From f2f79c066dcf8ff3b14a78df4f6c52f0cc211850 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 23 Jul 2020 20:12:28 +0300
Subject: [PATCH] Add data wrapper functions to frames
---
applications/gui2/src/modules/camera.cpp | 15 ++---
applications/gui2/src/views/thumbnails.cpp | 9 +--
components/renderers/cpp/src/overlay.cpp | 8 +--
.../rgbd-sources/include/ftl/rgbd/frame.hpp | 28 ++++++++--
components/rgbd-sources/src/frame.cpp | 55 +++++++++++++++++++
.../structures/include/ftl/data/new_frame.hpp | 3 +
components/structures/src/new_frame.cpp | 4 ++
7 files changed, 95 insertions(+), 27 deletions(-)
diff --git a/applications/gui2/src/modules/camera.cpp b/applications/gui2/src/modules/camera.cpp
index 8a95cd11a..5eeb063fb 100644
--- a/applications/gui2/src/modules/camera.cpp
+++ b/applications/gui2/src/modules/camera.cpp
@@ -39,7 +39,7 @@ void Camera::update(double delta) {
if (ptr) {
const auto &frame = ptr->frames[frame_idx];
if (frame.has(Channel::MetaData)) {
- const auto &meta = frame.get<std::map<std::string,std::string>>(Channel::MetaData);
+ const auto &meta = frame.metadata();
if (meta.size() > 0) {
auto &jmeta = mod->getJSON(StatisticsPanel::MEDIA_META);
@@ -59,8 +59,9 @@ void Camera::update(double delta) {
}
}
+ const auto &rgbdf = frame.cast<ftl::rgbd::Frame>();
+
if (frame.has(Channel::Calibration)) {
- const auto &rgbdf = frame.cast<ftl::rgbd::Frame>();
const auto &cam = rgbdf.getLeft();
auto &jcam = mod->getJSON(StatisticsPanel::CAMERA_DETAILS);
jcam["Resolution"] = std::to_string(cam.width) + std::string("x") + std::to_string(cam.height);
@@ -69,7 +70,7 @@ void Camera::update(double delta) {
}
if (frame.has(Channel::Capabilities)) {
- const auto &caps = frame.get<std::unordered_set<ftl::rgbd::Capability>>(Channel::Capabilities);
+ const auto &caps = rgbdf.capabilities();
auto &jmeta = mod->getJSON(StatisticsPanel::MEDIA_META);
if (caps.count(Capability::TOUCH)) jmeta["Touch"] = nlohmann::json{{"icon", ENTYPO_ICON_MOUSE_POINTER},{"value", true}};
@@ -133,8 +134,8 @@ void Camera::_updateCapabilities(ftl::data::Frame &frame) {
void Camera::initiate_(ftl::data::Frame &frame) {
if (frame.has(Channel::Capabilities)) {
- const auto &cap = frame.get<std::unordered_set<Capability>>(Channel::Capabilities);
- LOG(INFO) << "Camera Capabilities:";
+ const auto &rgbdf = frame.cast<ftl::rgbd::Frame>();
+ const auto &cap = rgbdf.capabilities();
for (auto c : cap) {
LOG(INFO) << " -- " << ftl::rgbd::capabilityName(c);
@@ -157,7 +158,7 @@ void Camera::initiate_(ftl::data::Frame &frame) {
}
if (frame.has(Channel::MetaData)) {
- const auto &meta = frame.get<std::map<std::string,std::string>>(Channel::MetaData);
+ const auto &meta = frame.metadata();
LOG(INFO) << "Camera Frame Meta Data:";
for (auto m : meta) {
LOG(INFO) << " -- " << m.first << " = " << m.second;
@@ -307,7 +308,7 @@ std::string Camera::getActiveSourceURI() {
if (ptr) {
auto &frame = ptr->frames[frame_idx];
if (frame.has(ftl::codecs::Channel::MetaData)) {
- const auto &meta = frame.get<std::map<std::string,std::string>>(ftl::codecs::Channel::MetaData);
+ const auto &meta = frame.metadata();
auto i = meta.find("id");
if (i != meta.end()) {
return i->second;
diff --git a/applications/gui2/src/views/thumbnails.cpp b/applications/gui2/src/views/thumbnails.cpp
index 79c4857d7..a12e7cfd7 100644
--- a/applications/gui2/src/views/thumbnails.cpp
+++ b/applications/gui2/src/views/thumbnails.cpp
@@ -181,14 +181,7 @@ void Thumbnails::updateThumbnails() {
perform_layout = true;
- std::string name = "No Name";
- if (frame.has(Channel::MetaData)) {
- const auto &meta = frame.get<std::map<std::string,std::string>>(Channel::MetaData);
- const auto i = meta.find("name");
- if (i != meta.end()) {
- name = i->second;
- }
- }
