diff --git a/applications/gui2/src/modules/camera.cpp b/applications/gui2/src/modules/camera.cpp
index bc6839a356204d179d0b53b546b1c22435b333c4..a1d2e352ec062a4aa958b58903eba6cad2ecfc1e 100644
--- a/applications/gui2/src/modules/camera.cpp
+++ b/applications/gui2/src/modules/camera.cpp
@@ -1,9 +1,11 @@
#include "camera.hpp"
#include "../views/camera3d.hpp"
+#include <ftl/rgbd/capabilities.hpp>
using ftl::gui2::Camera;
using ftl::codecs::Channel;
+using ftl::rgbd::Capability;
void Camera::init() {
@@ -31,11 +33,38 @@ void Camera::activate(ftl::data::FrameID id) {
speaker->setVolume(v);
});
+ has_seen_frame_ = false;
+
filter = io->feed()->filter(std::unordered_set<unsigned int>{id.frameset()}, {Channel::Left, Channel::Depth});
filter->on(
[this, speaker = io->speaker(), panel = this->panel](ftl::data::FrameSetPtr fs){
if (paused || !view) { return true; }
- std::atomic_store(¤t_fs_, fs);
+
+ // For first data, extract useful things
+ if (!has_seen_frame_) {
+ has_seen_frame_ = true;
+
+ // TODO: Create the view here...
+
+ if (fs->frames[frame_idx].has(Channel::Capabilities)) {
+ const auto &cap = fs->frames[frame_idx].get<std::unordered_set<Capability>>(Channel::Capabilities);
+ LOG(INFO) << "Camera Capabilities:";
+ for (auto c : cap) {
+ LOG(INFO) << " -- " << (int)c;
+ }
+ }
+
+ if (fs->frames[frame_idx].has(Channel::MetaData)) {
+ const auto &meta = fs->frames[frame_idx].get<std::map<std::string,std::string>>(Channel::MetaData);
+ LOG(INFO) << "Camera Frame Meta Data:";
+ for (auto m : meta) {
+ LOG(INFO) << " -- " << m.first << " = " << m.second;
+ }
+ }
+ }
+
+ //std::atomic_store(¤t_fs_, fs); // Not needed and deprecated in C++20
+ current_fs_ = fs;
// Deal with audio
if (fs->frames[frame_idx].hasOwn(Channel::AudioStereo)) {
diff --git a/applications/gui2/src/modules/camera.hpp b/applications/gui2/src/modules/camera.hpp
index 4a17f749d06b12dc4ab4940157ac2dd11c3eeac0..e2d5439e8cb7dbb4a65de187b3dabeb6c7309900 100644
--- a/applications/gui2/src/modules/camera.hpp
+++ b/applications/gui2/src/modules/camera.hpp
@@ -38,6 +38,7 @@ private:
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::data::FrameSetPtr current_fs_;
ftl::cuda::TextureObject<uchar4> current_frame_;
diff --git a/components/codecs/include/ftl/codecs/channels.hpp b/components/codecs/include/ftl/codecs/channels.hpp
index 417de06051f1458f30ee75e309a2b078a79740f7..bcbaad4b8e5ac234d51c9099d7b4d11820f94a45 100644
--- a/components/codecs/include/ftl/codecs/channels.hpp
+++ b/components/codecs/include/ftl/codecs/channels.hpp
@@ -53,7 +53,7 @@ enum struct Channel : int {
Index = 68,
Control = 69, // For stream and encoder control
Settings3 = 70,
- Name = 71,
+ MetaData = 71, // Map of string pairs (key, value)
Capabilities = 72, // Unordered set of int capabilities
Data = 2048, // Custom data, any codec.
diff --git a/components/renderers/cpp/src/overlay.cpp b/components/renderers/cpp/src/overlay.cpp
index 2472ade58f32eb832677c265dece1cb5424fdf74..947662acd1d3c315b0d69f23cfacf0680fea7ac8 100644
--- a/components/renderers/cpp/src/overlay.cpp
+++ b/components/renderers/cpp/src/overlay.cpp
@@ -299,7 +299,8 @@ void Overlay::draw(ftl::data::FrameSet &fs, ftl::rgbd::Frame &frame, const Eigen
auto pose = f.getPose(); //.inverse() * state.getPose();
- auto name = fs.frames[i].get<std::string>(Channel::Name);
+ auto meta = fs.frames[i].get<std::map<std::string,std::string>>(Channel::MetaData);
+ std::string name = (meta.count("name")) ? meta["name"] : "NoName";
_drawOutlinedShape(Shape::CAMERA, frame.getPose().inverse() * pose, Eigen::Vector3f(0.2f,0.2f,0.2f), make_uchar4(255,0,0,80), make_uchar4(255,0,0,255));
_drawAxis(frame.getPose().inverse() * pose, Eigen::Vector3f(0.2f, 0.2f, 0.2f));
diff --git a/components/rgbd-sources/include/ftl/rgbd/capabilities.hpp b/components/rgbd-sources/include/ftl/rgbd/capabilities.hpp
index c43b47e042adb9396067a66bbaae28fb748cddec..9f8ba139963d938c96ca0d9ad8192e39c8756fff 100644
--- a/components/rgbd-sources/include/ftl/rgbd/capabilities.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/capabilities.hpp
@@ -10,18 +10,20 @@ namespace rgbd {
* To be added to the capabilities channel to indicate what the source device
* is capable of.
