From bb78a21b3c71a38f975a9147b1bb67d62ef1ba91 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nicolas.pope@utu.fi>
Date: Sun, 30 Jun 2019 19:37:34 +0300
Subject: [PATCH] Implements #112 thumbnails
---
applications/gui/CMakeLists.txt | 1 +
applications/gui/src/gltexture.cpp | 13 +-
applications/gui/src/gltexture.hpp | 1 +
applications/gui/src/media_panel.cpp | 19 --
applications/gui/src/screen.cpp | 21 +-
applications/gui/src/src_window.cpp | 69 +++++-
applications/gui/src/src_window.hpp | 9 +
applications/gui/src/thumbview.cpp | 32 +++
applications/gui/src/thumbview.hpp | 29 +++
.../include/ftl/virtual_source.hpp | 2 +-
.../reconstruct/src/virtual_source.cpp | 2 +-
.../include/ftl/rgbd/detail/source.hpp | 6 +-
.../rgbd-sources/include/ftl/rgbd/source.hpp | 1 +
.../include/ftl/rgbd/streamer.hpp | 8 +-
.../rgbd-sources/src/bitrate_settings.hpp | 32 +++
components/rgbd-sources/src/image.hpp | 2 +-
.../rgbd-sources/src/middlebury_source.cpp | 2 +-
.../rgbd-sources/src/middlebury_source.hpp | 2 +-
components/rgbd-sources/src/net.cpp | 52 ++--
components/rgbd-sources/src/net.hpp | 4 +-
.../rgbd-sources/src/realsense_source.cpp | 2 +-
.../rgbd-sources/src/realsense_source.hpp | 2 +-
.../rgbd-sources/src/snapshot_source.hpp | 2 +-
components/rgbd-sources/src/source.cpp | 21 +-
components/rgbd-sources/src/stereovideo.cpp | 2 +-
components/rgbd-sources/src/stereovideo.hpp | 2 +-
components/rgbd-sources/src/streamer.cpp | 231 +++++++-----------
components/rgbd-sources/test/source_unit.cpp | 12 +-
28 files changed, 358 insertions(+), 223 deletions(-)
create mode 100644 applications/gui/src/thumbview.cpp
create mode 100644 applications/gui/src/thumbview.hpp
create mode 100644 components/rgbd-sources/src/bitrate_settings.hpp
diff --git a/applications/gui/CMakeLists.txt b/applications/gui/CMakeLists.txt
index cda2b89d2..baffb9bdd 100644
--- a/applications/gui/CMakeLists.txt
+++ b/applications/gui/CMakeLists.txt
@@ -12,6 +12,7 @@ set(GUISRC
src/gltexture.cpp
src/camera.cpp
src/media_panel.cpp
+ src/thumbview.cpp
)
add_executable(ftl-gui ${GUISRC})
diff --git a/applications/gui/src/gltexture.cpp b/applications/gui/src/gltexture.cpp
index 752894a3c..8b36e848f 100644
--- a/applications/gui/src/gltexture.cpp
+++ b/applications/gui/src/gltexture.cpp
@@ -14,20 +14,21 @@ GLTexture::~GLTexture() {
}
void GLTexture::update(cv::Mat &m) {
+ if (m.rows == 0) return;
if (glid_ == std::numeric_limits<unsigned int>::max()) {
glGenTextures(1, &glid_);
glBindTexture(GL_TEXTURE_2D, glid_);
- cv::Mat m(cv::Size(100,100), CV_8UC3);
- glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB8, m.cols, m.rows, 0, GL_RGB, GL_UNSIGNED_BYTE, m.data);
+ //cv::Mat m(cv::Size(100,100), CV_8UC3);
+ glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB8, m.cols, m.rows, 0, GL_BGR, GL_UNSIGNED_BYTE, m.data);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+ } else {
+ glBindTexture(GL_TEXTURE_2D, glid_);
+ // TODO Allow for other formats
+ glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB8, m.cols, m.rows, 0, GL_BGR, GL_UNSIGNED_BYTE, m.data);
}
- if (m.rows == 0) return;
- glBindTexture(GL_TEXTURE_2D, glid_);
- // TODO Allow for other formats
- glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB8, m.cols, m.rows, 0, GL_BGR, GL_UNSIGNED_BYTE, m.data);
auto err = glGetError();
if (err != 0) LOG(ERROR) << "OpenGL Texture error: " << err;
}
diff --git a/applications/gui/src/gltexture.hpp b/applications/gui/src/gltexture.hpp
index 4fb0bdaef..f83eabea2 100644
--- a/applications/gui/src/gltexture.hpp
+++ b/applications/gui/src/gltexture.hpp
@@ -13,6 +13,7 @@ class GLTexture {
void update(cv::Mat &m);
unsigned int texture() const { return glid_; }
+ bool isValid() const { return glid_ != std::numeric_limits<unsigned int>::max(); }
private:
unsigned int glid_;
diff --git a/applications/gui/src/media_panel.cpp b/applications/gui/src/media_panel.cpp
index 2e0f5fae2..84b45e9fc 100644
--- a/applications/gui/src/media_panel.cpp
+++ b/applications/gui/src/media_panel.cpp
@@ -26,25 +26,6 @@ MediaPanel::MediaPanel(ftl::gui::Screen *screen) : nanogui::Window(screen, ""),
//setFixedSize(size);
setPosition(Vector2i(screen->width() / 2 - size[0]/2, screen->height() - 30 - size[1]));
- Theme *mediatheme = new Theme(*theme());
- mediatheme->mIconScale = 1.2f;
- mediatheme->mWindowDropShadowSize = 0;
- mediatheme->mWindowFillFocused = nanogui::Color(45, 150);
- mediatheme->mWindowFillUnfocused = nanogui::Color(45, 80);
- mediatheme->mButtonGradientTopUnfocused = nanogui::Color(0,0);
- mediatheme->mButtonGradientBotUnfocused = nanogui::Color(0,0);
- mediatheme->mButtonGradientTopFocused = nanogui::Color(80,230);
- mediatheme->mButtonGradientBotFocused = nanogui::Color(80,230);
- mediatheme->mIconColor = nanogui::Color(255,255);
- mediatheme->mTextColor = nanogui::Color(1.0f,1.0f,1.0f,1.0f);
- mediatheme->mBorderDark = nanogui::Color(0,0);
- mediatheme->mBorderMedium = nanogui::Color(0,0);