+ std::string name = frame.name();
auto* thumbnail = new ThumbView(thumbs.panel, ctrl_, FrameID(fsid, source), name);
thumbnail->setFixedSize(thumbsize_);
diff --git a/components/renderers/cpp/src/overlay.cpp b/components/renderers/cpp/src/overlay.cpp
index 609687ffa..64dfaa2fa 100644
--- a/components/renderers/cpp/src/overlay.cpp
+++ b/components/renderers/cpp/src/overlay.cpp
@@ -301,12 +301,8 @@ void Overlay::draw(NVGcontext *ctx, ftl::data::FrameSet &fs, ftl::rgbd::Frame &f
auto pose = f.getPose(); //.inverse() * state.getPose();
- std::string name = "No Name";
- if (fs.frames[i].has(Channel::MetaData)) {
- const auto &meta = fs.frames[i].get<std::map<std::string,std::string>>(Channel::MetaData);
- name = (meta.count("name")) ? meta.find("name")->second : "NoName";
- }
-
+ std::string name = fs.frames[0].name();
+
auto tpose = frame.getPose().inverse() * pose;
_drawOutlinedShape(Shape::CAMERA, tpose, Eigen::Vector3f(0.2f,0.2f,0.2f), make_uchar4(255,0,0,80), make_uchar4(255,0,0,255));
_drawAxis(tpose, Eigen::Vector3f(0.2f, 0.2f, 0.2f));
diff --git a/components/rgbd-sources/include/ftl/rgbd/frame.hpp b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
index 32e2c2ede..74e06aaac 100644
--- a/components/rgbd-sources/include/ftl/rgbd/frame.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
@@ -17,6 +17,7 @@
#include <ftl/codecs/packet.hpp>
#include <ftl/utility/vectorbuffer.hpp>
#include <ftl/cuda_common.hpp>
+#include <ftl/rgbd/capabilities.hpp>
#include <type_traits>
#include <array>
@@ -81,14 +82,29 @@ class VideoFrame {
class Frame : public ftl::data::Frame {
public:
- inline const ftl::rgbd::Camera &getLeftCamera() const { return std::get<0>(this->get<std::tuple<ftl::rgbd::Camera, ftl::codecs::Channel, int>>(ftl::codecs::Channel::Calibration)); }
- inline const ftl::rgbd::Camera &getRightCamera() const { return std::get<0>(this->get<std::tuple<ftl::rgbd::Camera, ftl::codecs::Channel, int>>(ftl::codecs::Channel::Calibration2)); }
+ const ftl::rgbd::Camera &getLeftCamera() const;
+ const ftl::rgbd::Camera &getRightCamera() const;
inline const ftl::rgbd::Camera &getLeft() const { return getLeftCamera(); }
inline const ftl::rgbd::Camera &getRight() const { return getRightCamera(); }
- inline const Eigen::Matrix4d &getPose() const { return this->get<Eigen::Matrix4d>(ftl::codecs::Channel::Pose); }
- inline ftl::rgbd::Camera &setLeft() { return std::get<0>(this->create<std::tuple<ftl::rgbd::Camera, ftl::codecs::Channel, int>>(ftl::codecs::Channel::Calibration)); }
- inline ftl::rgbd::Camera &setRight() { return std::get<0>(this->create<std::tuple<ftl::rgbd::Camera, ftl::codecs::Channel, int>>(ftl::codecs::Channel::Calibration2)); }
- inline Eigen::Matrix4d &setPose() { return this->create<Eigen::Matrix4d>(ftl::codecs::Channel::Pose); }
+ const Eigen::Matrix4d &getPose() const;
+ ftl::rgbd::Camera &setLeft();
+ ftl::rgbd::Camera &setRight();
+ Eigen::Matrix4d &setPose();
+
+ std::string serial() const;
+ std::string device() const;
+
+ /** Note, this throws exception if channel is missing */
+ const std::unordered_set<ftl::rgbd::Capability> &capabilities() const;
+
+ /** Does not throw exception */
+ bool hasCapability(ftl::rgbd::Capability) const;
+
+ inline bool isLive() const { return hasCapability(ftl::rgbd::Capability::LIVE); }
+ inline bool isVirtual() const { return hasCapability(ftl::rgbd::Capability::VIRTUAL); }
+ inline bool isMovable() const { return hasCapability(ftl::rgbd::Capability::MOVABLE); }
+ inline bool isTouchable() const { return hasCapability(ftl::rgbd::Capability::TOUCH); }
+ inline bool isVR() const { return hasCapability(ftl::rgbd::Capability::VR); }
void upload(ftl::codecs::Channel c);
diff --git a/components/rgbd-sources/src/frame.cpp b/components/rgbd-sources/src/frame.cpp