*/
-enum class Capabilities : int {
+enum class Capability : int {
DEPTH = 0, // Has depth data
MOVABLE, // Is a pose controllable camera
STEREO, // Has right colour
ACTIVE, // An active depth sensor
VIDEO, // Is video and not just static
- FEEDBACK // Can respond to feedback data (not just movable)
+ FEEDBACK, // Can respond to feedback data (not just movable)
+ ADJUSTABLE, // Camera properties can be changed (exposure etc)
+ VIRTUAL // Is not a physical camera
};
}
}
-MSGPACK_ADD_ENUM(ftl::rgbd::Capabilities);
+MSGPACK_ADD_ENUM(ftl::rgbd::Capability);
#endif
\ No newline at end of file
diff --git a/components/rgbd-sources/src/init.cpp b/components/rgbd-sources/src/init.cpp
index 4633d3e937a5e04371d691250083fe3b843d7066..712b933cae220e3a88e1ddada193b263fbb03d9e 100644
--- a/components/rgbd-sources/src/init.cpp
+++ b/components/rgbd-sources/src/init.cpp
@@ -8,8 +8,8 @@ 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);
+ 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/sources/stereovideo/stereovideo.cpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
index 191c5ed83e0d97d8b90683bca7336e74ea79148a..56ad3b08831bdce80b8dcf2e060bc30ad9f7aad6 100644
--- a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
@@ -22,9 +22,12 @@
#include "ftl/operators/disparity.hpp"
#include "ftl/operators/mask.hpp"
+#include <ftl/rgbd/capabilities.hpp>
+
#include "ftl/threads.hpp"
#include "calibrate.hpp"
#include "opencv.hpp"
+#include <unordered_set>
#ifdef HAVE_PYLON
#include "pylon.hpp"
@@ -34,6 +37,7 @@ using ftl::rgbd::detail::Calibrate;
using ftl::rgbd::detail::StereoVideoSource;
using ftl::codecs::Channel;
using std::string;
+using ftl::rgbd::Capability;
ftl::rgbd::detail::Device::Device(nlohmann::json &config) : Configurable(config) {
@@ -248,7 +252,19 @@ void StereoVideoSource::updateParameters(ftl::rgbd::Frame &frame) {
frame.setPose() = pose;
- frame.create<std::string>(Channel::Name) = host_->value("name", host_->getID());
+ auto &meta = frame.create<std::map<std::string,std::string>>(Channel::MetaData);
+ meta["name"] = host_->value("name", host_->getID());
+ meta["uri"] = host_->value("uri", std::string(""));
+
+ if (!frame.has(Channel::Capabilities)) {
+ auto &cap = frame.create<std::unordered_set<Capability>>(Channel::Capabilities);
+ cap.emplace(Capability::VIDEO);
+
+ if (lsrc_->isStereo()) {
+ cap.emplace(Capability::STEREO);
+ cap.emplace(Capability::DEPTH);
+ }
+ }
cv::Mat K;
diff --git a/components/streams/src/builder.cpp b/components/streams/src/builder.cpp
index f8e8c9df1fc74777cfccc4e5ecc0275de16c69bc..4575ce3c9a073ae25a1be13604db5af1dace6d7b 100644
--- a/components/streams/src/builder.cpp
+++ b/components/streams/src/builder.cpp
@@ -356,7 +356,7 @@ void ForeignBuilder::_schedule() {
// Calling onFrameset but without all frames so mark as partial
if (static_cast<size_t>(fs->count) < fs->frames.size()) fs->set(ftl::data::FSFlag::PARTIAL);
- for (auto &f : fs->frames) f.store();
+ //for (auto &f : fs->frames) f.store();
fs->store();
//UNIQUE_LOCK(fs->mutex(), lk2);
diff --git a/components/structures/include/ftl/data/new_frame.hpp b/components/structures/include/ftl/data/new_frame.hpp
index 1641423fea374bef21495de98672665a042c0c02..59f9b5781045a8a0ae3530c914109dae083b1e39 100644
--- a/components/structures/include/ftl/data/new_frame.hpp
+++ b/components/structures/include/ftl/data/new_frame.hpp
@@ -509,9 +509,9 @@ 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::ENCODED) {
+ if (d.status != ftl::data::ChannelStatus::INVALID && !d.data.has_value() && d.encoded.size() > 0) {
UNIQUE_LOCK(parent_->mutex(), lk);
- if (d.status == ftl::data::ChannelStatus::ENCODED) {
+ if (!d.data.has_value()) {
// Do a decode now and change the status
d.status = ftl::data::ChannelStatus::DISPATCHED;
decode_type<T>(d.data, d.encoded.front().data);
@@ -519,6 +519,7 @@ const T &ftl::data::Frame::get(ftl::codecs::Channel c) const {
}
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;
diff --git a/components/structures/src/new_frame.cpp b/components/structures/src/new_frame.cpp
index bcbc96d21feaf71823e5d5b26f21856a74134b9b..7872f2d823d907b409ab88fd3a1d5b5f584fff80 100644
--- a/components/structures/src/new_frame.cpp
+++ b/components/structures/src/new_frame.cpp
@@ -243,10 +243,12 @@ void Frame::store() {
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.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;
}
parent_->change_.trigger(*this, c.first);