2, window.innerHeight/2, window.innerHeight/-2, 1, 4);
+ }
this.camera.target = new THREE.Vector3( 0, 0, 0 );
this.scene = new THREE.Scene();
- var geometry = new THREE.SphereBufferGeometry( 500, 60, 40 );
+ var geometry;
+
+ if (false) {
+ geometry = new THREE.SphereBufferGeometry( 500, 60, 40 );
+ } else {
+ geometry = new THREE.PlaneGeometry(1280, 720, 32);
+ }
// invert the geometry on the x-axis so that all of the faces point inward
geometry.scale( - 1, 1, 1 );
@@ -180,7 +201,7 @@ function FTLStream(peer, uri, element) {
this.onPointerDownLat = 0;
this.lon = 0;
this.lat = 0;
- this.distance = 1.0;
+ this.distance = 2.0;
this.overlay = document.createElement("DIV");
this.overlay.classList.add("ftl");
@@ -202,8 +223,12 @@ function FTLStream(peer, uri, element) {
this.overlay.addEventListener('mousemove', (event) => {
if ( this.isUserInteracting === true ) {
- this.lon = ( this.onPointerDownPointerX - event.clientX ) * 0.1 + this.onPointerDownLon;
- this.lat = ( this.onPointerDownPointerY - event.clientY ) * 0.1 + this.onPointerDownLat;
+ //this.lon = ( this.onPointerDownPointerX - event.clientX ) * 0.1 + this.onPointerDownLon;
+ //this.lat = ( this.onPointerDownPointerY - event.clientY ) * 0.1 + this.onPointerDownLat;
+
+ this.rotationX += event.movementY * (1/25) * 5.0;
+ this.rotationY -= event.movementX * (1/25) * 5.0;
+ this.updatePose();
}
});
@@ -222,9 +247,13 @@ function FTLStream(peer, uri, element) {
let phi = THREE.MathUtils.degToRad( 90 - me.lat );
let theta = THREE.MathUtils.degToRad( me.lon );
- me.camera.position.x = me.distance * Math.sin( phi ) * Math.cos( theta );
- me.camera.position.y = me.distance * Math.cos( phi );
- me.camera.position.z = me.distance * Math.sin( phi ) * Math.sin( theta );
+ //me.camera.position.x = me.distance * Math.sin( phi ) * Math.cos( theta );
+ //me.camera.position.y = me.distance * Math.cos( phi );
+ //me.camera.position.z = me.distance * Math.sin( phi ) * Math.sin( theta );
+
+ me.camera.position.x = 0;
+ me.camera.position.y = 0;
+ me.camera.position.z = -2;
me.camera.lookAt( me.camera.target );
@@ -260,6 +289,7 @@ function FTLStream(peer, uri, element) {
this.overlay.appendChild(this.pause_button);
this.paused = false;
+ this.active = true;
this.overlay.addEventListener('keydown', (event) => {
console.log(event);
@@ -294,16 +324,29 @@ function FTLStream(peer, uri, element) {
//this.setPose(pose);
//}
- this.converter = null;
+ //this.converter = null;
+
+ /*this.converter = new JMuxer({
+ node: 'ftl-video-element',
+ mode: 'video',
+ //fps: 1000/dts,
+ fps: 30,
+ flushingTime: 1,
+ clearBuffer: false
+ });*/
let rxcount = 0;
- let ts = 0;
- let dts = 0;
+
+ this.mse = new FTLMSE(this.element);
this.peer.bind(uri, (latency, streampckg, pckg) => {
- if (this.paused) return;
+ if (this.paused || !this.active) {
+ return;
+ }
- if(pckg[0] === 2){ // H264 packet.
+ if (pckg[0] == 33) {
+ this.mse.push(streampckg, pckg);
+ } else if(pckg[0] === 2){ // H264 packet.
let id = "id-"+streampckg[1]+"-"+streampckg[2]+"-"+streampckg[3];
if (this.current == id) {
@@ -313,22 +356,8 @@ function FTLStream(peer, uri, element) {
peer.send(uri, 0, [1,0,255,0],[255,7,35,0,0,Buffer.alloc(0)]);
//peer.send(current_data.uri, 0, [255,7,35,0,0,Buffer.alloc(0)], [1,0,255,0]);
}
-
- if (this.converter) {
- /*function decode(value){
- this.converter.appendRawData(value);
- }
- decode(pckg[5]);*/
- this.converter.appendRawData(pckg[5]);
- this.converter.play();
- } else {
- if (ts > 0) {
- dts = streampckg[0] - ts;
- console.log("Framerate = ", 1000/dts);
- this.converter = new VideoConverter.default(this.element, 25, 4);
- }
- ts = streampckg[0];
- }
+
+ this.mse.push(streampckg, pckg);
}
} else if (pckg[0] === 103) {
//console.log(msgpack.decode(pckg[5]));
@@ -343,6 +372,24 @@ function FTLStream(peer, uri, element) {
this.start(0,0,0);
});
}
+
+ this.element.play();
+}
+
+FTLStream.prototype.on = function(name, cb) {
+ if (!this.handlers.hasOwnProperty(name)) {
+ this.handlers[name] = [];
+ }
+ this.handlers[name].push(cb);
+}
+
+FTLStream.prototype.notify = function (name, ...args) {
+ if (this.handlers.hasOwnProperty(name)) {
+ let a = this.handlers[name];
+ for (let i=0; i<a.length; ++i) {
+ a[i].apply(this, args);
+ }
+ }
}
FTLStream.prototype.pause = function() {
@@ -380,6 +427,8 @@ FTLStream.prototype.start = function(fs, source, channel) {
this.current_source = source;
this.current_channel = channel;
+ this.mse.select(fs, source, channel);
+
if (this.found) {
this.peer.send(this.uri, 0, [1,fs,255,channel],[255,7,35,0,0,Buffer.alloc(0)]);
} else {
diff --git a/web-service/public/js/lib/dist/controller.d.ts b/web-service/public/js/lib/dist/controller.d.ts
deleted file mode 100644
index e9d88fa431d98d570ab9c5e6721092a7596aca00..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/controller.d.ts
+++ /dev/null
@@ -1,24 +0,0 @@
-export declare const mimeType = "video/mp4; codecs=\"avc1.42E01E\"";
-export declare class VideoController {
- private element;
- private mediaSource;
- private sourceBuffer;
- private receiveBuffer;
- private remuxer;
- private mediaReady;
- private mediaReadyPromise;
- private queue;
- private isFirstFrame;
- static readonly errorNotes: {
- [x: number]: string;
- };
- constructor(element: HTMLVideoElement);
- setup(): Promise<void>;
- play(): void;
- pause(): void;
- reset(): void;
- appendRawData(data: ArrayLike<number>): void;
- private writeFragment(dts, pay);
- private writeBuffer(data);
- private doAppend(data);
-}
diff --git a/web-service/public/js/lib/dist/controller.js b/web-service/public/js/lib/dist/controller.js
deleted file mode 100644
index b944a55db158280547417f5bf829b1e2e43cf5df..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/controller.js
+++ /dev/null
@@ -1,241 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-var h264_1 = require("./h264");
-var mp4_generator_1 = require("./mp4-generator");
-var NALU_1 = require("./util/NALU");
-exports.mimeType = 'video/mp4; codecs="avc1.42E01E"';
-var fps = 30;
-var fpf = 6;
-var VideoController = (function () {
- function VideoController(element) {
- this.element = element;
- this.receiveBuffer = new VideoStreamBuffer();
- this.queue = [];
- if (!MediaSource || !MediaSource.isTypeSupported(exports.mimeType)) {
- throw new Error("Your browser is not supported: " + exports.mimeType);
- }
- this.reset();
- }
- Object.defineProperty(VideoController, "errorNotes", {
- get: function () {
- return _a = {},
- _a[MediaError.MEDIA_ERR_ABORTED] = 'fetching process aborted by user',
- _a[MediaError.MEDIA_ERR_NETWORK] = 'error occurred when downloading',
- _a[MediaError.MEDIA_ERR_DECODE] = 'error occurred when decoding',
- _a[MediaError.MEDIA_ERR_SRC_NOT_SUPPORTED] = 'audio/video not supported',
- _a;
- var _a;
- },
- enumerable: true,
- configurable: true
- });
- VideoController.prototype.setup = function () {
- var _this = this;
- this.mediaReadyPromise = new Promise(function (resolve, _reject) {
- _this.mediaSource.addEventListener('sourceopen', function () {
- console.log("Media Source opened.");
- _this.sourceBuffer = _this.mediaSource.addSourceBuffer(exports.mimeType);
- _this.sourceBuffer.addEventListener('updateend', function () {
- console.log(" SourceBuffer updateend");
- console.log(" sourceBuffer.buffered.length=" + _this.sourceBuffer.buffered.length);
- for (var i = 0, len = _this.sourceBuffer.buffered.length; i < len; i++) {
- console.log(" sourceBuffer.buffered [" + i + "]: " + _this.sourceBuffer.buffered.start(i) + ", " + _this.sourceBuffer.buffered.end(i));
- }
- console.log(" mediasource.duration=" + _this.mediaSource.duration);
- console.log(" mediasource.readyState=" + _this.mediaSource.readyState);
- console.log(" video.duration=" + _this.element.duration);
- console.log(" video.buffered.length=" + _this.element.buffered.length);
- for (var i = 0, len = _this.element.buffered.length; i < len; i++) {
- console.log(" video.buffered [" + i + "]: " + _this.element.buffered.start(i) + ", " + _this.element.buffered.end(i));
- }
- console.log(" video.currentTimen=" + _this.element.currentTime);
- console.log(" video.readyState=" + _this.element.readyState);
- var data = _this.queue.shift();
- if (data) {
- _this.writeBuffer(data);
- }
- });
- _this.sourceBuffer.addEventListener('error', function () {
- console.error(' SourceBuffer errored!');
- });
- _this.mediaReady = true;
- resolve();
- }, false);
- _this.mediaSource.addEventListener('sourceclose', function () {
- console.log("Media Source closed.");
- _this.mediaReady = false;
- }, false);
- _this.element.src = URL.createObjectURL(_this.mediaSource);
- });
- return this.mediaReadyPromise;
- };
- VideoController.prototype.play = function () {
- var _this = this;
- if (!this.element.paused) {
- return;
- }
- if (this.mediaReady && this.element.readyState >= 2) {
- this.element.play();
- }
- else {
- var handler_1 = function () {
- _this.play();
- _this.element.removeEventListener('canplaythrough', handler_1);
- };
- this.element.addEventListener('canplaythrough', handler_1);
- }
- };
- VideoController.prototype.pause = function () {
- if (this.element.paused) {
- return;
- }
- this.element.pause();
- };
- VideoController.prototype.reset = function () {
- this.receiveBuffer.clear();
- if (this.mediaSource && this.mediaSource.readyState === 'open') {
- this.mediaSource.duration = 0;
- this.mediaSource.endOfStream();
- }
- this.mediaSource = new MediaSource();
- this.remuxer = new h264_1.H264Remuxer(fps, fpf, fps * 60);
- this.mediaReady = false;
- this.mediaReadyPromise = undefined;
- this.queue = [];
- this.isFirstFrame = true;
- };
- VideoController.prototype.appendRawData = function (data) {
- var nalus = this.receiveBuffer.append(data);
- for (var _i = 0, nalus_1 = nalus; _i < nalus_1.length; _i++) {
- var nalu = nalus_1[_i];
- var ret = this.remuxer.remux(nalu);
- if (ret) {
- this.writeFragment(ret[0], ret[1]);
- }
- }
- };
- VideoController.prototype.writeFragment = function (dts, pay) {
- var remuxer = this.remuxer;
- if (remuxer.mp4track.isKeyFrame) {
- this.writeBuffer(mp4_generator_1.MP4.initSegment([remuxer.mp4track], Infinity, remuxer.timescale));
- }
- if (pay && pay.byteLength) {
- console.log(" Put framgment: " + remuxer.seq + ", frames=" + remuxer.mp4track.samples.length + ", size=" + pay.byteLength);
- var fragment = mp4_generator_1.MP4.fragmentSegment(remuxer.seq, dts, remuxer.mp4track, pay);
- this.writeBuffer(fragment);
- remuxer.flush();
- }
- else {
- console.error("Nothing payload!");
- }
- };
- VideoController.prototype.writeBuffer = function (data) {
- var _this = this;
- if (this.mediaReady) {
- if (this.sourceBuffer.updating) {
- this.queue.push(data);
- }
- else {
- this.doAppend(data);
- }
- }
- else {
- this.queue.push(data);
- if (this.mediaReadyPromise) {
- this.mediaReadyPromise.then(function () {
- if (!_this.sourceBuffer.updating) {
- var d = _this.queue.shift();
- if (d) {
- _this.writeBuffer(d);
- }
- }
- });
- this.mediaReadyPromise = undefined;
- }
- }
- };
- VideoController.prototype.doAppend = function (data) {
- var error = this.element.error;
- if (error) {
- console.error("MSE Error Occured: " + VideoController.errorNotes[error.code]);
- this.element.pause();
- if (this.mediaSource.readyState === 'open') {
- this.mediaSource.endOfStream();
- }
- }
- else {
- try {
- this.sourceBuffer.appendBuffer(data);
- console.log(" appended buffer: size=" + data.byteLength);
- }
- catch (err) {
- console.error("MSE Error occured while appending buffer. " + err.name + ": " + err.message);
- }
- }
- };
- return VideoController;
-}());
-exports.VideoController = VideoController;
-var VideoStreamBuffer = (function () {
- function VideoStreamBuffer() {
- }
- VideoStreamBuffer.prototype.clear = function () {
- this.buffer = undefined;
- };
- VideoStreamBuffer.prototype.append = function (value) {
- var nextNalHeader = function (b) {
- var i = 3;
- return function () {
- var count = 0;
- for (; i < b.length; i++) {
- switch (b[i]) {
- case 0:
- count++;
- break;
- case 1:
- if (count === 3) {
- return i - 3;
- }
- default:
- count = 0;
- }
- }
- return;
- };
- };
- var result = [];
- var buffer;
- if (this.buffer) {
- if (value[3] === 1 && value[2] === 0 && value[1] === 0 && value[0] === 0) {
- result.push(new NALU_1.NALU(this.buffer.subarray(4)));
- buffer = Uint8Array.from(value);
- }
- }
- if (buffer == null) {
- buffer = this.mergeBuffer(value);
- }
- var index;
- var lastIndex = 0;
- var f = nextNalHeader(buffer);
- while (index = f()) {
- result.push(new NALU_1.NALU(buffer.subarray(lastIndex + 4, index)));
- lastIndex = index;
- }
- this.buffer = buffer.subarray(lastIndex);
- return result;
- };
- VideoStreamBuffer.prototype.mergeBuffer = function (value) {
- if (this.buffer == null) {
- return Uint8Array.from(value);
- }
- else {
- var newBuffer = new Uint8Array(this.buffer.byteLength + value.length);
- if (this.buffer.byteLength > 0) {
- newBuffer.set(this.buffer, 0);
- }
- newBuffer.set(value, this.buffer.byteLength);
- return newBuffer;
- }
- };
- return VideoStreamBuffer;
-}());
diff --git a/web-service/public/js/lib/dist/h264-parser.d.ts b/web-service/public/js/lib/dist/h264-parser.d.ts
deleted file mode 100644
index 8bea94fb4455a7ea35f76402744136828d306d24..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/h264-parser.d.ts
+++ /dev/null
@@ -1,19 +0,0 @@
-import H264Remuxer from './h264-remuxer';
-import NALU from './util/NALU';
-export interface SEIMessage {
- type: number;
-}
-export default class H264Parser {
- private remuxer;
- private track;
- constructor(remuxer: H264Remuxer);
- private parseSEI(sei);
- private parseSPS(sps);
- private parsePPS(pps);
- parseNAL(unit: NALU): boolean;
- private static skipScalingList(decoder, count);
- private static readSPS(data);
- private static readSEI(data);
- private static readSEIMessage(decoder);
- private static readSEIPayload(decoder, type, size);
-}
