934 lines
40 KiB
C++
934 lines
40 KiB
C++
#include <gst/gst.h>
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#include <gst/app/gstappsink.h>
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//#include <gst/
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#include <sstream>
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//#include <format>
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#include <gst/video/gstvideometa.h>
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#include <cstdlib>
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#include <deque>
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#include <iostream>
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#include <thread>
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#include <mutex>
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#include <fstream>
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#include <chrono>
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#include "osc/OscOutboundPacketStream.h"
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#include "ip/UdpSocket.h"
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#include "System.h"
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using namespace std::chrono;
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// CHANGE HERE TO MAKE PORT
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#define ADDRESS "127.0.0.1"
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#define PORT 7000
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#define OUTPUT_BUFFER_SIZE 1024
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#define MY_GST_USE_OPENCV
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#ifdef MY_GST_USE_OPENCV
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#include "opencv2/opencv.hpp"
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// TODO: use synchronized deque
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std::mutex g_mutex;
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std::deque<cv::Mat> frameQueue;
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#endif // MY_GST_USE_OPENCV
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cv::Mat& extract_rot(cv::Mat& rot, const cv::Mat& trans) {
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// cv::Mat rot(3, 3, CV_32F, 0.0);
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for (int row = 0; row < 3; ++row) {
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for (int col = 0; col < 3; ++col) {
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rot.at<float>(row, col) = trans.at<float>(row, col);
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}
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}
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return rot;
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}
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pair<float, vector<float>> extract_deg(const cv::Mat& rotation_matrix) {
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// TODO: extract_deg is producing negative values. Fix it.
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float degrees;
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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) };
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float trace;
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trace = rotation_matrix.at<float>(0, 0) + rotation_matrix.at<float>(1, 1) + rotation_matrix.at<float>(2, 2);
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// 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;
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// cout << "x is: " << (trace - 1) / 2 << endl;
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degrees = acos((trace - 1) / 2);
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// cout << "Calc degrees (from function) is: " << degrees << endl;
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pair<float, vector<float>> result = { degrees, myvec };
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return result;
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}
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vector<float> find_mode(const vector<vector<float>>& vec_of_rot_axes) {
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cout << "Hello! This is find_mode() function" << endl;
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int index = 0, counter = 0, max_counted = 0;
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vector<float> el;
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for (int i = 0; i < vec_of_rot_axes.size(); i++) {
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el = vec_of_rot_axes[i];
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cout << "Extracted el is: ";
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for (auto e : el) {
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cout << " " << e << " ";
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}
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cout << endl;
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for (const auto& vec_of_rot_axe : vec_of_rot_axes) {
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if (el == vec_of_rot_axe) {
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cout << "Entered if (el == vec_of_rot_axe) statement" << endl;
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counter += 1;
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}
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}
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if (counter > max_counted) {
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// cout << "Found new max element. Index is: " << index << "; i is: " << i << endl;
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index = i;
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max_counted = counter;
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}
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}
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cout << "Index is: " << index << "; And arr size is: " << vec_of_rot_axes.size() << endl;
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return vec_of_rot_axes[index];
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}
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GstFlowReturn new_preroll(GstAppSink *appsink, gpointer data) {
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g_print ("Got preroll!\n");
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return GST_FLOW_OK;
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}
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GstFlowReturn new_sample(GstAppSink *appsink, gpointer data) {
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static int framecount = 0;
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framecount++;
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static long long ms = 0;
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auto new_ms = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
