Implements #196 stream capturing

This now allows all reconstruction streams to be recorded to file. Currently playback within reconstruct is not completed, although a separate player app is included.

applications/player/src/main.cpp

+#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 <fstream>
+
+#include <Eigen/Eigen>
+
+using ftl::codecs::codec_t;
+
+static ftl::codecs::Decoder *decoder;
+
+
+static void createDecoder(const ftl::codecs::Packet &pkt) {
+	if (decoder) {
+		if (!decoder->accepts(pkt)) {
+			ftl::codecs::free(decoder);
+		} else {
+			return;
+		}
+	}
+
+	decoder = 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);
+}
+
+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;
+
+    bool res = r.read(90000000000000, [&current_stream,&current_channel,&r](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+        if (spkt.channel != current_channel) return;
+        if (spkt.streamID == current_stream) {
+
+            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;
+            }
+
+            LOG(INFO) << "Reading packet: (" << (int)spkt.streamID << "," << (int)spkt.channel << ") " << (int)pkt.codec << ", " << (int)pkt.definition;
+
+            cv::Mat frame(cv::Size(ftl::codecs::getWidth(pkt.definition),ftl::codecs::getHeight(pkt.definition)), (spkt.channel == 1) ? CV_32F : CV_8UC3);
+            createDecoder(pkt);
+
+            try {
+                decoder->decode(pkt, frame);
+            } catch (std::exception &e) {
+                LOG(INFO) << "Decoder exception: " << e.what();
+            }
+
+            if (!frame.empty()) {
+                if (spkt.channel == 1) {
+                    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);
+            }
+            int key = cv::waitKey(20);
+            if (key >= 48 && key <= 57) {
+                current_stream = key - 48;
+            } else if (key == 'd') {
+                current_channel = (current_channel == 0) ? 1 : 0;
+            } else if (key == 27) {
+                r.end();
+            }
+        }
+    });
+
+    if (!res) LOG(ERROR) << "No frames left";
+
+    r.end();
+
+	ftl::running = false;
+	return 0;
+}