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

@@ -26,6 +26,17 @@ static void createDecoder(const ftl::codecs::Packet &pkt) {
 	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;
@@ -42,9 +53,10 @@ int main(int argc, char **argv) {
     LOG(INFO) << "Playing...";
 
     int current_stream = 0;
+    int current_channel = 0;
 
-    bool res = r.read(90000000000000, [&current_stream,&r](const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
-        if (spkt.channel & 0x1 > 0) return;
+    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) {
@@ -61,7 +73,7 @@ int main(int argc, char **argv) {
 
             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);
+            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 {
@@ -71,11 +83,18 @@ int main(int argc, char **argv) {
             }
 
             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();
             }