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PodmogilnyjIvan
2021-12-03 03:54:58 -08:00
commit 988ab528af
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#include <gst/gst.h>
#include <gst/app/gstappsink.h>
#include <sstream>
#include <format>
#include <gst/video/gstvideometa.h>
#include <cstdlib>
#include <deque>
#include <iostream>
#include <mutex>
#include <fstream>
#include "osc/OscOutboundPacketStream.h"
#include "ip/UdpSocket.h"
#include "System.h"
// CHANGE HERE TO MAKE PORT
#define ADDRESS "127.0.0.1"
#define PORT 7000
#define OUTPUT_BUFFER_SIZE 1024
#define MY_GST_USE_OPENCV
#ifdef MY_GST_USE_OPENCV
#include "opencv2/opencv.hpp"
// TODO: use synchronized deque
std::mutex g_mutex;
std::deque<cv::Mat> frameQueue;
#endif // MY_GST_USE_OPENCV
cv::Mat& extract_rot(cv::Mat& rot, const cv::Mat& trans) {
// cv::Mat rot(3, 3, CV_32F, 0.0);
for (int row = 0; row < 3; ++row) {
for (int col = 0; col < 3; ++col) {
rot.at<float>(row, col) = trans.at<float>(row, col);
}
}
return rot;
}
pair<float, vector<float>> extract_deg(const cv::Mat& rotation_matrix) {
// TODO: extract_deg is producing negative values. Fix it.
float degrees;
vector<float> myvec = { rotation_matrix.at<float>(1, 2) - rotation_matrix.at<float>(2,1), rotation_matrix.at<float>(2, 0) - rotation_matrix.at<float>(0, 2), rotation_matrix.at<float>(0, 1) - rotation_matrix.at<float>(1, 0) };
float trace;
trace = rotation_matrix.at<float>(0, 0) + rotation_matrix.at<float>(1, 1) + rotation_matrix.at<float>(2, 2);
// cout << "a11 is: " << rotation_matrix.at<float>(0, 0) << " a22 is: " << rotation_matrix.at<float>(1, 1) << " a33 is: " << rotation_matrix.at<float>(2, 2) << endl;
// cout << "x is: " << (trace - 1) / 2 << endl;
degrees = acos((trace - 1) / 2);
// cout << "Calc degrees (from function) is: " << degrees << endl;
pair<float, vector<float>> result = { degrees, myvec };
return result;
}
vector<float> find_mode(const vector<vector<float>>& vec_of_rot_axes) {
cout << "Hello! This is find_mode() function" << endl;
int index = 0, counter = 0, max_counted = 0;
vector<float> el;
for (int i = 0; i < vec_of_rot_axes.size(); i++) {
el = vec_of_rot_axes[i];
cout << "Extracted el is: ";
for (auto e : el) {
cout << " " << e << " ";
}
cout << endl;
for (const auto& vec_of_rot_axe : vec_of_rot_axes) {
if (el == vec_of_rot_axe) {
cout << "Entered if (el == vec_of_rot_axe) statement" << endl;
counter += 1;
}
}
if (counter > max_counted) {
// cout << "Found new max element. Index is: " << index << "; i is: " << i << endl;
index = i;
max_counted = counter;
}
}
cout << "Index is: " << index << "; And arr size is: " << vec_of_rot_axes.size() << endl;
return vec_of_rot_axes[index];
}
GstFlowReturn new_preroll(GstAppSink* appsink, gpointer data) {
g_print("Got preroll!\n");
return GST_FLOW_OK;
}
GstFlowReturn new_sample(GstAppSink* appsink, gpointer data) {
static int framecount = 0;
framecount++;
std::cout << "nnew frame " << framecount << std::endl;
GstSample* sample = gst_app_sink_pull_sample(appsink);
GstCaps* caps = gst_sample_get_caps(sample);
GstBuffer* buffer = gst_sample_get_buffer(sample);
const auto& n_memory = gst_buffer_n_memory(buffer);
std::cout << "n_memory = " << n_memory << std::endl;
std::cout << "buffer->pts = " << buffer->pts << std::endl;
std::cout << "buffer->dts = " << buffer->dts << std::endl;
std::cout << "buffer->duration = " << buffer->duration << std::endl;
std::cout << "buffer->offset = " << buffer->offset << std::endl;
std::cout << "buffer->offset_end = " << buffer->offset_end << std::endl;
const GstStructure* info = gst_sample_get_info(sample);
GstMeta* gst_meta;
gpointer state = nullptr;
while ((gst_meta = gst_buffer_iterate_meta(buffer, &state))) {
if (gst_meta->info == gst_video_caption_meta_get_info()) {
auto specific_meta = (GstVideoCaptionMeta*)gst_meta;
if (specific_meta) {
auto x = (const char*)(specific_meta->data);
