From 5abd1118d620dedea8e404ccbfe2c535f135c438 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nicolas.pope@utu.fi>
Date: Wed, 31 Jul 2019 16:28:01 +0300
Subject: [PATCH] Resolves #115 in groupview app
---
applications/groupview/src/main.cpp | 81 ++++++-
applications/reconstruct/src/main.cpp | 9 +-
components/rgbd-sources/src/group.cpp | 1 +
components/rgbd-sources/src/net.cpp | 131 ++++++-----
components/rgbd-sources/src/net.hpp | 4 +-
components/rgbd-sources/src/snapshot.cpp | 3 +-
.../rgbd-sources/src/snapshot_source.cpp | 8 +-
components/rgbd-sources/src/source.cpp | 11 +-
config/config_nick.jsonc | 221 +++++++++++++++++-
9 files changed, 388 insertions(+), 81 deletions(-)
diff --git a/applications/groupview/src/main.cpp b/applications/groupview/src/main.cpp
index 59a5bb662..f57337183 100644
--- a/applications/groupview/src/main.cpp
+++ b/applications/groupview/src/main.cpp
@@ -4,6 +4,38 @@
#include <ftl/rgbd/source.hpp>
#include <ftl/rgbd/group.hpp>
+#ifdef HAVE_LIBARCHIVE
+#include <ftl/rgbd/snapshot.hpp>
+#endif
+
+#include <fstream>
+
+using Eigen::Matrix4d;
+using std::map;
+using std::string;
+
+static void from_json(nlohmann::json &json, map<string, Matrix4d> &transformations) {
+ for (auto it = json.begin(); it != json.end(); ++it) {
+ Eigen::Matrix4d m;
+ auto data = m.data();
+ for(size_t i = 0; i < 16; i++) { data[i] = it.value()[i]; }
+ transformations[it.key()] = m;
+ }
+}
+
+static bool loadTransformations(const string &path, map<string, Matrix4d> &data) {
+ std::ifstream file(path);
+ if (!file.is_open()) {
+ LOG(ERROR) << "Error loading transformations from file " << path;
+ return false;
+ }
+
+ nlohmann::json json_registration;
+ file >> json_registration;
+ from_json(json_registration, data);
+ return true;
+}
+
int main(int argc, char **argv) {
auto root = ftl::configure(argc, argv, "viewer_default");
ftl::net::Universe *net = ftl::create<ftl::net::Universe>(root, "net");
@@ -13,20 +45,63 @@ int main(int argc, char **argv) {
auto sources = ftl::createArray<ftl::rgbd::Source>(root, "sources", net);
+ std::map<std::string, Eigen::Matrix4d> transformations;
+ if (loadTransformations(string(FTL_LOCAL_CONFIG_ROOT) + "/registration.json", transformations)) {
+ LOG(INFO) << "Loaded camera trasformations from file";
+ }
+ else {
+ LOG(ERROR) << "Error loading camera transformations from file";
+ }
+
ftl::rgbd::Group group;
for (auto s : sources) {
- s->setChannel(ftl::rgbd::kChanRight);
+ string uri = s->getURI();
+ auto T = transformations.find(uri);
+ if (T == transformations.end()) {
+ LOG(ERROR) << "Camera pose for " + uri + " not found in transformations";
+ } else {
+ s->setPose(T->second);
+ }
+ s->setChannel(ftl::rgbd::kChanDepth);
group.addSource(s);
}
- group.sync([](const ftl::rgbd::FrameSet &fs) {
+ bool grab = false;
+
+ group.sync([&grab](const ftl::rgbd::FrameSet &fs) {
LOG(INFO) << "Complete set: " << fs.timestamp;
+ if (grab) {
+ grab = false;
+
+#ifdef HAVE_LIBARCHIVE
+ char timestamp[18];
+ std::time_t t=std::time(NULL);
+ std::strftime(timestamp, sizeof(timestamp), "%F-%H%M%S", std::localtime(&t));