- mediatheme->mBorderLight = nanogui::Color(0,0);
- mediatheme->mDropShadow = nanogui::Color(0,0);
- mediatheme->mButtonFontSize = 30;
-
- setTheme(mediatheme);
-
auto button = new Button(this, "", ENTYPO_ICON_EDIT);
button->setTooltip("Edit camera properties");
button->setCallback([this]() {
diff --git a/applications/gui/src/screen.cpp b/applications/gui/src/screen.cpp
index 00d46ee58..9f3d03bdf 100644
--- a/applications/gui/src/screen.cpp
+++ b/applications/gui/src/screen.cpp
@@ -72,6 +72,24 @@ ftl::gui::Screen::Screen(ftl::Configurable *proot, ftl::net::Universe *pnet, ftl
toolbuttheme->mButtonGradientTopPushed = nanogui::Color(60,180);
toolbuttheme->mButtonGradientBotPushed = nanogui::Color(60,180);
+ Theme *mediatheme = new Theme(*theme());
+ mediatheme->mIconScale = 1.2f;
+ mediatheme->mWindowDropShadowSize = 0;
+ mediatheme->mWindowFillFocused = nanogui::Color(45, 150);
+ mediatheme->mWindowFillUnfocused = nanogui::Color(45, 80);
+ mediatheme->mButtonGradientTopUnfocused = nanogui::Color(0,0);
+ mediatheme->mButtonGradientBotUnfocused = nanogui::Color(0,0);
+ mediatheme->mButtonGradientTopFocused = nanogui::Color(80,230);
+ mediatheme->mButtonGradientBotFocused = nanogui::Color(80,230);
+ mediatheme->mIconColor = nanogui::Color(255,255);
+ mediatheme->mTextColor = nanogui::Color(1.0f,1.0f,1.0f,1.0f);
+ mediatheme->mBorderDark = nanogui::Color(0,0);
+ mediatheme->mBorderMedium = nanogui::Color(0,0);
+ mediatheme->mBorderLight = nanogui::Color(0,0);
+ mediatheme->mDropShadow = nanogui::Color(0,0);
+ mediatheme->mButtonFontSize = 30;
+ mediatheme->mStandardFontSize = 20;
+
windowtheme = new Theme(*theme());
windowtheme->mWindowFillFocused = nanogui::Color(220, 200);
windowtheme->mWindowFillUnfocused = nanogui::Color(220, 200);
@@ -196,6 +214,7 @@ ftl::gui::Screen::Screen(ftl::Configurable *proot, ftl::net::Universe *pnet, ftl
swindow_ = new ftl::gui::SourceWindow(this);
mwindow_ = new ftl::gui::MediaPanel(this);
mwindow_->setVisible(false);
+ mwindow_->setTheme(mediatheme);
cwindow_->setPosition(Eigen::Vector2i(80, 20));
//swindow_->setPosition(Eigen::Vector2i(80, 400));
@@ -203,7 +222,7 @@ ftl::gui::Screen::Screen(ftl::Configurable *proot, ftl::net::Universe *pnet, ftl
swindow_->setVisible(true);
swindow_->center();
cwindow_->setTheme(windowtheme);
- swindow_->setTheme(windowtheme);
+ swindow_->setTheme(mediatheme);
mShader.init("RGBDShader", defaultImageViewVertexShader,
defaultImageViewFragmentShader);
diff --git a/applications/gui/src/src_window.cpp b/applications/gui/src/src_window.cpp
index 124285573..c654a9877 100644
--- a/applications/gui/src/src_window.cpp
+++ b/applications/gui/src/src_window.cpp
@@ -12,11 +12,14 @@
#include <nanogui/glutil.h>
#include <nanogui/screen.h>
#include <nanogui/layout.h>
+#include <nanogui/vscrollpanel.h>
#ifdef HAVE_LIBARCHIVE
#include "ftl/rgbd/snapshot.hpp"
#endif
+#include "thumbview.hpp"
+
using ftl::gui::SourceWindow;
using ftl::gui::Screen;
using ftl::rgbd::Source;
@@ -25,7 +28,7 @@ using ftl::config::json_t;
SourceWindow::SourceWindow(ftl::gui::Screen *screen)
: nanogui::Window(screen, ""), screen_(screen) {
- setLayout(new nanogui::GroupLayout());
+ setLayout(new nanogui::BoxLayout(nanogui::Orientation::Vertical, nanogui::Alignment::Fill, 20, 5));
using namespace nanogui;
@@ -39,24 +42,33 @@ SourceWindow::SourceWindow(ftl::gui::Screen *screen)
// tools->setLayout(new BoxLayout(Orientation::Horizontal,
// Alignment::Middle, 0, 6));
- new Label(this, "Select source","sans-bold");
+ auto label = new Label(this, "Select Camera","sans-bold",20);
+
available_ = screen_->control()->getNet()->findAll<string>("list_streams");
- auto select = new ComboBox(this, available_);
- select->setCallback([this,select](int ix) {
+ //auto select = new ComboBox(this, available_);
+ //select->setCallback([this,select](int ix) {
//src_->set("uri", available_[ix]);
// TODO(Nick) Check camera exists first
- screen_->setActiveCamera(cameras_[available_[ix]]);
- LOG(INFO) << "Change source: " << ix;
- });
+ // screen_->setActiveCamera(cameras_[available_[ix]]);
+ // LOG(INFO) << "Change source: " << ix;
+ //});
- _updateCameras();
+ auto vscroll = new VScrollPanel(this);
+ ipanel_ = new Widget(vscroll);
+ ipanel_->setLayout(new GridLayout(nanogui::Orientation::Horizontal, 2,
+ nanogui::Alignment::Middle, 0, 5));
+ //ipanel_ = new ImageView(vscroll, 0);
- screen->net()->onConnect([this,select](ftl::net::Peer *p) {
+ screen->net()->onConnect([this](ftl::net::Peer *p) {
+ UNIQUE_LOCK(mutex_, lk);
available_ = screen_->net()->findAll<string>("list_streams");
- select->setItems(available_);
+ //select->setItems(available_);
_updateCameras();
});
+ UNIQUE_LOCK(mutex_, lk);
+ _updateCameras();
+
/*new Label(this, "Source Options","sans-bold");
auto tools = new Widget(this);
@@ -118,6 +130,11 @@ SourceWindow::SourceWindow(ftl::gui::Screen *screen)
}
void SourceWindow::_updateCameras() {
+ refresh_thumbs_ = true;
+ if (thumbs_.size() != available_.size()) {
