| 1 | /* 3dv-client/playback.cc
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| 2 | *
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| 3 | * Copyright (C) 2013 VisLab
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| 4 | *
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| 5 | * This file is part of lib3dv; you can redistribute it and/or modify
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| 6 | * it under the terms of the GNU Lesser General Public License as published by
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| 7 | * the Free Software Foundation; either version 3 of the License, or (at
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| 8 | * your option) any later version.
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| 9 | *
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| 10 | * This program is distributed in the hope that it will be useful, but
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| 11 | * WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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| 13 | * General Public License for more details.
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| 14 | *
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| 15 | * You should have received a copy of the GNU Lesser General Public License
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| 16 | * along with this program; if not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 |
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| 19 | #include "playback.h"
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| 20 |
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| 21 | #ifdef _MSC_VER
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| 22 | #include <conio.h>
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| 23 | #else
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| 24 | #include "3dv_conio.h"
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| 25 | #endif
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| 26 |
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| 27 |
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| 28 | uint8_t playback(std::vector<std::string> playback_value,uint8_t log_level)
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| 29 | {
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| 30 | if(playback_value.size() > 0)
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| 31 | {
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| 32 | std::stringstream ss;
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| 33 | uint32_t framenumber;
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| 34 | uint32_t begin_framenumber;
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| 35 | uint32_t first=999999;
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| 36 | uint32_t last=0;
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| 37 | uint32_t myframe=0;
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| 38 | std::string path = playback_value[0]+"/";
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| 39 | boost::filesystem::path path_filename =path;
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| 40 |
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| 41 |
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| 42 | if(boost::filesystem::exists(path_filename)==1)
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| 43 | {
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| 44 | if(boost::filesystem::is_directory(path_filename))
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| 45 | {
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| 46 | typedef std::vector<boost::filesystem::path> vec;
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| 47 | vec v;
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| 48 | copy(boost::filesystem::directory_iterator(path_filename), boost::filesystem::directory_iterator(), back_inserter(v));
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| 49 | sort(v.begin(), v.end());
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| 50 | for(vec::const_iterator it (v.begin()); it != v.end(); ++it)
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| 51 | {
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| 52 | std::vector<std::string> tokens;
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| 53 | boost::filesystem::path linep=*it;
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| 54 | std::string line=linep.stem().string();
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| 55 | boost::split(tokens, line, boost::is_any_of("-"));
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| 56 | if(tokens[0]=="dsi")
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| 57 | {
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| 58 | std::string stringnumber=tokens[1];
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| 59 | uint32_t number=atoi(stringnumber.c_str());
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| 60 | if(number<first)
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| 61 | first=number;
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| 62 | if(number>last)
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| 63 | last=number;
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| 64 | }
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| 65 | }
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| 66 | }
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| 67 | else
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| 68 | {
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| 69 | std::cerr<<"[EE] 3dv-client:"<< path_filename <<" exists, but is neither a regular file nor a directory\n";
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| 70 | return lib3dv::error::NONE;
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| 71 | }
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| 72 |
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| 73 | framenumber=first;
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| 74 | if(playback_value.size() > 1)
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| 75 | {
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| 76 | ss << playback_value[1];
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| 77 | ss >> begin_framenumber;
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| 78 | framenumber= begin_framenumber;
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| 79 | }
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| 80 |
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| 81 | std::cout << "[II] 3dv-client: playback " << path <<" from frame " <<framenumber<<std::endl;