diff --git a/web-service/public/js/lib/dist/h264-parser.js b/web-service/public/js/lib/dist/h264-parser.js
deleted file mode 100644
index 2cb5245f880a9508d1c4560546ed05f9f1041c7f..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/h264-parser.js
+++ /dev/null
@@ -1,295 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-var bit_stream_1 = require("./util/bit-stream");
-var debug = require("./util/debug");
-var NALU_1 = require("./util/NALU");
-var H264Parser = (function () {
- function H264Parser(remuxer) {
- this.remuxer = remuxer;
- this.track = remuxer.mp4track;
- }
- H264Parser.prototype.parseSEI = function (sei) {
- var messages = H264Parser.readSEI(sei);
- for (var _i = 0, messages_1 = messages; _i < messages_1.length; _i++) {
- var m = messages_1[_i];
- switch (m.type) {
- case 0:
- this.track.seiBuffering = true;
- break;
- case 5:
- return true;
- default:
- break;
- }
- }
- return false;
- };
- H264Parser.prototype.parseSPS = function (sps) {
- var config = H264Parser.readSPS(sps);
- this.track.width = config.width;
- this.track.height = config.height;
- this.track.sps = [sps];
- this.track.codec = 'avc1.';
- var codecArray = new DataView(sps.buffer, sps.byteOffset + 1, 4);
- for (var i = 0; i < 3; ++i) {
- var h = codecArray.getUint8(i).toString(16);
- if (h.length < 2) {
- h = '0' + h;
- }
- this.track.codec += h;
- }
- };
- H264Parser.prototype.parsePPS = function (pps) {
- this.track.pps = [pps];
- };
- H264Parser.prototype.parseNAL = function (unit) {
- if (!unit) {
- return false;
- }
- var push = false;
- switch (unit.type()) {
- case NALU_1.default.NDR:
- case NALU_1.default.IDR:
- push = true;
- break;
- case NALU_1.default.SEI:
- push = this.parseSEI(unit.getData().subarray(4));
- break;
- case NALU_1.default.SPS:
- if (this.track.sps.length === 0) {
- this.parseSPS(unit.getData().subarray(4));
- debug.log(" Found SPS type NALU frame.");
- if (!this.remuxer.readyToDecode && this.track.pps.length > 0 && this.track.sps.length > 0) {
- this.remuxer.readyToDecode = true;
- }
- }
- break;
- case NALU_1.default.PPS:
- if (this.track.pps.length === 0) {
- this.parsePPS(unit.getData().subarray(4));
- debug.log(" Found PPS type NALU frame.");
- if (!this.remuxer.readyToDecode && this.track.pps.length > 0 && this.track.sps.length > 0) {
- this.remuxer.readyToDecode = true;
- }
- }
- break;
- default:
- debug.log(" Found Unknown type NALU frame. type=" + unit.type());
- break;
- }
- return push;
- };
- H264Parser.skipScalingList = function (decoder, count) {
- var lastScale = 8;
- var nextScale = 8;
- for (var j = 0; j < count; j++) {
- if (nextScale !== 0) {
- var deltaScale = decoder.readEG();
- nextScale = (lastScale + deltaScale + 256) % 256;
- }
- lastScale = (nextScale === 0) ? lastScale : nextScale;
- }
- };
- H264Parser.readSPS = function (data) {
- var decoder = new bit_stream_1.default(data);
- var frameCropLeftOffset = 0;
- var frameCropRightOffset = 0;
- var frameCropTopOffset = 0;
- var frameCropBottomOffset = 0;
- var sarScale = 1;
- decoder.readUByte();
- var profileIdc = decoder.readUByte();
- decoder.skipBits(5);
- decoder.skipBits(3);
- decoder.skipBits(8);
- decoder.skipUEG();
- if (profileIdc === 100 ||
- profileIdc === 110 ||
- profileIdc === 122 ||
- profileIdc === 244 ||
- profileIdc === 44 ||
- profileIdc === 83 ||
- profileIdc === 86 ||
- profileIdc === 118 ||
- profileIdc === 128) {
- var chromaFormatIdc = decoder.readUEG();
- if (chromaFormatIdc === 3) {
- decoder.skipBits(1);
- }
- decoder.skipUEG();
- decoder.skipUEG();
- decoder.skipBits(1);
- if (decoder.readBoolean()) {
- var scalingListCount = (chromaFormatIdc !== 3) ? 8 : 12;
- for (var i = 0; i < scalingListCount; ++i) {
- if (decoder.readBoolean()) {
- if (i < 6) {
- H264Parser.skipScalingList(decoder, 16);
- }
- else {
- H264Parser.skipScalingList(decoder, 64);
- }
- }
- }
- }
- }
- decoder.skipUEG();
- var picOrderCntType = decoder.readUEG();
- if (picOrderCntType === 0) {
- decoder.readUEG();
- }
- else if (picOrderCntType === 1) {
- decoder.skipBits(1);
- decoder.skipEG();
- decoder.skipEG();
- var numRefFramesInPicOrderCntCycle = decoder.readUEG();
- for (var i = 0; i < numRefFramesInPicOrderCntCycle; ++i) {
- decoder.skipEG();
- }
- }
- decoder.skipUEG();
- decoder.skipBits(1);
- var picWidthInMbsMinus1 = decoder.readUEG();
- var picHeightInMapUnitsMinus1 = decoder.readUEG();
- var frameMbsOnlyFlag = decoder.readBits(1);
- if (frameMbsOnlyFlag === 0) {
- decoder.skipBits(1);
- }
- decoder.skipBits(1);
- if (decoder.readBoolean()) {
- frameCropLeftOffset = decoder.readUEG();
- frameCropRightOffset = decoder.readUEG();
- frameCropTopOffset = decoder.readUEG();
- frameCropBottomOffset = decoder.readUEG();
- }
- if (decoder.readBoolean()) {
- if (decoder.readBoolean()) {
- var sarRatio = void 0;
- var aspectRatioIdc = decoder.readUByte();
- switch (aspectRatioIdc) {
- case 1:
- sarRatio = [1, 1];
- break;
- case 2:
- sarRatio = [12, 11];
- break;
- case 3:
- sarRatio = [10, 11];
- break;
- case 4:
- sarRatio = [16, 11];
- break;
- case 5:
- sarRatio = [40, 33];
- break;
- case 6:
- sarRatio = [24, 11];
- break;
- case 7:
- sarRatio = [20, 11];
- break;
- case 8:
- sarRatio = [32, 11];
- break;
- case 9:
- sarRatio = [80, 33];
- break;
- case 10:
- sarRatio = [18, 11];
- break;
- case 11:
- sarRatio = [15, 11];
- break;
- case 12:
- sarRatio = [64, 33];
- break;
- case 13:
- sarRatio = [160, 99];
- break;
- case 14:
- sarRatio = [4, 3];
- break;
- case 15:
- sarRatio = [3, 2];
- break;
- case 16:
- sarRatio = [2, 1];
- break;
- case 255: {
- sarRatio = [decoder.readUByte() << 8 | decoder.readUByte(), decoder.readUByte() << 8 | decoder.readUByte()];
- break;
- }
- default: {
- debug.error(" H264: Unknown aspectRatioIdc=" + aspectRatioIdc);
- }
- }
- if (sarRatio) {
- sarScale = sarRatio[0] / sarRatio[1];
- }
- }
- if (decoder.readBoolean()) {
- decoder.skipBits(1);
- }
- if (decoder.readBoolean()) {
- decoder.skipBits(4);
- if (decoder.readBoolean()) {
- decoder.skipBits(24);
- }
- }
- if (decoder.readBoolean()) {
- decoder.skipUEG();
- decoder.skipUEG();
- }
- if (decoder.readBoolean()) {
- var unitsInTick = decoder.readUInt();
- var timeScale = decoder.readUInt();
- var fixedFrameRate = decoder.readBoolean();
- var frameDuration = timeScale / (2 * unitsInTick);
- debug.log("timescale: " + timeScale + "; unitsInTick: " + unitsInTick + "; " +
- ("fixedFramerate: " + fixedFrameRate + "; avgFrameDuration: " + frameDuration));
- }
- }
- return {
- width: Math.ceil((((picWidthInMbsMinus1 + 1) * 16) - frameCropLeftOffset * 2 - frameCropRightOffset * 2) * sarScale),
- height: ((2 - frameMbsOnlyFlag) * (picHeightInMapUnitsMinus1 + 1) * 16) -
- ((frameMbsOnlyFlag ? 2 : 4) * (frameCropTopOffset + frameCropBottomOffset)),
- };
- };
- H264Parser.readSEI = function (data) {
- var decoder = new bit_stream_1.default(data);
- decoder.skipBits(8);
- var result = [];
- while (decoder.bitsAvailable > 3 * 8) {
- result.push(this.readSEIMessage(decoder));
- }
- return result;
- };
- H264Parser.readSEIMessage = function (decoder) {
- function get() {
- var result = 0;
- while (true) {
- var value = decoder.readUByte();
- result += value;
- if (value !== 0xff) {
- break;
- }
- }
- return result;
- }
- var payloadType = get();
- var payloadSize = get();
- return this.readSEIPayload(decoder, payloadType, payloadSize);
- };
- H264Parser.readSEIPayload = function (decoder, type, size) {
- var result;
- switch (type) {
- default:
- result = { type: type };
- decoder.skipBits(size * 8);
- }
- decoder.skipBits(decoder.bitsAvailable % 8);
- return result;
- };
- return H264Parser;
-}());
-exports.default = H264Parser;
diff --git a/web-service/public/js/lib/dist/h264-remuxer.d.ts b/web-service/public/js/lib/dist/h264-remuxer.d.ts
deleted file mode 100644
index 0042feddbb3ab7ffc01027f330988d477e7c8f91..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/h264-remuxer.d.ts
+++ /dev/null
@@ -1,23 +0,0 @@
-import { Track } from './types';
-import NALU from './util/NALU';
-export default class H264Remuxer {
- fps: number;
- framePerFragment: number;
- timescale: number;
- readyToDecode: boolean;
- private totalDTS;
- private stepDTS;
- private frameCount;
- private seq;
- mp4track: Track;
- private unitSamples;
- private parser;
- private static getTrackID();
- constructor(fps: number, framePerFragment: number, timescale: number);
- readonly seqNum: number;
- remux(nalu: NALU): [number, Uint8Array] | undefined;
- private createNextFrame();
- flush(): void;
- private getFragment();
- private checkReadyToDecode();
-}
diff --git a/web-service/public/js/lib/dist/h264-remuxer.js b/web-service/public/js/lib/dist/h264-remuxer.js
deleted file mode 100644
index f3d181c811e3bb19da2415c2fce5315b500a0f71..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/h264-remuxer.js
+++ /dev/null
@@ -1,121 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-var h264_parser_1 = require("./h264-parser");
-var debug = require("./util/debug");
-var NALU_1 = require("./util/NALU");
-var trackId = 1;
-var H264Remuxer = (function () {
- function H264Remuxer(fps, framePerFragment, timescale) {
- this.fps = fps;
- this.framePerFragment = framePerFragment;
- this.timescale = timescale;
- this.readyToDecode = false;
- this.totalDTS = 0;
- this.stepDTS = Math.round(this.timescale / this.fps);
- this.frameCount = 0;
- this.seq = 1;
- this.mp4track = {
- id: H264Remuxer.getTrackID(),
- type: 'video',
- len: 0,
- codec: '',
- sps: [],
- pps: [],
- seiBuffering: false,
- width: 0,
- height: 0,
- timescale: timescale,
- duration: timescale,
- samples: [],
- isKeyFrame: true,
- };
- this.unitSamples = [[]];
- this.parser = new h264_parser_1.default(this);
- }
- H264Remuxer.getTrackID = function () {
- return trackId++;
- };
- Object.defineProperty(H264Remuxer.prototype, "seqNum", {
- get: function () {
- return this.seq;
- },
- enumerable: true,
- configurable: true
- });
- H264Remuxer.prototype.remux = function (nalu) {
- if (this.mp4track.seiBuffering && nalu.type() === NALU_1.default.SEI) {
- return this.createNextFrame();
- }
- if (this.parser.parseNAL(nalu)) {
- this.unitSamples[this.unitSamples.length - 1].push(nalu);
- this.mp4track.len += nalu.getSize();
- }
- if (!this.mp4track.seiBuffering && (nalu.type() === NALU_1.default.IDR || nalu.type() === NALU_1.default.NDR)) {
- return this.createNextFrame();
- }
- return;
- };
- H264Remuxer.prototype.createNextFrame = function () {
- if (this.mp4track.len > 0) {
- this.frameCount++;
- if (this.frameCount % this.framePerFragment === 0) {
- var fragment = this.getFragment();
- if (fragment) {
- var dts = this.totalDTS;
- this.totalDTS = this.stepDTS * this.frameCount;
- return [dts, fragment];
- }
- else {
- debug.log("No mp4 sample data.");
- }
- }
- this.unitSamples.push([]);
- }
- return;
- };
- H264Remuxer.prototype.flush = function () {
- this.seq++;
- this.mp4track.len = 0;
- this.mp4track.samples = [];
- this.mp4track.isKeyFrame = false;
- this.unitSamples = [[]];
- };
- H264Remuxer.prototype.getFragment = function () {
- if (!this.checkReadyToDecode()) {
- return undefined;
- }
- var payload = new Uint8Array(this.mp4track.len);
- this.mp4track.samples = [];
- var offset = 0;
- for (var i = 0, len = this.unitSamples.length; i < len; i++) {
- var units = this.unitSamples[i];
- if (units.length === 0) {
- continue;
- }
- var mp4Sample = {
- size: 0,
- cts: this.stepDTS * i,
- };
- for (var _i = 0, units_1 = units; _i < units_1.length; _i++) {
- var unit = units_1[_i];
- mp4Sample.size += unit.getSize();
- payload.set(unit.getData(), offset);
- offset += unit.getSize();
- }
- this.mp4track.samples.push(mp4Sample);
- }
- if (offset === 0) {
- return undefined;
- }
- return payload;
- };
- H264Remuxer.prototype.checkReadyToDecode = function () {
- if (!this.readyToDecode || this.unitSamples.filter(function (array) { return array.length > 0; }).length === 0) {
- debug.log("Not ready to decode! readyToDecode(" + this.readyToDecode + ") is false or units is empty.");
- return false;
- }
- return true;
- };
- return H264Remuxer;
-}());
-exports.default = H264Remuxer;
diff --git a/web-service/public/js/lib/dist/h264.d.ts b/web-service/public/js/lib/dist/h264.d.ts
deleted file mode 100644
index 6b55d9904fbe5b408ae079622fdc2ed1c6e2f80a..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/h264.d.ts
+++ /dev/null
@@ -1,23 +0,0 @@
-import { Track } from './types';
-import { NALU } from './util/NALU';
-export default class H264Remuxer {
- fps: number;
- framePerFragment: number;
- timescale: number;
- readyToDecode: boolean;
- private totalDTS;
- private stepDTS;
- private frameCount;
- private seq;
- mp4track: Track;
- private unitSamples;
- private parser;
- private static getTrackID();
- constructor(fps: number, framePerFragment: number, timescale: number);
- readonly seqNum: number;
- remux(nalu: NALU): [number, Uint8Array] | undefined;
- private createNextFrame();
- flush(): void;
- private getFragment();
- private checkReadyToDecode();
-}
diff --git a/web-service/public/js/lib/dist/h264.js b/web-service/public/js/lib/dist/h264.js
deleted file mode 100644
index 206ad79f4a12725e18662d249e0d3fb64d13616d..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/h264.js
+++ /dev/null
@@ -1,118 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-var h264_parser_1 = require("./h264-parser");
-var NALU_1 = require("./util/NALU");
-var trackId = 1;
-var H264Remuxer = (function () {
- function H264Remuxer(fps, framePerFragment, timescale) {
- this.fps = fps;
- this.framePerFragment = framePerFragment;
- this.timescale = timescale;
- this.readyToDecode = false;
- this.totalDTS = 0;
- this.stepDTS = Math.round(this.timescale / this.fps);
- this.frameCount = 0;
- this.seq = 1;
- this.mp4track = {
- id: H264Remuxer.getTrackID(),
- type: 'video',
- len: 0,
- codec: '',
- sps: [],
- pps: [],
- seiBuffering: false,
- width: 0,
- height: 0,
- timescale: timescale,
