From f1ce8ede6332f6c22263a199db6186b35e2d5637 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 20 May 2020 08:13:32 +0300
Subject: [PATCH] Remove old files
---
applications/groupview/CMakeLists.txt | 11 -
applications/groupview/src/main.cpp | 328 ---------------------
applications/player/CMakeLists.txt | 11 -
applications/player/src/main.cpp | 218 --------------
applications/recorder/CMakeLists.txt | 16 -
applications/recorder/src/main.cpp | 221 --------------
applications/recorder/src/registration.cpp | 69 -----
applications/recorder/src/registration.hpp | 22 --
8 files changed, 896 deletions(-)
delete mode 100644 applications/groupview/CMakeLists.txt
delete mode 100644 applications/groupview/src/main.cpp
delete mode 100644 applications/player/CMakeLists.txt
delete mode 100644 applications/player/src/main.cpp
delete mode 100644 applications/recorder/CMakeLists.txt
delete mode 100644 applications/recorder/src/main.cpp
delete mode 100644 applications/recorder/src/registration.cpp
delete mode 100644 applications/recorder/src/registration.hpp
diff --git a/applications/groupview/CMakeLists.txt b/applications/groupview/CMakeLists.txt
deleted file mode 100644
index 25370e7b0..000000000
--- a/applications/groupview/CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-set(GVIEWSRC
- src/main.cpp
-)
-
-add_executable(ftl-view ${GVIEWSRC})
-
-target_include_directories(ftl-view PRIVATE src)
-
-target_link_libraries(ftl-view ftlcommon ftlnet ftlrgbd Threads::Threads ${OpenCV_LIBS})
-
-
diff --git a/applications/groupview/src/main.cpp b/applications/groupview/src/main.cpp
deleted file mode 100644
index f9d763fb6..000000000
--- a/applications/groupview/src/main.cpp
+++ /dev/null
@@ -1,328 +0,0 @@
-#include <loguru.hpp>
-#include <ftl/configuration.hpp>
-#include <ftl/net/universe.hpp>
-#include <ftl/rgbd/source.hpp>
-#include <ftl/rgbd/group.hpp>
-
-#ifdef HAVE_LIBARCHIVE
-#include <ftl/rgbd/snapshot.hpp>
-#endif
-
-#include <fstream>
-
-using Eigen::Matrix4d;
-using std::map;
-using std::string;
-using std::vector;
-using cv::Size;
-using cv::Mat;
-using ftl::codecs::Channel;
-
-// 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;
- auto data = m.data();
- for(size_t i = 0; i < 16; i++) { data[i] = it.value()[i]; }
- transformations[it.key()] = m;
- }
-}
-
-// 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()) {
- LOG(ERROR) << "Error loading transformations from file " << path;
- return false;
- }
-
- nlohmann::json json_registration;
- file >> json_registration;
- from_json(json_registration, data);
- return true;
-}
-
-// 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(Channel::Right);
- group.addSource(src);
- }
-
- std::mutex mutex;
- std::atomic<bool> new_frames = false;
- vector<Mat> rgb(n_cameras), rgb_new(n_cameras);
-
- group.onFrameSet([&mutex, &new_frames, &rgb_new](ftl::rgbd::FrameSet &frames) {
- mutex.lock();
- bool good = true;
- for (size_t i = 0; i < frames.frames.size(); i ++) {
- auto &chan1 = frames.frames[i].get<cv::Mat>(Channel::Colour);
- auto &chan2 = frames.frames[i].get<cv::Mat>(frames.sources[i]->getChannel());
- if (chan1.empty()) good = false;
- if (chan2.empty()) good = false;
- if (chan1.channels() != 3) good = false; // ASSERT
- if (chan2.channels() != 3) good = false;
- if (!good) break;
-
- chan1.copyTo(rgb_new[2 * i]);
- chan2.copyTo(rgb_new[2 * i + 1]);
- }
-
- new_frames = good;
- mutex.unlock();
- return true;
- });
-
- int idx = 0;
-
- Mat show;
-
- while (ftl::running) {
- int key;
-
- 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();
- net->waitConnections();
-
