From f36864914fde7e19779bce65706b4dc89440ac98 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Wed, 8 Jan 2020 11:47:12 +0200
Subject: [PATCH] player screenshots and bug fixes
---
applications/player/src/main.cpp | 176 ++++++++++++++++++++-----------
1 file changed, 117 insertions(+), 59 deletions(-)
diff --git a/applications/player/src/main.cpp b/applications/player/src/main.cpp
index 2741cac2e..6fd7c54ce 100644
--- a/applications/player/src/main.cpp
+++ b/applications/player/src/main.cpp
@@ -11,22 +11,35 @@
#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 ftl::codecs::Decoder *decoder;
-
+static std::map<Channel, ftl::codecs::Decoder*> decoders;
-static void createDecoder(const ftl::codecs::Packet &pkt) {
- if (decoder) {
- if (!decoder->accepts(pkt)) {
- ftl::codecs::free(decoder);
+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;
}
}
- decoder = ftl::codecs::allocateDecoder(pkt);
+ decoders[channel] = ftl::codecs::allocateDecoder(pkt);
}
static void visualizeDepthMap( const cv::Mat &depth, cv::Mat &out,
@@ -56,28 +69,34 @@ static std::string nameForCodec(ftl::codecs::codec_t c) {
}
int main(int argc, char **argv) {
- std::string filename(argv[1]);
- LOG(INFO) << "Playing: " << filename;
+ 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";
+ 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";
+ ftl::codecs::Reader r(f);
+ if (!r.begin()) LOG(ERROR) << "Bad ftl file";
- LOG(INFO) << "Playing...";
+ LOG(INFO) << "Playing...";
- int current_stream = 0;
- int current_channel = 0;
+ 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, [¤t_stream,¤t_channel,&r,&stream_mask,&channel_mask](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+ 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 << ")";
@@ -95,56 +114,95 @@ int main(int argc, char **argv) {
LOG(INFO) << " - Blocks = " << (int)pkt.block_total;
}
- if (spkt.streamID == current_stream) {
+ 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::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;
- }
-
- if (spkt.channel != static_cast<ftl::codecs::Channel>(current_channel)) 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();
+ }
- //LOG(INFO) << "Reading packet: (" << (int)spkt.streamID << "," << (int)spkt.channel << ") " << (int)pkt.codec << ", " << (int)pkt.definition;
+ 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);
+ }
+ }
+ }
- 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(pkt);
+ if (spkt.channel != channel) return;
- try {
- decoder->decode(pkt, gframe);
- gframe.download(frame);
- } catch (std::exception &e) {
- LOG(INFO) << "Decoder exception: " << e.what();
+ 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));
- 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));
- cv::imshow("Player", frame);
- } else {
- frame.create(cv::Size(600,600), CV_8UC3);
- cv::imshow("Player", frame);
+ // 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));
}
- int key = cv::waitKey(1);
- if (key >= 48 && key <= 57) {
- current_stream = key - 48;
- } 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);
+
+ 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);
@@ -153,7 +211,7 @@ int main(int argc, char **argv) {
ftl::timer::start(true);
- r.end();
+ r.end();
ftl::running = false;
return 0;
--
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