- duration: timescale,
- samples: [],
- isKeyFrame: true,
- };
- this.unitSamples = [[]];
- this.parser = new h264_parser_1.H264Parser(this);
- }
- H264Remuxer.getTrackID = function () {
- return trackId++;
- };
- Object.defineProperty(H264Remuxer.prototype, "seqNum", {
- get: function () {
- return this.seq;
- },
- enumerable: true,
- configurable: true
- });
- H264Remuxer.prototype.remux = function (nalu) {
- if (this.mp4track.seiBuffering && nalu.type() === NALU_1.NALU.SEI) {
- return this.createNextFrame();
- }
- if (this.parser.parseNAL(nalu)) {
- this.unitSamples[this.unitSamples.length - 1].push(nalu);
- this.mp4track.len += nalu.getSize();
- }
- if (!this.mp4track.seiBuffering && (nalu.type() === NALU_1.NALU.IDR || nalu.type() === NALU_1.NALU.NDR)) {
- return this.createNextFrame();
- }
- return;
- };
- H264Remuxer.prototype.createNextFrame = function () {
- if (this.mp4track.len > 0) {
- this.frameCount++;
- if (this.frameCount % this.framePerFragment === 0) {
- var fragment = this.getFragment();
- if (fragment) {
- var dts = this.totalDTS;
- this.totalDTS = this.stepDTS * this.frameCount;
- return [dts, fragment];
- }
- }
- this.unitSamples.push([]);
- }
- return;
- };
- H264Remuxer.prototype.flush = function () {
- this.seq++;
- this.mp4track.len = 0;
- this.mp4track.samples = [];
- this.mp4track.isKeyFrame = false;
- this.unitSamples = [[]];
- };
- H264Remuxer.prototype.getFragment = function () {
- if (!this.checkReadyToDecode()) {
- return undefined;
- }
- var payload = new Uint8Array(this.mp4track.len);
- this.mp4track.samples = [];
- var offset = 0;
- for (var i = 0, len = this.unitSamples.length; i < len; i++) {
- var units = this.unitSamples[i];
- if (units.length === 0) {
- continue;
- }
- var mp4Sample = {
- size: 0,
- cts: this.stepDTS * i,
- };
- for (var _i = 0, units_1 = units; _i < units_1.length; _i++) {
- var unit = units_1[_i];
- mp4Sample.size += unit.getSize();
- payload.set(unit.getData(), offset);
- offset += unit.getSize();
- }
- this.mp4track.samples.push(mp4Sample);
- }
- if (offset === 0) {
- console.log("No mp4 sample data.");
- return undefined;
- }
- return payload;
- };
- H264Remuxer.prototype.checkReadyToDecode = function () {
- if (!this.readyToDecode || this.unitSamples.filter(function (array) { return array.length > 0; }).length === 0) {
- console.log("Not ready to decode! readyToDecode(" + this.readyToDecode + ") is false or units is empty.");
- return false;
- }
- return true;
- };
- return H264Remuxer;
-}());
-exports.default = H264Remuxer;
diff --git a/web-service/public/js/lib/dist/index.d.ts b/web-service/public/js/lib/dist/index.d.ts
deleted file mode 100644
index 12f0901b72982089e0fcdaab54fd95f6dcccb58c..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/index.d.ts
+++ /dev/null
@@ -1,27 +0,0 @@
-export declare const mimeType = "video/mp4; codecs=\"avc1.42E01E\"";
-export { setLogger } from './util/debug';
-export default class VideoConverter {
- private element;
- private fps;
- private fpf;
- private mediaSource;
- private sourceBuffer;
- private receiveBuffer;
- private remuxer;
- private mediaReady;
- private mediaReadyPromise;
- private queue;
- private isFirstFrame;
- static readonly errorNotes: {
- [x: number]: string;
- };
- constructor(element: HTMLVideoElement, fps?: number, fpf?: number);
- private setup();
- play(): void;
- pause(): void;
- reset(): void;
- appendRawData(data: ArrayLike<number>): void;
- private writeFragment(dts, pay);
- private writeBuffer(data);
- private doAppend(data);
-}
diff --git a/web-service/public/js/lib/dist/index.js b/web-service/public/js/lib/dist/index.js
deleted file mode 100644
index cefdec014662f8021818d7618c37bbaa28277787..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/index.js
+++ /dev/null
@@ -1,187 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-var h264_remuxer_1 = require("./h264-remuxer");
-var mp4_generator_1 = require("./mp4-generator");
-var debug = require("./util/debug");
-var nalu_stream_buffer_1 = require("./util/nalu-stream-buffer");
-exports.mimeType = 'video/mp4; codecs="avc1.42E01E"';
-var debug_1 = require("./util/debug");
-exports.setLogger = debug_1.setLogger;
-var VideoConverter = (function () {
- function VideoConverter(element, fps, fpf) {
- if (fps === void 0) { fps = 60; }
- if (fpf === void 0) { fpf = fps; }
- this.element = element;
- this.fps = fps;
- this.fpf = fpf;
- this.receiveBuffer = new nalu_stream_buffer_1.default();
- this.queue = [];
- if (!MediaSource || !MediaSource.isTypeSupported(exports.mimeType)) {
- throw new Error("Your browser is not supported: " + exports.mimeType);
- }
- this.reset();
- }
- Object.defineProperty(VideoConverter, "errorNotes", {
- get: function () {
- return _a = {},
- _a[MediaError.MEDIA_ERR_ABORTED] = 'fetching process aborted by user',
- _a[MediaError.MEDIA_ERR_NETWORK] = 'error occurred when downloading',
- _a[MediaError.MEDIA_ERR_DECODE] = 'error occurred when decoding',
- _a[MediaError.MEDIA_ERR_SRC_NOT_SUPPORTED] = 'audio/video not supported',
- _a;
- var _a;
- },
- enumerable: true,
- configurable: true
- });
- VideoConverter.prototype.setup = function () {
- var _this = this;
- this.mediaReadyPromise = new Promise(function (resolve, _reject) {
- _this.mediaSource.addEventListener('sourceopen', function () {
- debug.log("Media Source opened.");
- _this.sourceBuffer = _this.mediaSource.addSourceBuffer(exports.mimeType);
- _this.sourceBuffer.addEventListener('updateend', function () {
- debug.log(" SourceBuffer updateend");
- debug.log(" sourceBuffer.buffered.length=" + _this.sourceBuffer.buffered.length);
- for (var i = 0, len = _this.sourceBuffer.buffered.length; i < len; i++) {
- debug.log(" sourceBuffer.buffered [" + i + "]: " +
- (_this.sourceBuffer.buffered.start(i) + ", " + _this.sourceBuffer.buffered.end(i)));
- }
- debug.log(" mediasource.duration=" + _this.mediaSource.duration);
- debug.log(" mediasource.readyState=" + _this.mediaSource.readyState);
- debug.log(" video.duration=" + _this.element.duration);
- debug.log(" video.buffered.length=" + _this.element.buffered.length);
- if (debug.isEnable()) {
- for (var i = 0, len = _this.element.buffered.length; i < len; i++) {
- debug.log(" video.buffered [" + i + "]: " + _this.element.buffered.start(i) + ", " + _this.element.buffered.end(i));
- }
- }
- debug.log(" video.currentTime=" + _this.element.currentTime);
- debug.log(" video.readyState=" + _this.element.readyState);
- var data = _this.queue.shift();
- if (data) {
- _this.writeBuffer(data);
- }
- });
- _this.sourceBuffer.addEventListener('error', function () {
- debug.error(' SourceBuffer errored!');
- });
- _this.mediaReady = true;
- resolve();
- }, false);
- _this.mediaSource.addEventListener('sourceclose', function () {
- debug.log("Media Source closed.");
- _this.mediaReady = false;
- }, false);
- _this.element.src = URL.createObjectURL(_this.mediaSource);
- });
- return this.mediaReadyPromise;
- };
- VideoConverter.prototype.play = function () {
- var _this = this;
- if (!this.element.paused) {
- return;
- }
- if (this.mediaReady && this.element.readyState >= 2) {
- this.element.play();
- }
- else {
- var handler_1 = function () {
- _this.play();
- _this.element.removeEventListener('canplaythrough', handler_1);
- };
- this.element.addEventListener('canplaythrough', handler_1);
- }
- };
- VideoConverter.prototype.pause = function () {
- if (this.element.paused) {
- return;
- }
- this.element.pause();
- };
- VideoConverter.prototype.reset = function () {
- this.receiveBuffer.clear();
- if (this.mediaSource && this.mediaSource.readyState === 'open') {
- this.mediaSource.duration = 0;
- this.mediaSource.endOfStream();
- }
- this.mediaSource = new MediaSource();
- this.remuxer = new h264_remuxer_1.default(this.fps, this.fpf, this.fps * 60);
- this.mediaReady = false;
- this.mediaReadyPromise = undefined;
- this.queue = [];
- this.isFirstFrame = true;
- this.setup();
- };
- VideoConverter.prototype.appendRawData = function (data) {
- var nalus = this.receiveBuffer.append(data);
- for (var _i = 0, nalus_1 = nalus; _i < nalus_1.length; _i++) {
- var nalu = nalus_1[_i];
- var ret = this.remuxer.remux(nalu);
- if (ret) {
- this.writeFragment(ret[0], ret[1]);
- }
- }
- };
- VideoConverter.prototype.writeFragment = function (dts, pay) {
- var remuxer = this.remuxer;
- if (remuxer.mp4track.isKeyFrame) {
- this.writeBuffer(mp4_generator_1.default.initSegment([remuxer.mp4track], Infinity, remuxer.timescale));
- }
- if (pay && pay.byteLength) {
- debug.log(" Put fragment: " + remuxer.seqNum + ", frames=" + remuxer.mp4track.samples.length + ", size=" + pay.byteLength);
- var fragment = mp4_generator_1.default.fragmentSegment(remuxer.seqNum, dts, remuxer.mp4track, pay);
- this.writeBuffer(fragment);
- remuxer.flush();
- }
- else {
- debug.error("Nothing payload!");
- }
- };
- VideoConverter.prototype.writeBuffer = function (data) {
- var _this = this;
- if (this.mediaReady) {
- if (this.sourceBuffer.updating) {
- this.queue.push(data);
- }
- else {
- this.doAppend(data);
- }
- }
- else {
- this.queue.push(data);
- if (this.mediaReadyPromise) {
- this.mediaReadyPromise.then(function () {
- if (!_this.sourceBuffer.updating) {
- var d = _this.queue.shift();
- if (d) {
- _this.writeBuffer(d);
- }
- }
- });
- this.mediaReadyPromise = undefined;
- }
- }
- };
- VideoConverter.prototype.doAppend = function (data) {
- var error = this.element.error;
- if (error) {
- debug.error("MSE Error Occured: " + VideoConverter.errorNotes[error.code]);
- this.element.pause();
- if (this.mediaSource.readyState === 'open') {
- this.mediaSource.endOfStream();
- }
- }
- else {
- try {
- this.sourceBuffer.appendBuffer(data);
- debug.log(" appended buffer: size=" + data.byteLength);
- }
- catch (err) {
- debug.error("MSE Error occured while appending buffer. " + err.name + ": " + err.message);
- }
- }
- };
- return VideoConverter;
-}());
-exports.default = VideoConverter;
diff --git a/web-service/public/js/lib/dist/mp4-generator.d.ts b/web-service/public/js/lib/dist/mp4-generator.d.ts
deleted file mode 100644
index c3ac851fa3c1c3ec72fe3918fe0552379abe2a42..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/mp4-generator.d.ts
+++ /dev/null
@@ -1,38 +0,0 @@
-import { Track } from './types';
-export default class MP4 {
- private static types;
- private static initalized;
- private static FTYP;
- private static HDLR;
- private static DINF;
- private static STSD;
- private static SMHD;
- private static VMHD;
- private static STSZ;
- private static STTS;
- private static STSC;
- private static STCO;
- private static STYP;
- private static init();
- static box(type: number[], ...payload: Uint8Array[]): Uint8Array;
- static mdat(data: Uint8Array): Uint8Array;
- static mdhd(timescale: number): Uint8Array;
- static mdia(track: Track): Uint8Array;
- static mfhd(sequenceNumber: number): Uint8Array;
- static minf(track: Track): Uint8Array;
- static moof(sn: number, baseMediaDecodeTime: number, track: Track): Uint8Array;
- static moov(tracks: Track[], duration: number, timescale: number): Uint8Array;
- static mvhd(timescale: number, duration: number): Uint8Array;
- static mvex(tracks: Track[]): Uint8Array;
- static trep(): Uint8Array;
- static stbl(track: Track): Uint8Array;
- static avc1(track: Track): Uint8Array;
- static stsd(track: Track): Uint8Array;
- static tkhd(track: Track): Uint8Array;
- static traf(track: Track, baseMediaDecodeTime: number): Uint8Array;
- static trak(track: Track): Uint8Array;
- static trex(track: Track): Uint8Array;
- static trun(track: Track, offset: number): Uint8Array;
- static initSegment(tracks: Track[], duration: number, timescale: number): Uint8Array;
- static fragmentSegment(sn: number, baseMediaDecodeTime: number, track: Track, payload: Uint8Array): Uint8Array;
-}
diff --git a/web-service/public/js/lib/dist/mp4-generator.js b/web-service/public/js/lib/dist/mp4-generator.js
deleted file mode 100644
index a91748998c479aa7a398b66379c8a0c0bfdd43b0..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/mp4-generator.js
+++ /dev/null
@@ -1,454 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-var MP4 = (function () {
- function MP4() {
- }
- MP4.init = function () {
- MP4.initalized = true;
- MP4.types = {
- avc1: [],
- avcC: [],
- btrt: [],
- dinf: [],
- dref: [],
- esds: [],
- ftyp: [],
- hdlr: [],
- mdat: [],
- mdhd: [],
- mdia: [],
- mfhd: [],
- minf: [],
- moof: [],
- moov: [],
- mp4a: [],
- mvex: [],
- mvhd: [],
- sdtp: [],
- stbl: [],
- stco: [],
- stsc: [],
- stsd: [],
- stsz: [],
- stts: [],
- styp: [],
- tfdt: [],
- tfhd: [],
- traf: [],
- trak: [],
- trun: [],
- trep: [],
- trex: [],
- tkhd: [],
- vmhd: [],
- smhd: [],
- };
- for (var type in MP4.types) {
- if (MP4.types.hasOwnProperty(type)) {
- MP4.types[type] = [
- type.charCodeAt(0),
- type.charCodeAt(1),
- type.charCodeAt(2),
- type.charCodeAt(3),
- ];
- }
- }
- var hdlr = new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x76, 0x69, 0x64, 0x65,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x56, 0x69, 0x64, 0x65,
- 0x6f, 0x48, 0x61, 0x6e,
- 0x64, 0x6c, 0x65, 0x72, 0x00,
- ]);
- var dref = new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x01,
- 0x00, 0x00, 0x00, 0x0c,
- 0x75, 0x72, 0x6c, 0x20,
- 0x00,
- 0x00, 0x00, 0x01,
- ]);
- var stco = new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- ]);
- MP4.STTS = MP4.STSC = MP4.STCO = stco;
- MP4.STSZ = new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- ]);
- MP4.VMHD = new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x01,
- 0x00, 0x00,
- 0x00, 0x00,
- 0x00, 0x00,
- 0x00, 0x00,
- ]);
- MP4.SMHD = new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x00,
- 0x00, 0x00,
- ]);
- MP4.STSD = new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x01
- ]);
- MP4.FTYP = MP4.box(MP4.types.ftyp, new Uint8Array([
- 0x69, 0x73, 0x6f, 0x35,
- 0x00, 0x00, 0x00, 0x01,
- 0x61, 0x76, 0x63, 0x31,