+ thumbs_.resize(available_.size());
+ }
+
for (auto s : available_) {
if (cameras_.find(s) == cameras_.end()) {
json_t srcjson;
@@ -126,6 +143,8 @@ void SourceWindow::_updateCameras() {
std::vector<ftl::rgbd::Source*> srcs = ftl::createArray<ftl::rgbd::Source>(screen_->root(), "sources", screen_->net());
auto *src = srcs[srcs.size()-1];
+ LOG(INFO) << "Making camera: " << src->getURI();
+
auto *cam = new ftl::gui::Camera(screen_, src);
cameras_[s] = cam;
} else {
@@ -137,3 +156,33 @@ void SourceWindow::_updateCameras() {
SourceWindow::~SourceWindow() {
}
+
+void SourceWindow::draw(NVGcontext *ctx) {
+ if (refresh_thumbs_) {
+ UNIQUE_LOCK(mutex_, lk);
+ //refresh_thumbs_ = false;
+
+ for (size_t i=0; i<thumbs_.size(); ++i) {
+ cv::Mat t;
+ auto *cam = cameras_[available_[i]];
+ if (cam) {
+ if (cam->source()->thumbnail(t)) {
+ thumbs_[i].update(t);
+ } else {
+ refresh_thumbs_ = true;
+ }
+ }
+
+ if (ipanel_->childCount() < i+1) {
+ new ftl::gui::ThumbView(ipanel_, screen_, cam);
+ }
+ if (thumbs_[i].isValid()) dynamic_cast<nanogui::ImageView*>(ipanel_->childAt(i))->bindImage(thumbs_[i].texture());
+ }
+
+ // TODO(Nick) remove excess image views
+
+ center();
+ }
+
+ nanogui::Window::draw(ctx);
+}
diff --git a/applications/gui/src/src_window.hpp b/applications/gui/src/src_window.hpp
index 77f529c8c..de14d0d05 100644
--- a/applications/gui/src/src_window.hpp
+++ b/applications/gui/src/src_window.hpp
@@ -2,12 +2,15 @@
#define _FTL_GUI_SRCWINDOW_HPP_
#include <nanogui/window.h>
+#include <nanogui/imageview.h>
#include <ftl/master.hpp>
#include <ftl/uuid.hpp>
#include <ftl/rgbd/source.hpp>
+#include <ftl/threads.hpp>
#include <vector>
#include <map>
#include <string>
+#include "gltexture.hpp"
class VirtualCameraView;
@@ -24,10 +27,16 @@ class SourceWindow : public nanogui::Window {
const std::vector<ftl::gui::Camera*> &getCameras();
+ virtual void draw(NVGcontext *ctx);
+
private:
ftl::gui::Screen *screen_;
std::map<std::string, ftl::gui::Camera*> cameras_;
std::vector<std::string> available_;
+ std::vector<GLTexture> thumbs_;
+ bool refresh_thumbs_;
+ nanogui::Widget *ipanel_;
+ std::mutex mutex_;
void _updateCameras();
diff --git a/applications/gui/src/thumbview.cpp b/applications/gui/src/thumbview.cpp
new file mode 100644
index 000000000..4b2d03a75
--- /dev/null
+++ b/applications/gui/src/thumbview.cpp
@@ -0,0 +1,32 @@
+#include "thumbview.hpp"
+#include "screen.hpp"
+#include "camera.hpp"
+
+using ftl::gui::ThumbView;
+using ftl::gui::Screen;
+using ftl::gui::Camera;
+
+ThumbView::ThumbView(nanogui::Widget *parent, ftl::gui::Screen *screen, ftl::gui::Camera *cam)
+ : ImageView(parent, 0), screen_(screen), cam_(cam) {
+ setCursor(nanogui::Cursor::Hand);
+}
+
+ThumbView::~ThumbView() {
+
+}
+
+bool ThumbView::mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers) {
+ if (button == 0 && !down) {
+ screen_->setActiveCamera(cam_);
+ }
+}
+
+void ThumbView::draw(NVGcontext *ctx) {
+ ImageView::draw(ctx);
+
+ nvgScissor(ctx, mPos.x(), mPos.y(), mSize.x(), mSize.y());
+ nvgFontSize(ctx, 14);
+ nvgFontFace(ctx, "sans-bold");
+ nvgText(ctx, mPos.x() + 10, mPos.y()+mSize.y() - 10, cam_->source()->getURI().c_str(), NULL);
+ nvgResetScissor(ctx);
+}
diff --git a/applications/gui/src/thumbview.hpp b/applications/gui/src/thumbview.hpp
new file mode 100644
index 000000000..9bbac8097
--- /dev/null
+++ b/applications/gui/src/thumbview.hpp
@@ -0,0 +1,29 @@
+#ifndef _FTL_GUI_THUMBVIEW_HPP_
+#define _FTL_GUI_THUMBVIEW_HPP_
+
+#include <nanogui/imageview.h>
+
+namespace ftl {
+namespace gui {
+
+class Screen;
+class Camera;
+
+class ThumbView : public nanogui::ImageView {
+ public:
+ ThumbView(nanogui::Widget *parent, ftl::gui::Screen *screen, ftl::gui::Camera *cam);
+ ~ThumbView();
+
+ bool mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers);
+
+ void draw(NVGcontext *ctx);
+
+ private:
+ Screen *screen_;
+ Camera *cam_;
+};
+
+}
+}
+
+#endif // _FTL_GUI_THUMBVIEW_HPP_
diff --git a/applications/reconstruct/include/ftl/virtual_source.hpp b/applications/reconstruct/include/ftl/virtual_source.hpp
index ff1a89d78..931bdd5eb 100644
--- a/applications/reconstruct/include/ftl/virtual_source.hpp
+++ b/applications/reconstruct/include/ftl/virtual_source.hpp
@@ -26,7 +26,7 @@ class VirtualSource : public ftl::rgbd::detail::Source {
void setScene(ftl::voxhash::SceneRep *);
- bool grab();
+ bool grab(int n, int b);
//void getRGBD(cv::Mat &rgb, cv::Mat &depth);
bool isReady();
diff --git a/applications/reconstruct/src/virtual_source.cpp b/applications/reconstruct/src/virtual_source.cpp
index 46eca475e..cf6d268c1 100644
--- a/applications/reconstruct/src/virtual_source.cpp
+++ b/applications/reconstruct/src/virtual_source.cpp
@@ -53,7 +53,7 @@ void VirtualSource::setScene(ftl::voxhash::SceneRep *scene) {
scene_ = scene;
}
-bool VirtualSource::grab() {
+bool VirtualSource::grab(int n, int b) {
if (scene_) {
// Ensure this host thread is using correct GPU.
