diff --git a/CMakeLists.txt b/CMakeLists.txt index c4d0210..b3f0f31 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -227,7 +227,11 @@ add_executable(my_ndi_source my_ndi_source.cpp ) target_include_directories(my_ndi_source PRIVATE ${MY_NDI_INCLUDE}) -target_link_libraries(my_ndi_source MY_NDI_LIBS) +target_link_libraries(my_ndi_source +MY_NDI_LIBS +${OpenCV_LIBRARIES} + +) install(TARGETS my_ndi my_ndi_source gst_get_ndi gst_ndi diff --git a/gst_get_ndi.cpp b/gst_get_ndi.cpp index 9a9e047..fd55e18 100644 --- a/gst_get_ndi.cpp +++ b/gst_get_ndi.cpp @@ -479,7 +479,7 @@ int main(int argc, char* argv[]) { // --------------------------------- SLAM SYSTEM VARIABLES --------------------------------- // Create SLAM system. It initializes all system threads and gets ready to process frames. - ORB_SLAM3::System SLAM(argv[1], argv[2], ORB_SLAM3::System::MONOCULAR, true); + ORB_SLAM3::System SLAM(argv[1], argv[2], ORB_SLAM3::System::MONOCULAR, false); std::printf("SLAM system initialized\n"); @@ -572,28 +572,11 @@ int main(int argc, char* argv[]) { while (true) { - //if (use_gui) { - // cv::namedWindow("preview", cv::WINDOW_AUTOSIZE); - //} - //else { - // // cv::namedWindow("no preview", 1); - //} + cv::Mat frame; char* buffer = nullptr; - // { - // int length; - // std::cout << "trying to open example.bin" << std::endl; - // std::ifstream is; - // is.open("example.bin", std::ios::binary); - // is.seekg(0, std::ios::end); - // length = is.tellg(); - // is.seekg(0, std::ios::beg); - // buffer = new char [length]; - // is.read(buffer, length); - // is.close(); - // frame = cv::Mat(cv::Size(1920, 1080), CV_8UC4, (char*)buffer, cv::Mat::AUTO_STEP); - // } + { std::lock_guard guard(g_mutex); if (frameQueue.size() > 0) { @@ -801,16 +784,7 @@ int main(int argc, char* argv[]) { } } - - //if (use_gui) { - // if (!frame.empty()) { - // cv::Mat edges; - // cvtColor(frame, edges, cv::COLOR_BGR2BGRA); - // cv::imshow("preview", frame); - // int key = cv::waitKey(10); - // } - // - //} + delete[] buffer; } @@ -826,9 +800,9 @@ int main(int argc, char* argv[]) { char** argv_orb; argv_orb = new char* [3]; - argv_orb[0] = new char[200]; - argv_orb[1] = new char[200]; - argv_orb[2] = new char[200]; + argv_orb[0] = new char[300]; + argv_orb[1] = new char[300]; + argv_orb[2] = new char[300]; strcpy(argv_orb[0], argv[0]); strcpy(argv_orb[1], argv[1]); diff --git a/my_ndi_source.cpp b/my_ndi_source.cpp index d225bb2..4d191eb 100644 --- a/my_ndi_source.cpp +++ b/my_ndi_source.cpp @@ -6,6 +6,9 @@ #include #include #include +#include +#include +#include using namespace std::chrono; @@ -41,6 +44,12 @@ int main(int argc, char* argv[]) { int64_t total_frames_counter = 0; + // Let's open the video with OpenCV and read it + std::string path_to_file = "C:\\Users\\ivan\\Source\\Repos\\cv_networking_pipeline\\gstreamer_receive_video\\videos\\camera1-2020-10-14---19-38-42---093390448_scaled.mp4"; + cv::VideoCapture video_file(path_to_file); + std::cout << "Video File opened" << std::endl; + cv::Mat frame; + while (!is_terminated) { // Get the current time const auto start_send = high_resolution_clock::now(); @@ -48,20 +57,40 @@ int main(int argc, char* argv[]) { // Send 200 frames for (int idx = 