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Commit b76a04b4 authored by Nicolas Pope's avatar Nicolas Pope
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Merge branch 'feature/groupview-video' into 'master' 

Groupview stereo images and multiple frames

See merge request nicolas.pope/ftl!91
parents 49a42173 89e2b6f6
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1 merge request!91Groupview stereo images and multiple frames
Pipeline #12732 passed
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applications/groupview/src/main.cpp
+ 184
− 10
View file @ b76a04b4
......@@ -13,7 +13,11 @@
using Eigen::Matrix4d;
using std::map;
using std::string;
using std::vector;
using cv::Size;
using cv::Mat;
// TODO: remove code duplication (function from reconstruction)
static void from_json(nlohmann::json &json, map<string, Matrix4d> &transformations) {
for (auto it = json.begin(); it != json.end(); ++it) {
Eigen::Matrix4d m;
......@@ -23,6 +27,7 @@ static void from_json(nlohmann::json &json, map<string, Matrix4d> &transformatio
}
}
// TODO: remove code duplication (function from reconstruction)
static bool loadTransformations(const string &path, map<string, Matrix4d> &data) {
std::ifstream file(path);
if (!file.is_open()) {
......@@ -36,8 +41,105 @@ static bool loadTransformations(const string &path, map<string, Matrix4d> &data)
return true;
}
int main(int argc, char **argv) {
auto root = ftl::configure(argc, argv, "viewer_default");
// TODO: remove code duplication (function from calibrate-multi)
void stack(const vector<Mat> &img, Mat &out, const int rows, const int cols) {
Size size = img[0].size();
Size size_out = Size(size.width * cols, size.height * rows);
if (size_out != out.size() || out.type() != CV_8UC3) {
out = Mat(size_out, CV_8UC3, cv::Scalar(0, 0, 0));
}
for (size_t i = 0; i < img.size(); i++) {
int row = i % rows;
int col = i / rows;
auto rect = cv::Rect(size.width * col, size.height * row, size.width, size.height);
img[i].copyTo(out(rect));
}
}
// TODO: remove code duplication (function from calibrate-multi)
void stack(const vector<Mat> &img, Mat &out) {
// TODO
int rows = 2;
int cols = (img.size() + 1) / 2;
stack(img, out, rows, cols);
}
void modeLeftRight(ftl::Configurable *root) {
ftl::net::Universe *net = ftl::create<ftl::net::Universe>(root, "net");
net->start();
net->waitConnections();
auto sources = ftl::createArray<ftl::rgbd::Source>(root, "sources", net);
const string path = root->value<string>("save_to", "./");
const string file_type = root->value<string>("file_type", "jpg");
const size_t n_cameras = sources.size() * 2;
ftl::rgbd::Group group;
for (auto* src : sources) {
src->setChannel(ftl::rgbd::kChanRight);
group.addSource(src);
}
std::mutex mutex;
std::atomic<bool> new_frames = false;
vector<Mat> rgb(n_cameras), rgb_new(n_cameras);
group.sync([&mutex, &new_frames, &rgb_new](const ftl::rgbd::FrameSet &frames) {
mutex.lock();
bool good = true;
for (size_t i = 0; i < frames.channel1.size(); i ++) {
if (frames.channel1[i].empty()) good = false;
if (frames.channel1[i].empty()) good = false;
if (frames.channel1[i].channels() != 3) good = false; // ASSERT
if (frames.channel2[i].channels() != 3) good = false;
if (!good) break;
frames.channel1[i].copyTo(rgb_new[2 * i]);
frames.channel2[i].copyTo(rgb_new[2 * i + 1]);
}
new_frames = good;
mutex.unlock();
return true;
});
int idx = 0;
int key;
Mat show;
while (ftl::running) {
while (!new_frames) {