diff --git a/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp b/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp
index a047174de..8ebdab720 100644
--- a/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/detail/source.hpp
@@ -27,7 +27,11 @@ class Source {
explicit Source(ftl::rgbd::Source *host) : capabilities_(0), host_(host), params_({0}) { }
virtual ~Source() {}
- virtual bool grab()=0;
+ /**
+ * @param n Number of frames to request in batch. Default -1 means automatic (10)
+ * @param b Bit rate setting. -1 = automatic, 0 = best quality, 9 = lowest quality
+ */
+ virtual bool grab(int n, int b)=0;
virtual bool isReady() { return false; };
virtual void setPose(const Eigen::Matrix4d &pose) { };
diff --git a/components/rgbd-sources/include/ftl/rgbd/source.hpp b/components/rgbd-sources/include/ftl/rgbd/source.hpp
index 3b5e53f18..3cf1a2b52 100644
--- a/components/rgbd-sources/include/ftl/rgbd/source.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/source.hpp
@@ -173,6 +173,7 @@ class Source : public ftl::Configurable {
detail::Source *impl_;
cv::Mat rgb_;
cv::Mat depth_;
+ cv::Mat thumb_;
Camera params_; // TODO Find better solution
Eigen::Matrix4d pose_;
ftl::net::Universe *net_;
diff --git a/components/rgbd-sources/include/ftl/rgbd/streamer.hpp b/components/rgbd-sources/include/ftl/rgbd/streamer.hpp
index 665f9af9d..5dac8fd13 100644
--- a/components/rgbd-sources/include/ftl/rgbd/streamer.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/streamer.hpp
@@ -17,14 +17,15 @@ namespace ftl {
namespace rgbd {
static const int kChunkDim = 4;
+static constexpr int kChunkCount = kChunkDim * kChunkDim;
namespace detail {
struct StreamClient {
std::string uri;
ftl::UUID peerid;
- int txcount; // Frames sent since last request
- int txmax; // Frames to send in request
+ std::atomic<int> txcount; // Frames sent since last request
+ int txmax; // Frames to send in request
};
static const unsigned int kGrabbed = 0x1;
@@ -34,11 +35,12 @@ static const unsigned int kDepth = 0x4;
struct StreamSource {
ftl::rgbd::Source *src;
std::atomic<unsigned int> jobs; // Busy or ready to swap?
+ std::atomic<unsigned int> clientCount;
cv::Mat rgb; // Tx buffer
cv::Mat depth; // Tx buffer
cv::Mat prev_rgb;
cv::Mat prev_depth;
- std::vector<detail::StreamClient> clients[10]; // One list per bitrate
+ std::list<detail::StreamClient> clients[10]; // One list per bitrate
std::shared_mutex mutex;
unsigned long long frame;
};
diff --git a/components/rgbd-sources/src/bitrate_settings.hpp b/components/rgbd-sources/src/bitrate_settings.hpp
new file mode 100644
index 000000000..6b6e1508e
--- /dev/null
+++ b/components/rgbd-sources/src/bitrate_settings.hpp
@@ -0,0 +1,32 @@
+#ifndef _FTL_RGBD_BITRATESETTINGS_HPP_
+#define _FTL_RGBD_BITRATESETTINGS_HPP_
+
+namespace ftl {
+namespace rgbd {
+namespace detail {
+
+struct BitrateSetting {
+ int width;
+ int height;
+ int jpg_quality;
+ int png_compression;
+};
+
+static const BitrateSetting bitrate_settings[] = {
+ 1280, 720, 95, 1,
+ 1280, 720, 95, 1,
+ 1280, 720, 95, 1,
+ 1280, 720, 75, 1,
+ 640, 360, 95, 1,
+ 640, 360, 75, 5,
+ 640, 360, 50, 5,
+ 320, 160, 95, 5,
+ 320, 160, 75, 5,
+ 320, 160, 50, 9
+};
+
+}
+}
+}
+
+#endif // _FTL_RGBD_BITRATESETTINGS_HPP_
diff --git a/components/rgbd-sources/src/image.hpp b/components/rgbd-sources/src/image.hpp
index 296a1c876..b389fd176 100644
--- a/components/rgbd-sources/src/image.hpp
+++ b/components/rgbd-sources/src/image.hpp
@@ -14,7 +14,7 @@ class ImageSource : public ftl::rgbd::detail::Source {
}
- bool grab() { return false; };
+ bool grab(int n, int b) { return false; };
bool isReady() { return false; };
};
diff --git a/components/rgbd-sources/src/middlebury_source.cpp b/components/rgbd-sources/src/middlebury_source.cpp
index a1f490e1d..d335f8dbf 100644
--- a/components/rgbd-sources/src/middlebury_source.cpp
+++ b/components/rgbd-sources/src/middlebury_source.cpp
@@ -150,7 +150,7 @@ void MiddleburySource::_performDisparity() {
stream_.waitForCompletion();
}
-bool MiddleburySource::grab() {
+bool MiddleburySource::grab(int n, int b) {
//_performDisparity();
return true;
}
diff --git a/components/rgbd-sources/src/middlebury_source.hpp b/components/rgbd-sources/src/middlebury_source.hpp
index 10cd47d44..5f0e2be53 100644
--- a/components/rgbd-sources/src/middlebury_source.hpp
+++ b/components/rgbd-sources/src/middlebury_source.hpp
@@ -19,7 +19,7 @@ class MiddleburySource : public detail::Source {
MiddleburySource(ftl::rgbd::Source *, const std::string &dir);
~MiddleburySource() {};
- bool grab();
+ bool grab(int n, int b);
bool isReady() { return ready_; }
private:
diff --git a/components/rgbd-sources/src/net.cpp b/components/rgbd-sources/src/net.cpp