200; idx; idx--) { // Fill in the buffer. It is likely that you would do something much smarter than this. - + video_file.read(frame); + std::cout << "Successfully read video_file" << std::endl; + std::cout << "Frame channels is: " << frame.channels() << " " << frame.rows << " " << frame.cols << std::endl; + std::cout << frame.total() * frame.channels() << std::endl; + // from https://stackoverflow.com/questions/26681713/convert-mat-to-array-vector-in-opencv + // TODO: Seems that the conversion was unseccesful. Understand what really happens when you set the frame.ptr(0) and what happens when + // TODO: you make (uint8_t*)malloc(xres * yres * 4) + uchar* p_data = new uchar[frame.total() * 4]; + cv::Mat continiousRGBA(frame.size(), CV_8UC4, p_data); + cv::cvtColor(frame, continiousRGBA, CV_BGR2RGBA, 4); + //uchar* p_data = (uchar*)frame.clone().data; + //uchar* p_data = (uchar*)frame.ptr(0); + std::cout << "Successfully converted frame." << std::endl; + + //std::cout << &p_data[50] << std::endl; + //for (int i = 0; i < frame.total() * frame.channels(); i++) { + // std::cout << (int)*(p_data + i) << std::endl; + //} // We are going to create a 1920x1080 interlaced frame at 29.97Hz. - int xres = 1920; - int yres = 1920; + int xres = 480; + int yres = 270; std::string metadata_string = ""; + + // (uint8_t*)malloc(xres * yres * 4) is the frame itself. NDIlib_video_frame_v2_t ndi_video_frame( xres, yres, NDIlib_FourCC_type_BGRX, - 30000, 1001, 16.0 / 9.0, + 30000, 1001, 2, NDIlib_frame_format_type_progressive, 0, - (uint8_t*)malloc(xres * yres * 4), + p_data, 0, metadata_string.c_str() ); + std::cout << "Successfully created ndi_video_frame" << std::endl; // std::cout << "hi there" << std::endl; // std::cout << "xres = " << ndi_video_frame.xres << std::endl; // std::cout << "yres = " << ndi_video_frame.yres << std::endl; @@ -74,16 +103,18 @@ int main(int argc, char* argv[]) { // std::cout << "p_metadata = " << ndi_video_frame.p_metadata << std::endl; // std::cout << "timestamp = " << ndi_video_frame.timestamp << std::endl; - memset((void*)ndi_video_frame.p_data, 0x33, ndi_video_frame.xres * ndi_video_frame.yres * 4); + //memset((void*)ndi_video_frame.p_data, 0x33, ndi_video_frame.xres * ndi_video_frame.yres * 4); ndi_video_frame.timestamp = total_frames_counter; ndi_video_frame.timecode = total_frames_counter; + std::cout << "timestamp and timecode success." << std::endl; // memset((void*)ndi_video_frame.p_data, (idx & 1) ? 255 : 0, ndi_video_frame.xres*ndi_video_frame.yres * 4); // We now submit the frame. Note that this call will be clocked so that we end up submitting at exactly 29.97fps. NDIlib_send_send_video_v2(pNDI_send, &ndi_video_frame); + std::cout << "Successfully sent frame." << std::endl; total_frames_counter += 1; - free(ndi_video_frame.p_data); + //free(ndi_video_frame.p_data); // Free the video frame // NDIlib_recv_free_video(pNDI_recv, &video_frame); // free(ndi_video_frame.p_metadata); diff --git a/videos/camera1-2020-10-14---19-38-42---093390448_scaled.mp4 b/videos/camera1-2020-10-14---19-38-42---093390448_scaled.mp4 new file mode 100644 index 0000000..0638e3b Binary files /dev/null and b/videos/camera1-2020-10-14---19-38-42---093390448_scaled.mp4 differ