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| 82 |
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| 83 | if(begin_framenumber>last)
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| 84 | begin_framenumber=last;
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| 85 | else if(begin_framenumber<first)
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| 86 | begin_framenumber=first;
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| 87 |
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| 88 |
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| 89 | boost::thread display_thread;
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| 90 | boost::shared_ptr<display> display;
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| 91 | device_params params;
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| 92 |
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| 93 | std::string filenameini = path+"params.ini";
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| 94 | std::cout << "[II] 3dv-client: loading INI file: " << filenameini << std::endl;
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| 95 | std::ifstream file (filenameini.c_str(), std::ios::in);
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| 96 | std::string line;
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| 97 |
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| 98 | if (file.is_open())
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| 99 | {
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| 100 | while( getline (file,line))
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| 101 | {
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| 102 | std::vector<std::string> tokens;
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| 103 | boost::split(tokens, line, boost::is_any_of("="));
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| 104 |
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| 105 | if(tokens[0] == "calibration.u0")
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| 106 | params.intrinsics.m_u0 = boost::lexical_cast<float>(tokens[1].c_str());
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| 107 | else if(tokens[0] == "calibration.v0")
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| 108 | params.intrinsics.m_v0 = boost::lexical_cast<float>(tokens[1].c_str());
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| 109 | else if(tokens[0] == "calibration.ku")
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| 110 | params.intrinsics.m_ku = boost::lexical_cast<float>(tokens[1].c_str());
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| 111 | else if(tokens[0] == "calibration.kv")
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| 112 | params.intrinsics.m_kv = boost::lexical_cast<float>(tokens[1].c_str());
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| 113 | else if(tokens[0] == "calibration.x")
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| 114 | params.position.m_x = boost::lexical_cast<float>(tokens[1].c_str());
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| 115 | else if(tokens[0] == "calibration.y")
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| 116 | params.position.m_y = boost::lexical_cast<float>(tokens[1].c_str());
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| 117 | else if(tokens[0] == "calibration.z")
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| 118 | params.position.m_z = boost::lexical_cast<float>(tokens[1].c_str());
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| 119 | else if(tokens[0] == "calibration.yaw")
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| 120 | params.orientation.m_yaw = boost::lexical_cast<float>(tokens[1].c_str());
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| 121 | else if(tokens[0] == "calibration.pitch")
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| 122 | params.orientation.m_pitch = boost::lexical_cast<float>(tokens[1].c_str());
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| 123 | else if(tokens[0] == "calibration.roll")
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| 124 | params.orientation.m_roll = boost::lexical_cast<float>(tokens[1].c_str());
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| 125 | else if(tokens[0] == "calibration.baseline")
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| 126 | params.baseline = boost::lexical_cast<float>(tokens[1].c_str());
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| 127 | else if(tokens[0] == "depth mapping.downsample ratio")
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| 128 | params.downsample = boost::lexical_cast<uint32_t>(tokens[1].c_str());
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| 129 | else if(tokens[0] =="advanced.detection.area.step")
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| 130 | params.area_step = boost::lexical_cast<double>(tokens[1].c_str());
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| 131 | }
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| 132 | file.close();
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| 133 | }
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| 134 | else
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| 135 | std::cout << "[WW] 3dv-client::Unable to open INI file\n";
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| 136 |
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| 137 | display = boost::shared_ptr< ::display>(new ::display(params.intrinsics, params.position, params.orientation, params.baseline, params.downsample, params.area_step,log_level));
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| 138 | display_thread = boost::thread(boost::bind(&::display::run, display.get()));
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| 139 |
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| 140 | std::string filename;
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| 141 |
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| 142 | boost::posix_time::ptime last_timestamp;
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| 143 | boost::posix_time::ptime now_timestamp;
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| 144 | boost::posix_time::ptime old_timestamp;
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| 145 |
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| 146 |
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| 147 | #ifdef _MSC_VER
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| 148 | #else
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| 149 | set_conio_terminal_mode();
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| 150 | #endif
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| 151 |
