diff --git a/applications/gui/src/media_panel.cpp b/applications/gui/src/media_panel.cpp
index 83bad8511a287e35454ef61050e01f6a2c4d39b3..2e0f5fae21e2bb0f45492b0885ff68afe747adba 100644
--- a/applications/gui/src/media_panel.cpp
+++ b/applications/gui/src/media_panel.cpp
@@ -17,6 +17,7 @@ MediaPanel::MediaPanel(ftl::gui::Screen *screen) : nanogui::Window(screen, ""),
using namespace nanogui;
paused_ = false;
+ writer_ = nullptr;
setLayout(new BoxLayout(Orientation::Horizontal,
Alignment::Middle, 5, 10));
@@ -54,8 +55,24 @@ MediaPanel::MediaPanel(ftl::gui::Screen *screen) : nanogui::Window(screen, ""),
button = new Button(this, "", ENTYPO_ICON_CONTROLLER_RECORD);
button->setFlags(Button::ToggleButton);
button->setChangeCallback([this,button](bool state) {
- if (state) button->setTextColor(nanogui::Color(1.0f,0.1f,0.1f,1.0f));
- else button->setTextColor(nanogui::Color(1.0f,1.0f,1.0f,1.0f));
+ if (state){
+ auto *cam = screen_->activeCamera();
+
+ button->setTextColor(nanogui::Color(1.0f,0.1f,0.1f,1.0f));
+ char timestamp[18];
+ std::time_t t=std::time(NULL);
+ std::strftime(timestamp, sizeof(timestamp), "%F-%H%M%S", std::localtime(&t));
+ writer_ = new ftl::rgbd::SnapshotStreamWriter(std::string(timestamp) + ".tar.gz", 1000 / 25);
+ writer_->addSource(cam->source());
+ writer_->start();
+ } else {
+ button->setTextColor(nanogui::Color(1.0f,1.0f,1.0f,1.0f));
+ if (writer_) {
+ writer_->stop();
+ delete writer_;
+ writer_ = nullptr;
+ }
+ }
//if (state) ... start
//else ... stop
});
@@ -92,12 +109,10 @@ MediaPanel::MediaPanel(ftl::gui::Screen *screen) : nanogui::Window(screen, ""),
auto writer = ftl::rgbd::SnapshotWriter(std::string(timestamp) + ".tar.gz");
cv::Mat rgb, depth;
cam->source()->getFrames(rgb, depth);
- if (!writer.addCameraRGBD(
+ if (!writer.addCameraParams("0", cam->source()->getPose(), cam->source()->parameters()) || !writer.addCameraRGBD(
"0", // TODO
rgb,
- depth,
- cam->source()->getPose(),
- cam->source()->parameters()
+ depth
)) {
LOG(ERROR) << "Snapshot failed";
}
diff --git a/applications/gui/src/media_panel.hpp b/applications/gui/src/media_panel.hpp
index 0f17bd340ab0b5b7e8881ff98ccd95021233f77d..c65c48770fe4523e5c4847ca63a50a60f0af918d 100644
--- a/applications/gui/src/media_panel.hpp
+++ b/applications/gui/src/media_panel.hpp
@@ -4,6 +4,11 @@
#include <nanogui/window.h>
namespace ftl {
+
+namespace rgbd {
+class SnapshotStreamWriter;
+}
+
namespace gui {
class Screen;
@@ -16,6 +21,7 @@ class MediaPanel : public nanogui::Window {
private:
ftl::gui::Screen *screen_;
bool paused_;
+ ftl::rgbd::SnapshotStreamWriter *writer_;
};
}
diff --git a/applications/gui/src/src_window.cpp b/applications/gui/src/src_window.cpp
index 8a0f93da2f2663fb14c956d6867a2ead6641d314..1242855738c87bae915d00bb48e8b788744f71a4 100644
--- a/applications/gui/src/src_window.cpp
+++ b/applications/gui/src/src_window.cpp
@@ -88,7 +88,7 @@ SourceWindow::SourceWindow(ftl::gui::Screen *screen)
auto button_snapshot = new Button(this, "Snapshot", ENTYPO_ICON_IMAGES);
button_snapshot->setCallback([this] {
try {
- char timestamp[18];
+ /*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");
diff --git a/components/rgbd-sources/include/ftl/rgbd/snapshot.hpp b/components/rgbd-sources/include/ftl/rgbd/snapshot.hpp
index 9643b1312b59ba068e300bc304a01c3f62d5d955..edec6150217a6655021b94d49ef36d6018d87374 100644
--- a/components/rgbd-sources/include/ftl/rgbd/snapshot.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/snapshot.hpp
@@ -3,14 +3,17 @@
#define _FTL_RGBD_SNAPSHOT_HPP_
#include <loguru.hpp>
+#include <thread>
