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

@@ -3,11 +3,17 @@
 #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)) {
@@ -41,6 +47,18 @@ int main(int argc, char **argv) {
         if (spkt.channel & 0x1 > 0) 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)), CV_8UC3);