Resolves #115 in groupview app

Reduce network mutex locking times and allow saving of all source snapshots using separate groupview app

applications/groupview/src/main.cpp

@@ -4,6 +4,38 @@
 #include <ftl/rgbd/source.hpp>
 #include <ftl/rgbd/group.hpp>
 
+#ifdef HAVE_LIBARCHIVE
+#include <ftl/rgbd/snapshot.hpp>
+#endif
+
+#include <fstream>
+
+using Eigen::Matrix4d;
+using std::map;
+using std::string;
+
+static void from_json(nlohmann::json &json, map<string, Matrix4d> &transformations) {
+	for (auto it = json.begin(); it != json.end(); ++it) {
+		Eigen::Matrix4d m;
+		auto data = m.data();
+		for(size_t i = 0; i < 16; i++) { data[i] = it.value()[i]; }
+		transformations[it.key()] = m;
+	}
+}
+
+static bool loadTransformations(const string &path, map<string, Matrix4d> &data) {
+	std::ifstream file(path);
+	if (!file.is_open()) {
+		LOG(ERROR) << "Error loading transformations from file " << path;
+		return false;
+	}
+	
+	nlohmann::json json_registration;
+	file >> json_registration;
+	from_json(json_registration, data);
+	return true;
+}
+
 int main(int argc, char **argv) {
 	auto root = ftl::configure(argc, argv, "viewer_default");
 	ftl::net::Universe *net = ftl::create<ftl::net::Universe>(root, "net");
@@ -13,20 +45,63 @@ int main(int argc, char **argv) {
 
 	auto sources = ftl::createArray<ftl::rgbd::Source>(root, "sources", net);
 
+	std::map<std::string, Eigen::Matrix4d> transformations;
+	if (loadTransformations(string(FTL_LOCAL_CONFIG_ROOT) + "/registration.json", transformations)) {
+		LOG(INFO) << "Loaded camera trasformations from file";
+	}
+	else {
+		LOG(ERROR) << "Error loading camera transformations from file";
+	}
+
 	ftl::rgbd::Group group;
 	for (auto s : sources) {
-		s->setChannel(ftl::rgbd::kChanRight);
+		string uri = s->getURI();
+		auto T = transformations.find(uri);
+		if (T == transformations.end()) {
+			LOG(ERROR) << "Camera pose for " + uri + " not found in transformations";
+		} else {
+			s->setPose(T->second);
+		}
+		s->setChannel(ftl::rgbd::kChanDepth);
 		group.addSource(s);
 	}
 
-	group.sync([](const ftl::rgbd::FrameSet &fs) {
+	bool grab = false;
+
+	group.sync([&grab](const ftl::rgbd::FrameSet &fs) {
 		LOG(INFO) << "Complete set: " << fs.timestamp;
+		if (grab) {
+			grab = false;
+
+#ifdef HAVE_LIBARCHIVE
+			char timestamp[18];
+			std::time_t t=std::time(NULL);
+			std::strftime(timestamp, sizeof(timestamp), "%F-%H%M%S", std::localtime(&t));
+			auto writer = ftl::rgbd::SnapshotWriter(std::string(timestamp) + ".tar.gz");
+
+			for (size_t i=0; i<fs.sources.size(); ++i) {
+				writer.addCameraParams(std::string("camera")+std::to_string(i), fs.sources[i]->getPose(), fs.sources[i]->parameters());
+				LOG(INFO) << "SAVE: " << fs.channel1[i].cols << ", " << fs.channel2[i].type();
+				writer.addCameraRGBD(std::string("camera")+std::to_string(i), fs.channel1[i], fs.channel2[i]);
+			}
+#endif  // HAVE_LIBARCHIVE
+		}
 		return true;
 	});
 
+	int current = 0;
+
 	while (ftl::running) {
-		std::this_thread::sleep_for(std::chrono::milliseconds(20));
+		//std::this_thread::sleep_for(std::chrono::milliseconds(20));
 		for (auto s : sources) s->grab(30);
+		cv::Mat rgb,depth;
+		sources[current%sources.size()]->getFrames(rgb, depth);
+		if (!rgb.empty()) cv::imshow("View", rgb);
+		auto key = cv::waitKey(20);
+
+		if (key == 27) break;
+		if (key == 'n') current++;
+		if (key == 'g') grab = true;
 	}
 
 	return 0;