std::cout << "MetaInfo is recognized to be [GstVideoCaptionMeta]"
<< "caption = " << std::string(x, specific_meta->size)
<< std::endl;
}
}
else if (gst_meta->info == gst_video_time_code_meta_get_info()) {
auto specific_meta = (GstVideoTimeCodeMeta*)gst_meta;
if (specific_meta) {
std::cout << "MetaInfo is recognized to be [GstVideoTimeCodeMeta]"
<< " h = " << specific_meta->tc.hours
<< " m = " << specific_meta->tc.minutes
<< " s = " << specific_meta->tc.seconds
<< " f = " << specific_meta->tc.frames
<< std::endl;
}
}
else if (gst_meta->info == gst_meta_get_info("GstNdiSrcMeta")) {
std::cout << "MetaInfo is recognized to be [GstNdiSrcMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstNdiSinkAudioMeta")) {
std::cout << "MetaInfo is recognized to be [GstNdiSinkAudioMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstVideoMeta")) {
std::cout << "MetaInfo is recognized to be [GstVideoMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstVideoCropMeta")) {
std::cout << "MetaInfo is recognized to be [GstVideoCropMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstFramePositionerMeta")) {
std::cout << "MetaInfo is recognized to be [GstFramePositionerMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstMetaDfbSurface")) {
std::cout << "MetaInfo is recognized to be [GstMetaDfbSurface]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstSubtitleMeta")) {
std::cout << "MetaInfo is recognized to be [GstSubtitleMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstRtmpMeta")) {
std::cout << "MetaInfo is recognized to be [GstRtmpMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstMpegVideoMeta")) {
std::cout << "MetaInfo is recognized to be [GstMpegVideoMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstSctpReceiveMeta")) {
std::cout << "MetaInfo is recognized to be [GstSctpReceiveMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstSctpSendMeta")) {
std::cout << "MetaInfo is recognized to be [GstSctpSendMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstCoreMediaMeta")) {
std::cout << "MetaInfo is recognized to be [GstCoreMediaMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstCoreVideoMeta")) {
std::cout << "MetaInfo is recognized to be [GstCoreVideoMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstAudioDownmixMeta")) {
std::cout << "MetaInfo is recognized to be [GstAudioDownmixMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstAudioClippingMeta")) {
std::cout << "MetaInfo is recognized to be [GstAudioClippingMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstGLSyncMeta")) {
std::cout << "MetaInfo is recognized to be [GstGLSyncMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstRTPSourceMeta")) {
std::cout << "MetaInfo is recognized to be [GstRTPSourceMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstRTPSourceMeta")) {
std::cout << "MetaInfo is recognized to be [GstRTPSourceMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstVideoGLTextureUploadMeta")) {
std::cout << "MetaInfo is recognized to be [GstVideoGLTextureUploadMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstVideoRegionOfInterestMeta")) {
std::cout << "MetaInfo is recognized to be [GstVideoRegionOfInterestMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstVideoAFDMeta")) {
std::cout << "MetaInfo is recognized to be [GstVideoAFDMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstVideoBarMeta")) {
std::cout << "MetaInfo is recognized to be [GstVideoBarMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstVideoMultiviewMeta")) {
std::cout << "MetaInfo is recognized to be [GstVideoMultiviewMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstVideoOverlayCompositionMeta")) {
std::cout << "MetaInfo is recognized to be [GstVideoOverlayCompositionMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstMetaXImage")) {
std::cout << "MetaInfo is recognized to be [GstMetaXImage]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstProtectionMeta")) {