- 0x69, 0x73, 0x6f, 0x35,
- 0x64, 0x61, 0x73, 0x68,
- ]));
- MP4.STYP = MP4.box(MP4.types.styp, new Uint8Array([
- 0x6d, 0x73, 0x64, 0x68,
- 0x00, 0x00, 0x00, 0x00,
- 0x6d, 0x73, 0x64, 0x68,
- 0x6d, 0x73, 0x69, 0x78,
- ]));
- MP4.DINF = MP4.box(MP4.types.dinf, MP4.box(MP4.types.dref, dref));
- MP4.HDLR = MP4.box(MP4.types.hdlr, hdlr);
- };
- MP4.box = function (type) {
- var payload = [];
- for (var _i = 1; _i < arguments.length; _i++) {
- payload[_i - 1] = arguments[_i];
- }
- var size = 8;
- for (var _a = 0, payload_1 = payload; _a < payload_1.length; _a++) {
- var p = payload_1[_a];
- size += p.byteLength;
- }
- var result = new Uint8Array(size);
- result[0] = (size >> 24) & 0xff;
- result[1] = (size >> 16) & 0xff;
- result[2] = (size >> 8) & 0xff;
- result[3] = size & 0xff;
- result.set(type, 4);
- size = 8;
- for (var _b = 0, payload_2 = payload; _b < payload_2.length; _b++) {
- var box = payload_2[_b];
- result.set(box, size);
- size += box.byteLength;
- }
- return result;
- };
- MP4.mdat = function (data) {
- return MP4.box(MP4.types.mdat, data);
- };
- MP4.mdhd = function (timescale) {
- return MP4.box(MP4.types.mdhd, new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x01,
- 0x00, 0x00, 0x00, 0x02,
- (timescale >> 24) & 0xFF,
- (timescale >> 16) & 0xFF,
- (timescale >> 8) & 0xFF,
- timescale & 0xFF,
- 0x00, 0x00, 0x00, 0x00,
- 0x55, 0xc4,
- 0x00, 0x00,
- ]));
- };
- MP4.mdia = function (track) {
- return MP4.box(MP4.types.mdia, MP4.mdhd(track.timescale), MP4.HDLR, MP4.minf(track));
- };
- MP4.mfhd = function (sequenceNumber) {
- return MP4.box(MP4.types.mfhd, new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- (sequenceNumber >> 24),
- (sequenceNumber >> 16) & 0xFF,
- (sequenceNumber >> 8) & 0xFF,
- sequenceNumber & 0xFF,
- ]));
- };
- MP4.minf = function (track) {
- return MP4.box(MP4.types.minf, MP4.box(MP4.types.vmhd, MP4.VMHD), MP4.DINF, MP4.stbl(track));
- };
- MP4.moof = function (sn, baseMediaDecodeTime, track) {
- return MP4.box(MP4.types.moof, MP4.mfhd(sn), MP4.traf(track, baseMediaDecodeTime));
- };
- MP4.moov = function (tracks, duration, timescale) {
- var boxes = [];
- for (var _i = 0, tracks_1 = tracks; _i < tracks_1.length; _i++) {
- var track = tracks_1[_i];
- boxes.push(MP4.trak(track));
- }
- return MP4.box.apply(MP4, [MP4.types.moov, MP4.mvhd(timescale, duration), MP4.mvex(tracks)].concat(boxes));
- };
- MP4.mvhd = function (timescale, duration) {
- var bytes = new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x01,
- 0x00, 0x00, 0x00, 0x02,
- (timescale >> 24) & 0xFF,
- (timescale >> 16) & 0xFF,
- (timescale >> 8) & 0xFF,
- timescale & 0xFF,
- (duration >> 24) & 0xFF,
- (duration >> 16) & 0xFF,
- (duration >> 8) & 0xFF,
- duration & 0xFF,
- 0x00, 0x01, 0x00, 0x00,
- 0x01, 0x00,
- 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x01, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x01, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x40, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x02,
- ]);
- return MP4.box(MP4.types.mvhd, bytes);
- };
- MP4.mvex = function (tracks) {
- var boxes = [];
- for (var _i = 0, tracks_2 = tracks; _i < tracks_2.length; _i++) {
- var track = tracks_2[_i];
- boxes.push(MP4.trex(track));
- }
- return MP4.box.apply(MP4, [MP4.types.mvex].concat(boxes, [MP4.trep()]));
- };
- MP4.trep = function () {
- return MP4.box(MP4.types.trep, new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x01,
- ]));
- };
- MP4.stbl = function (track) {
- return MP4.box(MP4.types.stbl, MP4.stsd(track), MP4.box(MP4.types.stts, MP4.STTS), MP4.box(MP4.types.stsc, MP4.STSC), MP4.box(MP4.types.stsz, MP4.STSZ), MP4.box(MP4.types.stco, MP4.STCO));
- };
- MP4.avc1 = function (track) {
- var sps = [];
- var pps = [];
- for (var _i = 0, _a = track.sps; _i < _a.length; _i++) {
- var data = _a[_i];
- var len = data.byteLength;
- sps.push((len >>> 8) & 0xFF);
- sps.push((len & 0xFF));
- sps = sps.concat(Array.prototype.slice.call(data));
- }
- for (var _b = 0, _c = track.pps; _b < _c.length; _b++) {
- var data = _c[_b];
- var len = data.byteLength;
- pps.push((len >>> 8) & 0xFF);
- pps.push((len & 0xFF));
- pps = pps.concat(Array.prototype.slice.call(data));
- }
- var avcc = MP4.box(MP4.types.avcC, new Uint8Array([
- 0x01,
- sps[3],
- sps[4],
- sps[5],
- 0xfc | 3,
- 0xE0 | track.sps.length,
- ].concat(sps).concat([
- track.pps.length,
- ]).concat(pps)));
- var width = track.width;
- var height = track.height;
- return MP4.box(MP4.types.avc1, new Uint8Array([
- 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x01,
- 0x00, 0x00,
- 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- (width >> 8) & 0xFF,
- width & 0xff,
- (height >> 8) & 0xFF,
- height & 0xff,
- 0x00, 0x48, 0x00, 0x00,
- 0x00, 0x48, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x01,
- 0x12,
- 0x62, 0x69, 0x6E, 0x65,
- 0x6C, 0x70, 0x72, 0x6F,
- 0x2E, 0x72, 0x75, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00,
- 0x00, 0x18,
- 0x11, 0x11
- ]), avcc, MP4.box(MP4.types.btrt, new Uint8Array([
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x2d, 0xc6, 0xc0,
- 0x00, 0x2d, 0xc6, 0xc0,
- ])));
- };
- MP4.stsd = function (track) {
- return MP4.box(MP4.types.stsd, MP4.STSD, MP4.avc1(track));
- };
- MP4.tkhd = function (track) {
- var id = track.id;
- var width = track.width;
- var height = track.height;
- return MP4.box(MP4.types.tkhd, new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x01,
- 0x00, 0x00, 0x00, 0x01,
- 0x00, 0x00, 0x00, 0x02,
- (id >> 24) & 0xFF,
- (id >> 16) & 0xFF,
- (id >> 8) & 0xFF,
- id & 0xFF,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00,
- 0x00, 0x00,
- (track.type === 'audio' ? 0x01 : 0x00), 0x00,
- 0x00, 0x00,
- 0x00, 0x01, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x01, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00,
- 0x40, 0x00, 0x00, 0x00,
- (width >> 8) & 0xFF,
- width & 0xFF,
- 0x00, 0x00,
- (height >> 8) & 0xFF,
- height & 0xFF,
- 0x00, 0x00,
- ]));
- };
- MP4.traf = function (track, baseMediaDecodeTime) {
- var id = track.id;
- return MP4.box(MP4.types.traf, MP4.box(MP4.types.tfhd, new Uint8Array([
- 0x00,
- 0x02, 0x00, 0x00,
- (id >> 24),
- (id >> 16) & 0XFF,
- (id >> 8) & 0XFF,
- (id & 0xFF),
- ])), MP4.box(MP4.types.tfdt, new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- (baseMediaDecodeTime >> 24),
- (baseMediaDecodeTime >> 16) & 0XFF,
- (baseMediaDecodeTime >> 8) & 0XFF,
- (baseMediaDecodeTime & 0xFF),
- ])), MP4.trun(track, 16 +
- 16 +
- 8 +
- 16 +
- 8 +
- 8));
- };
- MP4.trak = function (track) {
- track.duration = track.duration || 0xffffffff;
- return MP4.box(MP4.types.trak, MP4.tkhd(track), MP4.mdia(track));
- };
- MP4.trex = function (track) {
- var id = track.id;
- return MP4.box(MP4.types.trex, new Uint8Array([
- 0x00,
- 0x00, 0x00, 0x00,
- (id >> 24),
- (id >> 16) & 0XFF,
- (id >> 8) & 0XFF,
- (id & 0xFF),
- 0x00, 0x00, 0x00, 0x01,
- 0x00, 0x00, 0x00, 0x3c,
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x01, 0x00, 0x00,
- ]));
- };
- MP4.trun = function (track, offset) {
- var samples = track.samples || [];
- var len = samples.length;
- var additionalLen = track.isKeyFrame ? 4 : 0;
- var arraylen = 12 + additionalLen + (4 * len);
- var array = new Uint8Array(arraylen);
- offset += 8 + arraylen;
- array.set([
- 0x00,
- 0x00, 0x02, (track.isKeyFrame ? 0x05 : 0x01),
- (len >>> 24) & 0xFF,
- (len >>> 16) & 0xFF,
- (len >>> 8) & 0xFF,
- len & 0xFF,
- (offset >>> 24) & 0xFF,
- (offset >>> 16) & 0xFF,
- (offset >>> 8) & 0xFF,
- offset & 0xFF,
- ], 0);
- if (track.isKeyFrame) {
- array.set([
- 0x00, 0x00, 0x00, 0x00,
- ], 12);
- }
- for (var i = 0; i < len; i++) {
- var sample = samples[i];
- var size = sample.size;
- array.set([
- (size >>> 24) & 0xFF,
- (size >>> 16) & 0xFF,
- (size >>> 8) & 0xFF,
- size & 0xFF,
- ], 12 + additionalLen + 4 * i);
- }
- return MP4.box(MP4.types.trun, array);
- };
- MP4.initSegment = function (tracks, duration, timescale) {
- if (!MP4.initalized) {
- MP4.init();
- }
- var movie = MP4.moov(tracks, duration, timescale);
- var result = new Uint8Array(MP4.FTYP.byteLength + movie.byteLength);
- result.set(MP4.FTYP);
- result.set(movie, MP4.FTYP.byteLength);
- return result;
- };
- MP4.fragmentSegment = function (sn, baseMediaDecodeTime, track, payload) {
- var moof = MP4.moof(sn, baseMediaDecodeTime, track);
- var mdat = MP4.mdat(payload);
- var result = new Uint8Array(MP4.STYP.byteLength + moof.byteLength + mdat.byteLength);
- result.set(MP4.STYP);
- result.set(moof, MP4.STYP.byteLength);
- result.set(mdat, MP4.STYP.byteLength + moof.byteLength);
- return result;
- };
- return MP4;
-}());
-MP4.types = {};
-MP4.initalized = false;
-exports.default = MP4;
diff --git a/web-service/public/js/lib/dist/types.d.ts b/web-service/public/js/lib/dist/types.d.ts
deleted file mode 100644
index 9805ff829dd34868f2bf97357420c37044b5b8fb..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/types.d.ts
+++ /dev/null
@@ -1,18 +0,0 @@
-export interface Track {
- id: number;
- type: 'video' | 'audio';
- len: number;
- codec: string;
- sps: Uint8Array[];
- pps: Uint8Array[];
- seiBuffering: boolean;
- width: number;
- height: number;
- timescale: number;
- duration: number;
- samples: TrackSample[];
- isKeyFrame: boolean;
-}
-export interface TrackSample {
- size: number;
-}
diff --git a/web-service/public/js/lib/dist/types.js b/web-service/public/js/lib/dist/types.js
deleted file mode 100644
index c8ad2e549bdc6801e0d1c80b0308d4b9bd4985ce..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/types.js
+++ /dev/null
@@ -1,2 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
diff --git a/web-service/public/js/lib/dist/util/NALU.d.ts b/web-service/public/js/lib/dist/util/NALU.d.ts
deleted file mode 100644
index 10d1b657a1c59ca9a35d465c7d5cf09bfa802017..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/util/NALU.d.ts
+++ /dev/null
@@ -1,19 +0,0 @@
-export default class NALU {
- data: Uint8Array;
- nri: number;
- ntype: number;
- static readonly NDR: number;
- static readonly IDR: number;
- static readonly SEI: number;
- static readonly SPS: number;
- static readonly PPS: number;
- static readonly TYPES: {
- [x: number]: string;
- };
- static type(nalu: NALU): string;
- constructor(data: Uint8Array);
- type(): number;
- isKeyframe(): boolean;
- getSize(): number;
- getData(): Uint8Array;
-}
diff --git a/web-service/public/js/lib/dist/util/NALU.js b/web-service/public/js/lib/dist/util/NALU.js
deleted file mode 100644
index f9c66be6a79aa16971997f6066bedecf585937c4..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/util/NALU.js
+++ /dev/null
@@ -1,74 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-var NALU = (function () {
- function NALU(data) {
- this.data = data;
- this.nri = (data[0] & 0x60) >> 5;
- this.ntype = data[0] & 0x1f;
- }
- Object.defineProperty(NALU, "NDR", {
- get: function () { return 1; },
- enumerable: true,
- configurable: true
- });
- Object.defineProperty(NALU, "IDR", {
- get: function () { return 5; },
- enumerable: true,
- configurable: true
- });
- Object.defineProperty(NALU, "SEI", {
- get: function () { return 6; },
- enumerable: true,
- configurable: true
- });
- Object.defineProperty(NALU, "SPS", {
- get: function () { return 7; },
- enumerable: true,
- configurable: true
- });
- Object.defineProperty(NALU, "PPS", {
- get: function () { return 8; },
- enumerable: true,
- configurable: true
- });
- Object.defineProperty(NALU, "TYPES", {
- get: function () {
- return _a = {},
- _a[NALU.IDR] = 'IDR',
- _a[NALU.SEI] = 'SEI',
- _a[NALU.SPS] = 'SPS',
- _a[NALU.PPS] = 'PPS',
- _a[NALU.NDR] = 'NDR',
- _a;
- var _a;
- },
- enumerable: true,
- configurable: true
- });
- NALU.type = function (nalu) {
- if (nalu.ntype in NALU.TYPES) {
- return NALU.TYPES[nalu.ntype];
- }
- else {
- return 'UNKNOWN';
- }
- };
- NALU.prototype.type = function () {
- return this.ntype;
- };
- NALU.prototype.isKeyframe = function () {
- return this.ntype === NALU.IDR;
- };
- NALU.prototype.getSize = function () {
- return 4 + this.data.byteLength;
- };
- NALU.prototype.getData = function () {
- var result = new Uint8Array(this.getSize());
- var view = new DataView(result.buffer);
- view.setUint32(0, this.getSize() - 4);
- result.set(this.data, 4);
- return result;
- };
- return NALU;
-}());
-exports.default = NALU;
diff --git a/web-service/public/js/lib/dist/util/bit-stream.d.ts b/web-service/public/js/lib/dist/util/bit-stream.d.ts
deleted file mode 100644
index d2a1b9c1013ebf799f2bce6fa28cdac8830eb4d2..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/util/bit-stream.d.ts
+++ /dev/null
@@ -1,19 +0,0 @@
-export default class BitStream {
- private data;
- private index;
- private bitLength;
- constructor(data: Uint8Array);
- readonly bitsAvailable: number;
- skipBits(size: number): void;
- readBits(size: number): number;
- private getBits(size, offsetBits, moveIndex?);
- skipLZ(): number;
- skipUEG(): void;
- skipEG(): void;
- readUEG(): number;
- readEG(): number;
- readBoolean(): boolean;
- readUByte(): number;
- readUShort(): number;
- readUInt(): number;
-}
diff --git a/web-service/public/js/lib/dist/util/bit-stream.js b/web-service/public/js/lib/dist/util/bit-stream.js
deleted file mode 100644
index 6983ed17d9192d6cabfdc9766ce9bc37b4a660af..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/util/bit-stream.js
+++ /dev/null
@@ -1,91 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-var BitStream = (function () {
- function BitStream(data) {
- this.data = data;
- this.index = 0;
- this.bitLength = data.byteLength * 8;
- }
- Object.defineProperty(BitStream.prototype, "bitsAvailable", {
- get: function () {
- return this.bitLength - this.index;
- },
- enumerable: true,
- configurable: true
- });
- BitStream.prototype.skipBits = function (size) {
- if (this.bitsAvailable < size) {
- throw new Error('no bytes available');
- }
- this.index += size;
- };