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std::cout << "nnew frame " << (new_ms - ms) << " " << framecount << std::endl;
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ms = new_ms;
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GstSample *sample = gst_app_sink_pull_sample(appsink);
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GstCaps *caps = gst_sample_get_caps(sample);
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GstBuffer *buffer = gst_sample_get_buffer(sample);
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const auto& n_memory = gst_buffer_n_memory(buffer);
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std::cout << "n_memory = " << n_memory << std::endl;
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std::cout << "buffer->pts = " << buffer->pts << std::endl;
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std::cout << "buffer->dts = " << buffer->dts << std::endl;
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std::cout << "buffer->duration = " << buffer->duration << std::endl;
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std::cout << "buffer->offset = " << buffer->offset << std::endl;
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std::cout << "buffer->offset_end = " << buffer->offset_end << std::endl;
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const GstStructure *info = gst_sample_get_info(sample);
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GstMeta *gst_meta;
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gpointer state = nullptr;
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while ((gst_meta = gst_buffer_iterate_meta(buffer, &state))) {
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if (gst_meta->info == gst_video_caption_meta_get_info()) {
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auto specific_meta = (GstVideoCaptionMeta *) gst_meta;
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if (specific_meta) {
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auto x = (const char *) (specific_meta->data);
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std::cout << "MetaInfo is recognized to be [GstVideoCaptionMeta]"
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<< "caption = " << std::string(x, specific_meta->size)
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<< std::endl;
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}
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} else if (gst_meta->info == gst_video_time_code_meta_get_info()) {
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auto specific_meta = (GstVideoTimeCodeMeta *) gst_meta;
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if (specific_meta) {
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std::cout << "MetaInfo is recognized to be [GstVideoTimeCodeMeta]"
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<< " h = " << specific_meta->tc.hours
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<< " m = " << specific_meta->tc.minutes
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<< " s = " << specific_meta->tc.seconds
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<< " f = " << specific_meta->tc.frames
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<< std::endl;
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}
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} else if (gst_meta->info == gst_meta_get_info("GstNdiSrcMeta")) {
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std::cout << "MetaInfo is recognized to be [GstNdiSrcMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstNdiSinkAudioMeta")) {
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std::cout << "MetaInfo is recognized to be [GstNdiSinkAudioMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstVideoMeta")) {
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std::cout << "MetaInfo is recognized to be [GstVideoMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstVideoCropMeta")) {
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std::cout << "MetaInfo is recognized to be [GstVideoCropMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstFramePositionerMeta")) {
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std::cout << "MetaInfo is recognized to be [GstFramePositionerMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstMetaDfbSurface")) {
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std::cout << "MetaInfo is recognized to be [GstMetaDfbSurface]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstSubtitleMeta")) {
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std::cout << "MetaInfo is recognized to be [GstSubtitleMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstRtmpMeta")) {
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std::cout << "MetaInfo is recognized to be [GstRtmpMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstMpegVideoMeta")) {
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std::cout << "MetaInfo is recognized to be [GstMpegVideoMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstSctpReceiveMeta")) {
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std::cout << "MetaInfo is recognized to be [GstSctpReceiveMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstSctpSendMeta")) {
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std::cout << "MetaInfo is recognized to be [GstSctpSendMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstCoreMediaMeta")) {
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std::cout << "MetaInfo is recognized to be [GstCoreMediaMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstCoreVideoMeta")) {
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std::cout << "MetaInfo is recognized to be [GstCoreVideoMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstAudioDownmixMeta")) {
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std::cout << "MetaInfo is recognized to be [GstAudioDownmixMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstAudioClippingMeta")) {
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std::cout << "MetaInfo is recognized to be [GstAudioClippingMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstGLSyncMeta")) {
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std::cout << "MetaInfo is recognized to be [GstGLSyncMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstRTPSourceMeta")) {
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std::cout << "MetaInfo is recognized to be [GstRTPSourceMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstRTPSourceMeta")) {
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std::cout << "MetaInfo is recognized to be [GstRTPSourceMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstVideoGLTextureUploadMeta")) {
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std::cout << "MetaInfo is recognized to be [GstVideoGLTextureUploadMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstVideoRegionOfInterestMeta")) {
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std::cout << "MetaInfo is recognized to be [GstVideoRegionOfInterestMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstVideoAFDMeta")) {
