From 85a07a96e0b1f711ae9e766fcb8639b0eaab65ff Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Sat, 14 Dec 2019 12:17:10 +0200
Subject: [PATCH] python: msgpack calibration (read support)
---
.../codecs/include/ftl/codecs/bitrates.hpp | 4 +-
python/ftl/ftlstream.py | 50 ++++++++++---------
python/ftl/ftltypes.py | 5 +-
3 files changed, 32 insertions(+), 27 deletions(-)
diff --git a/components/codecs/include/ftl/codecs/bitrates.hpp b/components/codecs/include/ftl/codecs/bitrates.hpp
index fbacb4979..eeb857c82 100644
--- a/components/codecs/include/ftl/codecs/bitrates.hpp
+++ b/components/codecs/include/ftl/codecs/bitrates.hpp
@@ -13,8 +13,8 @@ namespace codecs {
enum struct codec_t : uint8_t {
JPG = 0,
PNG,
- H264,
- HEVC, // H265
+ H264,
+ HEVC, // H265
// TODO: Add audio codecs
WAV,
diff --git a/python/ftl/ftlstream.py b/python/ftl/ftlstream.py
index 6031e757d..169781202 100644
--- a/python/ftl/ftlstream.py
+++ b/python/ftl/ftlstream.py
@@ -12,8 +12,6 @@ from . misc import is_iframe
from . import ftltypes as ftl
from . import libde265
-_calib_fmt = "@ddddIIdddd"
-
try:
import cv2 as cv
@@ -44,10 +42,10 @@ except ImportError:
return rgb.round().astype(np.uint8)
class FTLStreamWriter:
- def __init__(self, file):
+ def __init__(self, file, version=2):
self._file = open(file, "wb")
self._file.write(bytes(ord(c) for c in "FTLF")) # magic
- self._file.write(bytes([2])) # version
+ self._file.write(bytes([version])) # version
self._file.write(bytes([0]*64)) # reserved
self._packer = msgpack.Packer(strict_types=False, use_bin_type=True)
@@ -134,7 +132,8 @@ class FTLStreamWriter:
raise NotImplementedError("todo")
def add_calibration(self, timestamp, source, data):
- struct.pack(_calib_fmt, *data)
+ # todo: Use msgpack format instead (ftlf v3+)
+ struct.pack("@ddddIIdddd", *data)
raise NotImplementedError("todo")
class FTLStreamReader:
@@ -180,8 +179,17 @@ class FTLStreamReader:
def _update_calib(self, sp, p):
''' Update calibration. '''
- calibration = struct.unpack(_calib_fmt, p.data[:(4*8+2*4+4*8)])
- self._calibration[sp.streamID] = ftl.Camera._make(calibration)
+
+ if p.codec == ftl.codec_t.MSGPACK:
+ # TODO: What is in (unpacked) p.data[1:]? Contents discarded at the moment
+ self._calibration[sp.streamID] = ftl.Camera._make(msgpack.unpackb(p.data)[0])
+
+ elif p.codec == ftl.codec_t.CALIBRATION:
+ calibration = struct.unpack("@ddddIIdddd", p.data[:(4*8+2*4+4*8)])
+ self._calibration[sp.streamID] = ftl.Camera._make(calibration)
+
+ else:
+ raise Exception("Unknown codec %i for calibration" % p.codec)
def _update_pose(self, sp, p):
''' Update pose '''
@@ -257,37 +265,33 @@ class FTLStreamReader:
todo: make decoding optional
'''
self._frame = None
-
+
try:
self._sp, self._p = self._read_next()
self._packets_read += 1
except msgpack.OutOfData:
return False
-
+
if self._p.block_total != 1 or self._p.block_number != 0:
raise Exception("Unsupported block format (todo)")
- if self._p.codec == ftl.codec_t.JSON:
- self._process_json(self._sp, self._p)
-
- elif self._p.codec == ftl.codec_t.CALIBRATION:
+ if self._sp.channel == ftl.Channel.Calibration:
self._update_calib(self._sp, self._p)
- elif self._p.codec == ftl.codec_t.POSE:
+ elif self._sp.channel == ftl.Channel.Pose:
self._update_pose(self._sp, self._p)
- elif self._p.codec == ftl.codec_t.HEVC:
- self._decode_hevc(self._sp, self._p)
-
- elif self._p.codec == ftl.codec_t.PNG:
- self._decode_opencv(self._sp, self._p)
+ elif self._sp.channel in (ftl.Channel.Left,ftl.Channel.Left):
+ # Decode Left/Right
+ if self._p.codec == ftl.codec_t.HEVC:
+ self._decode_hevc(self._sp, self._p)
- elif self._p.codec == ftl.codec_t.JPG:
- self._decode_opencv(self._sp, self._p)
+ elif self._p.codec == ftl.codec_t.PNG:
+ self._decode_opencv(self._sp, self._p)
- else:
- raise Exception("unkowno codec %i" % self._p.codec)
+ elif self._p.codec == ftl.codec_t.JPG:
+ self._decode_opencv(self._sp, self._p)
return True
diff --git a/python/ftl/ftltypes.py b/python/ftl/ftltypes.py
index 17980b808..69eb87248 100644
--- a/python/ftl/ftltypes.py
+++ b/python/ftl/ftltypes.py
@@ -65,7 +65,9 @@ class codec_t(IntEnum):
JSON = 100
CALIBRATION = 101
POSE = 102
- RAW = 103
+ MSGPACK = 103,
+ STRING = 104,
+ RAW = 105
definition_t = {
0 : (7680, 4320),
@@ -85,4 +87,3 @@ def get_definition(shape):
return k
return 7 # (None)
-
--
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