- auto sources = ftl::createArray<ftl::rgbd::Source>(root, "sources", net);
-
- std::map<std::string, Eigen::Matrix4d> transformations;
- if (loadTransformations(string(FTL_LOCAL_CONFIG_ROOT) + "/registration.json", transformations)) {
- LOG(INFO) << "Loaded camera trasformations from file";
- }
- else {
- LOG(ERROR) << "Error loading camera transformations from file";
- }
-
- ftl::rgbd::Group group;
- for (auto s : sources) {
- string uri = s->getURI();
- auto T = transformations.find(uri);
- if (T == transformations.end()) {
- LOG(ERROR) << "Camera pose for " + uri + " not found in transformations";
- } else {
- s->setPose(T->second);
- }
- s->setChannel(Channel::Depth);
- group.addSource(s);
- }
-
- std::atomic<bool> grab = false;
- std::atomic<bool> video = false;
-
- vector<cv::Mat> rgb(sources.size());
- vector<cv::Mat> depth(sources.size());
- MUTEX mtx;
-
- group.onFrameSet([&grab,&rgb,&depth,&mtx](ftl::rgbd::FrameSet &fs) {
- UNIQUE_LOCK(mtx, lk);
- //LOG(INFO) << "Complete set: " << fs.timestamp;
- if (!ftl::running) { return false; }
-
- std::vector<cv::Mat> frames;
-
- for (size_t i=0; i<fs.sources.size(); ++i) {
- auto &chan1 = fs.frames[i].get<cv::Mat>(Channel::Colour);
- auto &chan2 = fs.frames[i].get<cv::Mat>(fs.sources[i]->getChannel());
- if (chan1.empty() || chan2.empty()) return true;
-
- frames.push_back(chan1);
- }
-
- cv::Mat show;
-
- stack(frames, show);
-
- cv::resize(show, show, cv::Size(1280,720));
- cv::namedWindow("Cameras", cv::WINDOW_KEEPRATIO | cv::WINDOW_NORMAL);
- cv::imshow("Cameras", show);
-
- auto key = cv::waitKey(1);
- if (key == 27) ftl::running = false;
- if (key == 'g') grab = true;
-
-#ifdef HAVE_LIBARCHIVE
- if (grab) {
- grab = false;
- char timestamp[18];
- std::time_t t=std::time(NULL);
- std::strftime(timestamp, sizeof(timestamp), "%F-%H%M%S", std::localtime(&t));
- auto writer = ftl::rgbd::SnapshotWriter(std::string(timestamp) + ".tar.gz");
-
- for (size_t i=0; i<fs.sources.size(); ++i) {
- auto &chan1 = fs.frames[i].get<cv::Mat>(Channel::Colour);
- auto &chan2 = fs.frames[i].get<cv::Mat>(fs.sources[i]->getChannel());
-
- writer.addSource(fs.sources[i]->getURI(), fs.sources[i]->parameters(), fs.sources[i]->getPose());
- //LOG(INFO) << "SAVE: " << fs.channel1[i].cols << ", " << fs.channel2[i].type();
- writer.addRGBD(i, chan1, chan2);
- }
- }
-#endif // HAVE_LIBARCHIVE
- return true;
- });
-
- /*cv::Mat show;
-
- 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());
- }
-
- {
- UNIQUE_LOCK(mtx, lk);
- stack(rgb, show);
- }
- cv::resize(show, show, cv::Size(1280,720));
- cv::namedWindow("Cameras", cv::WINDOW_KEEPRATIO | cv::WINDOW_NORMAL);
- cv::imshow("Cameras", show);
-
- auto key = cv::waitKey(20);
- if (key == 27) break;
- 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(Channel::Depth); }
-
- cv::Mat show;
- vector<cv::Mat> rgb(sources.size());
- vector<cv::Mat> depth(sources.size());
-
-#ifdef HAVE_LIBARCHIVE
- char timestamp[18];
- std::time_t t=std::time(NULL);
- std::strftime(timestamp, sizeof(timestamp), "%F-%H%M%S", std::localtime(&t));
- ftl::rgbd::SnapshotWriter writer = ftl::rgbd::SnapshotWriter(std::string(timestamp) + ".tar.gz");
-
- for (size_t i = 0; i < sources.size(); i++) {
- writer.addSource(sources[i]->getURI(), sources[i]->parameters(), sources[i]->getPose());
- }
-#endif // HAVE_LIBARCHIVE
-
- bool save = false;
-
- 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());
- }
-
-#ifdef HAVE_LIBARCHIVE
- if (save) {
- for (size_t i = 0; i < sources.size(); i++) {
- writer.addRGBD(i, rgb[i], depth[i]);
- }
- }
-#endif // HAVE_LIBARCHIVE
-
- stack(rgb, show);
