Recording enhancements

Fixes the GUI recording options and adds some new options, namely reconstruction snapshots and the recording options window. Alpha blending of the active channels in 2D snapshots has also been implemented.

applications/reconstruct/src/main.cpp

@@ -45,6 +45,9 @@
 #include <ftl/cuda/normals.hpp>
 #include <ftl/registration.hpp>
 
+#include <ftl/codecs/h264.hpp>
+#include <ftl/codecs/hevc.hpp>
+
 #include <cuda_profiler_api.h>
 
 #ifdef WIN32
@@ -233,7 +236,9 @@ static void run(ftl::Configurable *root) {
 	//ftl::voxhash::SceneRep *scene = ftl::create<ftl::voxhash::SceneRep>(root, "voxelhash");
 	ftl::rgbd::Streamer *stream = ftl::create<ftl::rgbd::Streamer>(root, "stream", net);
 	ftl::rgbd::VirtualSource *vs = ftl::create<ftl::rgbd::VirtualSource>(root, "virtual");
-	//root->set("tags", nlohmann::json::array({ root->getID()+"/virtual" }));
+	auto tags = root->value<std::vector<std::string>>("tags", nlohmann::json::array({}));
+	tags.push_back(root->getID()+"/virtual");
+	root->set("tags", tags);
 
 	int o = root->value("origin_pose", 0) % sources.size();
 	vs->setPose(sources[o]->getPose());
@@ -267,26 +272,70 @@ static void run(ftl::Configurable *root) {
 	std::ofstream fileout;
 	ftl::codecs::Writer writer(fileout);
 
-	root->set("record", false);
+	std::ofstream snapshotout;
+	ftl::codecs::Writer snapshotwriter(snapshotout);
+
+	controls->set("record", false);
 
+	int64_t timestamp = -1;
+	bool writingSnapshot = false;
+	std::unordered_set<int64_t> precedingFrames, followingFrames;
 	// Add a recording callback to all reconstruction scenes
 	for (size_t i=0; i<sources.size(); ++i) {
-		sources[i]->addRawCallback([&writer,&groups,i](ftl::rgbd::Source *src, const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
+		sources[i]->addRawCallback([&writer,&groups,&snapshotout,&snapshotwriter,&timestamp,&writingSnapshot,&precedingFrames,&followingFrames,i](ftl::rgbd::Source *src, const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
 			ftl::codecs::StreamPacket s = spkt;
 
 			// Patch stream ID to match order in group
 			s.streamID = i;
 			writer.write(s, pkt);
+
+			if (snapshotwriter.active()) {
+				// The frame that is captured is the next IFrame, unless that
+				// IFrame is one of the first two frames seen. In this case a
+				// part of the frame might already have been missed, so the
+				// IFrame after that one is captured instead.
+
+				// Write all pose and calibration packets.
+				if ((int)spkt.channel >= 64) {
+					snapshotwriter.write(s, pkt);
+				} else if (precedingFrames.size() >= 2) {
+					bool isIFrame = true;
+					switch (pkt.codec) {
+						case ftl::codecs::codec_t::H264:
+							isIFrame = ftl::codecs::h264::isIFrame(pkt.data);
+							break;
+						case ftl::codecs::codec_t::HEVC:
+							isIFrame = ftl::codecs::hevc::isIFrame(pkt.data);
+					}
+
+					if (isIFrame && precedingFrames.count(s.timestamp) == 0) {
+						timestamp = s.timestamp;
+						writingSnapshot = true;
+						snapshotwriter.write(s, pkt);
+					} else if (writingSnapshot && s.timestamp > timestamp) {
+						followingFrames.insert(s.timestamp);
+					}
+
+					// Keep looking for packets of the captured frame until
+					// packets from two following frames have been seen.
+					if (followingFrames.size() >= 2) {
+						snapshotwriter.end();
+						snapshotout.close();
+					}
+				} else {
+					precedingFrames.insert(s.timestamp);
+				}
+			}
 		});
 	}
 
 	// Allow stream recording
-	root->on("record", [&groups,&fileout,&writer,&sources](const ftl::config::Event &e) {
+	controls->on("record", [&fileout,&writer,&sources](const ftl::config::Event &e) {
 		if (e.entity->value("record", false)) {
 			char timestamp[18];
 			std::time_t t=std::time(NULL);
 			std::strftime(timestamp, sizeof(timestamp), "%F-%H%M%S", std::localtime(&t));
-			fileout.open(std::string(timestamp) + ".ftl");
+			fileout.open(e.entity->value<std::string>("record-name", std::string(timestamp) + ".ftl"));
 
 			writer.begin();
 
@@ -303,6 +352,25 @@ static void run(ftl::Configurable *root) {
 		}
 	});
 
+	controls->on("3D-snapshot", [&snapshotout,&snapshotwriter,&writingSnapshot,&precedingFrames,&followingFrames,&sources](const ftl::config::Event &e) {
+		if (!snapshotwriter.active()) {
+			char timestamp[18];
+			std::time_t t=std::time(NULL);
+			std::strftime(timestamp, sizeof(timestamp), "%F-%H%M%S", std::localtime(&t));
+			snapshotout.open(e.entity->value<std::string>("3D-snapshot", std::string(timestamp) + ".ftl"));
+			writingSnapshot = false;
+			precedingFrames.clear();
+			followingFrames.clear();
+			snapshotwriter.begin();
+
+			for (size_t i=0; i<sources.size(); ++i) {
+				//writeSourceProperties(writer, i, sources[i]);
+				sources[i]->inject(Channel::Calibration, sources[i]->parameters(), Channel::Left, sources[i]->getCapabilities());
+				sources[i]->inject(sources[i]->getPose());
+			}
+		}
+	});
+
 	// -------------------------------------------------------------------------
 
 	stream->setLatency(6);  // FIXME: This depends on source!?