From e775bff72d3346c141bee6e4576a8f75875e93ea Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 12 Apr 2019 07:45:30 +0300
Subject: [PATCH] Zlib depth stream and publish to network. Deflate in
reconstruct and display
---
CMakeLists.txt | 1 +
reconstruct/CMakeLists.txt | 2 +-
reconstruct/src/main.cpp | 29 +++++++++++++++++++++++++++--
vision/CMakeLists.txt | 2 +-
vision/src/streamer.cpp | 22 ++++++++++++++++++++--
5 files changed, 50 insertions(+), 6 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 15ef5027a..d12b4d1a4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,6 +20,7 @@ find_package( Threads REQUIRED )
find_package( URIParser REQUIRED )
find_package( MsgPack REQUIRED )
find_package( LibSGM )
+find_package( ZLIB REQUIRED )
# Readline library is not required on Windows
# May also entirely remove dependence on this... it should be optional at least.
diff --git a/reconstruct/CMakeLists.txt b/reconstruct/CMakeLists.txt
index f12c03057..8dfbccded 100644
--- a/reconstruct/CMakeLists.txt
+++ b/reconstruct/CMakeLists.txt
@@ -12,6 +12,6 @@ add_executable(ftl-reconstruct ${REPSRC})
add_dependencies(ftl-reconstruct ftlnet)
#target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
-target_link_libraries(ftl-reconstruct Threads::Threads ${OpenCV_LIBS} glog::glog ftlnet)
+target_link_libraries(ftl-reconstruct Threads::Threads ZLIB::ZLIB ${OpenCV_LIBS} glog::glog ftlnet)
diff --git a/reconstruct/src/main.cpp b/reconstruct/src/main.cpp
index f35adb20d..806e17bb9 100644
--- a/reconstruct/src/main.cpp
+++ b/reconstruct/src/main.cpp
@@ -6,6 +6,7 @@
#include <glog/logging.h>
#include <ftl/config.h>
+#include <zlib.h>
#include <string>
#include <map>
@@ -114,23 +115,47 @@ static void process_options(const map<string, string> &opts) {
static void run(const string &file) {
Universe net(config["net"]);
- Mat rgb;
+ Mat rgb, depth;
mutex m;
// Make sure connections are complete
sleep_for(milliseconds(500));
- net.subscribe(config["source"], [&rgb,&m](const vector<unsigned char> &jpg) {
+ net.subscribe(config["source"], [&rgb,&m,&depth](const vector<unsigned char> &jpg, const vector<unsigned char> &d) {
unique_lock<mutex> lk(m);
cv::imdecode(jpg, cv::IMREAD_COLOR, &rgb);
//LOG(INFO) << "Received JPG : " << rgb.cols;
+
+ depth = Mat(rgb.size(), CV_32FC1);
+
+ z_stream infstream;
+ infstream.zalloc = Z_NULL;
+ infstream.zfree = Z_NULL;
+ infstream.opaque = Z_NULL;
+ // setup "b" as the input and "c" as the compressed output
+ infstream.avail_in = (uInt)d.size(); // size of input
+ infstream.next_in = (Bytef *)d.data(); // input char array
+ infstream.avail_out = (uInt)depth.step*depth.rows; // size of output
+ infstream.next_out = (Bytef *)depth.data; // output char array
+
+ // the actual DE-compression work.
+ inflateInit(&infstream);
+ inflate(&infstream, Z_NO_FLUSH);
+ inflateEnd(&infstream);
});
while (true) {
+ Mat idepth;
+
unique_lock<mutex> lk(m);
if (rgb.cols > 0) {
cv::imshow("RGB", rgb);
}
+ if (depth.cols > 0) {
+ depth.convertTo(idepth, CV_8U, 255.0f / 256.0f); // TODO(nick)
+ applyColorMap(idepth, idepth, cv::COLORMAP_JET);
+ cv::imshow("Depth", idepth);
+ }
lk.unlock();
if (cv::waitKey(40) == 27) break;
}
diff --git a/vision/CMakeLists.txt b/vision/CMakeLists.txt
index 28c79e0d8..b07dcc8b2 100644
--- a/vision/CMakeLists.txt
+++ b/vision/CMakeLists.txt
@@ -47,6 +47,6 @@ set_property(TARGET ftl-vision PROPERTY CUDA_SEPARABLE_COMPILATION ON)
endif()
#target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
-target_link_libraries(ftl-vision Threads::Threads libelas ${OpenCV_LIBS} ${LIBSGM_LIBRARIES} ${CUDA_LIBRARIES} glog::glog ftlnet)
+target_link_libraries(ftl-vision Threads::Threads ZLIB::ZLIB libelas ${OpenCV_LIBS} ${LIBSGM_LIBRARIES} ${CUDA_LIBRARIES} glog::glog ftlnet)
diff --git a/vision/src/streamer.cpp b/vision/src/streamer.cpp
index 79ef05b6b..848c8596f 100644
--- a/vision/src/streamer.cpp
+++ b/vision/src/streamer.cpp
@@ -1,6 +1,7 @@
#include <glog/logging.h>
#include <ftl/streamer.hpp>
#include <vector>
+#include <zlib.h>
using ftl::Streamer;
using ftl::net::Universe;
@@ -22,8 +23,25 @@ void Streamer::send(const Mat &rgb, const Mat &depth) {
// Compress the rgb as jpeg.
vector<unsigned char> rgb_buf;
cv::imencode(".jpg", rgb, rgb_buf);
- net_.publish(uri_, rgb_buf);
- LOG(INFO) << "JPG Size = " << ((float)rgb_buf.size() / (1024.0f*1024.0f)) << "Mb";
+ vector<unsigned char> d_buf;
+ d_buf.resize(depth.step*depth.rows);
+ z_stream defstream;
+ defstream.zalloc = Z_NULL;
+ defstream.zfree = Z_NULL;
+ defstream.opaque = Z_NULL;
+ defstream.avail_in = depth.step*depth.rows;
+ defstream.next_in = (Bytef *)depth.data; // input char array
+ defstream.avail_out = (uInt)depth.step*depth.rows; // size of output
+ defstream.next_out = (Bytef *)d_buf.data(); // output char array
+
+ deflateInit(&defstream, Z_BEST_COMPRESSION);
+ deflate(&defstream, Z_FINISH);
+ deflateEnd(&defstream);
+
+ d_buf.resize(defstream.total_out);
+ LOG(INFO) << "Depth Size = " << ((float)d_buf.size() / (1024.0f*1024.0f));
+
+ net_.publish(uri_, rgb_buf, d_buf);
}
--
GitLab