index 0621902f0..10bacd8f0 100644
--- a/components/rgbd-sources/src/frame.cpp
+++ b/components/rgbd-sources/src/frame.cpp
@@ -114,6 +114,61 @@ unsigned int ftl::rgbd::Frame::getOpenGL(ftl::codecs::Channel c) const {
}
+const ftl::rgbd::Camera &ftl::rgbd::Frame::getLeftCamera() const {
+ return std::get<0>(this->get<std::tuple<ftl::rgbd::Camera, ftl::codecs::Channel, int>>(ftl::codecs::Channel::Calibration));
+}
+
+const ftl::rgbd::Camera &ftl::rgbd::Frame::getRightCamera() const {
+ return std::get<0>(this->get<std::tuple<ftl::rgbd::Camera, ftl::codecs::Channel, int>>(ftl::codecs::Channel::Calibration2));
+}
+
+const Eigen::Matrix4d &ftl::rgbd::Frame::getPose() const {
+ return this->get<Eigen::Matrix4d>(ftl::codecs::Channel::Pose);
+}
+
+ftl::rgbd::Camera &ftl::rgbd::Frame::setLeft() {
+ return std::get<0>(this->create<std::tuple<ftl::rgbd::Camera, ftl::codecs::Channel, int>>(ftl::codecs::Channel::Calibration));
+}
+
+ftl::rgbd::Camera &ftl::rgbd::Frame::setRight() {
+ return std::get<0>(this->create<std::tuple<ftl::rgbd::Camera, ftl::codecs::Channel, int>>(ftl::codecs::Channel::Calibration2));
+}
+
+Eigen::Matrix4d &ftl::rgbd::Frame::setPose() {
+ return this->create<Eigen::Matrix4d>(ftl::codecs::Channel::Pose);
+}
+
+std::string ftl::rgbd::Frame::serial() const {
+ if (hasChannel(Channel::MetaData)) {
+ const auto &meta = get<std::map<std::string,std::string>>(Channel::MetaData);
+ auto i = meta.find("serial");
+ if (i != meta.end()) return i->second;
+ }
+ return "";
+}
+
+std::string ftl::rgbd::Frame::device() const {
+ if (hasChannel(Channel::MetaData)) {
+ const auto &meta = get<std::map<std::string,std::string>>(Channel::MetaData);
+ auto i = meta.find("device");
+ if (i != meta.end()) return i->second;
+ }
+ return "";
+}
+
+const std::unordered_set<ftl::rgbd::Capability> &ftl::rgbd::Frame::capabilities() const {
+ return get<std::unordered_set<ftl::rgbd::Capability>>(Channel::Capabilities);
+}
+
+bool ftl::rgbd::Frame::hasCapability(ftl::rgbd::Capability c) const {
+ if (hasChannel(Channel::Capabilities)) {
+ const auto &cap = get<std::unordered_set<ftl::rgbd::Capability>>(Channel::Capabilities);
+ return cap.count(c) > 0;
+ }
+ return false;
+}
+
+
template <>
cv::Mat &ftl::data::Frame::create<cv::Mat, 0>(ftl::codecs::Channel c) {
return create<ftl::rgbd::VideoFrame>(c).createCPU();
diff --git a/components/structures/include/ftl/data/new_frame.hpp b/components/structures/include/ftl/data/new_frame.hpp
index 557984e87..ec192495b 100644
--- a/components/structures/include/ftl/data/new_frame.hpp
+++ b/components/structures/include/ftl/data/new_frame.hpp
@@ -647,6 +647,9 @@ class Frame {
*/
std::string name() const;
+ /** Can throw an exception if missing, use `hasChannel(Channel::MetaData)` first. */
+ const std::map<std::string,std::string> &metadata() const;
+
// =========================================================================
protected:
diff --git a/components/structures/src/new_frame.cpp b/components/structures/src/new_frame.cpp
index ba95ba267..487b6468c 100644
--- a/components/structures/src/new_frame.cpp
+++ b/components/structures/src/new_frame.cpp
@@ -481,6 +481,10 @@ std::string Frame::name() const {
return std::string("Frame-") + std::to_string(frameset()) + std::string("-") + std::to_string(source());
}
+const std::map<std::string,std::string> &Frame::metadata() const {
+ return get<std::map<std::string,std::string>>(Channel::MetaData);
+}
+
// ==== Session ================================================================
ftl::Handle Session::onChange(uint32_t pid, ftl::codecs::Channel c, const std::function<bool(Frame&,ftl::codecs::Channel)> &cb) {
--
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