v1
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Ivan
183
source.cpp
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183
source.cpp
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#include <cstdio>
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#include <cstdlib>
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#include <cstring>
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#include <chrono>
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#include <iostream>
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#include <csignal>
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#include <sstream>
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#include <fstream>
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#include <vector>
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#include <iomanip>
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#include <Processing.NDI.Lib.h>
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#include "opencv2/opencv.hpp"
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using namespace std::chrono;
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#ifdef _WIN32
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#ifdef _WIN64
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#pragma comment(lib, "Processing.NDI.Lib.x64.lib")
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#else // _WIN64
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#pragma comment(lib, "Processing.NDI.Lib.x86.lib")
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#endif // _WIN64
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#endif // _WIN32
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static bool is_terminated = false;
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void signalHandler(int signum) {
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// Ctrl+C -> SIGINT
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// SystemD -> SIGTERM
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std::cout << "Interrupt signal (" << signum << ") received.";
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is_terminated = true;
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};
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void LoadImages(const std::string &strPathToSequence, std::vector<std::string> &vstrImageLeft,
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std::vector<std::string> &vstrImageRight, std::vector<double> &vTimestamps)
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{
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std::ifstream fTimes;
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std::string strPathTimeFile = strPathToSequence + "/times.txt";
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fTimes.open(strPathTimeFile.c_str());
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while(!fTimes.eof())
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{
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std::string s;
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getline(fTimes,s);
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if(!s.empty())
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{
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std::stringstream ss;
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ss << s;
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double t;
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ss >> t;
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vTimestamps.push_back(t);
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}
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}
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std::string strPrefixLeft = strPathToSequence + "/image_0/";
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std::string strPrefixRight = strPathToSequence + "/image_1/";
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const int nTimes = vTimestamps.size();
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vstrImageLeft.resize(nTimes);
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vstrImageRight.resize(nTimes);
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for(int i=0; i<nTimes; i++)
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{
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std::stringstream ss;
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ss << std::setfill('0') << std::setw(6) << i;
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vstrImageLeft[i] = strPrefixLeft + ss.str() + ".png";
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vstrImageRight[i] = strPrefixRight + ss.str() + ".png";
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}
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std::cout << "Images are loaded!" << std::endl;
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}
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int main(int argc, char* argv[]) {
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signal(SIGINT, signalHandler);
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signal(SIGTERM, signalHandler);
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// Retrieve paths to images
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std::vector<std::string> vstrImageLeft;
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std::vector<std::string> vstrImageRight;
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std::vector<double> vTimestamps;
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LoadImages(std::string(argv[1]), vstrImageLeft, vstrImageRight, vTimestamps);
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// Not required, but "correct" (see the SDK documentation.
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if (!NDIlib_initialize()) {
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return 0;
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}
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// We create the NDI sender
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NDIlib_send_instance_t pNDI_send = NDIlib_send_create();
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if (!pNDI_send) return 0;
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int64_t total_frames_counter = 0;
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while (!is_terminated) {
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// Get the current time
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const auto start_send = high_resolution_clock::now();
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// Send 200 frames
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for (int idx = 0; idx < (int)vstrImageLeft.size(); idx++) {
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// Fill in the buffer. It is likely that you would do something much smarter than this.