index 62682d712..7752f8d1f 100644
--- a/components/rgbd-sources/src/net.cpp
+++ b/components/rgbd-sources/src/net.cpp
@@ -56,7 +56,7 @@ bool NetSource::_getCalibration(Universe &net, const UUID &peer, const string &s
}
NetSource::NetSource(ftl::rgbd::Source *host)
- : ftl::rgbd::detail::Source(host), active_(false) {
+ : ftl::rgbd::detail::Source(host), active_(false), minB_(9), maxN_(1) {
gamma_ = host->value("gamma", 1.0f);
temperature_ = host->value("temperature", 6500);
@@ -120,9 +120,20 @@ void NetSource::_recvChunk(int frame, int chunk, bool delta, const vector<unsign
cv::Mat chunkRGB = rgb_(roi);
cv::Mat chunkDepth = depth_(roi);
- tmp_rgb.copyTo(chunkRGB);
- tmp_depth.convertTo(chunkDepth, CV_32FC1, 1.0f/1000.0f); //(16.0f*10.0f));
- if (chunk == 0) N_--;
+ // Original size so just copy
+ if (tmp_rgb.cols == chunkRGB.cols) {
+ tmp_rgb.copyTo(chunkRGB);
+ tmp_depth.convertTo(chunkDepth, CV_32FC1, 1.0f/1000.0f); //(16.0f*10.0f));
+ // Downsized so needs a scale up
+ } else {
+ cv::resize(tmp_rgb, chunkRGB, chunkRGB.size());
+ tmp_depth.convertTo(tmp_depth, CV_32FC1, 1.0f/1000.0f);
+ cv::resize(tmp_depth, chunkDepth, chunkDepth.size());
+ }
+
+ if (chunk == 0) {
+ N_--;
+ }
}
void NetSource::setPose(const Eigen::Matrix4d &pose) {
@@ -162,14 +173,14 @@ void NetSource::_updateURI() {
_recvChunk(frame, chunk, delta, jpg, d);
});
- N_ = 1;
+ N_ = 0;
// Initiate stream with request for first 10 frames
- try {
- host_->getNet()->send(peer_, "get_stream", *uri, N_, 0, host_->getNet()->id(), *uri);
- } catch(...) {
- LOG(ERROR) << "Could not connect to stream " << *uri;
- }
+ //try {
+ // host_->getNet()->send(peer_, "get_stream", *uri, N_, 0, host_->getNet()->id(), *uri);
+ //} catch(...) {
+ // LOG(ERROR) << "Could not connect to stream " << *uri;
+ //}
// Update chunk details
chunks_dim_ = ftl::rgbd::kChunkDim;
@@ -188,13 +199,24 @@ void NetSource::_updateURI() {
}
}
-bool NetSource::grab() {
- // Send one frame before end to prevent unwanted pause
- if (N_ <= 2) {
- N_ = 10;
- if (!host_->getNet()->send(peer_, "get_stream", *host_->get<string>("uri"), N_, 0, host_->getNet()->id(), *host_->get<string>("uri"))) {
+bool NetSource::grab(int n, int b) {
+ // Choose highest requested number of frames
+ maxN_ = std::max(maxN_,(n == -1) ? 10 : n);
+
+ // Choose best requested quality
+ minB_ = std::min(minB_,(b == -1) ? 0 : b);
+
+ // Send k frames before end to prevent unwanted pause
+ // Unless only a single frame is requested
+ if ((N_ <= 2 && maxN_ > 1) || N_ == 0) {
+ N_ = maxN_;
+
+ if (!host_->getNet()->send(peer_, "get_stream", *host_->get<string>("uri"), N_, minB_, host_->getNet()->id(), *host_->get<string>("uri"))) {
active_ = false;
}
+
+ maxN_ = 1; // Reset to single frame
+ minB_ = 9; // Reset to worst quality
}
return true;
}
diff --git a/components/rgbd-sources/src/net.hpp b/components/rgbd-sources/src/net.hpp
index 5a5639273..61bbbe7d7 100644
--- a/components/rgbd-sources/src/net.hpp
+++ b/components/rgbd-sources/src/net.hpp
@@ -22,7 +22,7 @@ class NetSource : public detail::Source {
explicit NetSource(ftl::rgbd::Source *);
~NetSource();
- bool grab();
+ bool grab(int n, int b);
bool isReady();
void setPose(const Eigen::Matrix4d &pose);
@@ -43,6 +43,8 @@ class NetSource : public detail::Source {
cv::Mat idepth_;
float gamma_;
int temperature_;
+ int minB_;
+ int maxN_;
bool _getCalibration(ftl::net::Universe &net, const ftl::UUID &peer, const std::string &src, ftl::rgbd::Camera &p);
void _recv(const std::vector<unsigned char> &jpg, const std::vector<unsigned char> &d);
diff --git a/components/rgbd-sources/src/realsense_source.cpp b/components/rgbd-sources/src/realsense_source.cpp
index e1b66afb1..a4f34c236 100644
--- a/components/rgbd-sources/src/realsense_source.cpp
+++ b/components/rgbd-sources/src/realsense_source.cpp
@@ -38,7 +38,7 @@ RealsenseSource::~RealsenseSource() {
}
-bool RealsenseSource::grab() {
+bool RealsenseSource::grab(int n, int b) {
rs2::frameset frames = pipe_.wait_for_frames();
//rs2::align align(RS2_STREAM_DEPTH);
frames = align_to_depth_.process(frames); //align_to_depth_.process(frames);
diff --git a/components/rgbd-sources/src/realsense_source.hpp b/components/rgbd-sources/src/realsense_source.hpp
index 2a48ac2db..2af26bbaf 100644
--- a/components/rgbd-sources/src/realsense_source.hpp
+++ b/components/rgbd-sources/src/realsense_source.hpp
@@ -17,7 +17,7 @@ class RealsenseSource : public ftl::rgbd::detail::Source {
RealsenseSource(ftl::rgbd::Source *host);
~RealsenseSource();
- bool grab();
+ bool grab(int n=-1, int b=-1);
bool isReady();
private:
diff --git a/components/rgbd-sources/src/snapshot_source.hpp b/components/rgbd-sources/src/snapshot_source.hpp
index 7b5b491fc..38b9d875a 100644