- cv::namedWindow("Cameras", cv::WINDOW_KEEPRATIO | cv::WINDOW_NORMAL);
- cv::imshow("Cameras", show);
-
- auto key = cv::waitKey(20);
- if (key == 'r') {
- save = true;
- }
- if (key == 's') {
- save = false;
- }
- 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 {
- //modeVideo(root);
- modeFrame(root);
- }
-
- ftl::running = false;
- return 0;
-}
diff --git a/applications/player/CMakeLists.txt b/applications/player/CMakeLists.txt
deleted file mode 100644
index c501c8824..000000000
--- a/applications/player/CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-set(PLAYERSRC
- src/main.cpp
-)
-
-add_executable(ftl-player ${PLAYERSRC})
-
-target_include_directories(ftl-player PRIVATE src)
-
-target_link_libraries(ftl-player ftlcommon ftlcodecs ftlrgbd Threads::Threads ${OpenCV_LIBS})
-
-
diff --git a/applications/player/src/main.cpp b/applications/player/src/main.cpp
deleted file mode 100644
index 6fd7c54ce..000000000
--- a/applications/player/src/main.cpp
+++ /dev/null
@@ -1,218 +0,0 @@
-#include <loguru.hpp>
-#include <ftl/configuration.hpp>
-#include <ftl/codecs/reader.hpp>
-#include <ftl/codecs/decoder.hpp>
-#include <ftl/codecs/packet.hpp>
-#include <ftl/rgbd/camera.hpp>
-#include <ftl/timer.hpp>
-
-#include <fstream>
-#include <bitset>
-
-#include <Eigen/Eigen>
-
-const static std::string help[] = {
- "Esc", "close",
- "0-9", "change source",
- "D", "toggle depth",
- "S", "save screenshot",
-};
-
-std::string time_now_string() {
- char timestamp[18];
- std::time_t t=std::time(NULL);
- std::strftime(timestamp, sizeof(timestamp), "%F-%H%M%S", std::localtime(&t));
- return std::string(timestamp);
-}
-
-using ftl::codecs::codec_t;
-using ftl::codecs::Channel;
-
-static std::map<Channel, ftl::codecs::Decoder*> decoders;
-
-static void createDecoder(const Channel channel, const ftl::codecs::Packet &pkt) {
- if (decoders[channel]) {
- if (!decoders[channel]->accepts(pkt)) {
- ftl::codecs::free(decoders[channel]);
- } else {
- return;
- }
- }
-
- decoders[channel] = ftl::codecs::allocateDecoder(pkt);
-}
-
-static void visualizeDepthMap( const cv::Mat &depth, cv::Mat &out,
- const float max_depth)
-{
- depth.convertTo(out, CV_8U, 255.0f / max_depth);
- out = 255 - out;
- //cv::Mat mask = (depth >= 39.0f); // TODO (mask for invalid pixels)
-
- applyColorMap(out, out, cv::COLORMAP_JET);
- //out.setTo(cv::Scalar(255, 255, 255), mask);
-}
-
-static std::string nameForCodec(ftl::codecs::codec_t c) {
- switch(c) {
- case codec_t::JPG : return "JPEG";
- case codec_t::PNG : return "PNG";
- case codec_t::H264 : return "H264";
- case codec_t::HEVC : return "HEVC";
- case codec_t::JSON : return "JSON";
- case codec_t::POSE : return "POSE";
- case codec_t::RAW : return "RAW";
- case codec_t::CALIBRATION : return "CALIBRATION";
- case codec_t::MSGPACK : return "MSGPACK";
- default: return std::string("UNKNOWN (") + std::to_string((int)c) + std::string(")");
- }
-}
-
-int main(int argc, char **argv) {
- std::string filename(argv[1]);
- LOG(INFO) << "Playing: " << filename;
-
- auto root = ftl::configure(argc, argv, "player_default");
-
- std::ifstream f;
- f.open(filename);
- if (!f.is_open()) LOG(ERROR) << "Could not open file";
-
- ftl::codecs::Reader r(f);
- if (!r.begin()) LOG(ERROR) << "Bad ftl file";
-
- LOG(INFO) << "Playing...";
-
- int current_stream = 0;
- int current_channel = 0;
-
- int stream_mask = 0;
-
- static volatile bool screenshot;
- static int64_t screenshot_ts;
- static cv::Mat screenshot_color;
- static cv::Mat screenshot_depth;
-
- std::vector<std::bitset<128>> channel_mask;
-