+ auto writer = ftl::rgbd::SnapshotWriter(std::string(timestamp) + ".tar.gz");
+
+ for (size_t i=0; i<fs.sources.size(); ++i) {
+ writer.addCameraParams(std::string("camera")+std::to_string(i), fs.sources[i]->getPose(), fs.sources[i]->parameters());
+ LOG(INFO) << "SAVE: " << fs.channel1[i].cols << ", " << fs.channel2[i].type();
+ writer.addCameraRGBD(std::string("camera")+std::to_string(i), fs.channel1[i], fs.channel2[i]);
+ }
+#endif // HAVE_LIBARCHIVE
+ }
return true;
});
+ int current = 0;
+
while (ftl::running) {
- std::this_thread::sleep_for(std::chrono::milliseconds(20));
+ //std::this_thread::sleep_for(std::chrono::milliseconds(20));
for (auto s : sources) s->grab(30);
+ cv::Mat rgb,depth;
+ sources[current%sources.size()]->getFrames(rgb, depth);
+ if (!rgb.empty()) cv::imshow("View", rgb);
+ auto key = cv::waitKey(20);
+
+ if (key == 27) break;
+ if (key == 'n') current++;
+ if (key == 'g') grab = true;
}
return 0;
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index 4f05ef2d3..46629bd0d 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -79,11 +79,12 @@ static void run(ftl::Configurable *root) {
auto T = transformations.find(uri);
if (T == transformations.end()) {
LOG(ERROR) << "Camera pose for " + uri + " not found in transformations";
- LOG(WARNING) << "Using only first configured source";
+ //LOG(WARNING) << "Using only first configured source";
// TODO: use target source if configured and found
- sources = { sources[0] };
- sources[0]->setPose(Eigen::Matrix4d::Identity());
- break;
+ //sources = { sources[0] };
+ //sources[0]->setPose(Eigen::Matrix4d::Identity());
+ //break;
+ continue;
}
input->setPose(T->second);
}
diff --git a/components/rgbd-sources/src/group.cpp b/components/rgbd-sources/src/group.cpp
index 09cf14076..f548806d5 100644
--- a/components/rgbd-sources/src/group.cpp
+++ b/components/rgbd-sources/src/group.cpp
@@ -105,6 +105,7 @@ void Group::_addFrameset(int64_t timestamp) {
framesets_[head_].channel1.resize(sources_.size());
framesets_[head_].channel2.resize(sources_.size());
+ framesets_[head_].sources.clear();
for (auto s : sources_) framesets_[head_].sources.push_back(s);
}
}
diff --git a/components/rgbd-sources/src/net.cpp b/components/rgbd-sources/src/net.cpp
index 075d75e6b..42b2c8fd6 100644
--- a/components/rgbd-sources/src/net.cpp
+++ b/components/rgbd-sources/src/net.cpp
@@ -130,74 +130,91 @@ void NetSource::_recvChunk(int64_t frame, int chunk, bool delta, const vector<un
// Make certain last frame has finished decoding before swap
while (frame > current_frame_ && chunk_count_ < 16 && chunk_count_ > 0) {
std::this_thread::yield();
+ //std::function<void(int)> j = ftl::pool.pop();
+ //if ((bool)j) j(-1);
+ //else std::this_thread::yield();
}
- // Lock host to prevent grab
- UNIQUE_LOCK(host_->mutex(),lk);
-
- // A new frame has been started... finish the last one
- if (frame > current_frame_) {
- // Lock host to prevent grab
- //UNIQUE_LOCK(host_->mutex(),lk);
-
- chunk_count_ = 0;
+ //{
+ // A new frame has been started... finish the last one