- BitStream.prototype.readBits = function (size) {
- var result = this.getBits(size, this.index);
- return result;
- };
- BitStream.prototype.getBits = function (size, offsetBits, moveIndex) {
- if (moveIndex === void 0) { moveIndex = true; }
- if (this.bitsAvailable < size) {
- throw new Error('no bytes available');
- }
- var offset = offsetBits % 8;
- var byte = this.data[(offsetBits / 8) | 0] & (0xff >>> offset);
- var bits = 8 - offset;
- if (bits >= size) {
- if (moveIndex) {
- this.index += size;
- }
- return byte >> (bits - size);
- }
- else {
- if (moveIndex) {
- this.index += bits;
- }
- var nextSize = size - bits;
- return (byte << nextSize) | this.getBits(nextSize, offsetBits + bits, moveIndex);
- }
- };
- BitStream.prototype.skipLZ = function () {
- var leadingZeroCount;
- for (leadingZeroCount = 0; leadingZeroCount < this.bitLength - this.index; ++leadingZeroCount) {
- if (0 !== this.getBits(1, this.index + leadingZeroCount, false)) {
- this.index += leadingZeroCount;
- return leadingZeroCount;
- }
- }
- return leadingZeroCount;
- };
- BitStream.prototype.skipUEG = function () {
- this.skipBits(1 + this.skipLZ());
- };
- BitStream.prototype.skipEG = function () {
- this.skipBits(1 + this.skipLZ());
- };
- BitStream.prototype.readUEG = function () {
- var prefix = this.skipLZ();
- return this.readBits(prefix + 1) - 1;
- };
- BitStream.prototype.readEG = function () {
- var value = this.readUEG();
- if (0x01 & value) {
- return (1 + value) >>> 1;
- }
- else {
- return -1 * (value >>> 1);
- }
- };
- BitStream.prototype.readBoolean = function () {
- return 1 === this.readBits(1);
- };
- BitStream.prototype.readUByte = function () {
- return this.readBits(8);
- };
- BitStream.prototype.readUShort = function () {
- return this.readBits(16);
- };
- BitStream.prototype.readUInt = function () {
- return this.readBits(32);
- };
- return BitStream;
-}());
-exports.default = BitStream;
diff --git a/web-service/public/js/lib/dist/util/debug.d.ts b/web-service/public/js/lib/dist/util/debug.d.ts
deleted file mode 100644
index c7801f1030732d051a163064646352216c66502d..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/util/debug.d.ts
+++ /dev/null
@@ -1,5 +0,0 @@
-export declare type Logger = (message?: any, ...optionalParams: any[]) => void;
-export declare function setLogger(log: Logger, error?: Logger): void;
-export declare function isEnable(): boolean;
-export declare function log(message?: any, ...optionalParams: any[]): void;
-export declare function error(message?: any, ...optionalParams: any[]): void;
diff --git a/web-service/public/js/lib/dist/util/debug.js b/web-service/public/js/lib/dist/util/debug.js
deleted file mode 100644
index 6e4354cf09a7414c655324df9843453f1e707de5..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/util/debug.js
+++ /dev/null
@@ -1,33 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-var logger;
-var errorLogger;
-function setLogger(log, error) {
- logger = log;
- errorLogger = error != null ? error : log;
-}
-exports.setLogger = setLogger;
-function isEnable() {
- return logger != null;
-}
-exports.isEnable = isEnable;
-function log(message) {
- var optionalParams = [];
- for (var _i = 1; _i < arguments.length; _i++) {
- optionalParams[_i - 1] = arguments[_i];
- }
- if (logger) {
- logger.apply(void 0, [message].concat(optionalParams));
- }
-}
-exports.log = log;
-function error(message) {
- var optionalParams = [];
- for (var _i = 1; _i < arguments.length; _i++) {
- optionalParams[_i - 1] = arguments[_i];
- }
- if (errorLogger) {
- errorLogger.apply(void 0, [message].concat(optionalParams));
- }
-}
-exports.error = error;
diff --git a/web-service/public/js/lib/dist/util/nalu-stream-buffer.d.ts b/web-service/public/js/lib/dist/util/nalu-stream-buffer.d.ts
deleted file mode 100644
index 591ab4aae4c4e07fd15e59a915a9166b8d478b2e..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/util/nalu-stream-buffer.d.ts
+++ /dev/null
@@ -1,7 +0,0 @@
-import NALU from './NALU';
-export default class VideoStreamBuffer {
- private buffer;
- clear(): void;
- append(value: ArrayLike<number>): NALU[];
- private mergeBuffer(value);
-}
diff --git a/web-service/public/js/lib/dist/util/nalu-stream-buffer.js b/web-service/public/js/lib/dist/util/nalu-stream-buffer.js
deleted file mode 100644
index 9d76aa0f657a9b0a77ab1e6b69c746cfcb2d3c72..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/util/nalu-stream-buffer.js
+++ /dev/null
@@ -1,66 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-var NALU_1 = require("./NALU");
-var VideoStreamBuffer = (function () {
- function VideoStreamBuffer() {
- }
- VideoStreamBuffer.prototype.clear = function () {
- this.buffer = undefined;
- };
- VideoStreamBuffer.prototype.append = function (value) {
- var nextNalHeader = function (b) {
- var i = 3;
- return function () {
- var count = 0;
- for (; i < b.length; i++) {
- switch (b[i]) {
- case 0:
- count++;
- break;
- case 1:
- if (count === 3) {
- return i - 3;
- }
- default:
- count = 0;
- }
- }
- return;
- };
- };
- var result = [];
- var buffer;
- if (this.buffer) {
- if (value[3] === 1 && value[2] === 0 && value[1] === 0 && value[0] === 0) {
- result.push(new NALU_1.default(this.buffer.subarray(4)));
- buffer = Uint8Array.from(value);
- }
- }
- if (buffer == null) {
- buffer = this.mergeBuffer(value);
- }
- var lastIndex = 0;
- var f = nextNalHeader(buffer);
- for (var index = f(); index != null; index = f()) {
- result.push(new NALU_1.default(buffer.subarray(lastIndex + 4, index)));
- lastIndex = index;
- }
- this.buffer = buffer.subarray(lastIndex);
- return result;
- };
- VideoStreamBuffer.prototype.mergeBuffer = function (value) {
- if (this.buffer == null) {
- return Uint8Array.from(value);
- }
- else {
- var newBuffer = new Uint8Array(this.buffer.byteLength + value.length);
- if (this.buffer.byteLength > 0) {
- newBuffer.set(this.buffer, 0);
- }
- newBuffer.set(value, this.buffer.byteLength);
- return newBuffer;
- }
- };
- return VideoStreamBuffer;
-}());
-exports.default = VideoStreamBuffer;
diff --git a/web-service/public/js/lib/dist/video-converter.d.ts b/web-service/public/js/lib/dist/video-converter.d.ts
deleted file mode 100644
index aa02344c1c60c8fda36923659b5a35631453169a..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/video-converter.d.ts
+++ /dev/null
@@ -1,26 +0,0 @@
-export declare const mimeType = "video/mp4; codecs=\"avc1.42E01E\"";
-export default class VideoConverter {
- private element;
- private fps;
- private fpf;
- private mediaSource;
- private sourceBuffer;
- private receiveBuffer;
- private remuxer;
- private mediaReady;
- private mediaReadyPromise;
- private queue;
- private isFirstFrame;
- static readonly errorNotes: {
- [x: number]: string;
- };
- constructor(element: HTMLVideoElement, fps?: number, fpf?: number);
- private setup();
- play(): void;
- pause(): void;
- reset(): void;
- appendRawData(data: ArrayLike<number>): void;
- private writeFragment(dts, pay);
- private writeBuffer(data);
- private doAppend(data);
-}
diff --git a/web-service/public/js/lib/dist/video-converter.js b/web-service/public/js/lib/dist/video-converter.js
deleted file mode 100644
index c0d768fec8655cef6d336e77d881d374c03d2d3a..0000000000000000000000000000000000000000
--- a/web-service/public/js/lib/dist/video-converter.js
+++ /dev/null
@@ -1,185 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-var h264_remuxer_1 = require("./h264-remuxer");
-var mp4_generator_1 = require("./mp4-generator");
-var debug = require("./util/debug");
-var nalu_stream_buffer_1 = require("./util/nalu-stream-buffer");
-exports.mimeType = 'video/mp4; codecs="avc1.42E01E"';
-var VideoConverter = (function () {
- function VideoConverter(element, fps, fpf) {
- if (fps === void 0) { fps = 60; }
- if (fpf === void 0) { fpf = fps; }
- this.element = element;
- this.fps = fps;
- this.fpf = fpf;
- this.receiveBuffer = new nalu_stream_buffer_1.default();
- this.queue = [];
- if (!MediaSource || !MediaSource.isTypeSupported(exports.mimeType)) {
- throw new Error("Your browser is not supported: " + exports.mimeType);
- }
- this.reset();
- }
- Object.defineProperty(VideoConverter, "errorNotes", {
- get: function () {
- return _a = {},
- _a[MediaError.MEDIA_ERR_ABORTED] = 'fetching process aborted by user',
- _a[MediaError.MEDIA_ERR_NETWORK] = 'error occurred when downloading',
- _a[MediaError.MEDIA_ERR_DECODE] = 'error occurred when decoding',
- _a[MediaError.MEDIA_ERR_SRC_NOT_SUPPORTED] = 'audio/video not supported',
- _a;
- var _a;
- },
- enumerable: true,
- configurable: true
- });
- VideoConverter.prototype.setup = function () {
- var _this = this;
- this.mediaReadyPromise = new Promise(function (resolve, _reject) {
- _this.mediaSource.addEventListener('sourceopen', function () {
- debug.log("Media Source opened.");
- _this.sourceBuffer = _this.mediaSource.addSourceBuffer(exports.mimeType);
- _this.sourceBuffer.addEventListener('updateend', function () {
- debug.log(" SourceBuffer updateend");
- debug.log(" sourceBuffer.buffered.length=" + _this.sourceBuffer.buffered.length);
- for (var i = 0, len = _this.sourceBuffer.buffered.length; i < len; i++) {
- debug.log(" sourceBuffer.buffered [" + i + "]: " +
- (_this.sourceBuffer.buffered.start(i) + ", " + _this.sourceBuffer.buffered.end(i)));
- }
- debug.log(" mediasource.duration=" + _this.mediaSource.duration);
- debug.log(" mediasource.readyState=" + _this.mediaSource.readyState);
- debug.log(" video.duration=" + _this.element.duration);
- debug.log(" video.buffered.length=" + _this.element.buffered.length);
- if (debug.isEnable()) {
- for (var i = 0, len = _this.element.buffered.length; i < len; i++) {
- debug.log(" video.buffered [" + i + "]: " + _this.element.buffered.start(i) + ", " + _this.element.buffered.end(i));
- }
- }
- debug.log(" video.currentTime=" + _this.element.currentTime);
- debug.log(" video.readyState=" + _this.element.readyState);
- var data = _this.queue.shift();
- if (data) {
- _this.writeBuffer(data);
- }
- });
- _this.sourceBuffer.addEventListener('error', function () {
- debug.error(' SourceBuffer errored!');
- });
- _this.mediaReady = true;
- resolve();
- }, false);
- _this.mediaSource.addEventListener('sourceclose', function () {
- debug.log("Media Source closed.");
- _this.mediaReady = false;
- }, false);
- _this.element.src = URL.createObjectURL(_this.mediaSource);
- });
- return this.mediaReadyPromise;
- };
- VideoConverter.prototype.play = function () {
- var _this = this;
- if (!this.element.paused) {
- return;
- }
- if (this.mediaReady && this.element.readyState >= 2) {
- this.element.play();
- }
- else {
- var handler_1 = function () {
- _this.play();
- _this.element.removeEventListener('canplaythrough', handler_1);
- };
- this.element.addEventListener('canplaythrough', handler_1);
- }
- };
- VideoConverter.prototype.pause = function () {
- if (this.element.paused) {
- return;
- }
- this.element.pause();
- };
- VideoConverter.prototype.reset = function () {
- this.receiveBuffer.clear();
- if (this.mediaSource && this.mediaSource.readyState === 'open') {
- this.mediaSource.duration = 0;
- this.mediaSource.endOfStream();
- }
- this.mediaSource = new MediaSource();
- this.remuxer = new h264_remuxer_1.default(this.fps, this.fpf, this.fps * 60);
- this.mediaReady = false;
- this.mediaReadyPromise = undefined;
- this.queue = [];
- this.isFirstFrame = true;
- this.setup();
- };
- VideoConverter.prototype.appendRawData = function (data) {
- var nalus = this.receiveBuffer.append(data);
- for (var _i = 0, nalus_1 = nalus; _i < nalus_1.length; _i++) {
- var nalu = nalus_1[_i];
- var ret = this.remuxer.remux(nalu);
- if (ret) {
- this.writeFragment(ret[0], ret[1]);
- }
- }
- };
- VideoConverter.prototype.writeFragment = function (dts, pay) {
- var remuxer = this.remuxer;
- if (remuxer.mp4track.isKeyFrame) {
- this.writeBuffer(mp4_generator_1.default.initSegment([remuxer.mp4track], Infinity, remuxer.timescale));
- }
- if (pay && pay.byteLength) {
- debug.log(" Put fragment: " + remuxer.seqNum + ", frames=" + remuxer.mp4track.samples.length + ", size=" + pay.byteLength);
- var fragment = mp4_generator_1.default.fragmentSegment(remuxer.seqNum, dts, remuxer.mp4track, pay);
- this.writeBuffer(fragment);
- remuxer.flush();
- }
- else {
- debug.error("Nothing payload!");
- }
- };
- VideoConverter.prototype.writeBuffer = function (data) {
- var _this = this;
- if (this.mediaReady) {
- if (this.sourceBuffer.updating) {
- this.queue.push(data);
- }
- else {
- this.doAppend(data);
- }
- }
- else {
- this.queue.push(data);
- if (this.mediaReadyPromise) {
- this.mediaReadyPromise.then(function () {
- if (!_this.sourceBuffer.updating) {
- var d = _this.queue.shift();
- if (d) {
- _this.writeBuffer(d);
- }
- }
- });
- this.mediaReadyPromise = undefined;
- }
- }
- };
- VideoConverter.prototype.doAppend = function (data) {
- var error = this.element.error;
- if (error) {
- debug.error("MSE Error Occured: " + VideoConverter.errorNotes[error.code]);
- this.element.pause();
- if (this.mediaSource.readyState === 'open') {
- this.mediaSource.endOfStream();
- }
- }
- else {
- try {
- this.sourceBuffer.appendBuffer(data);
- debug.log(" appended buffer: size=" + data.byteLength);
- }
- catch (err) {
- debug.error("MSE Error occured while appending buffer. " + err.name + ": " + err.message);
- }
- }
- };
- return VideoConverter;
-}());
-exports.default = VideoConverter;
diff --git a/web-service/public/js/lib/mp4-generator.js b/web-service/public/js/lib/mp4-generator.js
new file mode 100644
index 0000000000000000000000000000000000000000..5b6ad7c97dfa38d2d5e452b21bdbdaf11afb7603
--- /dev/null
+++ b/web-service/public/js/lib/mp4-generator.js
@@ -0,0 +1,850 @@
+/**
+ * mux.js
+ *
+ * Copyright (c) Brightcove
+ * Licensed Apache-2.0 https://github.com/videojs/mux.js/blob/master/LICENSE
+ *
+ * Functions that generate fragmented MP4s suitable for use with Media
+ * Source Extensions.