std::cout << "MetaInfo is recognized to be [GstProtectionMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstNetControlMessageMeta")) {
std::cout << "MetaInfo is recognized to be [GstNetControlMessageMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstMetaTest")) {
std::cout << "MetaInfo is recognized to be [GstMetaTest]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstNVMMParentMeta")) {
std::cout << "MetaInfo is recognized to be [GstNVMMParentMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstAudioMeta")) {
std::cout << "MetaInfo is recognized to be [GstAudioMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstAudioLevelMeta")) {
std::cout << "MetaInfo is recognized to be [GstAudioLevelMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstVideoAffineTransformationMeta")) {
std::cout << "MetaInfo is recognized to be [GstVideoAffineTransformationMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("GstVideoCodecAlphaMeta")) {
std::cout << "MetaInfo is recognized to be [GstVideoCodecAlphaMeta]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("XXX")) {
std::cout << "MetaInfo is recognized to be [XXX]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("XXX")) {
std::cout << "MetaInfo is recognized to be [XXX]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("XXX")) {
std::cout << "MetaInfo is recognized to be [XXX]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("XXX")) {
std::cout << "MetaInfo is recognized to be [XXX]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("XXX")) {
std::cout << "MetaInfo is recognized to be [XXX]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("XXX")) {
std::cout << "MetaInfo is recognized to be [XXX]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("XXX")) {
std::cout << "MetaInfo is recognized to be [XXX]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("XXX")) {
std::cout << "MetaInfo is recognized to be [XXX]"
<< std::endl;
}
else if (gst_meta->info == gst_meta_get_info("XXX")) {
std::cout << "MetaInfo is recognized to be [XXX]"
<< std::endl;
}
else {
std::cout << "GstMetaInfo is not recognized."
<< " info = " << gst_meta->info
<< " api = " << gst_meta->info->api
<< std::endl;
}
}
// ---- Read frame and convert to opencv format ---------------
GstMapInfo map;
gst_buffer_map(buffer, &map, GST_MAP_READ);
#ifdef MY_GST_USE_OPENCV
// convert gstreamer data to OpenCV Mat, you could actually
// resolve height / width from caps...
int width = 2560;
int height = 1440;
GstStructure* s = gst_caps_get_structure(caps, 0);
gboolean res = true;
res &= gst_structure_get_int(s, "width", &width);
res &= gst_structure_get_int(s, "height", &height);
cv::Mat frame(cv::Size(width, height), CV_8UC4, (char*)map.data, cv::Mat::AUTO_STEP);
{
std::lock_guard<std::mutex> guard(g_mutex);
frameQueue.push_back(frame.clone());
}
#endif
gst_buffer_unmap(buffer, &map);
// ------------------------------------------------------------
// print dot every 30 frames
if (framecount % 30 == 0) {
g_print(".");
}
// show caps on first frame
if (framecount == 1) {
g_print("%s\n", gst_caps_to_string(caps));
}
gst_sample_unref(sample);
return GST_FLOW_OK;
}
static gboolean my_bus_callback(GstBus* bus, GstMessage* message, gpointer data) {
g_print("Got %s message\n", GST_MESSAGE_TYPE_NAME(message));
switch (GST_MESSAGE_TYPE(message)) {
case GST_MESSAGE_ERROR: {
GError* err;
gchar* debug;
gst_message_parse_error(message, &err, &debug);
g_print("Error: %s\n", err->message);
g_error_free(err);
g_free(debug);
break;
}
case GST_MESSAGE_EOS: {
/* end-of-stream */
break;
} default: {
/* unhandled message */
break;
}
}
/* we want to be notified again the next time there is a message
* on the bus, so returning TRUE (FALSE means we want to stop watching
* for messages on the bus and our callback should not be called again)
*/
return TRUE;
}
static gint repeats = 2;