+ if (frame > current_frame_) {
+ // Lock host to prevent grab
+ UNIQUE_LOCK(host_->mutex(),lk);
+ if (frame > current_frame_) {
+ {
+ // Lock to allow buffer swap
+ UNIQUE_LOCK(mutex_,lk2);
+
+ chunk_count_ = 0;
+
+ // Swap the double buffers
+ cv::Mat tmp;
+ tmp = rgb_;
+ rgb_ = d_rgb_;
+ d_rgb_ = tmp;
+ tmp = depth_;
+ depth_ = d_depth_;
+ d_depth_ = tmp;
+
+ timestamp_ = current_frame_*40; // FIXME: Don't hardcode 40ms
+ current_frame_ = frame;
+ }
- // Swap the double buffers
- cv::Mat tmp;
- tmp = rgb_;
- rgb_ = d_rgb_;
- d_rgb_ = tmp;
- tmp = depth_;
- depth_ = d_depth_;
- d_depth_ = tmp;
-
- timestamp_ = current_frame_*40; // FIXME: Don't hardcode 40ms
- current_frame_ = frame;
-
- if (host_->callback()) {
- //ftl::pool.push([this](id) {
- // UNIQUE_LOCK(host_->mutex(),lk);
- host_->callback()(timestamp_, rgb_, depth_);
- //});
+ if (host_->callback()) {
+ //ftl::pool.push([this](id) {
+ // UNIQUE_LOCK(host_->mutex(),lk);
+ host_->callback()(timestamp_, rgb_, depth_);
+ //});
+ }
+ }
+ } else if (frame < current_frame_) {
+ LOG(WARNING) << "Chunk dropped";
+ if (chunk == 0) N_--;
+ return;
}
- } else if (frame < current_frame_) {
- LOG(WARNING) << "Chunk dropped";
- if (chunk == 0) N_--;
- return;
- }
+ //}
// TODO:(Nick) Decode directly into double buffer if no scaling
-
- cv::Rect roi(cx,cy,chunk_width_,chunk_height_);
- cv::Mat chunkRGB = d_rgb_(roi);
- cv::Mat chunkDepth = d_depth_(roi);
-
- // Original size so just copy
- if (tmp_rgb.cols == chunkRGB.cols) {
- tmp_rgb.copyTo(chunkRGB);
- if (!tmp_depth.empty() && tmp_depth.type() == CV_16U && chunkDepth.type() == CV_32F) {
- tmp_depth.convertTo(chunkDepth, CV_32FC1, 1.0f/1000.0f); //(16.0f*10.0f));
- } else if (!tmp_depth.empty() && tmp_depth.type() == CV_8UC3 && chunkDepth.type() == CV_8UC3) {
- tmp_depth.copyTo(chunkDepth);
- } else {
- // Silent ignore?
- }
- // Downsized so needs a scale up
- } else {
- cv::resize(tmp_rgb, chunkRGB, chunkRGB.size());
- tmp_depth.convertTo(tmp_depth, CV_32FC1, 1.0f/1000.0f);
- if (!tmp_depth.empty() && tmp_depth.type() == CV_16U && chunkDepth.type() == CV_32F) {
- tmp_depth.convertTo(tmp_depth, CV_32FC1, 1.0f/1000.0f); //(16.0f*10.0f));
- cv::resize(tmp_depth, chunkDepth, chunkDepth.size());
- } else if (!tmp_depth.empty() && tmp_depth.type() == CV_8UC3 && chunkDepth.type() == CV_8UC3) {
- cv::resize(tmp_depth, chunkDepth, chunkDepth.size());
+
+ {
+ SHARED_LOCK(mutex_, lk);
+
+ cv::Rect roi(cx,cy,chunk_width_,chunk_height_);
+ cv::Mat chunkRGB = d_rgb_(roi);
+ cv::Mat chunkDepth = d_depth_(roi);
+
+ // Original size so just copy
+ if (tmp_rgb.cols == chunkRGB.cols) {
+ tmp_rgb.copyTo(chunkRGB);
+ if (!tmp_depth.empty() && tmp_depth.type() == CV_16U && chunkDepth.type() == CV_32F) {
+ tmp_depth.convertTo(chunkDepth, CV_32FC1, 1.0f/1000.0f); //(16.0f*10.0f));
+ } else if (!tmp_depth.empty() && tmp_depth.type() == CV_8UC3 && chunkDepth.type() == CV_8UC3) {
+ tmp_depth.copyTo(chunkDepth);
+ } else {
+ // Silent ignore?
+ }
+ // Downsized so needs a scale up
} else {
- // Silent ignore?