--- a/components/rgbd-sources/src/snapshot_source.hpp
+++ b/components/rgbd-sources/src/snapshot_source.hpp
@@ -17,7 +17,7 @@ class SnapshotSource : public detail::Source {
SnapshotSource(ftl::rgbd::Source *, ftl::rgbd::SnapshotReader &reader, const std::string &id);
~SnapshotSource() {};
- bool grab() override {};
+ bool grab(int n, int b) override { return true; };
bool isReady() { return true; }
//void reset();
diff --git a/components/rgbd-sources/src/source.cpp b/components/rgbd-sources/src/source.cpp
index b5741520c..1f6c521cc 100644
--- a/components/rgbd-sources/src/source.cpp
+++ b/components/rgbd-sources/src/source.cpp
@@ -196,7 +196,7 @@ const Eigen::Matrix4d &Source::getPose() const {
}
bool Source::hasCapabilities(capability_t c) {
- return getCapabilities() & c == c;
+ return (getCapabilities() & c) == c;
}
capability_t Source::getCapabilities() const {
@@ -212,10 +212,27 @@ void Source::reset() {
bool Source::grab() {
UNIQUE_LOCK(mutex_,lk);
- if (impl_ && impl_->grab()) {
+ if (impl_ && impl_->grab(-1,-1)) {
impl_->rgb_.copyTo(rgb_);
impl_->depth_.copyTo(depth_);
return true;
}
return false;
}
+
+bool Source::thumbnail(cv::Mat &t) {
+ // TODO(Nick) periodic refresh
+ if (impl_) {
+ UNIQUE_LOCK(mutex_,lk);
+ impl_->grab(1, 9);
+ impl_->rgb_.copyTo(rgb_);
+ impl_->depth_.copyTo(depth_);
+ }
+ if (!rgb_.empty()) {
+ SHARED_LOCK(mutex_,lk);
+ // Downsize and square the rgb_ image
+ cv::resize(rgb_, thumb_, cv::Size(320,180));
+ }
+ t = thumb_;
+ return !thumb_.empty();
+}
diff --git a/components/rgbd-sources/src/stereovideo.cpp b/components/rgbd-sources/src/stereovideo.cpp
index c0471643a..9442eefde 100644
--- a/components/rgbd-sources/src/stereovideo.cpp
+++ b/components/rgbd-sources/src/stereovideo.cpp
@@ -123,7 +123,7 @@ static void disparityToDepth(const cv::cuda::GpuMat &disparity, cv::cuda::GpuMat
cv::cuda::divide(val, disparity, depth, 1.0f / 1000.0f, -1, stream);
}
-bool StereoVideoSource::grab() {
+bool StereoVideoSource::grab(int n, int b) {
lsrc_->get(left_, right_, stream_);
if (depth_tmp_.empty()) depth_tmp_ = cv::cuda::GpuMat(left_.size(), CV_32FC1);
if (disp_tmp_.empty()) disp_tmp_ = cv::cuda::GpuMat(left_.size(), CV_32FC1);
diff --git a/components/rgbd-sources/src/stereovideo.hpp b/components/rgbd-sources/src/stereovideo.hpp
index a5db20fb9..28fe6b90d 100644
--- a/components/rgbd-sources/src/stereovideo.hpp
+++ b/components/rgbd-sources/src/stereovideo.hpp
@@ -26,7 +26,7 @@ class StereoVideoSource : public detail::Source {
StereoVideoSource(ftl::rgbd::Source*, const std::string &);
~StereoVideoSource();
- bool grab();
+ bool grab(int n, int b);
bool isReady();
//const cv::Mat &getRight() const { return right_; }
diff --git a/components/rgbd-sources/src/streamer.cpp b/components/rgbd-sources/src/streamer.cpp
index e2daa0f0f..3dc57428b 100644
--- a/components/rgbd-sources/src/streamer.cpp
+++ b/components/rgbd-sources/src/streamer.cpp
@@ -5,10 +5,13 @@
#include <chrono>
#include <tuple>
+#include "bitrate_settings.hpp"
+
using ftl::rgbd::Streamer;
using ftl::rgbd::Source;
using ftl::rgbd::detail::StreamSource;
using ftl::rgbd::detail::StreamClient;
+using ftl::rgbd::detail::bitrate_settings;
using ftl::net::Universe;
using std::string;
using std::list;
@@ -123,6 +126,7 @@ void Streamer::add(Source *src) {
//s->prev_depth = cv::Mat(cv::Size(src->parameters().width, src->parameters().height), CV_16SC1, 0);
s->jobs = 0;
s->frame = 0;
+ s->clientCount = 0;
sources_[src->getID()] = s;
}
@@ -133,37 +137,38 @@ void Streamer::add(Source *src) {
void Streamer::_addClient(const string &source, int N, int rate, const ftl::UUID &peer, const string &dest) {
StreamSource *s = nullptr;
- //{
+ {
UNIQUE_LOCK(mutex_,slk);
if (sources_.find(source) == sources_.end()) return;
if (rate < 0 || rate >= 10) return;
if (N < 0 || N > ftl::rgbd::kMaxFrames) return;
- DLOG(INFO) << "Adding Stream Peer: " << peer.to_string();
+ LOG(INFO) << "Adding Stream Peer: " << peer.to_string() << " rate=" << rate << " N=" << N;
s = sources_[source];
- //}
+ }
- if (!s) return;
+ if (!s) return; // No matching stream
+ SHARED_LOCK(mutex_, slk);
UNIQUE_LOCK(s->mutex, lk2);
- for (int i=0; i<s->clients[rate].size(); i++) {
- if (s->clients[rate][i].peerid == peer) {
- StreamClient &c = s->clients[rate][i];
- c.txmax = N;
- c.txcount = 0;
+ for (auto &client : s->clients[rate]) {
+ // If already listening, just update chunk counters
+ if (client.peerid == peer) {
+ client.txmax = N * kChunkCount;
+ client.txcount = 0;
return;
}
}
- StreamClient c;
+ // Not an existing client so add one
+ StreamClient &c = s->clients[rate].emplace_back();
c.peerid = peer;
c.uri = dest;
c.txcount = 0;
- c.txmax = N;
-
- s->clients[rate].push_back(c);