for (auto src : sources) { src->grab(30); }
key = cv::waitKey(10);
}
mutex.lock();
rgb.swap(rgb_new);
new_frames = false;
mutex.unlock();
stack(rgb, show);
cv::namedWindow("Cameras", cv::WINDOW_KEEPRATIO | cv::WINDOW_NORMAL);
cv::imshow("Cameras", show);
key = cv::waitKey(100);
// TODO: fix
if (key == 's') {
for (size_t c = 0; c < n_cameras; c++ ) {
cv::imwrite(path + "camera" + std::to_string(c) + "_" + std::to_string(idx) + "." + file_type, rgb[c]);
}
LOG(INFO) << "Saved (" << idx << ")";
idx++;
}
if (key == 27) break;
}
}
void modeFrame(ftl::Configurable *root, int frames=1) {
ftl::net::Universe *net = ftl::create<ftl::net::Universe>(root, "net");
net->start();
......@@ -66,10 +168,11 @@ int main(int argc, char **argv) {
group.addSource(s);
}
bool grab = false;
std::atomic<bool> grab = false;
group.sync([&grab](const ftl::rgbd::FrameSet &fs) {
LOG(INFO) << "Complete set: " << fs.timestamp;
if (!ftl::running) { return false; }
if (grab) {
grab = false;
......@@ -89,20 +192,91 @@ int main(int argc, char **argv) {
return true;
});
int current = 0;
cv::Mat show;
vector<cv::Mat> rgb(sources.size());
vector<cv::Mat> depth(sources.size());
while (ftl::running) {
//std::this_thread::sleep_for(std::chrono::milliseconds(20));
for (auto s : sources) s->grab(30);
cv::Mat rgb,depth;
sources[current%sources.size()]->getFrames(rgb, depth);
if (!rgb.empty()) cv::imshow("View", rgb);
auto key = cv::waitKey(20);
for (size_t i = 0; i < sources.size(); i++) {
do { sources[i]->getFrames(rgb[i], depth[i]); }
while(rgb[i].empty());
}
stack(rgb, show);
cv::namedWindow("Cameras", cv::WINDOW_KEEPRATIO | cv::WINDOW_NORMAL);
cv::imshow("Cameras", show);
auto key = cv::waitKey(20);
if (key == 27) break;
if (key == 'n') current++;
if (key == 'g') grab = true;
}
}
void modeVideo(ftl::Configurable *root) {
ftl::net::Universe *net = ftl::create<ftl::net::Universe>(root, "net");
net->start();
net->waitConnections();
auto sources = ftl::createArray<ftl::rgbd::Source>(root, "sources", net);
const string path = root->value<string>("save_to", "./");
for (auto* src : sources) { src->setChannel(ftl::rgbd::kChanDepth); }
cv::Mat show;
vector<cv::Mat> rgb(sources.size());
vector<cv::Mat> depth(sources.size());
int count = 0;
int remaining = 0;
Mat depth_out;
while (ftl::running) {
for (auto s : sources) s->grab(30);
for (size_t i = 0; i < sources.size(); i++) {
do { sources[i]->getFrames(rgb[i], depth[i]); }
while(rgb[i].empty() || depth[i].empty());
}
if (remaining > 0) {
for (size_t i = 0; i < sources.size(); i++) {
depth[i].convertTo(depth_out, CV_16UC1, 1000.0f);
cv::imwrite(path + "rgb-" + std::to_string(i) + "-" + std::to_string(count) + ".jpg", rgb[i]);
cv::imwrite(path + "depth-" + std::to_string(i) + "-" + std::to_string(count) + ".png", depth_out);
}
count++;
remaining--;
LOG(INFO) << "remaining: " << remaining;
}
stack(rgb, show);
cv::namedWindow("Cameras", cv::WINDOW_KEEPRATIO | cv::WINDOW_NORMAL);
cv::imshow("Cameras", show);
auto key = cv::waitKey(20);
if (key == 'g' && remaining == 0) {
remaining = 250;
}
if (key == 27) break;
}
}
int main(int argc, char **argv) {
auto root = ftl::configure(argc, argv, "viewer_default");
if (root->value("stereo", false)) {
LOG(INFO) << "Stereo images mode";
modeLeftRight(root);
} else if (root->value("video", false)) {
LOG(INFO) << "Video mode";
modeVideo(root);
} else {
modeFrame(root);
}
ftl::running = false;
return 0;
}
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