+ cv::resize(tmp_rgb, chunkRGB, chunkRGB.size());
+ tmp_depth.convertTo(tmp_depth, CV_32FC1, 1.0f/1000.0f);
+ if (!tmp_depth.empty() && tmp_depth.type() == CV_16U && chunkDepth.type() == CV_32F) {
+ tmp_depth.convertTo(tmp_depth, CV_32FC1, 1.0f/1000.0f); //(16.0f*10.0f));
+ cv::resize(tmp_depth, chunkDepth, chunkDepth.size());
+ } else if (!tmp_depth.empty() && tmp_depth.type() == CV_8UC3 && chunkDepth.type() == CV_8UC3) {
+ cv::resize(tmp_depth, chunkDepth, chunkDepth.size());
+ } else {
+ // Silent ignore?
+ }
}
}
- ++chunk_count_;
+ {
+
+ ++chunk_count_;
+ }
+
if (chunk == 0) {
+ UNIQUE_LOCK(host_->mutex(),lk);
N_--;
}
}
diff --git a/components/rgbd-sources/src/net.hpp b/components/rgbd-sources/src/net.hpp
index 171630040..b99dc3487 100644
--- a/components/rgbd-sources/src/net.hpp
+++ b/components/rgbd-sources/src/net.hpp
@@ -39,7 +39,7 @@ class NetSource : public detail::Source {
bool active_;
std::string uri_;
ftl::net::callback_t h_;
- MUTEX mutex_;
+ SHARED_MUTEX mutex_;
int chunks_dim_;
int chunk_width_;
int chunk_height_;
@@ -51,7 +51,7 @@ class NetSource : public detail::Source {
int default_quality_;
ftl::rgbd::channel_t prev_chan_;
int64_t current_frame_;
- int chunk_count_;
+ std::atomic<int> chunk_count_;
// Double buffering
cv::Mat d_depth_;
diff --git a/components/rgbd-sources/src/snapshot.cpp b/components/rgbd-sources/src/snapshot.cpp
index 9980235ae..202023026 100644
--- a/components/rgbd-sources/src/snapshot.cpp
+++ b/components/rgbd-sources/src/snapshot.cpp
@@ -275,11 +275,12 @@ bool SnapshotReader::readArchive() {
else if (path.rfind("-D.") != string::npos) {
if (!readEntry(data)) continue;
snapshot.depth = cv::imdecode(data, cv::IMREAD_ANYDEPTH);
+ snapshot.depth.convertTo(snapshot.depth, CV_32FC1, 1.0f / 1000.0f);
snapshot.status &= ~(1 << 1);
}
else if (path.rfind("-POSE.pfm") != string::npos) {
if (!readEntry(data)) continue;
- Mat m_ = cv::imdecode(Mat(data), 0);
+ Mat m_ = cv::imdecode(Mat(data), cv::IMREAD_ANYDEPTH);
if ((m_.rows != 4) || (m_.cols != 4)) continue;
cv::Matx44d pose_(m_);
cv::cv2eigen(pose_, snapshot.pose);
diff --git a/components/rgbd-sources/src/snapshot_source.cpp b/components/rgbd-sources/src/snapshot_source.cpp
index d3e70524e..030e56dd4 100644
--- a/components/rgbd-sources/src/snapshot_source.cpp
+++ b/components/rgbd-sources/src/snapshot_source.cpp
@@ -17,6 +17,10 @@ SnapshotSource::SnapshotSource(ftl::rgbd::Source *host, SnapshotReader &reader,
Eigen::Matrix4d pose;
reader.getCameraRGBD(id, rgb_, depth_, pose, params_);
+ if (rgb_.empty()) LOG(ERROR) << "Did not load snapshot rgb - " << id;
+ if (depth_.empty()) LOG(ERROR) << "Did not load snapshot depth - " << id;
+ if (params_.width != rgb_.cols) LOG(ERROR) << "Camera parameters corrupt for " << id;
+
ftl::rgbd::colourCorrection(rgb_, host->value("gamma", 1.0f), host->value("temperature", 6500));
host->on("gamma", [this,host](const ftl::config::Event&) {
@@ -42,5 +46,7 @@ SnapshotSource::SnapshotSource(ftl::rgbd::Source *host, SnapshotReader &reader,
params_.cy = host_->value("centre_y", params_.cy);
});
- setPose(pose);
+ LOG(INFO) << "POSE = " << pose;
+
+ host->setPose(pose);
}
diff --git a/components/rgbd-sources/src/source.cpp b/components/rgbd-sources/src/source.cpp
