From 789d7cdf5d160e1723e9d5346147fc689a1fcd58 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nicolas.pope@utu.fi>
Date: Thu, 5 Dec 2019 15:12:33 +0200
Subject: [PATCH] Resolves #260 scene recording
---
applications/reconstruct/src/main.cpp | 29 +++++++++----------
.../reconstruct/src/reconstruction.cpp | 4 +++
.../reconstruct/src/reconstruction.hpp | 2 ++
3 files changed, 20 insertions(+), 15 deletions(-)
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index c4905e1e5..41be18a13 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -284,21 +284,24 @@ static void run(ftl::Configurable *root) {
stream->add(vs);
// ---- Recording code -----------------------------------------------------
- /*
std::ofstream fileout;
ftl::codecs::Writer writer(fileout);
- auto recorder = [&writer,&groups](ftl::rgbd::Source *src, const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
- ftl::codecs::StreamPacket s = spkt;
-
- // Patch stream ID to match order in group
- s.streamID = groups[0]->streamID(src);
- writer.write(s, pkt);
- };
root->set("record", false);
+ // Add a recording callback to all reconstruction scenes
+ for (size_t i=0; i<sources.size(); ++i) {
+ sources[i]->addRawCallback([&writer,&groups,i](ftl::rgbd::Source *src, const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ ftl::codecs::StreamPacket s = spkt;
+
+ // Patch stream ID to match order in group
+ s.streamID = i;
+ writer.write(s, pkt);
+ });
+ }
+
// Allow stream recording
- root->on("record", [&groups,&fileout,&writer,&recorder](const ftl::config::Event &e) {
+ root->on("record", [&groups,&fileout,&writer,&sources](const ftl::config::Event &e) {
if (e.entity->value("record", false)) {
char timestamp[18];
std::time_t t=std::time(NULL);
@@ -306,24 +309,20 @@ static void run(ftl::Configurable *root) {
fileout.open(std::string(timestamp) + ".ftl");
writer.begin();
- // TODO: Add to all grounds / reconstructions
- groups[0]->addRawCallback(std::function(recorder));
// TODO: Write pose+calibration+config packets
- auto sources = groups[0]->sources();
+
for (size_t i=0; i<sources.size(); ++i) {
//writeSourceProperties(writer, i, sources[i]);
sources[i]->inject(Channel::Calibration, sources[i]->parameters(), Channel::Left, sources[i]->getCapabilities());
sources[i]->inject(sources[i]->getPose());
}
} else {
- // FIXME: Remove doesn't work, so multiple records fail.
- groups[0]->removeRawCallback(recorder);
writer.end();
fileout.close();
}
});
- */
+
// -------------------------------------------------------------------------
stream->setLatency(6); // FIXME: This depends on source!?
diff --git a/applications/reconstruct/src/reconstruction.cpp b/applications/reconstruct/src/reconstruction.cpp
index a2aa11093..c9ce1bf89 100644
--- a/applications/reconstruct/src/reconstruction.cpp
+++ b/applications/reconstruct/src/reconstruction.cpp
@@ -82,6 +82,10 @@ void Reconstruction::addSource(ftl::rgbd::Source *src) {
group_->addSource(src); // TODO: check if source is already in group?
}
+void Reconstruction::addRawCallback(const std::function<void(ftl::rgbd::Source *src, const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt)> &cb) {
+ group_->addRawCallback(cb);
+}
+
void Reconstruction::render(ftl::rgbd::VirtualSource *vs, ftl::rgbd::Frame &out) {
// Create scene transform, intended for axis aligning the walls and floor
Eigen::Matrix4d transform;
diff --git a/applications/reconstruct/src/reconstruction.hpp b/applications/reconstruct/src/reconstruction.hpp
index 340e65bf2..6546f85c1 100644
--- a/applications/reconstruct/src/reconstruction.hpp
+++ b/applications/reconstruct/src/reconstruction.hpp
@@ -18,6 +18,8 @@ class Reconstruction : public ftl::Configurable {
void addSource(ftl::rgbd::Source *);
+ void addRawCallback(const std::function<void(ftl::rgbd::Source *src, const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt)> &cb);
+
/**
* Do the render for a specified virtual camera.
*/
--
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