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std::cout << "MetaInfo is recognized to be [GstVideoAFDMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstVideoBarMeta")) {
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std::cout << "MetaInfo is recognized to be [GstVideoBarMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstVideoMultiviewMeta")) {
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std::cout << "MetaInfo is recognized to be [GstVideoMultiviewMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstVideoOverlayCompositionMeta")) {
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std::cout << "MetaInfo is recognized to be [GstVideoOverlayCompositionMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstMetaXImage")) {
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std::cout << "MetaInfo is recognized to be [GstMetaXImage]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstProtectionMeta")) {
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std::cout << "MetaInfo is recognized to be [GstProtectionMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstNetControlMessageMeta")) {
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std::cout << "MetaInfo is recognized to be [GstNetControlMessageMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstMetaTest")) {
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std::cout << "MetaInfo is recognized to be [GstMetaTest]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstNVMMParentMeta")) {
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std::cout << "MetaInfo is recognized to be [GstNVMMParentMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstAudioMeta")) {
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std::cout << "MetaInfo is recognized to be [GstAudioMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstAudioLevelMeta")) {
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std::cout << "MetaInfo is recognized to be [GstAudioLevelMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstVideoAffineTransformationMeta")) {
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std::cout << "MetaInfo is recognized to be [GstVideoAffineTransformationMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("GstVideoCodecAlphaMeta")) {
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std::cout << "MetaInfo is recognized to be [GstVideoCodecAlphaMeta]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("XXX")) {
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std::cout << "MetaInfo is recognized to be [XXX]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("XXX")) {
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std::cout << "MetaInfo is recognized to be [XXX]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("XXX")) {
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std::cout << "MetaInfo is recognized to be [XXX]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("XXX")) {
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std::cout << "MetaInfo is recognized to be [XXX]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("XXX")) {
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std::cout << "MetaInfo is recognized to be [XXX]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("XXX")) {
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std::cout << "MetaInfo is recognized to be [XXX]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("XXX")) {
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std::cout << "MetaInfo is recognized to be [XXX]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("XXX")) {
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std::cout << "MetaInfo is recognized to be [XXX]"
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<< std::endl;
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} else if (gst_meta->info == gst_meta_get_info("XXX")) {
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std::cout << "MetaInfo is recognized to be [XXX]"
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<< std::endl;
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} else {
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std::cout << "GstMetaInfo is not recognized."
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<< " info = " << gst_meta->info
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<< " api = " << gst_meta->info->api
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<< std::endl;
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}
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}
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// ---- Read frame and convert to opencv format ---------------
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// return GST_FLOW_OK;
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GstMapInfo map;
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gst_buffer_map (buffer, &map, GST_MAP_READ);
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#ifdef MY_GST_USE_OPENCV
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// convert gstreamer data to OpenCV Mat, you could actually
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// resolve height / width from caps...
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int width = 2560;
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int height = 1440;
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int depth = 4;
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int bpp = -1;
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GstStructure *s = gst_caps_get_structure(caps, 0);
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gboolean res = true;
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res &= gst_structure_get_int (s, "width", &width);
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res &= gst_structure_get_int (s, "height", &height);
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// res &= gst_structure_get_int (s, "depth", &depth);
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// res &= gst_structure_get_int (s, "bpp", &bpp);
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if (gst_structure_get_field_type (s, "format") == G_TYPE_STRING) {
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const char *string;
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string = gst_structure_get_string (s, "format");
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// std::cout << "flksjlskfjsjdlkf" << string << std::endl;
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// fourcc = GST_STR_FOURCC (string);
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// } else if (gst_structure_get_field_type (s, "format") == GST_TYPE_FOURCC) {
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// gst_structure_get_fourcc (s, "format", &fourcc);
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} else {
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// fourcc = 0;
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}
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assert (depth == 4);