#include <opencv2/opencv.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>
@@ -24,7 +27,8 @@ public:
explicit SnapshotWriter(const std::string &filename);
~SnapshotWriter();
- bool addCameraRGBD(const std::string &name, const cv::Mat &rgb, const cv::Mat &depth, const Eigen::Matrix4d &pose, const ftl::rgbd::Camera ¶ms);
+ bool addCameraParams(const std::string &name, const Eigen::Matrix4d &pose, const ftl::rgbd::Camera ¶ms);
+ bool addCameraRGBD(const std::string &name, const cv::Mat &rgb, const cv::Mat &depth);
bool addMat(const std::string &name, const cv::Mat &mat, const std::string &format="tiff");
bool addEigenMatrix4d(const std::string &name, const Eigen::Matrix4d &m, const std::string &format="pfm");
bool addFile(const std::string &name, const std::vector<uchar> &buf);
@@ -35,7 +39,28 @@ private:
struct archive_entry *entry_;
};
+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();
+};
+
struct SnapshotEntry {
+ long t;
cv::Mat rgb;
cv::Mat depth;
Eigen::Matrix4d pose;
diff --git a/components/rgbd-sources/src/snapshot.cpp b/components/rgbd-sources/src/snapshot.cpp
index 5599364c6508184c57651d7c46ca54951ac0d4ab..23c9d218b2e72328ee15247906dfae9f6dc2386f 100644
--- a/components/rgbd-sources/src/snapshot.cpp
+++ b/components/rgbd-sources/src/snapshot.cpp
@@ -124,11 +124,8 @@ bool SnapshotWriter::addEigenMatrix4d(const string &name, const Matrix4d &m, con
return addMat(name, tmp, format);
}
-bool SnapshotWriter::addCameraRGBD(const string &name, const Mat &rgb, const Mat &depth,
- const Matrix4d &pose, const Camera ¶ms) {
+bool SnapshotWriter::addCameraParams(const string &name, const Matrix4d &pose, const Camera ¶ms) {
bool retval = true;
- retval &= addMat(name + "-RGB", rgb);
- retval &= addMat(name + "-D", depth);
retval &= addEigenMatrix4d(name + "-POSE", pose);
nlohmann::json j;
@@ -138,6 +135,65 @@ bool SnapshotWriter::addCameraRGBD(const string &name, const Mat &rgb, const Mat
return retval;
}
+bool SnapshotWriter::addCameraRGBD(const string &name, const Mat &rgb, const Mat &depth) {
+ bool retval = true;
+ cv::Mat tdepth;
+ depth.convertTo(tdepth, CV_16SC1, 16.0f*10.0f);
+ retval &= addMat(name + "-RGB", rgb, "jpg");
+ retval &= addMat(name + "-D", tdepth, "png");
+ return retval;
+}
+
+SnapshotStreamWriter::SnapshotStreamWriter(const string &filename, int delay) :
+ run_(false), finished_(false), writer_(filename), delay_(delay) {}
+
+SnapshotStreamWriter::~SnapshotStreamWriter() {
+
+}
+
+void SnapshotStreamWriter::addSource(ftl::rgbd::Source *src) {
+ writer_.addCameraParams(std::to_string(sources_.size()), src->getPose(), src->parameters());
+ sources_.push_back(src);
+}
+
+void SnapshotStreamWriter::run() {
+ vector<Mat> rgb(sources_.size());
+ vector<Mat> depth(sources_.size());
+
+ while(run_) {
+ auto now = std::chrono::system_clock::now();
+ auto duration = now.time_since_epoch();
+ auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(duration).count();
+
+ for(size_t i = 0; i < sources_.size(); ++i) {
+ sources_[i]->getFrames(rgb[i], depth[i]);
+ }
+
+ for(size_t i = 0; i < sources_.size(); ++i) {
+ writer_.addCameraRGBD(std::to_string(ms) + "-" + std::to_string(i), rgb[i], depth[i]);
+ }
+
+ std::this_thread::sleep_for(std::chrono::milliseconds(delay_));
+ }
+
+ run_ = false;
+ finished_ = true;
+}
+
+void SnapshotStreamWriter::start() {
+ if (run_ || finished_) return;
+ run_ = true;
+ thread_ = std::thread([this] { run(); });
+}
+
+
+void SnapshotStreamWriter::stop() {
+ bool wasrunning = run_;
+ run_ = false;
+ if (wasrunning) thread_.join();
+}
+
+
SnapshotReader::SnapshotReader(const string &filename) {
archive_ = archive_read_new();