- ftl::timer::add(ftl::timer::kTimerMain, [¤t_stream,¤t_channel,&r,&stream_mask,&channel_mask](int64_t ts) {
- bool res = r.read(ts, [ts, ¤t_stream,¤t_channel,&r,&stream_mask,&channel_mask](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
- if (!(stream_mask & (1 << spkt.streamID))) {
- stream_mask |= 1 << spkt.streamID;
- LOG(INFO) << " - Stream found (" << (int)spkt.streamID << ")";
-
- channel_mask.push_back(0);
- }
-
- if (!(channel_mask[spkt.streamID][(int)spkt.channel])) {
- channel_mask[spkt.streamID].set((int)spkt.channel);
- LOG(INFO) << " - Channel " << (int)spkt.channel << " found (" << (int)spkt.streamID << ")";
- LOG(INFO) << " - Codec = " << nameForCodec(pkt.codec);
- LOG(INFO) << " - Width = " << ftl::codecs::getWidth(pkt.definition);
- LOG(INFO) << " - Height = " << ftl::codecs::getHeight(pkt.definition);
- LOG(INFO) << " - Start Time = " << float(spkt.timestamp - r.getStartTime()) / 1000.0f << "(s)";
- LOG(INFO) << " - Blocks = " << (int)pkt.block_total;
- }
-
- if (spkt.streamID != current_stream) { return; }
-
- if (pkt.codec == codec_t::POSE) {
- Eigen::Matrix4d p = Eigen::Map<Eigen::Matrix4d>((double*)pkt.data.data());
- LOG(INFO) << "Have pose: " << p;
- return;
- }
-
- if (pkt.codec == codec_t::CALIBRATION) {
- ftl::rgbd::Camera *camera = (ftl::rgbd::Camera*)pkt.data.data();
- LOG(INFO) << "Have calibration: " << camera->fx;
- return;
- }
-
- auto channel = static_cast<ftl::codecs::Channel>(current_channel);
- if (pkt.codec == ftl::codecs::codec_t::MSGPACK) { return; }
- //LOG(INFO) << "Reading packet: (" << (int)spkt.streamID << "," << (int)spkt.channel << ") " << (int)pkt.codec << ", " << (int)pkt.definition;
-
- cv::cuda::GpuMat gframe(cv::Size(ftl::codecs::getWidth(pkt.definition),ftl::codecs::getHeight(pkt.definition)), (spkt.channel == Channel::Depth) ? CV_32F : CV_8UC3);
- cv::Mat frame;
- createDecoder(spkt.channel, pkt);
-
- try {
- decoders[spkt.channel]->decode(pkt, gframe);
- gframe.download(frame);
- } catch (std::exception &e) {
- LOG(INFO) << "Decoder exception: " << e.what();
- }
-
- if (screenshot) {
- if (!screenshot_depth.empty() && !screenshot_color.empty()) {
- std::string fname = time_now_string();
- LOG(INFO) << "Screenshot saved: " << fname;
- cv::imwrite(fname + "-depth.tiff", screenshot_depth);
- cv::imwrite(fname + "-color.tiff", screenshot_color);
- screenshot = false;
- screenshot_color = cv::Mat();
- screenshot_depth = cv::Mat();
- screenshot_ts = 0;
- }
- else {
- if (screenshot_ts != ts) {
- screenshot_ts = ts;
- screenshot_color = cv::Mat();
- screenshot_depth = cv::Mat();
- }
- if (spkt.channel == Channel::Colour) {
- frame.copyTo(screenshot_color);
- }
- else if (spkt.channel == Channel::Depth) {
- frame.copyTo(screenshot_depth);
- }
- }
- }
-
- if (spkt.channel != channel) return;
-
- if (!frame.empty()) {
- if (spkt.channel == Channel::Depth) {
- visualizeDepthMap(frame, frame, 8.0f);
- }
- double time = (double)(spkt.timestamp - r.getStartTime()) / 1000.0;
- cv::putText(frame, std::string("Time: ") + std::to_string(time) + std::string("s"), cv::Point(10,20), cv::FONT_HERSHEY_PLAIN, 1, cv::Scalar(0,0,255));
-
- // hotkey help text
- for (int i = 0; i < std::size(help); i += 2) {
- cv::putText(frame, help[i], cv::Point(10, 40+(i/2)*14), cv::FONT_HERSHEY_PLAIN, 1, cv::Scalar(64,64,255));
- cv::putText(frame, help[i+1], cv::Point(50, 40+(i/2)*14), cv::FONT_HERSHEY_PLAIN, 1, cv::Scalar(64,64,255));
- }
-
- cv::imshow("Player", frame);
- } else {
- frame.create(cv::Size(600,600), CV_8UC3);
- cv::imshow("Player", frame);
- }
- int key = cv::waitKey(1);
- if (key >= 48 && key <= 57) {
- int new_stream = key - 48;