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cv::Mat frame(cv::Size(width, height), CV_8UC4, (char*)map.data, cv::Mat::AUTO_STEP);
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// int frameSize = map.size;
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std::cout << "size from caps = (" << width << "," << height << "," << depth << "," << bpp << ")" << "res =" << res
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<< " total size = " << map.size
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<< std::endl;
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// if (res) {
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// std::fstream file("example.bin", std::ios::out | std::ios::binary | std::ios::app);
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// file.write((char*)map.data, map.size);
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// file.close();
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// }
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// throw 1;
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{
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std::lock_guard<std::mutex> guard(g_mutex);
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frameQueue.push_back(frame.clone());
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}
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#endif
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gst_buffer_unmap(buffer, &map);
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// ------------------------------------------------------------
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// print dot every 30 frames
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if (framecount%30 == 0) {
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g_print (".");
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}
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// show caps on first frame
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if (framecount == 1) {
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g_print ("%s\n", gst_caps_to_string(caps));
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}
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gst_sample_unref (sample);
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return GST_FLOW_OK;
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}
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static gboolean my_bus_callback (GstBus *bus, GstMessage *message, gpointer data) {
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g_print ("Got %s message\n", GST_MESSAGE_TYPE_NAME (message));
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switch (GST_MESSAGE_TYPE (message)) {
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case GST_MESSAGE_ERROR: {
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GError *err;
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gchar *debug;
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gst_message_parse_error (message, &err, &debug);
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g_print ("Error: %s\n", err->message);
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g_error_free (err);
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g_free (debug);
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break;
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}
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case GST_MESSAGE_EOS: {
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/* end-of-stream */
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break;
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} default: {
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/* unhandled message */
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break;
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}
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}
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/* we want to be notified again the next time there is a message
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* on the bus, so returning TRUE (FALSE means we want to stop watching
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* for messages on the bus and our callback should not be called again)
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*/
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return TRUE;
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}
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static gboolean overrun_callback (GstElement * queue, gpointer udata) {
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std::cout << "hi from overrun" << std::endl;
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return TRUE;
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}
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static gchar* ndi_name = nullptr;
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static gint use_opencv_preview = 0;
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static gboolean use_gst_preview = FALSE;
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static GOptionEntry entries[] =
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{
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{ "ndi-name", 0, 0, G_OPTION_ARG_STRING, &ndi_name, "you can enter the string here (ndi-name)", "M" },
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{ "opencv-preview", 0, 0, G_OPTION_ARG_INT, &use_opencv_preview, "use opencv preview", NULL },
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{ "gst-preview", 0, 0, G_OPTION_ARG_INT, &use_gst_preview, "use gstreamer preview", NULL },
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{ NULL }
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};
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||
int main (int argc, char *argv[]) {
|
||
std::cout << "argc = " << argc << std::endl;
|
||
|
||
//for (int i = 0; i < argc; i++) {
|
||
// std::cout << argv[i] << std::endl;
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//}
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GError *error = nullptr;
|
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GOptionContext *context;
|
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context = g_option_context_new("- test tree model performance");
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g_option_context_add_main_entries(context, entries, "bla");
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char** argv_gst;
|
||
argv_gst = new char* [4];
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||
argv_gst[0] = new char[200];
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||
argv_gst[1] = new char[200];
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||
argv_gst[2] = new char[200];
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||
argv_gst[3] = new char[200];
|
||
|
||
std::strcpy(argv_gst[0], argv[0]);
|
||
std::strcpy(argv_gst[1], argv[1]);
|
||
std::strcpy(argv_gst[2], argv[2]);
|
||
std::strcpy(argv_gst[3], argv[3]);
|
||
|
||
for (int i = 0; i < argc-3; i++) {
|
||
std::cout << argv_gst[i] << std::endl;
|
||
}
|
||
|
||
int argc_gst = argc - 3;
|
||
|
||
// QUESTION 1.