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| 152 | char p='h';
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| 153 | int play=1;
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| 154 | float speed=1;
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| 155 | int skip=1;
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| 156 | int change=1;
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| 157 | bool loop=false;
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| 158 | bool enable_classification=true;
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| 159 | std::cout.precision(2);
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| 160 |
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| 161 | while(1)
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| 162 | {
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| 163 | while(p!='g')
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| 164 | {
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| 165 | while (!kbhit())
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| 166 | {
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| 167 | if (p=='h')
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| 168 | {
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| 169 | std::cout <<"\n\r[II] 3dv-client: playback menu:\n\n\r"
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| 170 | " h : display the help\n\r"
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| 171 | " q : quit playback\n\r"
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| 172 | "\n\r"
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| 173 | " up-arrow, s : start playback\n\r"
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| 174 | " down-arrow, r : start reverse playback\n\r"
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| 175 | " right-arrow : go to the next frame\n\r"
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| 176 | " left-arrow : go to the previous frame\n\r"
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| 177 | " p : pause playback\n\r"
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| 178 | " l : enable/disable loop playback\n\r"
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| 179 | " c : enable/disable classification output\n\r"
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| 180 | "\n\r"
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| 181 | " home : go to the first frame\n\r"
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| 182 | " end : go to the last frame\n\r"
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| 183 | " g [nframe] : go to frame nframe\n\r"
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| 184 | "\n\r"
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| 185 | " +/- : increment/decrement playback speed \n\r"
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| 186 | " [1|2|3|4|5|6|7|8|9|0] : set speed [1x|2x|3x|4x|5x|0.1x|0.25x|0.5x|0.75x|max] \n\r"
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| 187 | " [F1|F2|F3|F4] : set skip frame to [1|2|5|10] (NOTE: you may want to increase the speed as well)\n\n\r";
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| 188 | "\n\r";
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| 189 | }
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| 190 | else if (p=='s')
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| 191 | {play=1;}
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| 192 | else if (p=='p')
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| 193 | {play=0;}
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| 194 | else if (p=='r')
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| 195 | {play=-1;}
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| 196 | else if (p=='l')
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| 197 | {loop=!loop;}
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| 198 | else if (p=='c')
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| 199 | {enable_classification=!enable_classification;}
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| 200 | else if (p=='0')
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| 201 | {speed=0;}
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| 202 | else if (p=='1')
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| 203 | {speed=1;}
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| 204 | else if (p=='2')
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| 205 | {speed=2;}
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| 206 | else if (p=='3')
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| 207 | {speed=3;}
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| 208 | else if (p=='4')
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| 209 | {speed=4;}
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| 210 | else if (p=='5')
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| 211 | {speed=5;}
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| 212 | else if (p=='6')
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| 213 | {speed=0.10;}
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| 214 | else if (p=='7')
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| 215 | {speed=0.25;}
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| 216 | else if (p=='8')
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| 217 | {speed=0.50;}
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| 218 | else if (p=='9')
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| 219 | {speed=0.75;}
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| 220 | else if (p=='+')
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| 221 | {
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| 222 | if (speed<=20) speed*=2;
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| 223 | else if(speed==0) speed=1;
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| 224 | }
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| 225 | else if (p=='-')
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| 226 | {
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| 227 | if (speed>=0.1) speed/=2;
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| 228 | else if(speed==0) speed=1;
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| 229 | }
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| 230 | #ifdef _MSC_VER
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| 231 | else if (p=='H')
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| 232 | {play=1;}
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| 233 | else if (p=='P')
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| 234 | {play=-1;}
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| 235 | else if (p=='M')