- if ((0 <= new_stream) && (new_stream < channel_mask.size())) {
- current_stream = new_stream;
- }
- } else if (key == 'd') {
- current_channel = (current_channel == 0) ? 1 : 0;
- } else if (key == 'r') {
- current_channel = (current_channel == 0) ? 2 : 0;
- } else if (key == 27) {
- ftl::timer::stop(false);
- } else if (key == 115) {
- screenshot = true;
- }
- });
- if (!res) ftl::timer::stop(false);
- return res;
- });
-
- ftl::timer::start(true);
-
- r.end();
-
- ftl::running = false;
- return 0;
-}
diff --git a/applications/recorder/CMakeLists.txt b/applications/recorder/CMakeLists.txt
deleted file mode 100644
index 0d7b668c8..000000000
--- a/applications/recorder/CMakeLists.txt
+++ /dev/null
@@ -1,16 +0,0 @@
-set(RECSRC
- src/main.cpp
- src/registration.cpp
-)
-
-add_executable(ftl-record ${RECSRC})
-
-target_include_directories(ftl-record PUBLIC
- $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
- $<INSTALL_INTERFACE:include>
- PRIVATE src)
-
-#target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
-target_link_libraries(ftl-record ftlcommon ftlrgbd Threads::Threads ${OpenCV_LIBS} ftlctrl ftlnet)
-
-
diff --git a/applications/recorder/src/main.cpp b/applications/recorder/src/main.cpp
deleted file mode 100644
index 267c03feb..000000000
--- a/applications/recorder/src/main.cpp
+++ /dev/null
@@ -1,221 +0,0 @@
-/*
- * Copyright 2019 Nicolas Pope. All rights reserved.
- *
- * See LICENSE.
- */
-
-#define LOGURU_WITH_STREAMS 1
-#include <loguru.hpp>
-#include <ftl/config.h>
-#include <ftl/configuration.hpp>
-#include <ftl/rgbd.hpp>
-#include <ftl/rgbd/virtual.hpp>
-#include <ftl/rgbd/streamer.hpp>
-#include <ftl/master.hpp>
-#include <ftl/rgbd/group.hpp>
-#include <ftl/threads.hpp>
-#include <ftl/codecs/writer.hpp>
-
-
-#include <fstream>
-#include <string>
-#include <vector>
-#include <thread>
-#include <chrono>
-
-#include <opencv2/opencv.hpp>
-#include <ftl/net/universe.hpp>
-
-#include "registration.hpp"
-
-#include <cuda_profiler_api.h>
-
-#ifdef WIN32
-#pragma comment(lib, "Rpcrt4.lib")
-#endif
-
-using ftl::net::Universe;
-using std::string;
-using std::vector;
-using ftl::rgbd::Source;
-using ftl::config::json_t;
-using ftl::codecs::Channel;
-
-using json = nlohmann::json;
-using std::this_thread::sleep_for;
-using std::chrono::milliseconds;
-//using std::mutex;
-//using std::unique_lock;
-
-//using cv::Mat;
-
-using ftl::registration::loadTransformations;
-using ftl::registration::saveTransformations;
-
-static Eigen::Affine3d create_rotation_matrix(float ax, float ay, float az) {
- Eigen::Affine3d rx =
- Eigen::Affine3d(Eigen::AngleAxisd(ax, Eigen::Vector3d(1, 0, 0)));
- Eigen::Affine3d ry =
- Eigen::Affine3d(Eigen::AngleAxisd(ay, Eigen::Vector3d(0, 1, 0)));
- Eigen::Affine3d rz =
- Eigen::Affine3d(Eigen::AngleAxisd(az, Eigen::Vector3d(0, 0, 1)));
- return rz * rx * ry;
-}
-
-static void run(ftl::Configurable *root) {
- Universe *net = ftl::create<Universe>(root, "net");
- ftl::ctrl::Master ctrl(root, net);
-
- // Controls
- auto *controls = ftl::create<ftl::Configurable>(root, "controls");
-
- net->start();
- net->waitConnections();
-
- // Create a vector of all input RGB-Depth sources
- auto sources = ftl::createArray<Source>(root, "sources", net);
-
- if (sources.size() == 0) {
- LOG(ERROR) << "No sources configured!";
- return;
- }
-
- // Create scene transform, intended for axis aligning the walls and floor
- Eigen::Matrix4d transform;
- if (root->getConfig()["transform"].is_object()) {
- auto &c = root->getConfig()["transform"];
- float rx = c.value("pitch", 0.0f);
- float ry = c.value("yaw", 0.0f);