|
||
g_option_context_parse(context, &argc_gst, &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);
|
||
/*
|
||
s_pipeline = f'ndisrc ndi-name="{ndi_name}" ! ndisrcdemux name=demux ' \
|
||
f'demux.video ! queue ! tee name=my_tee ' \
|
||
f'my_tee. ! queue ! videoconvert ! autovideosink ' \
|
||
f'my_tee. ! queue ! videoconvert ! appsink name=my_sink'
|
||
*/
|
||
auto sink_caps = "video/x-raw, format=(string)BGRA";
|
||
std::stringstream ss;
|
||
ss << "ndisrc ndi-name=\"" << ndi_name << "\" ! ndisrcdemux name=demux "
|
||
<< "demux.video ! queue ! tee name=my_tee ";
|
||
if (use_gst_preview) {
|
||
ss << "my_tee. ! queue name=q_show ! videoconvert ! autovideosink ";
|
||
}
|
||
ss << "my_tee. ! queue name=q_appsink ! videoconvert name=convert_slow ! appsink name=my_sink caps=\"" << sink_caps << "\"";
|
||
// ss << "my_tee. ! queue name=q_appsink ! glupload ! glcolorconvert ! \"video/x-raw(memory:GLMemory),format=BGR\" ! appsink name=my_sink ";
|
||
std::string my_pipeline = ss.str();
|
||
|
||
std::cout << "We are about to launch the pipeline = [" << my_pipeline.c_str() << "]" << std::endl;
|
||
GstElement *pipeline = gst_parse_launch(my_pipeline.c_str(), nullptr);
|
||
|
||
std::cout << "Launching pipeline success" << std::endl;
|
||
|
||
// g_object_set (my_src, "ndi-name", "ADMIN (lafvi 29.97fps)", NULL);
|
||
/*
|
||
[libndi_newtek @ 0x556ab959f400] Found 4 NDI sources:
|
||
[libndi_newtek @ 0x556ab959f400] 'DESKTOP-O5PNOBN (CameraVegasAR)' '185.41.112.227:5962'
|
||
[libndi_newtek @ 0x556ab959f400] 'DESKTOP-O5PNOBN (NVIDIA Quadro RTX 5000 1)' '185.41.112.227:5961'
|
||
[libndi_newtek @ 0x556ab959f400] 'DESKTOP-O5PNOBN (NVIDIA Quadro RTX 5000 2)' '185.41.112.227:5963'
|
||
[libndi_newtek @ 0x556ab959f400] 'DESKTOP-O5PNOBN (Test Pattern)' '185.41.112.227:5964'
|
||
*/
|
||
// g_object_set (my_src, "ndi-name", ndi_name, NULL);
|
||
|
||
/* 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);
|
||
|
||
std::cout << "Launching sink success" << std::endl;
|
||
|
||
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);
|
||
|
||
std::cout << "Launching bus success" << std::endl;
|
||
|
||
{
|
||
GstElement *e = gst_bin_get_by_name(GST_BIN (pipeline), "q_appsink");
|
||
g_signal_connect (e, "overrun", G_CALLBACK(overrun_callback), NULL);
|
||
}
|
||
{
|
||
GstElement *e = gst_bin_get_by_name(GST_BIN (pipeline), "convert_slow");
|
||
g_object_set(e, "n-threads", 1, nullptr);
|
||
}
|
||
|
||
/* 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;
|
||
}
|
||
|
||
std::cout << "Start playing success" << std::endl;
|
||
|
||
#ifdef MY_GST_USE_OPENCV
|
||
|
||
bool pangolin_window;
|
||
std::cout << argv[6] << std::endl;
|
||
string pangolin_choice(argv[6]);
|
||
if (pangolin_choice == "--orb_slam_window=1") {
|
||
pangolin_window = true;
|
||
}
|
||
else {
|
||
pangolin_window = false;
|
||
}
|
||
|
||
std::cout << "cout success" << std::endl;
|
||
std::cout << pangolin_window << std::endl;
|
||
|
||
|
||
auto lambda_1 = [] (char** argv, bool pangolin_preview) {
|
||
// --------------------------------- 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, pangolin_preview);
|
||
|
||
std::printf("SLAM system initialized\n");
|
||
|
||
// Main loop
|
||
cv::Mat frame;
|
||
|
||
// This is the queue, which will accumulate the frames.