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| 236 | {framenumber+=skip;play=2;}
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| 237 | else if (p=='K')
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| 238 | {framenumber-=skip;play=-2;}
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| 239 | else if (p=='G')
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| 240 | {framenumber=first;play=0;}
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| 241 | else if (p=='O')
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| 242 | {framenumber=last;play=0;}
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| 243 | else if (p==';')
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| 244 | {skip=1;}
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| 245 | else if (p=='<')
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| 246 | {skip=2;}
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| 247 | else if (p=='=')
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| 248 | {skip=5;}
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| 249 | else if (p=='>')
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| 250 | {skip=10;}
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| 251 | #else
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| 252 | else if (p=='A')
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| 253 | {play=1;}
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| 254 | else if (p=='B')
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| 255 | {play=-1;}
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| 256 | else if (p=='C')
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| 257 | {framenumber+=skip;play=2;}
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| 258 | else if (p=='D')
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| 259 | {framenumber-=skip;play=-2;}
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| 260 | else if (p=='H')
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| 261 | {framenumber=first;play=0;}
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| 262 | else if (p=='F')
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| 263 | {framenumber=last;play=0;}
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| 264 | else if (p=='P')
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| 265 | {skip=1;}
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| 266 | else if (p=='Q')
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| 267 | {skip=2;}
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| 268 | else if (p=='R')
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| 269 | {skip=5;}
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| 270 | else if (p=='S')
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| 271 | {skip=10;}
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| 272 | #endif
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| 273 | else if (p=='q')
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| 274 | {
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| 275 | if(display)
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| 276 | {
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| 277 | display->stop();
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| 278 | display_thread.join();
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| 279 | }
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| 280 | std::cout << "\n\r[II] 3dv-client: operation completed\n\r";
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| 281 | return lib3dv::error::NONE;
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| 282 | }
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| 283 | else
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| 284 | {
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| 285 | change=0;
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| 286 | }
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| 287 |
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| 288 | if(loop)
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| 289 | {
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| 290 | if(framenumber>last)
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| 291 | {
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| 292 | framenumber=first;
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| 293 | std::cout<<"\r\n";
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| 294 | change=1;
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| 295 | }
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| 296 | else if(framenumber<first)
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| 297 | {
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| 298 | framenumber=last;
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| 299 | std::cout<<"\r\n";
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| 300 | change=1;
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| 301 | }
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| 302 | }
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| 303 | else
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| 304 | {
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| 305 | if(framenumber>last)
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| 306 | framenumber=last;
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| 307 | else if(framenumber<first)
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| 308 | framenumber=first;
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| 309 | }
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| 310 |
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| 311 | if(change)
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| 312 | {
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| 313 | if(speed==0.0)
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| 314 | {
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| 315 | std::cout<<"\r\t\t\t\t\t\tskip="<<skip<<" \r";
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| 316 | std::cout<<"\r\t\t\t\tspeed=max \r";
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| 317 | }
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| 318 | else
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| 319 | {
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| 320 | std::cout<<"\r\t\t\t\t\t\tskip="<<skip<<" \r";
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| 321 | std::cout<<"\r\t\t\t\tspeed="<<speed<<"x \r";
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| 322 | }
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| 323 | }
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| 324 |
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| 325 | if(play==1 )