- float rz = c.value("roll", 0.0f);
- float x = c.value("x", 0.0f);
- float y = c.value("y", 0.0f);
- float z = c.value("z", 0.0f);
-
- Eigen::Affine3d r = create_rotation_matrix(rx, ry, rz);
- Eigen::Translation3d trans(Eigen::Vector3d(x,y,z));
- Eigen::Affine3d t(trans);
- transform = t.matrix() * r.matrix();
- LOG(INFO) << "Set transform: " << transform;
- } else {
- transform.setIdentity();
- }
-
- // Must find pose for each source...
- if (sources.size() > 1) {
- std::map<std::string, Eigen::Matrix4d> transformations;
-
- if (loadTransformations(string(FTL_LOCAL_CONFIG_ROOT) + "/registration.json", transformations)) {
- LOG(INFO) << "Loaded camera trasformations from file";
- }
- else {
- LOG(ERROR) << "Error loading camera transformations from file";
- }
-
- for (auto &input : sources) {
- string uri = input->getURI();
- auto T = transformations.find(uri);
- if (T == transformations.end()) {
- LOG(ERROR) << "Camera pose for " + uri + " not found in transformations";
- //LOG(WARNING) << "Using only first configured source";
- // TODO: use target source if configured and found
- //sources = { sources[0] };
- //sources[0]->setPose(Eigen::Matrix4d::Identity());
- //break;
- input->setPose(transform * input->getPose());
- continue;
- }
- input->setPose(transform * T->second);
- }
- }
-
- ftl::rgbd::FrameSet scene_A; // Output of align process
- ftl::rgbd::FrameSet scene_B; // Input of render process
-
- ftl::rgbd::Streamer *stream = ftl::create<ftl::rgbd::Streamer>(root, "stream", net);
- ftl::rgbd::Group *group = new ftl::rgbd::Group;
-
- for (size_t i=0; i<sources.size(); i++) {
- Source *in = sources[i];
- in->setChannel(Channel::Right);
- group->addSource(in);
- }
-
- // ---- Recording code -----------------------------------------------------
-
- std::ofstream fileout;
- ftl::codecs::Writer writer(fileout);
- auto recorder = [&writer,&group](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 = group->streamID(src);
-
-
- //LOG(INFO) << "Record packet: " << (int)s.streamID << "," << s.timestamp;
- writer.write(s, pkt);
- };
- group->addRawCallback(std::function(recorder));
-
- root->set("record", false);
-
- // Allow stream recording
- root->on("record", [&group,&fileout,&writer,&recorder](const ftl::config::Event &e) {
- if (e.entity->value("record", false)) {
- char timestamp[18];
- std::time_t t=std::time(NULL);
- std::strftime(timestamp, sizeof(timestamp), "%F-%H%M%S", std::localtime(&t));
- fileout.open(std::string(timestamp) + ".ftl");
-
- writer.begin();
- LOG(INFO) << "Writer begin";
-
- // TODO: Write pose+calibration+config packets
- auto sources = group->sources();
- for (int i=0; i<sources.size(); ++i) {
- //writeSourceProperties(writer, i, sources[i]);
- sources[i]->inject(Channel::Calibration, sources[i]->parameters(), Channel::Left, sources[i]->getCapabilities());
- sources[i]->inject(sources[i]->getPose());
- }
- } else {
- //group->removeRawCallback(recorder);
- LOG(INFO) << "Writer end";
- writer.end();
- fileout.close();
- }
- });
-
- // -------------------------------------------------------------------------
-
- stream->add(group);
- stream->run();
-
- bool busy = false;
-
- group->setName("ReconGroup");
- group->onFrameSet([](ftl::rgbd::FrameSet &fs) -> bool {
- return true;
- });
-
- LOG(INFO) << "Start timer";
- ftl::timer::start(true);
-
- LOG(INFO) << "Shutting down...";
- ftl::timer::stop();
- ctrl.stop();
- net->shutdown();
- ftl::pool.stop();
-
- cudaProfilerStop();
-
- LOG(INFO) << "Deleting...";
-
- delete stream;
- delete net;
- delete group;
-
- ftl::config::cleanup(); // Remove any last configurable objects.
