Skip to content
Snippets Groups Projects

Recording enhancements

Merged Recording enhancements
feature/recording-enhancements into master
Merged Iiro Rastas requested to merge feature/recording-enhancements into master
Viewing commit c1020f92
Prev Next
Show latest version
1 file
+ 20
− 24
Compare changes
  • Side-by-side
  • Inline
  • c1020f92 
    Reconstruction recording can again be started by using the GUI buttons.
Taking a reconstrution snapshot no longer crashes the application, but
it's still not functional.
applications/reconstruct/src/main.cpp
+ 20
− 24
@@ -233,7 +233,9 @@ 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());
@@ -269,19 +271,29 @@ static void run(ftl::Configurable *root) {
root->set("record", false);
int64_t timestamp = 0;
std::vector<std::pair<ftl::codecs::StreamPacket, ftl::codecs::Packet>> currentFrame, completeFrame;
// 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,&timestamp,&currentFrame,&completeFrame,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 (s.timestamp > timestamp) {
timestamp = s.timestamp;
completeFrame = currentFrame;
currentFrame = std::vector<std::pair<ftl::codecs::StreamPacket, ftl::codecs::Packet>>({ std::make_pair(s, pkt) });
} else if (s.timestamp == timestamp) {
currentFrame.push_back(std::make_pair(s, pkt));
}
});
}
// Allow stream recording
root->on("record", [&groups,&fileout,&writer,&sources](const ftl::config::Event &e) {
root->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);
@@ -306,7 +318,7 @@ static void run(ftl::Configurable *root) {
std::ofstream snapshotout;
ftl::codecs::Writer snapshotwriter(snapshotout);
root->on("3D-snapshot", [&group,&snapshotout,&snapshotwriter,&scene_A](const ftl::config::Event &e) {
root->on("3D-snapshot", [&snapshotout,&snapshotwriter,&sources,&currentFrame](const ftl::config::Event &e) {
char timestamp[18];
std::time_t t=std::time(NULL);
std::strftime(timestamp, sizeof(timestamp), "%F-%H%M%S", std::localtime(&t));
@@ -314,34 +326,18 @@ static void run(ftl::Configurable *root) {
snapshotwriter.begin();
auto sources = group->sources();
for (size_t i=0; i<sources.size(); ++i) {
auto packet_pair = sources[i]->make_packet(Channel::Calibration, sources[i]->parameters(), Channel::Left, sources[i]->getCapabilities());
packet_pair.first.streamID = group->streamID(sources[i]);
packet_pair.first.streamID = i;
snapshotwriter.write(packet_pair.first, packet_pair.second);
packet_pair = sources[i]->make_packet(sources[i]->getPose());
packet_pair.first.streamID = group->streamID(sources[i]);
packet_pair.first.streamID = i;
snapshotwriter.write(packet_pair.first, packet_pair.second);
}
for (auto &frame : scene_A.frames) {
// Write frames of each source as std::vector<uint8_t>.
frame.download(Channel::Left);
cv::Mat image = frame.get<cv::Mat>(Channel::Left);
cv::Mat flat = image.reshape(1, image.total()*image.channels());
std::vector<uint8_t> vec = image.isContinuous()? flat : flat.clone();
auto packet_pair = frame.source()->make_packet(Channel::Left, vec);
packet_pair.first.streamID = group->streamID(frame.source());
snapshotwriter.write(packet_pair.first, packet_pair.second);
frame.download(Channel::Depth);
image = frame.get<cv::Mat>(Channel::Depth);
flat = image.reshape(1, image.total()*image.channels());
vec = image.isContinuous()? flat : flat.clone();
packet_pair = frame.source()->make_packet(Channel::Depth, vec);
packet_pair.first.streamID = group->streamID(frame.source());
snapshotwriter.write(packet_pair.first, packet_pair.second);
for (auto &p : currentFrame) {
snapshotwriter.write(p.first, p.second);
}
snapshotwriter.end();