|
||
std::vector<cv::Mat> queue;
|
||
|
||
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;
|
||
int number_of_detected_frames = 0;
|
||
|
||
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;
|
||
|
||
|
||
|
||
//// FOR TESTING
|
||
//while (true) {
|
||
// 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;
|
||
//}
|
||
//// FOR TESTING
|
||
|
||
// --------------------------------- 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) {
|
||
|
||
cv::Mat frame;
|
||
|
||
char* buffer = nullptr;
|
||
|
||
{
|
||
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;
|
||
|
||
// UDP Variables
|
||
std::string str;
|
||
char msg[40];
|
||
UdpTransmitSocket transmitSocket(IpEndpointName(ADDRESS, PORT));
|
||
|
||
char buffer[OUTPUT_BUFFER_SIZE];
|
||
osc::OutboundPacketStream p(buffer, OUTPUT_BUFFER_SIZE);
|
||
|
||
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]) + " " + std::to_string(cnt);
|
||
strcpy(msg, str.c_str());
|
||
|
||
std::cout << "Message filled" << std::endl;
|
||
|
||
p << osc::BeginBundleImmediate
|
||
<< osc::BeginMessage("/test3") << msg << osc::EndMessage
|
||
/* << osc::BeginMessage("/test2")
|
||
<< true << 24 << (float)10.8 << "world" << osc::EndMessage*/
|
||
<< osc::EndBundle;
|
||
|
||
std::cout << "Bundle filled" << std::endl;
|
||
|
||
transmitSocket.Send(p.Data(), p.Size());
|
||
std::cout << "Message sent!" << std::endl;
|
||
|
||
memset(msg, 0, 40);
|
||
|
||
//std::cout << "Memory freed" << std::endl;
|
||
|
||
// ---- II PART OF THE PROCESSING ----
|
||
|
||
curr_deg = new_deg;
|
||
curr_vec = new_vec;
|
||
|
||
number_of_detected_frames += 1;
|
||
}
|
||
else {
|
||
// UDP Variables
|
||
std::string str;
|
||
char msg[40];
|
||
UdpTransmitSocket transmitSocket(IpEndpointName(ADDRESS, PORT));
|
||
|
||
char buffer[OUTPUT_BUFFER_SIZE];
|
||
osc::OutboundPacketStream p(buffer, OUTPUT_BUFFER_SIZE);
|
||
|
||
str = "0 0 0 0" + std::to_string(cnt);
|
||
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;
|
||
|
||
transmitSocket.Send(p.Data(), p.Size());
|
||
std::cout << "Message sent!" << std::endl;
|
||
|
||
memset(msg, 0, 40);
|
||
}
|
||
cnt++;
|
||
ts += time_step;
|
||
|
||
}
|
||
}
|
||
else {
|
||
//std::cout << "Don't have any frames yet ..." << std::endl;
|
||
//std::cout << "";
|
||
}
|
||
}
|
||
|
||
|
||
delete[] buffer;
|
||
}
|
||
|
||
std::printf("End of video\n");
|
||
// Stop all threads
|
||
SLAM.Shutdown();
|
||
|
||
std::printf("Done.\n");
|
||
|
||
std::cout << "Number of detected frames: " << number_of_detected_frames << std::endl;
|
||
|
||
};
|
||
|
||
char** argv_orb;
|
||
argv_orb = new char* [3];
|
||
argv_orb[0] = new char[300];
|
||
argv_orb[1] = new char[300];
|
||
argv_orb[2] = new char[300];
|
||
|
||
std::strcpy(argv_orb[0], argv[0]);
|
||
std::strcpy(argv_orb[1], argv[4]);
|
||
std::strcpy(argv_orb[2], argv[5]);
|
||
|
||
std::thread t1(lambda_1, argv_orb, pangolin_window);
|
||
|
||
|
||
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;
|
||
}
|