index f3817d62f..1014e2440 100644
--- a/components/rgbd-sources/src/source.cpp
+++ b/components/rgbd-sources/src/source.cpp
@@ -120,7 +120,7 @@ ftl::rgbd::detail::Source *Source::_createFileImpl(const ftl::URI &uri) {
} else if (ext == "tar" || ext == "gz") {
#ifdef HAVE_LIBARCHIVE
ftl::rgbd::SnapshotReader reader(path);
- return new ftl::rgbd::detail::SnapshotSource(this, reader, std::to_string(value("index", 0))); // TODO: Use URI fragment
+ return new ftl::rgbd::detail::SnapshotSource(this, reader, value("index", std::string("0"))); // TODO: Use URI fragment
#else
LOG(ERROR) << "Cannot read snapshots, libarchive not installed";
return nullptr;
@@ -231,6 +231,15 @@ bool Source::grab(int N, int B) {
return true;
} else if (impl_ && impl_->grab(N,B)) {
timestamp_ = impl_->timestamp_;
+ /*cv::Mat tmp;
+ rgb_.create(impl_->rgb_.size(), impl_->rgb_.type());
+ depth_.create(impl_->depth_.size(), impl_->depth_.type());
+ tmp = rgb_;
+ rgb_ = impl_->rgb_;
+ impl_->rgb_ = tmp;
+ tmp = depth_;
+ depth_ = impl_->depth_;
+ impl_->depth_ = tmp;*/
impl_->rgb_.copyTo(rgb_);
impl_->depth_.copyTo(depth_);
return true;
diff --git a/config/config_nick.jsonc b/config/config_nick.jsonc
index dd4949a20..5e3a29a40 100644
--- a/config/config_nick.jsonc
+++ b/config/config_nick.jsonc
@@ -128,6 +128,7 @@
"SDFUseGradients": false,
"showBlockBorders": false
},
+ "baseline": 0.5,
"uri": "device:virtual"
}
},
@@ -146,10 +147,10 @@
"colourSmoothing": 200.0,
"colourInfluence": 2.0,
"spatialSmoothing": 0.04,
- "confidenceThreshold": 0.00001,
- "mls": false,
+ "confidenceThreshold": 0.0,
+ "mls": true,
"voxels": false,
- "clipping": true,
+ "clipping": false,
"bbox_x_max": 1.5,
"bbox_x_min": -1.5,
"bbox_y_max": 3.0,
@@ -192,12 +193,19 @@
"viewer_default": {
"net": {
- "peers": ["tcp://ftl-node-4:9001", "tcp://ftl-node-3:9001", "tcp://ftl-node-1:9001"]
+ "peers": ["tcp://ftl-node-4:9001",
+ "tcp://ftl-node-5:9001",
+ "tcp://ftl-node-1:9001",
+ "tcp://ftl-node-6:9001",
+ "tcp://ftl-node-3:9001"],
+ "listen": "tcp://*:9001"
},
"sources": [
+ {"uri":"ftl://utu.fi/node1#vision_default/source"},
+ {"uri":"ftl://utu.fi/node6#vision_default/source"},
+ //{"uri":"ftl://utu.fi/node3#vision_default/source"},
{"uri":"ftl://utu.fi/node4#vision_default/source"},
- {"uri":"ftl://utu.fi/node3#vision_default/source"},
- {"uri":"ftl://utu.fi/node1#vision_default/source"}
+ {"uri":"ftl://utu.fi/node5#vision_default/source"}
]
},
@@ -310,6 +318,195 @@
}
},
+ "reconstruction_snap2": {
+ "net": {
+ "peers": [],
+ "listen": "tcp://*:9001"
+ },
+ "sources": [
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest2.tar.gz#0", "index": "camera0"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest2.tar.gz#1", "index": "camera1"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest2.tar.gz#2", "index": "camera2"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest2.tar.gz#3", "index": "camera3"}
+ ],
+ "display": { "$ref": "#displays/left" },
+ "virtual": { "$ref": "#virtual_cams/default" },
+ "voxelhash": { "$ref": "#hash_conf/default" },
+ "merge": {
+ "$id": "ftl://blah/blah",
+ "targetsource" : "ftl://utu.fi/node3#vision_default/source",
+ "register": false,
