From 86a69d111f7a925645ca626e4600804f4125402c Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Fri, 25 Oct 2019 15:24:35 +0300
Subject: [PATCH] new format, buffered writer
---
python/ftl/ftlstream.py | 97 +++++++++++++++++++++++++++++++++++++++--
python/ftl/ftltypes.py | 10 +++++
2 files changed, 103 insertions(+), 4 deletions(-)
diff --git a/python/ftl/ftlstream.py b/python/ftl/ftlstream.py
index 45b0f8c31..a47a2cd2c 100644
--- a/python/ftl/ftlstream.py
+++ b/python/ftl/ftlstream.py
@@ -43,8 +43,8 @@ class FTLStreamWriter:
def __init__(self, file):
self._file = open(file, "wb")
self._file.write(bytes(ord(c) for c in "FTLF"))
- self._file.write(bytes([0]))
-
+ self._file.write(bytes([2]))
+ self._file.write(bytes([0]*64))
self._packer = msgpack.Packer(strict_types=False, use_bin_type=True)
def __del__(self):
@@ -65,8 +65,79 @@ class FTLStreamWriter:
def add_frame(self, timestamp, src, channel, codec, data, encode=True):
pass
- def add_depth(self, timestamp, src, data):
- pass
+class FTLStreamBufferedWriter(FTLStreamWriter):
+ def __init__(self, file, fps=25.0):
+ super(FTLStreamWriter, file)
+ self._ts = 0
+ self._frame_t = int(1.0/fps)
+ self._n_sources = 0
+ self._frames = []
+
+ def add_source(self, count=1):
+ self._n_sources += count
+ return self._n_sources
+
+ def add_calibration(self, source):
+ if not 0 < source < self._n_sources:
+ raise ValueError("invalid source id")
+
+ def add_frame(self, source, channel, data, codec, definition=None, flags=0, encode=True):
+ if not 0 < source < self._n_sources:
+ raise ValueError("invalid source id")
+
+ if channel not in ftl.Channel:
+ raise ValueError("invalid channel")
+
+ if codec not in ftl.codec_t:
+ raise ValueError("invalid codec")
+
+ if encode:
+ if definition is not None:
+ definition = ftl.get_definition(data.shape)
+
+ if definition is None:
+ raise ValueError("unsupported resolution")
+
+ if definition != ftl.get_definition(data.shape):
+ # todo: could replace definition or scale
+ raise ValueError("definition does not match frame resolution")
+
+ if codec == ftl.codec_t.PNG:
+ if ftl.is_float_channel(channel):
+ # scaling always same (???)
+ data = data.astype(np.float) / 1000.0
+
+ params = [cv.IMWRITE_PNG_COMPRESSION, 9]
+ retval, data = cv.imencode(".png", data, params)
+
+ if not retval:
+ raise Exception("encoding error (PNG)")
+
+ elif codec == ftl.codec_t.JPG:
+ params = []
+ retval, data = cv.imencode(".jpg", data, params)
+
+ if not retval:
+ raise Exception("encoding error (JPG)")
+
+ else:
+ raise ValueError("unsupported codec")
+
+ data = data.tobytes()
+
+ if definition is None:
+ raise ValueError("definition required")
+
+ if not isinstance(data, bytes):
+ raise ValueError("expected bytes")
+
+ ftl.Packet(int(codec), int(definition), 1, 0, int(flags), data)
+
+ def push_frames(self):
+ for frame in self._frames:
+ self.add_raw(sp, p)
+
+ self._ts += self._frame_t
class FTLStreamReader:
''' FTL file reader '''
@@ -86,9 +157,13 @@ class FTLStreamReader:
try:
magic = self._file.read(5)
+ version = int(magic[4])
if magic[:4] != bytes(ord(c) for c in "FTLF"):
raise Exception("wrong magic")
+ if == 2:
+
+
self._unpacker = msgpack.Unpacker(self._file, raw=True, use_list=False)
except Exception as ex:
@@ -159,6 +234,17 @@ class FTLStreamReader:
self._frame = _ycrcb2rgb(img)
self._frameset_new[k] = self._frame
+ def _decode_png(self, sp, p):
+ try:
+ cv
+ except NameError:
+ raise Exception("OpenCV required for PNG decoding")
+
+ self._frame = cv.imdecode(np.frombuffer(p.data, dtype=np.uint8),
+ cv.IMREAD_ANYDEPTH)
+ self._frame = self._frame.astype(np.float) / 1000.0
+ self._frameset_new[(sp.streamID, sp.channel)] = self._frame
+
def _flush_decoders(self):
for decoder in self._decoders.values():
decoder.flush_data()
@@ -212,6 +298,9 @@ class FTLStreamReader:
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_png(self._sp, self._p)
+
else:
raise Exception("unkowno codec %i" % self._p.codec)
diff --git a/python/ftl/ftltypes.py b/python/ftl/ftltypes.py
index 3481d248e..de85e1664 100644
--- a/python/ftl/ftltypes.py
+++ b/python/ftl/ftltypes.py
@@ -45,6 +45,16 @@ class Channel(IntEnum):
Pose = 66
Data = 67
+_float_channels = [
+ Channel.Depth,
+ Channel.Confidence,
+ Channel.Density,
+ Channel.Energy
+]
+
+def is_float_channel(channel):
+ return channel in _float_channels
+
# components/codecs/include/ftl/codecs/bitrates.hpp
class codec_t(IntEnum):
JPG = 0
--
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