static gchar* ndi_name = nullptr;
static gint use_gui = 0;
static gboolean beep = FALSE;
static GOptionEntry entries[] =
{
{ "repeats", 'r', 0, G_OPTION_ARG_INT, &repeats, "Среднее число повторений N", "N" },
{ "ndi-name", 'n', 0, G_OPTION_ARG_STRING, &ndi_name, "you can enter the string here (ndi-name)", "M" },
{ "gui", 'g', 0, G_OPTION_ARG_INT, &use_gui, "use gui", nullptr },
{ "beep", 'b', 0, G_OPTION_ARG_NONE, &beep, "Сигнал при выполнениии", NULL },
{ NULL }
};
int main(int argc, char* argv[]) {
//if (argc != 4)
//{
// cerr << endl << "Usage: ./mono_video path_to_vocabulary path_to_settings source_ndi" << endl;
// return 1;
//}
// INTPUT PARAMETERS: PATH_TO_EXE path_to_vocabulary path_to_settings source_ndi
// TODO: DON'T FORGET TO CHANGE THE run_gst_loopthrough_capture.cmd SCRIPT
std::cout << "argc = " << argc << std::endl;
GError* error = nullptr;
GOptionContext* context;
context = g_option_context_new("- test tree model performance");
g_option_context_add_main_entries(context, entries, "bla");
char** argv_gst;
argv_gst = new char* [2];
argv_gst[0] = new char[200];
argv_gst[1] = new char[200];
strcpy(argv_gst[0], argv[0]);
strcpy(argv_gst[1], argv[3]);
// QUESTION 1.
g_option_context_parse(context, &argc - 2, &argv_gst, &error);
g_option_context_parse(context, &argc, &argv, &error);
if (!ndi_name) {
std::cout << "ndi-name is not provided" << std::endl;
ndi_name = (char*)malloc(sizeof(char) * 100);
// ndi_name = "DESKTOP - O5PNOBN(Test Pattern)";
std::cout << "ndi-name (default) = '" << ndi_name << "'" << std::endl;
}
else {
std::cout << "ndi-name = '" << ndi_name << "'" << std::endl;
}
GstStateChangeReturn ret;
int fake_argc = 1;
gst_init(&fake_argc, &argv);
std::stringstream ss;
ss << "ndisrc ndi-name=\"" << ndi_name << "\" ! ndisrcdemux name=demux "
<< "demux.video ! queue ! tee name=my_tee "
<< "my_tee. ! queue ! videoconvert ! autovideosink "
<< "my_tee. ! queue ! videoconvert ! appsink name=my_sink";
std::string my_pipeline = ss.str();
GstElement* pipeline = gst_parse_launch(my_pipeline.c_str(), nullptr);
/* get sink */
GstElement* sink = gst_bin_get_by_name(GST_BIN(pipeline), "my_sink");
gst_app_sink_set_emit_signals((GstAppSink*)sink, true);
gst_app_sink_set_drop((GstAppSink*)sink, true);
gst_app_sink_set_max_buffers((GstAppSink*)sink, 1);
GstAppSinkCallbacks callbacks = { NULL, new_preroll, new_sample };
gst_app_sink_set_callbacks(GST_APP_SINK(sink), &callbacks, NULL, NULL);
GstBus* bus;
guint bus_watch_id;
bus = gst_pipeline_get_bus(GST_PIPELINE(pipeline));
bus_watch_id = gst_bus_add_watch(bus, my_bus_callback, NULL);
gst_object_unref(bus);
/* Start playing */
ret = gst_element_set_state(pipeline, GST_STATE_PLAYING);
if (ret == GST_STATE_CHANGE_FAILURE) {
g_printerr("Unable to set the pipeline to the playing state.\n");
gst_object_unref(pipeline);
return -1;
}
#ifdef MY_GST_USE_OPENCV
auto lambda_1 = [](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);
std::printf("SLAM system initialized\n");
// Main loop
cv::Mat frame;
int cnt = 0;
const double time_step = 1.0;
double ts = 0;
char matrix_name[100];
vector<float> vec_of_deg, values;
vector<vector<float>> vec_of_rot_axis;
// ---- INITIALIZE FOR THE PROCESSING OF AXIS LOSS AND FOR THE AXIS VECTOR INFORMATION ----
float skew1 = 0.0;
float DIFF_TO_CENTER = 0.0;
float curr_deg; // later I'll assign the exact value
vector<float> curr_vec;
vector<float> mode1, mode2;
vector<vector<float>> accum, accum2;
int counter2, j = 0;
std::cout << "J is: " << j;
vector<float> mode_vec, mode_vec2; // 2 вектора, для аккумуляции слева и справа
// zero_flag - индикатор, что текущий элемент пошёл в обратную сторону (около нуля)
// mirror_flag - значения на данный момент должны отражаться
bool zero_flag, mirror_flag = false;
float mirror_point = 0.0;
// --------------------------------- SLAM SYSTEM VARIABLES ---------------------------------
// Let's do two steps outside the loop.