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| 326 | std::cout<<"\r > ";
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| 327 | else if(play==-1 )
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| 328 | std::cout<<"\r < ";
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| 329 | else if(play==-2 )
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| 330 | std::cout<<"\r<--";
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| 331 | else if(play==2 )
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| 332 | std::cout<<"\r-->";
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| 333 | else if(play==0 )
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| 334 | std::cout<<"\r = ";
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| 335 |
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| 336 | if(framenumber==last)
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| 337 | std::cout<<"E";
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| 338 | else if(framenumber==first)
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| 339 | std::cout<<"B";
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| 340 | else
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| 341 | std::cout<<" ";
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| 342 |
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| 343 | std::string str_nframe=(boost::format("%06i") %framenumber).str();
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| 344 | if(myframe!=framenumber || change)
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| 345 | std::cout<<"\t"<<str_nframe<<":";
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| 346 | filename=path+"dsi-"+str_nframe+".pgm";
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| 347 | if (boost::filesystem::exists(filename)==1)
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| 348 | {
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| 349 | boost::shared_ptr<lib3dv::image> dsi_image = boost::shared_ptr<lib3dv::image>(new lib3dv::image());
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| 350 | pnm_load<uint16_t>(dsi_image,filename.c_str(),lib3dv::image::type::DSI);
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| 351 | boost::posix_time::time_duration steptime;
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| 352 | if(play==1)
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| 353 | steptime= dsi_image->m_timestamp-last_timestamp;
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| 354 | else if(play==-1)
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| 355 | steptime=last_timestamp- dsi_image->m_timestamp;
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| 356 |
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| 357 | last_timestamp= dsi_image->m_timestamp;
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| 358 | now_timestamp=boost::posix_time::microsec_clock::local_time();
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| 359 | boost::posix_time::time_duration codetime=now_timestamp-old_timestamp;
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| 360 | if((play==1 || play==-1) && speed!=0 && framenumber!=first && framenumber!=begin_framenumber)
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| 361 | {
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| 362 | int32_t sleep=steptime.total_milliseconds()/speed-codetime.total_milliseconds();
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| 363 | if (sleep>0)
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| 364 | {
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| 365 | boost::this_thread::sleep(boost::posix_time::milliseconds(sleep));
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| 366 | }
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| 367 | }
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| 368 | old_timestamp=boost::posix_time::microsec_clock::local_time();
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| 369 |
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| 370 | if (myframe!=framenumber)
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| 371 | display->update(dsi_image);
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| 372 | if(myframe!=framenumber || change)
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| 373 | std::cout<<"d";
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| 374 | }
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| 375 |
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| 376 | for(int i=0;i<6;i++)
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| 377 | {
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| 378 | std::string image_type;
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| 379 | if (i<2)
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| 380 | image_type="left_rectified-";
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| 381 | else if (i<4)
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| 382 | image_type="right_rectified-";
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| 383 | if (i%2==0)
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| 384 | filename=path+image_type+str_nframe+".ppm";
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| 385 | else
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| 386 | filename=path+image_type+str_nframe+".pgm";
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| 387 | if (i==4)
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| 388 | filename=path+"left_raw-"+str_nframe+".pgm";
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| 389 | if (i==5)
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| 390 | filename=path+"right_raw-"+str_nframe+".pgm";
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| 391 | if (boost::filesystem::exists(filename)==1)
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| 392 | {
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| 393 | boost::shared_ptr<lib3dv::image> output_image = boost::shared_ptr<lib3dv::image>(new lib3dv::image());
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| 394 | pnm_load<uint8_t>(output_image,filename.c_str(),(lib3dv::image::type::types)(i/2+1+(i/5)));
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| 395 | if(myframe!=framenumber || change)
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| 396 | std::cout<<"i";
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| 397 | if (myframe!=framenumber)
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| 398 | display->update(output_image);
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| 399 | }
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| 400 | }
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| 401 |