+ "chain": false,
+ "maxerror": 100,
+ "iterations" : 10,
+ "delay" : 500,
+ "patternsize" : [9, 6]
+ },
+ "stream": {}
+ },
+
+ "reconstruction_snap3": {
+ "net": {
+ "peers": [],
+ "listen": "tcp://*:9001"
+ },
+ "sources": [
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest3.tar.gz#0", "index": "camera0"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest3.tar.gz#1", "index": "camera1"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest3.tar.gz#2", "index": "camera2"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest3.tar.gz#3", "index": "camera3"}
+ ],
+ "display": { "$ref": "#displays/left" },
+ "virtual": { "$ref": "#virtual_cams/default" },
+ "voxelhash": { "$ref": "#hash_conf/default" },
+ "merge": {
+ "$id": "ftl://blah/blah",
+ "targetsource" : "ftl://utu.fi/node3#vision_default/source",
+ "register": false,
+ "chain": false,
+ "maxerror": 100,
+ "iterations" : 10,
+ "delay" : 500,
+ "patternsize" : [9, 6]
+ },
+ "stream": {}
+ },
+
+ "reconstruction_snap4": {
+ "net": {
+ "peers": [],
+ "listen": "tcp://*:9001"
+ },
+ "sources": [
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest4.tar.gz#0", "index": "camera0"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest4.tar.gz#1", "index": "camera1"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest4.tar.gz#2", "index": "camera2"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest4.tar.gz#3", "index": "camera3"}
+ ],
+ "display": { "$ref": "#displays/left" },
+ "virtual": { "$ref": "#virtual_cams/default" },
+ "voxelhash": { "$ref": "#hash_conf/default" },
+ "merge": {
+ "$id": "ftl://blah/blah",
+ "targetsource" : "ftl://utu.fi/node3#vision_default/source",
+ "register": false,
+ "chain": false,
+ "maxerror": 100,
+ "iterations" : 10,
+ "delay" : 500,
+ "patternsize" : [9, 6]
+ },
+ "stream": {}
+ },
+
+ "reconstruction_snap5": {
+ "net": {
+ "peers": [],
+ "listen": "tcp://*:9001"
+ },
+ "sources": [
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest5.tar.gz#0", "index": "camera0"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest5.tar.gz#1", "index": "camera1"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest5.tar.gz#2", "index": "camera2"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest5.tar.gz#3", "index": "camera3"}
+ ],
+ "display": { "$ref": "#displays/left" },
+ "virtual": { "$ref": "#virtual_cams/default" },
+ "voxelhash": { "$ref": "#hash_conf/default" },
+ "merge": {
+ "$id": "ftl://blah/blah",
+ "targetsource" : "ftl://utu.fi/node3#vision_default/source",
+ "register": false,
+ "chain": false,
+ "maxerror": 100,
+ "iterations" : 10,
+ "delay" : 500,
+ "patternsize" : [9, 6]
+ },
+ "stream": {}
+ },
+
+ "reconstruction_snap6": {
+ "net": {
+ "peers": [],
+ "listen": "tcp://*:9001"
+ },
+ "sources": [
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest6.tar.gz#0", "index": "camera0"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest6.tar.gz#1", "index": "camera1"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest6.tar.gz#2", "index": "camera2"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest6.tar.gz#3", "index": "camera3"}
+ ],
+ "display": { "$ref": "#displays/left" },
+ "virtual": { "$ref": "#virtual_cams/default" },