for (int i = 1; i <= 2; i++) {
if (use_gui) {
cv::namedWindow("preview", 1);
}
else {
// cv::namedWindow("no preview", 1);
}
cv::Mat frame;
char* buffer = nullptr;
// EXTRACTING FRAME HERE.
{
std::lock_guard<std::mutex> guard(g_mutex);
if (frameQueue.size() > 0) {
frame = frameQueue.front();
frameQueue.pop_front();
std::cout << "we have a frame to process..." << std::endl;
}
}
cv::Mat Tcw = SLAM.TrackMonocular(frame, ts, vector<ORB_SLAM3::IMU::Point>(), "");
cv::Mat Rot(3, 3, CV_32F, 0.0);
std::cout << Tcw << std::endl;
if (!Tcw.empty()) {
sprintf(matrix_name, "matrix%d", cnt);
extract_rot(Rot, Tcw);
// cout << "Extracted rotation matrix is: " << Rot;
auto deg_vec = extract_deg(Rot);
// QUESTION 2.
curr_deg = -deg_vec.first * 57.29;
// TODO: Invert curr_vec too. (put the minus sign to each element). (You can define the - operator fot the vector).
curr_vec = deg_vec.second;
cout << "Successfully created curr_deg and curr_vec" << endl;
// LET'S DEFINE CONSTANT TO ZERO OUT THE START
if (i == 1) {
DIFF_TO_CENTER = 0.0;
}
vec_of_deg.push_back(curr_deg - DIFF_TO_CENTER);
vec_of_rot_axis.push_back(curr_vec);
values.push_back(curr_deg - DIFF_TO_CENTER);
cout << "Successfully pushed to the vectors " << endl;
//cout << curr_deg - DIFF_TO_CENTER << " " << curr_vec[0] << " " << curr_vec[1] << " " << curr_vec[2] << endl;
// SEND THE RESULT THROUGH OSC
//outfile << curr_deg - DIFF_TO_CENTER << " " << curr_vec[0] << " " << curr_vec[1] << " " << curr_vec[2] << endl;
cout << "Successfully written to the file" << endl;
j++;
}
cnt++;
ts += time_step;
}
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<std::mutex> guard(g_mutex);
if (frameQueue.size() > 0) {
frame = frameQueue.front();
frameQueue.pop_front();
std::cout << "we have a frame to process..." << std::endl;
if (!frame.empty()) {
cv::Mat Tcw = SLAM.TrackMonocular(frame, ts, vector<ORB_SLAM3::IMU::Point>(), "");
cv::Mat Rot(3, 3, CV_32F, 0.0);
std::cout << Tcw << std::endl;
if (!Tcw.empty()) {
sprintf(matrix_name, "matrix%d", cnt);
extract_rot(Rot, Tcw);
// cout << "Extracted rotation matrix is: " << Rot;
// Extract the degree and the vector from the rotation matrix.
auto deg_vec = extract_deg(Rot); // returns a degree and a vector of rotation.
float new_deg = -deg_vec.first * 57.29 - DIFF_TO_CENTER;
vector<float> new_vec = deg_vec.second;
cout << "Successfully created curr_deg and curr_vec" << endl;
vec_of_deg.push_back(new_deg);
vec_of_rot_axis.push_back(new_vec);
j++;
cout << "Pushed to the vectors. Line 207" << endl;
// ---- II PART OF THE PROCESSING ----
// TODO: II PART OF PROCESSING MIRRORED FIRST CHANGE, BUT NOT THE REST.