+ *
+ * Modified by Nicolas Pope to include support for Opus audio tracks
+ */
+'use strict';
+
+var UINT32_MAX = Math.pow(2, 32) - 1;
+
+var box, dinf, osse, esds, ftyp, mdat, mfhd, minf, moof, moov, mvex, mvhd,
+ trak, tkhd, mdia, mdhd, hdlr, sdtp, stbl, stsd, traf, trex,
+ trun, types, MAJOR_BRAND, MINOR_VERSION, AVC1_BRAND, VIDEO_HDLR,
+ AUDIO_HDLR, HDLR_TYPES, VMHD, SMHD, DREF, STCO, STSC, STSZ, STTS;
+
+// pre-calculate constants
+(function() {
+ var i;
+ types = {
+ avc1: [], // codingname
+ avcC: [],
+ btrt: [],
+ dinf: [],
+ dref: [],
+ esds: [],
+ ftyp: [],
+ hdlr: [],
+ mdat: [],
+ mdhd: [],
+ mdia: [],
+ mfhd: [],
+ minf: [],
+ moof: [],
+ moov: [],
+ mp4a: [], // codingname
+ mvex: [],
+ mvhd: [],
+ pasp: [],
+ sdtp: [],
+ smhd: [],
+ stbl: [],
+ stco: [],
+ stsc: [],
+ stsd: [],
+ stsz: [],
+ stts: [],
+ styp: [],
+ tfdt: [],
+ tfhd: [],
+ traf: [],
+ trak: [],
+ trun: [],
+ trex: [],
+ tkhd: [],
+ vmhd: [],
+ Opus: [],
+ dOps: []
+ };
+
+ // In environments where Uint8Array is undefined (e.g., IE8), skip set up so that we
+ // don't throw an error
+ if (typeof Uint8Array === 'undefined') {
+ return;
+ }
+
+ for (i in types) {
+ if (types.hasOwnProperty(i)) {
+ types[i] = [
+ i.charCodeAt(0),
+ i.charCodeAt(1),
+ i.charCodeAt(2),
+ i.charCodeAt(3)
+ ];
+ }
+ }
+
+ MAJOR_BRAND = new Uint8Array([
+ 'i'.charCodeAt(0),
+ 's'.charCodeAt(0),
+ 'o'.charCodeAt(0),
+ 'm'.charCodeAt(0)
+ ]);
+ AVC1_BRAND = new Uint8Array([
+ 'a'.charCodeAt(0),
+ 'v'.charCodeAt(0),
+ 'c'.charCodeAt(0),
+ '1'.charCodeAt(0)
+ ]);
+ MINOR_VERSION = new Uint8Array([0, 0, 0, 1]);
+ VIDEO_HDLR = new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x00, // pre_defined
+ 0x76, 0x69, 0x64, 0x65, // handler_type: 'vide'
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x56, 0x69, 0x64, 0x65,
+ 0x6f, 0x48, 0x61, 0x6e,
+ 0x64, 0x6c, 0x65, 0x72, 0x00 // name: 'VideoHandler'
+ ]);
+ AUDIO_HDLR = new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x00, // pre_defined
+ 0x73, 0x6f, 0x75, 0x6e, // handler_type: 'soun'
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x53, 0x6f, 0x75, 0x6e,
+ 0x64, 0x48, 0x61, 0x6e,
+ 0x64, 0x6c, 0x65, 0x72, 0x00 // name: 'SoundHandler'
+ ]);
+ HDLR_TYPES = {
+ video: VIDEO_HDLR,
+ audio: AUDIO_HDLR
+ };
+ DREF = new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x01, // entry_count
+ 0x00, 0x00, 0x00, 0x0c, // entry_size
+ 0x75, 0x72, 0x6c, 0x20, // 'url' type
+ 0x00, // version 0
+ 0x00, 0x00, 0x01 // entry_flags
+ ]);
+ SMHD = new Uint8Array([
+ 0x00, // version
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, // balance, 0 means centered
+ 0x00, 0x00 // reserved
+ ]);
+ STCO = new Uint8Array([
+ 0x00, // version
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x00 // entry_count
+ ]);
+ STSC = STCO;
+ STSZ = new Uint8Array([
+ 0x00, // version
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x00, // sample_size
+ 0x00, 0x00, 0x00, 0x00 // sample_count
+ ]);
+ STTS = STCO;
+ VMHD = new Uint8Array([
+ 0x00, // version
+ 0x00, 0x00, 0x01, // flags
+ 0x00, 0x00, // graphicsmode
+ 0x00, 0x00,
+ 0x00, 0x00,
+ 0x00, 0x00 // opcolor
+ ]);
+}());
+
+box = function(type) {
+ var
+ payload = [],
+ size = 0,
+ i,
+ result,
+ view;
+
+ for (i = 1; i < arguments.length; i++) {
+ payload.push(arguments[i]);
+ }
+
+ i = payload.length;
+
+ // calculate the total size we need to allocate
+ while (i--) {
+ size += payload[i].byteLength;
+ }
+ result = new Uint8Array(size + 8);
+ view = new DataView(result.buffer, result.byteOffset, result.byteLength);
+ view.setUint32(0, result.byteLength);
+ result.set(type, 4);
+
+ // copy the payload into the result
+ for (i = 0, size = 8; i < payload.length; i++) {
+ result.set(payload[i], size);
+ size += payload[i].byteLength;
+ }
+ return result;
+};
+
+dinf = function() {
+ return box(types.dinf, box(types.dref, DREF));
+};
+
+// Opus (Nick)
+osse = function(track) {
+ let preskip = 3840;
+ return box(types.dOps, new Uint8Array([
+ 0x00, // version
+ track.channelcount, // Output channel count
+ (preskip & 0xff00) >> 8, (preskip & 0xff), // Preskip
+ //0x00, 0x00, 0x00, 0x00, // Input sample rate
+ 0x00, 0x00, // Upper sample rate bytes
+ (track.insamplerate & 0xff00) >> 8,
+ (track.insamplerate & 0xff),
+ //0x00, 0x00, // samplerate, 16.16
+ 0x00, 0x00, // Output gain
+ 0x00 //ChannelMappingFamily
+ ]));
+ };
+
+esds = function(track) {
+ return box(types.esds, new Uint8Array([
+ 0x00, // version
+ 0x00, 0x00, 0x00, // flags
+
+ // ES_Descriptor
+ 0x03, // tag, ES_DescrTag
+ 0x19, // length
+ 0x00, 0x00, // ES_ID
+ 0x00, // streamDependenceFlag, URL_flag, reserved, streamPriority
+
+ // DecoderConfigDescriptor
+ 0x04, // tag, DecoderConfigDescrTag
+ 0x11, // length
+ 0x40, // object type
+ 0x15, // streamType
+ 0x00, 0x06, 0x00, // bufferSizeDB
+ 0x00, 0x00, 0xda, 0xc0, // maxBitrate
+ 0x00, 0x00, 0xda, 0xc0, // avgBitrate
+
+ // DecoderSpecificInfo
+ 0x05, // tag, DecoderSpecificInfoTag
+ 0x02, // length
+ // ISO/IEC 14496-3, AudioSpecificConfig
+ // for samplingFrequencyIndex see ISO/IEC 13818-7:2006, 8.1.3.2.2, Table 35
+ (track.audioobjecttype << 3) | (track.samplingfrequencyindex >>> 1),
+ (track.samplingfrequencyindex << 7) | (track.channelcount << 3),
+ 0x06, 0x01, 0x02 // GASpecificConfig
+ ]));
+};
+
+ftyp = function() {
+ return box(types.ftyp, MAJOR_BRAND, MINOR_VERSION, MAJOR_BRAND, AVC1_BRAND);
+};
+
+hdlr = function(type) {
+ return box(types.hdlr, HDLR_TYPES[type]);
+};
+mdat = function(data) {
+ return box(types.mdat, data);
+};
+mdhd = function(track) {
+ var result = new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x02, // creation_time
+ 0x00, 0x00, 0x00, 0x03, // modification_time
+ 0x00, 0x01, 0x5f, 0x90, // timescale, 90,000 "ticks" per second
+
+ (track.duration >>> 24) & 0xFF,
+ (track.duration >>> 16) & 0xFF,
+ (track.duration >>> 8) & 0xFF,
+ track.duration & 0xFF, // duration
+ 0x55, 0xc4, // 'und' language (undetermined)
+ 0x00, 0x00
+ ]);
+
+ // Use the sample rate from the track metadata, when it is
+ // defined. The sample rate can be parsed out of an ADTS header, for
+ // instance.
+ if (track.samplerate) {
+ result[12] = (track.samplerate >>> 24) & 0xFF;
+ result[13] = (track.samplerate >>> 16) & 0xFF;
+ result[14] = (track.samplerate >>> 8) & 0xFF;
+ result[15] = (track.samplerate) & 0xFF;
+ }
+
+ return box(types.mdhd, result);
+};
+mdia = function(track) {
+ return box(types.mdia, mdhd(track), hdlr(track.type), minf(track));
+};
+mfhd = function(sequenceNumber) {
+ return box(types.mfhd, new Uint8Array([
+ 0x00,
+ 0x00, 0x00, 0x00, // flags
+ (sequenceNumber & 0xFF000000) >> 24,
+ (sequenceNumber & 0xFF0000) >> 16,
+ (sequenceNumber & 0xFF00) >> 8,
+ sequenceNumber & 0xFF // sequence_number
+ ]));
+};
+minf = function(track) {
+ return box(types.minf,
+ track.type === 'video' ? box(types.vmhd, VMHD) : box(types.smhd, SMHD),
+ dinf(),
+ stbl(track));
+};
+moof = function(sequenceNumber, tracks) {
+ var
+ trackFragments = [],
+ i = tracks.length;
+ // build traf boxes for each track fragment
+ while (i--) {
+ trackFragments[i] = traf(tracks[i]);
+ }
+ return box.apply(null, [
+ types.moof,
+ mfhd(sequenceNumber)
+ ].concat(trackFragments));
+};
+/**
+ * Returns a movie box.
