From acfb59c6b4c30f71089f6d160a25f5c7ca72b302 Mon Sep 17 00:00:00 2001
From: Iiro Rastas <iitara@utu.fi>
Date: Tue, 10 Dec 2019 17:27:23 +0200
Subject: [PATCH] Fix reconstruction snapshots
Reconstruction snapshots are now fixed. The snapshot is taken from the
next complete IFrame, so reconstruction snapshots cannot be taken while
the reconstruction is paused.
---
applications/reconstruct/src/main.cpp | 87 +++++++++++--------
.../codecs/include/ftl/codecs/writer.hpp | 1 +
components/codecs/src/writer.cpp | 4 +
3 files changed, 57 insertions(+), 35 deletions(-)
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index 0f45f363e..e1e7adcd8 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -45,6 +45,9 @@
#include <ftl/cuda/normals.hpp>
#include <ftl/registration.hpp>
+#include <ftl/codecs/h264.hpp>
+#include <ftl/codecs/hevc.hpp>
+
#include <cuda_profiler_api.h>
#ifdef WIN32
@@ -269,25 +272,55 @@ static void run(ftl::Configurable *root) {
std::ofstream fileout;
ftl::codecs::Writer writer(fileout);
+ std::ofstream snapshotout;
+ ftl::codecs::Writer snapshotwriter(snapshotout);
+
root->set("record", false);
- int64_t timestamp = 0;
- std::vector<std::pair<ftl::codecs::StreamPacket, ftl::codecs::Packet>> currentFrame, completeFrame;
+ int64_t timestamp = -1;
+ bool writingSnapshot = false;
+ std::unordered_set<int64_t> precedingFrames, followingFrames;
// Add a recording callback to all reconstruction scenes
for (size_t i=0; i<sources.size(); ++i) {
- sources[i]->addRawCallback([&writer,&groups,×tamp,¤tFrame,&completeFrame,i](ftl::rgbd::Source *src, const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ sources[i]->addRawCallback([&writer,&groups,&snapshotout,&snapshotwriter,×tamp,&writingSnapshot,&precedingFrames,&followingFrames,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);
- if (s.timestamp > timestamp) {
- timestamp = s.timestamp;
- completeFrame = currentFrame;
- currentFrame = std::vector<std::pair<ftl::codecs::StreamPacket, ftl::codecs::Packet>>({ std::make_pair(s, pkt) });
- } else if (s.timestamp == timestamp) {
- currentFrame.push_back(std::make_pair(s, pkt));
+ if (snapshotwriter.active()) {
+ // The frame that is captured is the next IFrame, unless that
+ // IFrame is one of the first two frames seen. In this case a
+ // part of the frame might already have been missed, so the
+ // IFrame after that one is captured instead.
+ if (precedingFrames.size() >= 2) {
+ bool isIFrame = false;
+ switch (pkt.codec) {
+ case ftl::codecs::codec_t::H264:
+ isIFrame = ftl::codecs::h264::isIFrame(pkt.data);
+ break;
+ case ftl::codecs::codec_t::HEVC:
+ isIFrame = ftl::codecs::hevc::isIFrame(pkt.data);
+ }
+
+ if (isIFrame && precedingFrames.count(s.timestamp) == 0) {
+ timestamp = s.timestamp;
+ writingSnapshot = true;
+ snapshotwriter.write(s, pkt);
+ } else if (writingSnapshot && s.timestamp > timestamp) {
+ followingFrames.insert(s.timestamp);
+ }
+
+ // Keep looking for packets of the captured frame until
+ // packets from two following frames have been seen.
+ if (followingFrames.size() >= 2) {
+ snapshotwriter.end();
+ snapshotout.close();
+ }
+ } else {
+ precedingFrames.insert(s.timestamp);
+ }
}
});
}
@@ -315,33 +348,17 @@ static void run(ftl::Configurable *root) {
}
});
- std::ofstream snapshotout;
- ftl::codecs::Writer snapshotwriter(snapshotout);
-
- root->on("3D-snapshot", [&snapshotout,&snapshotwriter,&sources,¤tFrame](const ftl::config::Event &e) {
- char timestamp[18];
- std::time_t t=std::time(NULL);
- std::strftime(timestamp, sizeof(timestamp), "%F-%H%M%S", std::localtime(&t));
- snapshotout.open(e.entity->value<std::string>("3D-snapshot", std::string(timestamp) + ".ftl"));
-
- snapshotwriter.begin();
-
- for (size_t i=0; i<sources.size(); ++i) {
- auto packet_pair = sources[i]->make_packet(Channel::Calibration, sources[i]->parameters(), Channel::Left, sources[i]->getCapabilities());
- packet_pair.first.streamID = i;
- snapshotwriter.write(packet_pair.first, packet_pair.second);
-
- packet_pair = sources[i]->make_packet(sources[i]->getPose());
- packet_pair.first.streamID = i;
- snapshotwriter.write(packet_pair.first, packet_pair.second);
- }
-
- for (auto &p : currentFrame) {
- snapshotwriter.write(p.first, p.second);
+ root->on("3D-snapshot", [&snapshotout,&snapshotwriter,&writingSnapshot,&precedingFrames,&followingFrames](const ftl::config::Event &e) {
+ if (!snapshotwriter.active()) {
+ char timestamp[18];
+ std::time_t t=std::time(NULL);
+ std::strftime(timestamp, sizeof(timestamp), "%F-%H%M%S", std::localtime(&t));
+ snapshotout.open(e.entity->value<std::string>("3D-snapshot", std::string(timestamp) + ".ftl"));
+ writingSnapshot = false;
+ precedingFrames.clear();
+ followingFrames.clear();
+ snapshotwriter.begin();
}
-
- snapshotwriter.end();
- snapshotout.close();
});
// -------------------------------------------------------------------------
diff --git a/components/codecs/include/ftl/codecs/writer.hpp b/components/codecs/include/ftl/codecs/writer.hpp
index 94d82f1ec..c1a0ba6c3 100644
--- a/components/codecs/include/ftl/codecs/writer.hpp
+++ b/components/codecs/include/ftl/codecs/writer.hpp
@@ -19,6 +19,7 @@ class Writer {
bool begin();
bool write(const ftl::codecs::StreamPacket &, const ftl::codecs::Packet &);
bool end();
+ bool active();
private:
std::ostream *stream_;
diff --git a/components/codecs/src/writer.cpp b/components/codecs/src/writer.cpp
index 1e3841a8e..dba5853ac 100644
--- a/components/codecs/src/writer.cpp
+++ b/components/codecs/src/writer.cpp
@@ -46,3 +46,7 @@ bool Writer::write(const ftl::codecs::StreamPacket &s, const ftl::codecs::Packet
(*stream_).write(buffer.data(), buffer.size());
return true;
}
+
+bool Writer::active() {
+ return active_;
+}
\ No newline at end of file
--
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