// Если текущий градус больше epsilon = 5, то zero_flag = false
// Can cause a problem, when accumulating values after turning on the zero_flag.
// TODO: accum2 is full when the zero_flag enables, which is bad. work on that.
if (zero_flag) {
if ((vec_of_deg[j - 1] < -5 || vec_of_deg[j - 1] > 5) && accum2.size() == 5) {
zero_flag = false;
}
}
if (zero_flag) { cout << "Zero flag is: true" << endl; }
else { cout << "Zero flag is: false" << endl; }
// Если нет zero_flag, а в accum2 что-то есть, то опустошим его.
if (!(zero_flag) && !accum2.empty()) { accum2 = {}; }
// Сохраняем последние 5 значений векторов
if (!zero_flag) {
cout << "Line 211 ok..." << endl;
if (accum.size() == 5) {
cout << "Accum size = 5." << endl;
accum.erase(accum.begin());
cout << "Line 215 ok..." << endl;
accum.push_back(vec_of_rot_axis[j - 1]);
cout << "Line 217 ok..." << endl;
}
else {
cout << "Accum size != 5." << endl;
cout << "j is: " << j << " len of vec_of_rot_axis is: " << vec_of_rot_axis.size() << endl;
accum.push_back(vec_of_rot_axis[j - 1]);
cout << "Line 223 ok..." << endl;
}
}
// Найдем элемент, который начал расти, а не убывать около нуля
if (!zero_flag) {
if (vec_of_deg[j - 1] > -5 && vec_of_deg[j - 1] < 5) {
// Если нынешний элемент уже не меньше предыдущего, а предыдущая разность тоже около нуля, при этом абсолютная разность между градусами больше, чем 0.01
if (abs(vec_of_deg[j - 1]) >= abs(vec_of_deg[j - 2]) && (abs(vec_of_deg[j - 2] - vec_of_deg[j - 3]) < 10) && (abs(vec_of_deg[j - 1] - vec_of_deg[j - 2]) > .3)) {
zero_flag = true;
cout << "Line 233 and 232 ok..." << endl;
}
// else {
// zero_flag = false;
// }
}
}
cout << "Accum size is: " << accum.size() << endl;
cout << "Accum2 size is: " << accum2.size() << endl;
if (zero_flag) {
// Если набрали 5 элементов
cout << "Entered in zero_flag if..." << endl;
cout << "Accum2.size() is: " << accum2.size() << endl;
if (accum2.size() == 5 && accum.size() == 5) {
// Имеем массивы векторов. Найдём их моды и сравним.
cout << "Accum size: " << accum.size() << endl;
cout << "Accum2 size: " << accum2.size() << endl;
mode1 = find_mode(accum);
mode2 = find_mode(accum2);
cout << "Line 246 and 245 ok..." << endl;
bool compar_res = mode1 == mode2;
cout << "Line 250 ok..." << endl;
// Если градусы около нуля, а значения векторов поменялись, то отражаем
// Input data leave it as it as, but the output data has to be processed.
if (!(compar_res)) {
// Если мы нашли ту самую точку, то отразим точки, которые мы накопили, и прибавим к ним точку
// отражения, а также изменим точку отражения, и изменим флаг mirror_flag = True
cout << "Нашли ту самую точку!" << endl;
// mirror_point += values[j-6];
// cout << "Mirror point after: " << mirror_point << endl;
cout << "Line 255 ok..." << endl;
if (mirror_flag) {
mirror_flag = false;
}
else {
mirror_flag = true;
}
// for (int i = j-6; i < j-1; i++){
// values[i] = -values[i] + mirror_point;
// }
// cout << "Lines 263 and 264 are ok" << "j is: " << j << endl;
}
accum2 = {};
cout << "Making zero flag false..." << endl;
zero_flag = false;
}
else {
if (accum2.size() < 5) {
accum2.push_back(vec_of_rot_axis[j - 1]);
cout << "Line 274 ok..." << endl;
}
}
}
// Сохраняем значения...