+ * @param tracks {array} the tracks associated with this movie
+ * @see ISO/IEC 14496-12:2012(E), section 8.2.1
+ */
+moov = function(tracks) {
+ var
+ i = tracks.length,
+ boxes = [];
+
+ while (i--) {
+ boxes[i] = trak(tracks[i]);
+ }
+
+ return box.apply(null, [types.moov, mvhd(0xffffffff)].concat(boxes).concat(mvex(tracks)));
+};
+mvex = function(tracks) {
+ var
+ i = tracks.length,
+ boxes = [];
+
+ while (i--) {
+ boxes[i] = trex(tracks[i]);
+ }
+ return box.apply(null, [types.mvex].concat(boxes));
+};
+mvhd = function(duration) {
+ var
+ bytes = new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x01, // creation_time
+ 0x00, 0x00, 0x00, 0x02, // modification_time
+ 0x00, 0x01, 0x5f, 0x90, // timescale, 90,000 "ticks" per second
+ (duration & 0xFF000000) >> 24,
+ (duration & 0xFF0000) >> 16,
+ (duration & 0xFF00) >> 8,
+ duration & 0xFF, // duration
+ 0x00, 0x01, 0x00, 0x00, // 1.0 rate
+ 0x01, 0x00, // 1.0 volume
+ 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x01, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x01, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x40, 0x00, 0x00, 0x00, // transformation: unity matrix
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, // pre_defined
+ 0xff, 0xff, 0xff, 0xff // next_track_ID
+ ]);
+ return box(types.mvhd, bytes);
+};
+
+sdtp = function(track) {
+ var
+ samples = track.samples || [],
+ bytes = new Uint8Array(4 + samples.length),
+ flags,
+ i;
+
+ // leave the full box header (4 bytes) all zero
+
+ // write the sample table
+ for (i = 0; i < samples.length; i++) {
+ flags = samples[i].flags;
+
+ bytes[i + 4] = (flags.dependsOn << 4) |
+ (flags.isDependedOn << 2) |
+ (flags.hasRedundancy);
+ }
+
+ return box(types.sdtp,
+ bytes);
+};
+
+stbl = function(track) {
+ return box(types.stbl,
+ stsd(track),
+ box(types.stts, STTS),
+ box(types.stsc, STSC),
+ box(types.stsz, STSZ),
+ box(types.stco, STCO));
+};
+
+(function() {
+ var videoSample, audioSample;
+
+ stsd = function(track) {
+
+ return box(types.stsd, new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x00, // flags
+ 0x00, 0x00, 0x00, 0x01
+ ]), track.type === 'video' ? videoSample(track) : audioSample(track));
+ };
+
+ videoSample = function(track) {
+ var
+ sps = track.sps || [],
+ pps = track.pps || [],
+ sequenceParameterSets = [],
+ pictureParameterSets = [],
+ i,
+ avc1Box;
+
+ // assemble the SPSs
+ for (i = 0; i < sps.length; i++) {
+ sequenceParameterSets.push((sps[i].byteLength & 0xFF00) >>> 8);
+ sequenceParameterSets.push((sps[i].byteLength & 0xFF)); // sequenceParameterSetLength
+ sequenceParameterSets = sequenceParameterSets.concat(Array.prototype.slice.call(sps[i])); // SPS
+ }
+
+ // assemble the PPSs
+ for (i = 0; i < pps.length; i++) {
+ pictureParameterSets.push((pps[i].byteLength & 0xFF00) >>> 8);
+ pictureParameterSets.push((pps[i].byteLength & 0xFF));
+ pictureParameterSets = pictureParameterSets.concat(Array.prototype.slice.call(pps[i]));
+ }
+
+ avc1Box = [
+ types.avc1, new Uint8Array([
+ 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x01, // data_reference_index
+ 0x00, 0x00, // pre_defined
+ 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, // pre_defined
+ (track.width & 0xff00) >> 8,
+ track.width & 0xff, // width
+ (track.height & 0xff00) >> 8,
+ track.height & 0xff, // height
+ 0x00, 0x48, 0x00, 0x00, // horizresolution
+ 0x00, 0x48, 0x00, 0x00, // vertresolution
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x01, // frame_count
+ 0x13,
+ 0x76, 0x69, 0x64, 0x65,
+ 0x6f, 0x6a, 0x73, 0x2d,
+ 0x63, 0x6f, 0x6e, 0x74,
+ 0x72, 0x69, 0x62, 0x2d,
+ 0x68, 0x6c, 0x73, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, // compressorname
+ 0x00, 0x18, // depth = 24
+ 0x11, 0x11 // pre_defined = -1
+ ]),
+ box(types.avcC, new Uint8Array([
+ 0x01, // configurationVersion
+ track.profileIdc, // AVCProfileIndication
+ track.profileCompatibility, // profile_compatibility
+ track.levelIdc, // AVCLevelIndication
+ 0xff // lengthSizeMinusOne, hard-coded to 4 bytes
+ ].concat(
+ [sps.length], // numOfSequenceParameterSets
+ sequenceParameterSets, // "SPS"
+ [pps.length], // numOfPictureParameterSets
+ pictureParameterSets // "PPS"
+ ))),
+ box(types.btrt, new Uint8Array([
+ 0x00, 0x1c, 0x9c, 0x80, // bufferSizeDB
+ 0x00, 0x2d, 0xc6, 0xc0, // maxBitrate
+ 0x00, 0x2d, 0xc6, 0xc0 // avgBitrate
+ ]))
+ ];
+
+ if (track.sarRatio) {
+ var
+ hSpacing = track.sarRatio[0],
+ vSpacing = track.sarRatio[1];
+
+ avc1Box.push(
+ box(types.pasp, new Uint8Array([
+ (hSpacing & 0xFF000000) >> 24,
+ (hSpacing & 0xFF0000) >> 16,
+ (hSpacing & 0xFF00) >> 8,
+ hSpacing & 0xFF,
+ (vSpacing & 0xFF000000) >> 24,
+ (vSpacing & 0xFF0000) >> 16,
+ (vSpacing & 0xFF00) >> 8,
+ vSpacing & 0xFF
+ ]))
+ );
+ }
+
+ return box.apply(null, avc1Box);
+ };
+
+ audioSample = function(track) {
+ console.log("AUDIO", track);
+ if (track.codec == "opus") {
+ let samplesize = 16;
+ let samplerate = 48000;
+ return box(types.Opus, new Uint8Array([
+
+ // SampleEntry, ISO/IEC 14496-12
+ 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x01, // data_reference_index
+
+ // AudioSampleEntry, ISO/IEC 14496-12
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ (track.channelcount & 0xff00) >> 8,
+ (track.channelcount & 0xff), // channelcount
+
+ (samplesize & 0xff00) >> 8,
+ (samplesize & 0xff), // samplesize
+ 0x00, 0x00, // pre_defined
+ 0x00, 0x00, // reserved
+
+ (samplerate & 0xff00) >> 8,
+ (samplerate & 0xff),
+ 0x00, 0x00 // samplerate, 16.16
+
+ // OpusSpecificSampleEntry
+ ]), osse(track));
+ } else {
+ return box(types.mp4a, new Uint8Array([
+
+ // SampleEntry, ISO/IEC 14496-12
+ 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x01, // data_reference_index
+
+ // AudioSampleEntry, ISO/IEC 14496-12
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ (track.channelcount & 0xff00) >> 8,
+ (track.channelcount & 0xff), // channelcount
+
+ (track.samplesize & 0xff00) >> 8,
+ (track.samplesize & 0xff), // samplesize
+ 0x00, 0x00, // pre_defined
+ 0x00, 0x00, // reserved
+
+ (track.samplerate & 0xff00) >> 8,
+ (track.samplerate & 0xff),
+ 0x00, 0x00 // samplerate, 16.16
+
+ // MP4AudioSampleEntry, ISO/IEC 14496-14
+ ]), esds(track));
+ };
+ }
+}());
+
+tkhd = function(track) {
+ var result = new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x07, // flags
+ 0x00, 0x00, 0x00, 0x00, // creation_time
+ 0x00, 0x00, 0x00, 0x00, // modification_time
+ (track.id & 0xFF000000) >> 24,
+ (track.id & 0xFF0000) >> 16,
+ (track.id & 0xFF00) >> 8,
+ track.id & 0xFF, // track_ID
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ (track.duration & 0xFF000000) >> 24,
+ (track.duration & 0xFF0000) >> 16,
+ (track.duration & 0xFF00) >> 8,
+ track.duration & 0xFF, // duration
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, // reserved
+ 0x00, 0x00, // layer
+ 0x00, 0x00, // alternate_group
+ 0x01, 0x00, // non-audio track volume
+ 0x00, 0x00, // reserved
+ 0x00, 0x01, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x01, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00,
+ 0x40, 0x00, 0x00, 0x00, // transformation: unity matrix
+ (track.width & 0xFF00) >> 8,
+ track.width & 0xFF,
+ 0x00, 0x00, // width
+ (track.height & 0xFF00) >> 8,
+ track.height & 0xFF,
+ 0x00, 0x00 // height
+ ]);
+
+ return box(types.tkhd, result);
+};
+
+/**
+ * Generate a track fragment (traf) box. A traf box collects metadata
+ * about tracks in a movie fragment (moof) box.
+ */
+traf = function(track) {
+ var trackFragmentHeader, trackFragmentDecodeTime, trackFragmentRun,
+ sampleDependencyTable, dataOffset,
+ upperWordBaseMediaDecodeTime, lowerWordBaseMediaDecodeTime;
+
+ trackFragmentHeader = box(types.tfhd, new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x3a, // flags
+ (track.id & 0xFF000000) >> 24,
+ (track.id & 0xFF0000) >> 16,
+ (track.id & 0xFF00) >> 8,
+ (track.id & 0xFF), // track_ID
+ 0x00, 0x00, 0x00, 0x01, // sample_description_index
+ 0x00, 0x00, 0x00, 0x00, // default_sample_duration
+ 0x00, 0x00, 0x00, 0x00, // default_sample_size
+ 0x00, 0x00, 0x00, 0x00 // default_sample_flags
+ ]));
+
+ upperWordBaseMediaDecodeTime = Math.floor(track.baseMediaDecodeTime / (UINT32_MAX + 1));
+ lowerWordBaseMediaDecodeTime = Math.floor(track.baseMediaDecodeTime % (UINT32_MAX + 1));
+
+ trackFragmentDecodeTime = box(types.tfdt, new Uint8Array([
+ 0x01, // version 1
+ 0x00, 0x00, 0x00, // flags
+ // baseMediaDecodeTime
+ (upperWordBaseMediaDecodeTime >>> 24) & 0xFF,
+ (upperWordBaseMediaDecodeTime >>> 16) & 0xFF,
+ (upperWordBaseMediaDecodeTime >>> 8) & 0xFF,
+ upperWordBaseMediaDecodeTime & 0xFF,
+ (lowerWordBaseMediaDecodeTime >>> 24) & 0xFF,
+ (lowerWordBaseMediaDecodeTime >>> 16) & 0xFF,
+ (lowerWordBaseMediaDecodeTime >>> 8) & 0xFF,
+ lowerWordBaseMediaDecodeTime & 0xFF
+ ]));
+
+ // the data offset specifies the number of bytes from the start of
+ // the containing moof to the first payload byte of the associated
+ // mdat
+ dataOffset = (32 + // tfhd
+ 20 + // tfdt
+ 8 + // traf header
+ 16 + // mfhd
+ 8 + // moof header
+ 8); // mdat header
+
+ // audio tracks require less metadata
+ if (track.type === 'audio') {
+ trackFragmentRun = trun(track, dataOffset);
+ return box(types.traf,
+ trackFragmentHeader,
+ trackFragmentDecodeTime,
+ trackFragmentRun);
+ }
+
+ // video tracks should contain an independent and disposable samples
+ // box (sdtp)
+ // generate one and adjust offsets to match
+ sampleDependencyTable = sdtp(track);
+ trackFragmentRun = trun(track,
+ sampleDependencyTable.length + dataOffset);
+ return box(types.traf,
+ trackFragmentHeader,
+ trackFragmentDecodeTime,
+ trackFragmentRun,
+ sampleDependencyTable);
+};
+
+/**
+ * Generate a track box.
+ * @param track {object} a track definition
+ * @return {Uint8Array} the track box
+ */
+trak = function(track) {
+ track.duration = track.duration || 0xffffffff;
+ return box(types.trak,
+ tkhd(track),
+ mdia(track));
+};
+
+trex = function(track) {
+ var result = new Uint8Array([
+ 0x00, // version 0
+ 0x00, 0x00, 0x00, // flags
+ (track.id & 0xFF000000) >> 24,
+ (track.id & 0xFF0000) >> 16,
+ (track.id & 0xFF00) >> 8,
+ (track.id & 0xFF), // track_ID
+ 0x00, 0x00, 0x00, 0x01, // default_sample_description_index
+ 0x00, 0x00, 0x00, 0x00, // default_sample_duration
+ 0x00, 0x00, 0x00, 0x00, // default_sample_size
+ 0x00, 0x01, 0x00, 0x01 // default_sample_flags
+ ]);
+ // the last two bytes of default_sample_flags is the sample
+ // degradation priority, a hint about the importance of this sample
+ // relative to others. Lower the degradation priority for all sample
+ // types other than video.
+ if (track.type !== 'video') {
+ result[result.length - 1] = 0x00;
+ }
+
+ return box(types.trex, result);
+};
+
+(function() {
+ var audioTrun, videoTrun, trunHeader;
+
+ // This method assumes all samples are uniform. That is, if a
+ // duration is present for the first sample, it will be present for
+ // all subsequent samples.