+ "voxelhash": { "$ref": "#hash_conf/default" },
+ "merge": {
+ "$id": "ftl://blah/blah",
+ "targetsource" : "ftl://utu.fi/node3#vision_default/source",
+ "register": false,
+ "chain": false,
+ "maxerror": 100,
+ "iterations" : 10,
+ "delay" : 500,
+ "patternsize" : [9, 6]
+ },
+ "stream": {}
+ },
+
+ "reconstruction_snap7": {
+ "net": {
+ "peers": [],
+ "listen": "tcp://*:9001"
+ },
+ "sources": [
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest7.tar.gz#0", "index": "camera0"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest7.tar.gz#1", "index": "camera1"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest7.tar.gz#2", "index": "camera2"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest7.tar.gz#3", "index": "camera3"}
+ ],
+ "display": { "$ref": "#displays/left" },
+ "virtual": { "$ref": "#virtual_cams/default" },
+ "voxelhash": { "$ref": "#hash_conf/default" },
+ "merge": {
+ "$id": "ftl://blah/blah",
+ "targetsource" : "ftl://utu.fi/node3#vision_default/source",
+ "register": false,
+ "chain": false,
+ "maxerror": 100,
+ "iterations" : 10,
+ "delay" : 500,
+ "patternsize" : [9, 6]
+ },
+ "stream": {}
+ },
+
+ "reconstruction_snap8": {
+ "net": {
+ "peers": [],
+ "listen": "tcp://*:9001"
+ },
+ "sources": [
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest8.tar.gz#0", "index": "camera0"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest8.tar.gz#1", "index": "camera1"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest8.tar.gz#2", "index": "camera2"},
+ {"uri":"file:///home/nick/Pictures/FTL/snaptest8.tar.gz#3", "index": "camera3"}
+ ],
+ "display": { "$ref": "#displays/left" },
+ "virtual": { "$ref": "#virtual_cams/default" },
+ "voxelhash": { "$ref": "#hash_conf/default" },
+ "merge": {
+ "$id": "ftl://blah/blah",
+ "targetsource" : "ftl://utu.fi/node3#vision_default/source",
+ "register": false,
+ "chain": false,
+ "maxerror": 100,
+ "iterations" : 10,
+ "delay" : 500,
+ "patternsize" : [9, 6]
+ },
+ "stream": {}
+ },
+
"reconstruction_lab": {
"net": {
"peers": ["tcp://ftl-node-4:9001",
@@ -428,16 +625,16 @@
"peers": ["tcp://ftl-node-4:9001",
"tcp://ftl-node-5:9001",
"tcp://ftl-node-1:9001",
- "tcp://ftl-node-2:9001",
+ "tcp://ftl-node-6:9001",
"tcp://ftl-node-3:9001"],
"listen": "tcp://*:9001"
},
"sources": [
- {"uri":"ftl://utu.fi/node1#vision_default/source", "gamma": 0.8, "temperature": 6500, "scaling": 1.0},
- {"uri":"ftl://utu.fi/node2#vision_default/source", "gamma": 1.2, "temperature": 6500, "scaling": 1.0},
- {"uri":"ftl://utu.fi/node3#vision_default/source", "gamma": 1.2, "temperature": 6500, "scaling": 1.0},
- {"uri":"ftl://utu.fi/node4#vision_default/source", "gamma": 1.2, "temperature": 6500, "scaling": 1.0},
- {"uri":"ftl://utu.fi/node5#vision_default/source", "gamma": 1.2, "temperature": 6500, "scaling": 1.0}
+ {"uri":"ftl://utu.fi/node1#vision_default/source"},
+ {"uri":"ftl://utu.fi/node6#vision_default/source"},
+ //{"uri":"ftl://utu.fi/node3#vision_default/source"},
+ {"uri":"ftl://utu.fi/node4#vision_default/source"},
+ {"uri":"ftl://utu.fi/node5#vision_default/source"}
],
"display": { "$ref": "#displays/left" },
"virtual": { "$ref": "#virtual_cams/default" },
--
GitLab