- LOG(INFO) << "Done.";
-}
-
-int main(int argc, char **argv) {
- run(ftl::configure(argc, argv, "reconstruction_default"));
-}
diff --git a/applications/recorder/src/registration.cpp b/applications/recorder/src/registration.cpp
deleted file mode 100644
index a86f2b3d1..000000000
--- a/applications/recorder/src/registration.cpp
+++ /dev/null
@@ -1,69 +0,0 @@
-#include "registration.hpp"
-#include <fstream>
-#define LOGURU_WITH_STREAMS 1
-#include <loguru.hpp>
-
-
-namespace ftl {
-namespace registration {
-
-using ftl::rgbd::Camera;
-using ftl::rgbd::Source;
-
-using std::string;
-using std::vector;
-using std::pair;
-using std::map;
-using std::optional;
-
-using cv::Mat;
-using Eigen::Matrix4f;
-using Eigen::Matrix4d;
-
-void from_json(nlohmann::json &json, map<string, Matrix4d> &transformations) {
- for (auto it = json.begin(); it != json.end(); ++it) {
- Eigen::Matrix4d m;
- auto data = m.data();
- for(size_t i = 0; i < 16; i++) { data[i] = it.value()[i]; }
- transformations[it.key()] = m;
- }
-}
-
-void to_json(nlohmann::json &json, map<string, Matrix4d> &transformations) {
- for (auto &item : transformations) {
- auto val = nlohmann::json::array();
- for(size_t i = 0; i < 16; i++) { val.push_back((float) item.second.data()[i]); }
- json[item.first] = val;
- }
-}
-
-bool loadTransformations(const string &path, map<string, Matrix4d> &data) {
- std::ifstream file(path);
- if (!file.is_open()) {
- LOG(ERROR) << "Error loading transformations from file " << path;
- return false;
- }
-
- nlohmann::json json_registration;
- file >> json_registration;
- from_json(json_registration, data);
- return true;
-}
-
-bool saveTransformations(const string &path, map<string, Matrix4d> &data) {
- nlohmann::json data_json;
- to_json(data_json, data);
- std::ofstream file(path);
-
- if (!file.is_open()) {
- LOG(ERROR) << "Error writing transformations to file " << path;
- return false;
- }
-
- file << std::setw(4) << data_json;
- return true;
-}
-
-
-} // namespace registration
-} // namespace ftl
diff --git a/applications/recorder/src/registration.hpp b/applications/recorder/src/registration.hpp
deleted file mode 100644
index 1af4de8a5..000000000
--- a/applications/recorder/src/registration.hpp
+++ /dev/null
@@ -1,22 +0,0 @@
-#ifndef _FTL_RECONSTRUCT_REGISTRATION_HPP_
-#define _FTL_RECONSTRUCT_REGISTRATION_HPP_
-
-#include <ftl/config.h>
-#include <ftl/configurable.hpp>
-#include <ftl/rgbd.hpp>
-#include <opencv2/opencv.hpp>
-
-
-namespace ftl {
-namespace registration {
-
-void to_json(nlohmann::json &json, std::map<std::string, Eigen::Matrix4d> &transformations);
-void from_json(nlohmann::json &json, std::map<std::string, Eigen::Matrix4d> &transformations);
-
-bool loadTransformations(const std::string &path, std::map<std::string, Eigen::Matrix4d> &data);
-bool saveTransformations(const std::string &path, std::map<std::string, Eigen::Matrix4d> &data);
-
-}
-}
-
-#endif // _FTL_RECONSTRUCT_REGISTRATION_HPP_
\ No newline at end of file
--
GitLab