+ // see ISO/IEC 14496-12:2012, Section 8.8.8.1
+ trunHeader = function(samples, offset) {
+ var durationPresent = 0, sizePresent = 0,
+ flagsPresent = 0, compositionTimeOffset = 0;
+
+ // trun flag constants
+ if (samples.length) {
+ if (samples[0].duration !== undefined) {
+ durationPresent = 0x1;
+ }
+ if (samples[0].size !== undefined) {
+ sizePresent = 0x2;
+ }
+ if (samples[0].flags !== undefined) {
+ flagsPresent = 0x4;
+ }
+ if (samples[0].compositionTimeOffset !== undefined) {
+ compositionTimeOffset = 0x8;
+ }
+ }
+
+ return [
+ 0x00, // version 0
+ 0x00,
+ durationPresent | sizePresent | flagsPresent | compositionTimeOffset,
+ 0x01, // flags
+ (samples.length & 0xFF000000) >>> 24,
+ (samples.length & 0xFF0000) >>> 16,
+ (samples.length & 0xFF00) >>> 8,
+ samples.length & 0xFF, // sample_count
+ (offset & 0xFF000000) >>> 24,
+ (offset & 0xFF0000) >>> 16,
+ (offset & 0xFF00) >>> 8,
+ offset & 0xFF // data_offset
+ ];
+ };
+
+ videoTrun = function(track, offset) {
+ var bytesOffest, bytes, header, samples, sample, i;
+
+ samples = track.samples || [];
+ offset += 8 + 12 + (16 * samples.length);
+ header = trunHeader(samples, offset);
+ bytes = new Uint8Array(header.length + samples.length * 16);
+ bytes.set(header);
+ bytesOffest = header.length;
+
+ for (i = 0; i < samples.length; i++) {
+ sample = samples[i];
+
+ bytes[bytesOffest++] = (sample.duration & 0xFF000000) >>> 24;
+ bytes[bytesOffest++] = (sample.duration & 0xFF0000) >>> 16;
+ bytes[bytesOffest++] = (sample.duration & 0xFF00) >>> 8;
+ bytes[bytesOffest++] = sample.duration & 0xFF; // sample_duration
+ bytes[bytesOffest++] = (sample.size & 0xFF000000) >>> 24;
+ bytes[bytesOffest++] = (sample.size & 0xFF0000) >>> 16;
+ bytes[bytesOffest++] = (sample.size & 0xFF00) >>> 8;
+ bytes[bytesOffest++] = sample.size & 0xFF; // sample_size
+ bytes[bytesOffest++] = (sample.flags.isLeading << 2) | sample.flags.dependsOn;
+ bytes[bytesOffest++] = (sample.flags.isDependedOn << 6) |
+ (sample.flags.hasRedundancy << 4) |
+ (sample.flags.paddingValue << 1) |
+ sample.flags.isNonSyncSample;
+ bytes[bytesOffest++] = sample.flags.degradationPriority & 0xF0 << 8;
+ bytes[bytesOffest++] = sample.flags.degradationPriority & 0x0F; // sample_flags
+ bytes[bytesOffest++] = (sample.compositionTimeOffset & 0xFF000000) >>> 24;
+ bytes[bytesOffest++] = (sample.compositionTimeOffset & 0xFF0000) >>> 16;
+ bytes[bytesOffest++] = (sample.compositionTimeOffset & 0xFF00) >>> 8;
+ bytes[bytesOffest++] = sample.compositionTimeOffset & 0xFF; // sample_composition_time_offset
+ }
+ return box(types.trun, bytes);
+ };
+
+ audioTrun = function(track, offset) {
+ var bytes, bytesOffest, header, samples, sample, i;
+
+ samples = track.samples || [];
+ offset += 8 + 12 + (8 * samples.length);
+
+ header = trunHeader(samples, offset);
+ bytes = new Uint8Array(header.length + samples.length * 8);
+ bytes.set(header);
+ bytesOffest = header.length;
+
+ for (i = 0; i < samples.length; i++) {
+ sample = samples[i];
+ bytes[bytesOffest++] = (sample.duration & 0xFF000000) >>> 24;
+ bytes[bytesOffest++] = (sample.duration & 0xFF0000) >>> 16;
+ bytes[bytesOffest++] = (sample.duration & 0xFF00) >>> 8;
+ bytes[bytesOffest++] = sample.duration & 0xFF; // sample_duration
+ bytes[bytesOffest++] = (sample.size & 0xFF000000) >>> 24;
+ bytes[bytesOffest++] = (sample.size & 0xFF0000) >>> 16;
+ bytes[bytesOffest++] = (sample.size & 0xFF00) >>> 8;
+ bytes[bytesOffest++] = sample.size & 0xFF; // sample_size
+ }
+
+ return box(types.trun, bytes);
+ };
+
+ trun = function(track, offset) {
+ if (track.type === 'audio') {
+ return audioTrun(track, offset);
+ }
+
+ return videoTrun(track, offset);
+ };
+}());
+
+module.exports = {
+ ftyp: ftyp,
+ mdat: mdat,
+ moof: moof,
+ moov: moov,
+ initSegment: function(tracks) {
+ var
+ fileType = ftyp(),
+ movie = moov(tracks),
+ result;
+
+ result = new Uint8Array(fileType.byteLength + movie.byteLength);
+ result.set(fileType);
+ result.set(movie, fileType.byteLength);
+ return result;
+ }
+};
\ No newline at end of file
diff --git a/web-service/server/src/index.js b/web-service/server/src/index.js
index 9e417752ba5e795775c0c3c683f77acaa2d3a8d4..773181878053ce80b47068357969030fa763a53b 100644
--- a/web-service/server/src/index.js
+++ b/web-service/server/src/index.js
@@ -7,7 +7,11 @@ const config = require('./utils/config')
const User = require('./models/users')
const Configs = require('./models/generic')
const bodyParser = require('body-parser')
-const Url = require('url-parse')
+const Url = require('url-parse');
+const { LogLuvEncoding } = require('three');
+const msgpack = require('msgpack5')()
+ , encode = msgpack.encode
+ , decode = msgpack.decode;
// ---- INDEXES ----------------------------------------------------------------
app.use(express.static(__dirname + '/../../public'));
@@ -30,8 +34,24 @@ let peer_uris = {};
let uri_data = {};
+let stream_list = {};
+
let peer_data = [];
+let cfg_to_peer = {};
+
+setInterval(() => {
+ for (x in peer_by_id) {
+ let p = peer_by_id[x];
+ let start = (new Date()).getMilliseconds();
+ p.rpc("__ping__", (ts) => {
+ let end = (new Date()).getMilliseconds();
+ p.latency = (end-start) / 2;
+ console.log("Ping: ", p.latency, ts);
+ });
+ }
+}, 20000);
+
/**
* A client stream request object. Each source maintains a list of clients who
* are wanting frames from that source. Clients can only request N frames at a
@@ -74,14 +94,20 @@ function RGBDStream(uri, peer) {
this.rxcount = 10;
this.rxmax = 10;
+ this.data = {};
+
+ let ix = uri.indexOf("?");
+ this.base_uri = (ix >= 0) ? uri.substring(0, ix) : uri;
+
// Add RPC handler to receive frames from the source
- peer.bind(uri, (latency, spacket, packet) => {
+ peer.bind(this.base_uri, (latency, spacket, packet) => {
// Forward frames to all clients
this.pushFrames(latency, spacket, packet);
//this.rxcount++;
//if (this.rxcount >= this.rxmax && this.clients.length > 0) {
// this.subscribe();
//}
+ //console.log("Got frame: ", spacket);
});
/*peer.bind(uri, (frame, ttime, chunk, rgb, depth) => {
@@ -92,6 +118,9 @@ function RGBDStream(uri, peer) {
this.subscribe();
}
});*/
+
+ console.log("Sending request");
+ this.peer.send(this.base_uri, 0, [1,255,255,74,1],[7,0,1,255,0,new Uint8Array(0)]);
}
RGBDStream.prototype.addClient = function(peer) {
@@ -119,15 +148,15 @@ RGBDStream.prototype.subscribe = function() {
RGBDStream.prototype.pushFrames = function(latency, spacket, packet) {
//Checks that the type is jpg
- if (packet[0] === 0){
- if (spacket[3] > 0) this.depth = packet[5];
- else this.rgb = packet[5];
+ if (spacket[3] >= 64 && packet[5].length > 0 && packet[0] == 103) {
+ this.data[spacket[3]] = decode(packet[5]);
}
//console.log("Frame = ", packet[0], packet[1]);
for (let i=0; i < this.clients.length; i++) {
- this.clients[i].push(this.uri, latency, spacket, packet);
+ let l = latency+this.peer.latency+this.clients[i].peer.latency;
+ this.clients[i].push(this.base_uri, Math.ceil(l), spacket, packet);
}
/*let i=0;
@@ -156,24 +185,29 @@ app.get('/streams', (req, res) => {
* binded to that
*/
app.get('/stream/rgb', (req, res) => {
- let uri = req.query.uri;
+ let uri = decodeURI(req.query.uri);
+ let ix = uri.indexOf("?");
+ let base_uri = (ix >= 0) ? uri.substring(0, ix) : uri;
+
if (uri_data.hasOwnProperty(uri)) {
//uri_data[uri].peer.send("get_stream", uri, 3, 9, [Peer.uuid], uri);
res.writeHead(200, {'Content-Type': 'image/jpeg'});
- res.end(uri_data[uri].rgb);
+ res.end(uri_data[uri].data[74]);
}
res.end();
});
-app.get('/stream/depth', (req, res) => {
+app.get('/stream/data', (req, res) => {
let uri = req.query.uri;
+ let channel = parseInt(req.query.channel);
const parsedURI = stringSplitter(uri)
if (uri_data.hasOwnProperty(parsedURI)) {
- res.writeHead(200, {'Content-Type': 'image/png'});
- res.end(uri_data[parsedURI].depth);
+ //res.writeHead(200, {'Content-Type': 'image/png'});
+ res.status(200).json(uri_data[parsedURI].data[channel]);
+ } else {
+ res.end();
}
- res.end();
});
app.post('/stream/config', async (req, res) => {
@@ -215,23 +249,19 @@ app.get('/stream/config', async(req, res) => {
//example of uri ftlab.utu.fi/stream/config?uri=ftl://utu.fi#reconstruction_snap10/merge
const settings = req.query.settings;
- const uri = req.query.uri;
- const parsedURI = stringSplitter(uri)
+ const uri = decodeURI(req.query.uri);
+ //const parsedURI = stringSplitter(uri)
- // //Checks if DB has data
- // let dbData = await Configs.find({Settings: settings});
- // if(dbData[0].data){
- // return res.status(200).json(dbData[0]);
- // }else{
- let peer = uri_data[parsedURI].peer
- if(peer){
- peer.rpc("get_cfg", (response) => {
+ if (uri_data.hasOwnProperty(uri)) {
+ let peer = uri_data[uri].peer
+ if (peer){
+ peer.rpc("get_configurable", (response) => {
if(response){
- return res.status(200).json(response);
+ return res.status(200).json(JSON.parse(response));
}
- }, settings)
+ }, uri);
}
- // }
+ }
})
@@ -244,16 +274,26 @@ app.get('/stream', (req, res) => {
function checkStreams(peer) {
if (!peer.master) {
- peer.rpc("list_streams", (streams) => {
- console.log("STREAMS", streams);
- for (let i=0; i<streams.length; i++) {
- //uri_to_peer[streams[i]] = peer;
- let parsedURI = stringSplitter(streams[i])
- peer_uris[peer.string_id].push(parsedURI);
- uri_to_peer[parsedURI] = peer;
- uri_data[streams[i]] = new RGBDStream(streams[i], peer);
- }
- });
+ setTimeout(() => {
+ peer.rpc("list_streams", (streams) => {
+ //console.log("STREAMS", streams);
+ for (let i=0; i<streams.length; i++) {
+ //uri_to_peer[streams[i]] = peer;
+ let parsedURI = stringSplitter(streams[i])
+ peer_uris[peer.string_id].push(parsedURI);
+ uri_to_peer[parsedURI] = peer;
+ uri_data[parsedURI] = new RGBDStream(streams[i], peer);
+ stream_list[streams[i]] = true;
+ }
+ });
+
+ peer.rpc("list_configurables", (cfgs) => {
+ //console.log("CONFIGS", cfgs);
+ for (let i=0; i<cfgs.length; i++) {
+ if (!cfg_to_peer.hasOwnProperty(cfgs[i])) cfg_to_peer[cfgs[i]] = peer;
+ }
+ });
+ }, 500); // Give a delay to allow startup
}
}
@@ -265,6 +305,14 @@ function broadcastExcept(exc, name, ...args) {
}
}
+function locateConfigPeer(uri) {
+ let cur_uri = uri;
+ while (cur_uri.length > 0 && !cfg_to_peer.hasOwnProperty(cur_uri)) {
+ cur_uri = cur_uri.substring(0, cur_uri.lastIndexOf('/'));
+ }
+ return (cur_uri.length > 0) ? cfg_to_peer[cur_uri] : null;
+}
+
app.ws('/', (ws, req) => {
console.log("New web socket request");
@@ -291,20 +339,32 @@ app.ws('/', (ws, req) => {
});
p.on("disconnect", (peer) => {
- console.log("DISCONNECT");
+ console.log("DISCONNECT", peer);
// Remove all peer details and streams....
+ if (peer.status != 2) return;
+
let puris = peer_uris[peer.string_id];
if (puris) {
for (let i=0; i<puris.length; i++) {
console.log("Removing stream: ", puris[i]);
delete uri_to_peer[puris[i]];
- delete uri_data[puris[i]];
+ if (uri_data.hasOwnProperty(puris[i])) {
+ delete stream_list[uri_data[puris[i]].uri];
+ delete uri_data[puris[i]];
+ }
//p.unbind(pu)
}
delete peer_uris[peer.string_id];
}
if (peer_by_id.hasOwnProperty(peer.string_id)) delete peer_by_id[peer.string_id];
+
+ // Clear configurables
+ for (let c in cfg_to_peer) {
+ if (cfg_to_peer[c] === p) delete cfg_to_peer[c];
+ }
+
+ // FIXME: Clear peer_data
});
p.bind("new_peer", (id) => {
@@ -321,23 +381,47 @@ app.ws('/', (ws, req) => {
});
p.bind("list_streams", () => {
- return Object.keys(uri_data);
+ return Object.keys(stream_list);
+ });
+
+ p.bind("list_configurables", () => {
+ let result = [];
+ for (let c in cfg_to_peer) {
+ if (cfg_to_peer[c] !== p) result.push(c);
+ }
+ //console.log("List Configs: ", result);
+ return result;
+ });
+
+ p.proxy("get_configurable", (cb, uri) => {
+ if (cfg_to_peer.hasOwnProperty(uri)) {
+ let peer = cfg_to_peer[uri];
+ peer.rpc("get_configurable", cb, uri);
+ } else {
+ console.log("Failed to get configurable ", uri);
+ return "{}";
+ }
});
- p.bind("find_stream", (uri) => {
+ p.bind("find_stream", (uri, proxy) => {
+ if (!proxy) return null;
+
const parsedURI = stringSplitter(uri)
if (uri_to_peer.hasOwnProperty(parsedURI)) {
console.log("Stream found: ", uri, parsedURI);
- if (!p.isBound(uri)) {
- console.log("Adding local stream binding");
- p.bind(uri, (ttimeoff, spkt, pkt) => {
- console.log("STREAM: ", ttimeoff, spkt, pkt);
+ let ix = uri.indexOf("?");
+ let base_uri = (ix >= 0) ? uri.substring(0, ix) : uri;
+
+ if (!p.isBound(base_uri)) {
+ console.log("Adding local stream binding: ", base_uri);
+ p.bind(base_uri, (ttimeoff, spkt, pkt) => {
+ //console.log("STREAM: ", ttimeoff, spkt, pkt);
let speer = uri_to_peer[parsedURI];
if (speer) {
try {
uri_data[parsedURI].addClient(p);
- speer.send(parsedURI, ttimeoff, spkt, pkt);
+ speer.send(base_uri, ttimeoff, spkt, pkt);
} catch(e) {
console.error("EXCEPTION", e);
}
@@ -436,11 +520,9 @@ app.ws('/', (ws, req) => {
* Update certain URIs values
*/
p.bind("update_cfg", (uri, json) => {
- const parsedURI = stringSplitter(uri)
- console.log("URI", uri)
- console.log("JSON", json)
- if(uri_to_peer[parsedURI]){
- let peer = uri_to_peer[parsedURI]
+ let peer = locateConfigPeer(uri);
+
+ if (peer) {
peer.send("update_cfg", uri, json)
}else{
console.log("Failed to update the configuration uri", uri)
@@ -455,7 +537,8 @@ app.ws('/', (ws, req) => {
//uri_to_peer[streams[i]] = peer;
peer_uris[p.string_id].push(parsedURI);
uri_to_peer[parsedURI] = p;
- uri_data[uri] = new RGBDStream(uri, p);
+ uri_data[parsedURI] = new RGBDStream(uri, p);
+ stream_list[uri] = true;
broadcastExcept(p, "add_stream", uri);
});
@@ -467,8 +550,11 @@ app.ws('/', (ws, req) => {
* @param {uri} uri
*/
function stringSplitter(uri) {
- const url = new Url(uri)
- return url.origin;
+ //const url = new Url(uri)
+ //return url.origin;
+ let ix = uri.indexOf("?");
+ let base_uri = (ix >= 0) ? uri.substring(0, ix) : uri;
+ return base_uri;
}
console.log("Listening or port 8080");
diff --git a/web-service/server/src/peer.js b/web-service/server/src/peer.js
index c31ee2426b332a666f000947be6964f0f65860f7..ed897e38b5900e67c21c722df68cf28fd8b94675 100644
--- a/web-service/server/src/peer.js
+++ b/web-service/server/src/peer.js
@@ -35,6 +35,8 @@ function Peer(ws) {
this.callbacks = {};
this.cbid = 0;
+ this.latency = 0;
+
this.uri = "unknown";
this.name = "unknown";
this.master = false;
@@ -67,12 +69,12 @@ function Peer(ws) {
}
let close = () => {
- this.status = kDisconnected;
this._notify("disconnect", this);
+ this.status = kDisconnected;
}
- let error = () => {
- console.error("Socket error");
+ let error = (e) => {
+ console.error("Socket error: ", e);
this.sock.close();
this.status = kDisconnected;
}