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| 402 | filename=path+"terrain-"+str_nframe+".txt";
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| 403 | boost::shared_ptr<lib3dv::terrain> output_terrain= boost::shared_ptr<lib3dv::terrain>(new lib3dv::terrain());
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| 404 | if (boost::filesystem::exists(filename)==1)
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| 405 | {
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| 406 | std::ifstream file(filename.c_str(), std::ios::in);
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| 407 | if(file)
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| 408 | {
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| 409 | boost::archive::text_iarchive archive(file);
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| 410 | archive >> *output_terrain;
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| 411 | }
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| 412 |
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| 413 | display->update(output_terrain);
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| 414 | if (myframe!=framenumber || change)
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| 415 | std::cout<<"t";
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| 416 | }
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| 417 | else
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| 418 | display->update(output_terrain);
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| 419 |
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| 420 | filename=path+"obstacles-"+str_nframe+".txt";
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| 421 | boost::shared_ptr< std::vector<lib3dv::obstacle> > output_obstacles=boost::shared_ptr< std::vector<lib3dv::obstacle> >(new std::vector<lib3dv::obstacle>);
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| 422 | if (boost::filesystem::exists(filename)==1)
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| 423 | {
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| 424 | boost::shared_ptr< std::vector<lib3dv::obstacle> > output_obstacles=boost::shared_ptr< std::vector<lib3dv::obstacle> >(new std::vector<lib3dv::obstacle>);
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| 425 | std::ifstream fileo(filename.c_str(), std::ios::in);
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| 426 | if(fileo)
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| 427 | {
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| 428 | boost::archive::text_iarchive archive(fileo);
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| 429 | archive >> *output_obstacles;
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| 430 | }
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| 431 | display->update( output_obstacles);
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| 432 | if (myframe!=framenumber || change)
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| 433 | std::cout<<"o";
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| 434 | }
|
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| 435 | else
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| 436 | display->update( output_obstacles);
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| 437 |
|
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| 438 | filename=path+"motion-"+str_nframe+".txt";
|
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| 439 | boost::shared_ptr<lib3dv::motion> output_motion=boost::shared_ptr<lib3dv::motion>(new lib3dv::motion);
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| 440 | if (boost::filesystem::exists(filename)==1 )
|
|---|
| 441 | {
|
|---|
| 442 | boost::shared_ptr<lib3dv::motion> output_motion=boost::shared_ptr<lib3dv::motion>(new lib3dv::motion);
|
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| 443 | std::ifstream filem(filename.c_str(), std::ios::in);
|
|---|
| 444 | if(filem)
|
|---|
| 445 | {
|
|---|
| 446 | boost::archive::text_iarchive archive(filem);
|
|---|
| 447 | archive >> *output_motion;
|
|---|
| 448 | }
|
|---|
| 449 | if (myframe!=framenumber)
|
|---|
| 450 | display->update(output_motion);
|
|---|
| 451 | if (myframe!=framenumber || change)
|
|---|
| 452 | std::cout<<"m";
|
|---|
| 453 | }
|
|---|
| 454 | else
|
|---|
| 455 | {
|
|---|
| 456 | display->update(output_motion);
|
|---|
| 457 | }
|
|---|
| 458 |
|
|---|
| 459 | filename=path+"classification-"+str_nframe+".txt";
|
|---|
| 460 | boost::shared_ptr<lib3dv::classification> output_classificat=boost::shared_ptr<lib3dv::classification>(new lib3dv::classification);
|
|---|
| 461 | if (boost::filesystem::exists(filename)==1 )
|
|---|
| 462 | {
|
|---|
| 463 |
|
|---|
| 464 | std::ifstream filec(filename.c_str(), std::ios::in);
|
|---|
| 465 | if(filec && enable_classification)
|
|---|
| 466 | {
|
|---|
| 467 | boost::archive::text_iarchive archive(filec);
|
|---|
| 468 | archive >> *output_classificat;
|
|---|
| 469 | }
|
|---|
| 470 | if (myframe!=framenumber)
|
|---|
| 471 | display->update(output_classificat);
|
|---|
| 472 | if (myframe!=framenumber || change)
|
|---|
| 473 | std::cout<<"c";
|
|---|
| 474 | }
|
|---|
| 475 | else
|
|---|
| 476 | display->update(output_classificat);
|
|---|
| 477 |
|
|---|
| 478 | if (myframe!=framenumber || change)
|
|---|
| 479 | {
|
|---|
| 480 | std::cout<<" \r";
|
|---|
| 481 | }
|
|---|
| 482 | std::cout.flush();
|
|---|
| 483 | change=1;
|
|---|
| 484 | myframe=framenumber;
|
|---|
| 485 | if(play==1)
|
|---|
| 486 | framenumber+=skip;
|
|---|
| 487 | if(play==-1)
|
|---|
| 488 | framenumber-=skip;
|
|---|
| 489 | p='a';
|
|---|
| 490 | }
|
|---|
| 491 | p=getch();
|
|---|
| 492 | }
|
|---|
| 493 | std::cout<<"\n\rInsert the framenumber and press enter:";
|
|---|
| 494 |
|
|---|
| 495 | #ifdef _MSC_VER
|
|---|
| 496 | std::cin>>framenumber;
|
|---|
| 497 | #else
|
|---|
| 498 | reset_terminal_mode();
|
|---|
| 499 | std::cin>>framenumber;
|
|---|
| 500 | set_conio_terminal_mode();
|
|---|
| 501 | #endif
|
|---|
| 502 |
|
|---|
| 503 | play=0;
|
|---|
| 504 | std::cout<<"GO->\t"<<(boost::format("%06i") %framenumber).str();
|
|---|
| 505 | change=1;
|
|---|
| 506 | p='a';
|
|---|
| 507 | }//end while(1)
|
|---|
| 508 |
|
|---|
| 509 | }
|
|---|
| 510 | else
|
|---|
| 511 | {
|
|---|
| 512 | std::cerr << "[EE] 3dv-client: the path :"<< path<<" doesn't exist"<< std::endl;
|
|---|
| 513 | return lib3dv::error::NONE;
|
|---|
| 514 | }
|
|---|
| 515 |
|
|---|
| 516 | }
|
|---|
| 517 | else
|
|---|
| 518 | {
|
|---|
| 519 | std::cerr << "[EE] 3dv-client: at least 1 argument must be provided to --playback" << std::endl;
|
|---|
| 520 | return lib3dv::error::NONE;
|
|---|
| 521 | }
|
|---|
| 522 | } |
|---|
