From fdb335cdd1dbe15b14fc8d28850cb8a2f3341a9d Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Thu, 24 Oct 2019 21:47:52 +0300
Subject: [PATCH] small improvements
---
python/ftl/ftlstream.py | 56 +++++++++++++++++++++++++++++------------
python/ftl/ftltypes.py | 8 ++++++
python/ftl/libde265.py | 1 +
python/ftl/misc.py | 11 +++++---
4 files changed, 57 insertions(+), 19 deletions(-)
diff --git a/python/ftl/ftlstream.py b/python/ftl/ftlstream.py
index ccf22520a..45b0f8c31 100644
--- a/python/ftl/ftlstream.py
+++ b/python/ftl/ftlstream.py
@@ -2,8 +2,9 @@ import msgpack
import numpy as np
+import sys
import struct
-
+from warnings import warn
from enum import IntEnum
from collections import namedtuple
@@ -75,16 +76,18 @@ class FTLStreamReader:
self._decoders = {}
self._seen_iframe = set()
- self._frames = {}
+ self._frameset = {}
+ self._frameset_new = {}
+ self._frame = None
+
self._calibration = {}
self._pose = {}
- self._ts = -1
+ self._ts = -sys.maxsize - 1
try:
magic = self._file.read(5)
if magic[:4] != bytes(ord(c) for c in "FTLF"):
raise Exception("wrong magic")
- print(magic[4])
self._unpacker = msgpack.Unpacker(self._file, raw=True, use_list=False)
@@ -137,6 +140,7 @@ class FTLStreamReader:
if k not in self._seen_iframe:
if not is_iframe(p.data):
# can't decode before first I-frame has been received
+ warn("received P-frame before I-frame")
return
self._seen_iframe.add(k)
@@ -147,11 +151,13 @@ class FTLStreamReader:
while decoder.get_number_of_input_bytes_pending() > 0:
decoder.decode()
- img = None
- while img is None:
- img = decoder.get_next_picture()
+ img = decoder.get_next_picture()
+ if img is None:
+ # if this happens, does get_next_picture() in loop help?
+ warn("frame expected, no image from decoded")
- self._frames[k] = _ycrcb2rgb(img)
+ self._frame = _ycrcb2rgb(img)
+ self._frameset_new[k] = self._frame
def _flush_decoders(self):
for decoder in self._decoders.values():
@@ -171,15 +177,25 @@ class FTLStreamReader:
Reads data for until the next timestamp. Returns False if there is no
more data to read, otherwise returns True.
'''
+ self._frame = None
try:
self._sp, self._p = self._read_next()
self._packets_read += 1
except msgpack.OutOfData:
+ self._frameset = self._frameset_new
+ self._frameset_new = {}
return False
- self._ts = max(self._sp.timestamp, self._ts)
+ if self._sp.timestamp < self._ts:
+ # old data, do not update
+ return True
+
+ if self._sp.timestamp > self._ts:
+ self._ts = self._sp.timestamp
+ self._frameset = self._frameset_new
+ self._frameset_new = {}
if self._p.block_total != 1 or self._p.block_number != 0:
raise Exception("Unsupported block format (todo)")
@@ -233,17 +249,24 @@ class FTLStreamReader:
except KeyError:
raise ValueError("source id %i not found" % source)
- def get_frames(self):
- ''' All frames '''
- return self._frames
+ def get_frame(self):
+ ''' Return decoded frame from previous packet. Returns None if previous
+ packet did not contain a (valid) frame. '''
+ return self._frame
+
+ def get_frameset(self):
+ return self._frameset
- def get_frame(self, source, channel):
+ def get_frameset_frame(self, source, channel):
k = (source, channel)
- if k in self._frames:
- return self._frames[k]
+ if k in self._frameset:
+ return self._frameset[k]
else:
# raise an exception instead?
return None
+
+ def get_frameset_sources(self):
+ return list(set(src for src, _ in self._frameset.keys()))
def get_Q(self, source):
''' Disparity to depth matrix in OpenCV format '''
@@ -260,4 +283,5 @@ class FTLStreamReader:
def get_sources(self):
''' Get list of sources '''
- return list(self._calibration.keys())
\ No newline at end of file
+ return list(self._calibration.keys())
+
diff --git a/python/ftl/ftltypes.py b/python/ftl/ftltypes.py
index b72f5606c..3481d248e 100644
--- a/python/ftl/ftltypes.py
+++ b/python/ftl/ftltypes.py
@@ -68,3 +68,11 @@ definition_t = {
7 : (0, 0),
8 : (2056, 1852)
}
+
+def get_definition(shape):
+ for k, v in definition_t.items():
+ if shape[:2] == v:
+ return k
+
+ return 7 # (None)
+
diff --git a/python/ftl/libde265.py b/python/ftl/libde265.py
index afa663640..8b11df50e 100644
--- a/python/ftl/libde265.py
+++ b/python/ftl/libde265.py
@@ -184,6 +184,7 @@ class Decoder:
img_ptr = libde265.de265_get_image_plane(de265_image, c, self._out_stride)
+ # for frombuffer() no copy assumed
ch = np.frombuffer(img_ptr[:size[0] * size[1]], dtype=np.uint8)
ch.shape = size
diff --git a/python/ftl/misc.py b/python/ftl/misc.py
index 791dccf14..5494382ca 100644
--- a/python/ftl/misc.py
+++ b/python/ftl/misc.py
@@ -1,7 +1,12 @@
-def disparity_to_depth(disparity, camera):
- ''' Calculate depth map from disparity map '''
- return (camera.fx * camera.baseline) / (disparity - camera.doff)
+def disparity_to_depth(disparity, camera, max_depth=10.0, invalid_value=0.0):
+ ''' Calculate depth map from disparity map. Depth values smaller than 0.0
+ and larger than max_depth are set to invalid_value.
+ '''
+ depth = (camera.fx * camera.baseline) / (disparity - camera.doff)
+ depth[depth < 0] = invalid_value
+ depth[depth > max_depth] = invalid_value
+ return depth
from enum import IntEnum
--
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