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cv::Mat imLeft = cv::imread(vstrImageLeft[idx], cv::IMREAD_GRAYSCALE);
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std::printf("imLeft is loaded! Width: %d, Height: %d \n", imLeft.cols, imLeft.rows);
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cv::Mat imRight = cv::imread(vstrImageRight[idx], cv::IMREAD_GRAYSCALE);
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cv::cvtColor(imLeft, imLeft, cv::COLOR_GRAY2RGBA);
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cv::cvtColor(imRight, imRight, cv::COLOR_GRAY2RGBA);
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cv::Mat frame(imLeft.rows, imLeft.cols*2, CV_8UC4);
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std::printf("Frame width: %d, height: %d \n", frame.cols, frame.rows);
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cv::Rect leftROI(0, 0, imLeft.cols, imLeft.rows);
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cv::Rect rightROI(imLeft.cols, 0, imLeft.cols, imLeft.rows);
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std::printf("Cropped frame width: %d, height %d \n", frame(leftROI).cols, frame(leftROI).rows);
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std::printf("RightROI width: %d, height %d \n", rightROI.width, rightROI.height);
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imLeft.copyTo(frame(leftROI));
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imRight.copyTo(frame(rightROI));
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std::cout << "Frame dimensions are: " << frame.cols << " " << frame.rows << " Channels: " << frame.channels() << std::endl;
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cv::imshow("test", frame);
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cv::waitKey(0);
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uint8_t* p_data;
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if (frame.isContinuous())
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std::cout << "The frame is continuous. Proceed to copying" << std::endl;
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p_data = frame.data;
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cv::Mat continiousRGBA(frame.size(), CV_8UC4, p_data);
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// cv::cvtColor(frame, continiousRGBA, cv::COLOR_GRAY2RGBA, 4);
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// CV_GRAY2RGBA
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int xres = imLeft.cols*2;
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std::printf("xres is: %d \n", xres);
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int yres = imLeft.rows;
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std::printf("yres is: %d \n", yres);
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double timestamp = vTimestamps[idx];
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std::string metadata_string = "<metadata_string " + std::to_string(total_frames_counter) + " timestamp: " + std::to_string(timestamp) + ">";
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NDIlib_video_frame_v2_t ndi_video_frame(
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xres, yres, NDIlib_FourCC_type_RGBA,
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30000, 1001, (float)xres / (float)yres,
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NDIlib_frame_format_type_progressive,
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0,
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(uint8_t*) malloc(xres * yres * 4 * sizeof(uint8_t)),
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0,
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metadata_string.c_str()
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);
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// std::cout << "hi there" << std::endl;
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// std::cout << "xres = " << ndi_video_frame.xres << std::endl;
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// std::cout << "yres = " << ndi_video_frame.yres << std::endl;
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// std::cout << "frame_rate_N = " << ndi_video_frame.frame_rate_N << std::endl;
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// std::cout << "frame_rate_D = " << ndi_video_frame.frame_rate_D << std::endl;
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// std::cout << "picture_aspect_ratio = " << ndi_video_frame.picture_aspect_ratio << std::endl;
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// std::cout << "frame_format_type = " << ndi_video_frame.frame_format_type << std::endl;
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// std::cout << "timecode = " << ndi_video_frame.timecode << std::endl;
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// std::cout << "line_stride_in_bytes = " << ndi_video_frame.line_stride_in_bytes << std::endl;
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// std::cout << "p_metadata = " << ndi_video_frame.p_metadata << std::endl;
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// std::cout << "timestamp = " << ndi_video_frame.timestamp << std::endl;
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//memset((void*)ndi_video_frame.p_data, , ndi_video_frame.xres * ndi_video_frame.yres * 4);
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ndi_video_frame.p_data = p_data;
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ndi_video_frame.timestamp = total_frames_counter;
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ndi_video_frame.timecode = total_frames_counter;
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// memset((void*)ndi_video_frame.p_data, (idx & 1) ? 255 : 0, ndi_video_frame.xres*ndi_video_frame.yres * 4);
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// We now submit the frame. Note that this call will be clocked so that we end up submitting at exactly 29.97fps.
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NDIlib_send_send_video_v2(pNDI_send, &ndi_video_frame);
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std::printf("Frame is successfully sent \n");
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total_frames_counter += 1;
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// free(ndi_video_frame.p_data);
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// Free the video frame
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// NDIlib_recv_free_video(pNDI_recv, &video_frame);
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// free(ndi_video_frame.p_metadata);
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}
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// Just display something helpful
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printf("All frames sent, at %1.2ffps\n", (double)vstrImageLeft.size() / duration_cast<duration<float>>(high_resolution_clock::now() - start_send).count());
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}
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// Destroy the NDI sender
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NDIlib_send_destroy(pNDI_send);
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// Not required, but nice
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NDIlib_destroy();
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// Success
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return 0;
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}
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