if (mirror_flag) {
; cout << "Mirror flag is on;" << " vec_of_deg size: " << vec_of_deg.size() << "; j is: " << j << endl;
values.push_back(-vec_of_deg[j - 1] + mirror_point);
// cout << "Line 281 ok..." << endl;
}
else {
; cout << "Mirror flag is off" << " vec_of_deg size: " << vec_of_deg.size() << "; j is: " << j << endl;
values.push_back(vec_of_deg[j - 1]);
// cout << "Line 284 ok..." << endl;
}
cout << "Processed value is: " << values[j - 1] << endl; cout << " " << endl;
// --------- I PART OF THE PROCESSING ---------
// values[j-1] += skew1;
// float diff = (values[j-2] - values[j-1]);
// cout << "New deg is: " << new_deg << "Diff is: " << diff << endl;
//
//
// // Если разница больше 10, то скорее всего произошла потеря.
// if (abs(diff) > 10) {
// cout << "Diff is more than 10; Correcting... " << endl;
// values[j-1] += diff;
// skew1 += diff;
// }
// --------- I PART OF THE PROCESSING ---------
// Запись в файл.
//outfile << values[j - 1] << " " << new_vec[0] << " " << new_vec[1] << " " << new_vec[2] << " " << cnt << endl;
// cout << "Successfully written to the file" << endl;
// Выполнить отправку в протокол OSC.
//cv::Vec3d res(1., 1., 1.);
//std::cout << "defined Vector is: " << res[0] << res[1] << res[2] << std::endl;
std::cout << "message received!" << std::endl;
UdpTransmitSocket transmitSocket(IpEndpointName(ADDRESS, PORT));
char buffer[OUTPUT_BUFFER_SIZE];
osc::OutboundPacketStream p(buffer, OUTPUT_BUFFER_SIZE);
std::string str;
str = std::to_string(values[j-1]) + " " + std::to_string(new_vec[0]) + " " + std::to_string(new_vec[1]) + " " + std::to_string(new_vec[2]);
char msg[40];
strcpy(msg, str.c_str());
p << osc::BeginBundleImmediate
<< osc::BeginMessage("/test3") << msg << osc::EndMessage
/* << osc::BeginMessage("/test2")
<< true << 24 << (float)10.8 << "world" << osc::EndMessage*/
<< osc::EndBundle;
//p << osc::BeginBundleImmediate
// << osc::BeginMessage("/test1")
// //res[0] << res[1] << res[2] <<
// << true << "blah" << osc::EndMessage << osc::EndBundle;
////<< osc::BeginMessage("/test2")
////<< true << 24 << (float)10.8 << "world" << osc::EndMessage
transmitSocket.Send(p.Data(), p.Size());
std::cout << "Message sent!" << std::endl;
// ---- II PART OF THE PROCESSING ----
curr_deg = new_deg;
curr_vec = new_vec;
}
cnt++;
ts += time_step;
}
}
else {
std::cout << "Don't have any frames yet ..." << std::endl;
}
}
//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;
}
std::printf("End of video\n");
// Stop all threads
SLAM.Shutdown();
std::printf("Done.\n");
};
std::cout << "Lambda function defined ..." << std::endl;
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];
strcpy(argv_orb[0], argv[0]);
strcpy(argv_orb[1], argv[1]);
strcpy(argv_orb[2], argv[2]);
std::thread t1(lambda_1, argv_orb);
std::cout << "Lambda function works ini the thread t1 ..." << std::endl;
bool is_terminated = false;
while (!is_terminated) {
// g_main_iteration(false);
g_main_context_iteration(NULL, false);
}
t1.join();
#else
bool is_terminated = false;
while (!is_terminated) {
g_main_context_iteration(NULL, false);
}
#endif // MY_GST_USE_OPENCV
gst_element_set_state(GST_ELEMENT(pipeline), GST_STATE_NULL);
gst_object_unref(GST_OBJECT(pipeline));
return 0;
}