+ c.txmax = N * kChunkCount;
+ ++s->clientCount;
}
void Streamer::remove(Source *) {
@@ -176,7 +181,7 @@ void Streamer::remove(const std::string &) {
void Streamer::stop() {
active_ = false;
- //pool_.stop();
+ wait();
}
void Streamer::poll() {
@@ -222,14 +227,17 @@ void Streamer::_swap(StreamSource *src) {
if (src->jobs == 0) {
UNIQUE_LOCK(src->mutex,lk);
- auto i = src->clients[0].begin();
- while (i != src->clients[0].end()) {
- (*i).txcount++;
- if ((*i).txcount >= (*i).txmax) {
- LOG(INFO) << "Remove client: " << (*i).uri;
- i = src->clients[0].erase(i);
- } else {
- i++;
+ for (unsigned int b=0; b<10; ++b) {
+ auto i = src->clients[b].begin();
+ while (i != src->clients[b].end()) {
+ // Client request completed so remove from list
+ if ((*i).txcount >= (*i).txmax) {
+ LOG(INFO) << "Remove client: " << (*i).uri;
+ i = src->clients[b].erase(i);
+ --src->clientCount;
+ } else {
+ i++;
+ }
}
}
@@ -268,7 +276,7 @@ void Streamer::_schedule() {
string uri = s.first;
// No point in doing work if no clients
- if (s.second->clients[0].size() == 0) {
+ if (s.second->clientCount == 0) {
continue;
}
@@ -283,8 +291,7 @@ void Streamer::_schedule() {
// Grab job
ftl::pool.push([this,src](int id) {
- //StreamSource *src = sources_[uri];
- auto start = std::chrono::high_resolution_clock::now();
+ //auto start = std::chrono::high_resolution_clock::now();
try {
src->src->grab();
} catch (std::exception &ex) {
@@ -295,14 +302,11 @@ void Streamer::_schedule() {
LOG(ERROR) << "Unknown exception when grabbing frame";
}
- std::chrono::duration<double> elapsed =
- std::chrono::high_resolution_clock::now() - start;
- LOG(INFO) << "Grab in " << elapsed.count() << "s";
+ //std::chrono::duration<double> elapsed =
+ // std::chrono::high_resolution_clock::now() - start;
+ //LOG(INFO) << "Grab in " << elapsed.count() << "s";
- // CHECK (Nick) Can state be an atomic instead?
- //UNIQUE_LOCK(src->mutex, lk);
src->jobs--;
- //src->state |= ftl::rgbd::detail::kGrabbed;
_swap(src);
// Mark job as finished
@@ -311,154 +315,83 @@ void Streamer::_schedule() {
});
// Create jobs for each chunk
- for (int i=0; i<(kChunkDim*kChunkDim); i++) {
+ for (int i=0; i<kChunkCount; ++i) {
+ // Add chunk job to thread pool
ftl::pool.push([this,src](int id, int chunk) {
if (!src->rgb.empty() && !src->depth.empty()) {
- bool delta = (chunk+src->frame) % 8 > 0;
+ bool delta = (chunk+src->frame) % 8 > 0; // Do XOR or not
int chunk_width = src->rgb.cols / kChunkDim;
int chunk_height = src->rgb.rows / kChunkDim;
- // Build chunk head
+ // Build chunk heads
int cx = (chunk % kChunkDim) * chunk_width;
int cy = (chunk / kChunkDim) * chunk_height;
-
cv::Rect roi(cx,cy,chunk_width,chunk_height);
vector<unsigned char> rgb_buf;
cv::Mat chunkRGB = src->rgb(roi);
cv::Mat chunkDepth = src->depth(roi);
//cv::Mat chunkDepthPrev = src->prev_depth(roi);
- cv::imencode(".jpg", chunkRGB, rgb_buf);
-
cv::Mat d2, d3;
vector<unsigned char> d_buf;
chunkDepth.convertTo(d2, CV_16UC1, 1000); // 16*10);
//if (delta) d3 = (d2 * 2) - chunkDepthPrev;
//else d3 = d2;
//d2.copyTo(chunkDepthPrev);
- vector<int> pngparams = {cv::IMWRITE_PNG_COMPRESSION, compress_level_}; // Default is 1 for fast, 9 = small but slow.
- cv::imencode(".png", d2, d_buf, pngparams);
-
- //LOG(INFO) << "Sending chunk " << chunk << " : size = " << (d_buf.size()+rgb_buf.size()) / 1024 << "kb";
-
- SHARED_LOCK(src->mutex,lk);
- auto i = src->clients[0].begin();
- while (i != src->clients[0].end()) {
- try {
- // TODO(Nick) Send pose and timestamp
- if (!net_->send((*i).peerid, (*i).uri, 0, chunk, delta, rgb_buf, d_buf)) {
- (*i).txcount = (*i).txmax;
+
+ // For each allowed bitrate setting (0 = max quality)
+ for (unsigned int b=0; b<10; ++b) {
+ {
+ //SHARED_LOCK(src->mutex,lk);
+ if (src->clients[b].size() == 0) continue;
+ }
+
+ // Max bitrate means no changes
+ if (b == 0) {
+ cv::imencode(".jpg", chunkRGB, rgb_buf);
+ vector<int> pngparams = {cv::IMWRITE_PNG_COMPRESSION, compress_level_}; // Default is 1 for fast, 9 = small but slow.
+ cv::imencode(".png", d2, d_buf, pngparams);
+
+ // Otherwise must downscale and change compression params
+ // TODO(Nick) could reuse downscales
+ } else {
+ cv::Mat downrgb, downdepth;
+ cv::resize(chunkRGB, downrgb, cv::Size(bitrate_settings[b].width / kChunkDim, bitrate_settings[b].height / kChunkDim));
+ cv::resize(d2, downdepth, cv::Size(bitrate_settings[b].width / kChunkDim, bitrate_settings[b].height / kChunkDim));
+ vector<int> jpgparams = {cv::IMWRITE_JPEG_QUALITY, bitrate_settings[b].jpg_quality};
+ cv::imencode(".jpg", downrgb, rgb_buf, jpgparams);
+ vector<int> pngparams = {cv::IMWRITE_PNG_COMPRESSION, bitrate_settings[b].png_compression}; // Default is 1 for fast, 9 = small but slow.
+ cv::imencode(".png", downdepth, d_buf, pngparams);
+ }
+
+ //if (chunk == 0) LOG(INFO) << "Sending chunk " << chunk << " : size = " << (d_buf.size()+rgb_buf.size()) << "bytes";
+
+ // Lock to prevent clients being added / removed
+ SHARED_LOCK(src->mutex,lk);
+ auto c = src->clients[b].begin();
+ while (c != src->clients[b].end()) {
+ try {
+ // TODO(Nick) Send pose and timestamp
+ if (!net_->send((*c).peerid, (*c).uri, 0, chunk, delta, rgb_buf, d_buf)) {
+ // Send failed so mark as client stream completed
+ (*c).txcount = (*c).txmax;
+ } else {
+ ++(*c).txcount;
+ }
+ } catch(...) {
+ (*c).txcount = (*c).txmax;
}
- } catch(...) {
- (*i).txcount = (*i).txmax;
+ ++c;
}
- i++;
}
}
- //src->state |= ftl::rgbd::detail::kRGB;
src->jobs--;
_swap(src);
--jobs_;
job_cv_.notify_one();
}, i);
}
-
- // Compress colour job
- /*pool_.push([this,src](int id) {
- if (!src->rgb.empty()) {
- auto start = std::chrono::high_resolution_clock::now();
-
- //vector<unsigned char> src->rgb_buf;
- cv::imencode(".jpg", src->rgb, src->rgb_buf);
- }
-
- src->state |= ftl::rgbd::detail::kRGB;
- _swap(src);
- --jobs_;
- job_cv_.notify_one();
- });
-
- // Compress depth job
- ftl::pool.push([this,src](int id) {
- auto start = std::chrono::high_resolution_clock::now();
-
- if (!src->depth.empty()) {
- cv::Mat d2;
- src->depth.convertTo(d2, CV_16UC1, 16*100);
- //vector<unsigned char> d_buf;
-
- // Setting 1 = fast but large
- // Setting 9 = small but slow
- // Anything up to 8 causes minimal if any impact on frame rate
- // on my (Nicks) laptop, but 9 halves the frame rate.
- vector<int> pngparams = {cv::IMWRITE_PNG_COMPRESSION, 1}; // Default is 1 for fast, 9 = small but slow.
- cv::imencode(".png", d2, src->d_buf, pngparams);
- }
-
- std::chrono::duration<double> elapsed =
- std::chrono::high_resolution_clock::now() - start;
- LOG(INFO) << "Depth Compress in " << elapsed.count() << "s";
-
- src->state |= ftl::rgbd::detail::kDepth;
- _swap(src);
- --jobs_;
- job_cv_.notify_one();
- });*/
-
- // Transmit job
- // For any single source and bitrate there is only one thread
- // meaning that no lock is required here since outer shared_lock
- // prevents addition of new clients.
- // TODO, could do one for each bitrate...
- /* pool_.push([this,src](int id) {
- //StreamSource *src = sources_[uri];
-
- try {
- if (src && src->rgb.rows > 0 && src->depth.rows > 0 && src->clients[0].size() > 0) {
- auto start = std::chrono::high_resolution_clock::now();
-
- vector<unsigned char> rgb_buf;
- cv::imencode(".jpg", src->rgb, rgb_buf);
-
- std::chrono::duration<double> elapsed =
- std::chrono::high_resolution_clock::now() - start;
- LOG(INFO) << "JPG in " << elapsed.count() << "s";
-
- cv::Mat d2;
- src->depth.convertTo(d2, CV_16UC1, 16*100);
- vector<unsigned char> d_buf;
-
- // Setting 1 = fast but large
- // Setting 9 = small but slow
- // Anything up to 8 causes minimal if any impact on frame rate
- // on my (Nicks) laptop, but 9 halves the frame rate.
- vector<int> pngparams = {cv::IMWRITE_PNG_COMPRESSION, 1}; // Default is 1 for fast, 9 = small but slow.
- cv::imencode(".png", d2, d_buf, pngparams);
-
- //LOG(INFO) << "Data size: " << ((rgb_buf.size() + d_buf.size()) / 1024) << "kb";
-
-
- }
- } catch(...) {
- LOG(ERROR) << "Error in transmission loop";
- }
-
- // CHECK (Nick) Could state be an atomic?
- //UNIQUE_LOCK(src->mutex,lk);
- //LOG(INFO) << "Tx Frame: " << uri;
- src->state |= ftl::rgbd::detail::kTransmitted;
- _swap(*src);
- //lk.unlock();
-
- // Mark job as finished
- //UNIQUE_LOCK(job_mtx_,ulk);
- //jobs_--;
- //ulk.unlock();
-
- --jobs_;
- job_cv_.notify_one();
- });*/
}
}
diff --git a/components/rgbd-sources/test/source_unit.cpp b/components/rgbd-sources/test/source_unit.cpp
index 8454c011b..b27b72e07 100644
--- a/components/rgbd-sources/test/source_unit.cpp
+++ b/components/rgbd-sources/test/source_unit.cpp
@@ -26,7 +26,7 @@ class ImageSource : public ftl::rgbd::detail::Source {
last_type = "image";
}
- bool grab() { return true; };
+ bool grab(int n, int b) { return true; };
bool isReady() { return true; };
};
@@ -39,7 +39,7 @@ class StereoVideoSource : public ftl::rgbd::detail::Source {
last_type = "video";
}
- bool grab() { return true; };
+ bool grab(int n, int b) { return true; };
bool isReady() { return true; };
};
@@ -49,7 +49,7 @@ class NetSource : public ftl::rgbd::detail::Source {
last_type = "net";
}
- bool grab() { return true; };
+ bool grab(int n, int b) { return true; };
bool isReady() { return true; };
};
@@ -59,7 +59,7 @@ class SnapshotSource : public ftl::rgbd::detail::Source {
last_type = "snapshot";
}
- bool grab() { return true; };
+ bool grab(int n, int b) { return true; };
bool isReady() { return true; };
};
@@ -69,7 +69,7 @@ class RealsenseSource : public ftl::rgbd::detail::Source {
last_type = "realsense";
}
- bool grab() { return true; };
+ bool grab(int n, int b) { return true; };
bool isReady() { return true; };
};
@@ -79,7 +79,7 @@ class MiddleburySource : public ftl::rgbd::detail::Source {
last_type = "middlebury";
}
- bool grab() { return true; };
+ bool grab(int n, int b) { return true; };
bool isReady() { return true; };
};
--
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