cv_networking_pipeline_linux/source.cpp

#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <chrono>
#include <iostream>
#include <csignal>
#include <sstream>
#include <fstream>
#include <vector>
#include <iomanip>
#include <Processing.NDI.Lib.h>

#include "opencv2/opencv.hpp"

using namespace std::chrono;

#ifdef _WIN32
#ifdef _WIN64
#pragma comment(lib, "Processing.NDI.Lib.x64.lib")
#else // _WIN64
#pragma comment(lib, "Processing.NDI.Lib.x86.lib")
#endif // _WIN64
#endif // _WIN32

static bool is_terminated = false;

void signalHandler(int signum) {
    // Ctrl+C  -> SIGINT
    // SystemD -> SIGTERM
    std::cout << "Interrupt signal (" << signum << ") received.";
    is_terminated = true;
};

void LoadImages(const std::string &strPathToSequence, std::vector<std::string> &vstrImageLeft,
                std::vector<std::string> &vstrImageRight, std::vector<double> &vTimestamps)
{
    std::ifstream fTimes;
    std::string strPathTimeFile = strPathToSequence + "/times.txt";
    fTimes.open(strPathTimeFile.c_str());
    while(!fTimes.eof())
    {
        std::string s;
        getline(fTimes,s);
        if(!s.empty())
        {
            std::stringstream ss;
            ss << s;
            double t;
            ss >> t;
            vTimestamps.push_back(t);
        }
    }

    std::string strPrefixLeft = strPathToSequence + "/image_0/";
    std::string strPrefixRight = strPathToSequence + "/image_1/";

    const int nTimes = vTimestamps.size();
    vstrImageLeft.resize(nTimes);
    vstrImageRight.resize(nTimes);

    for(int i=0; i<nTimes; i++)
    {
        std::stringstream ss;
        ss << std::setfill('0') << std::setw(6) << i;
        vstrImageLeft[i] = strPrefixLeft + ss.str() + ".png";
        vstrImageRight[i] = strPrefixRight + ss.str() + ".png";
    }
    std::cout << "Images are loaded!" << std::endl;
}

int main(int argc, char* argv[]) {
    signal(SIGINT, signalHandler);
    signal(SIGTERM, signalHandler);

    // Retrieve paths to images
    std::vector<std::string> vstrImageLeft;
    std::vector<std::string> vstrImageRight;
    std::vector<double> vTimestamps;
    LoadImages(std::string(argv[1]), vstrImageLeft, vstrImageRight, vTimestamps);

    // Not required, but "correct" (see the SDK documentation.
    if (!NDIlib_initialize()) {
        return 0;
    }

    // We create the NDI sender
    NDIlib_send_instance_t pNDI_send = NDIlib_send_create();
    if (!pNDI_send) return 0;

    int64_t total_frames_counter = 0;

    while (!is_terminated) {
        // Get the current time
        const auto start_send = high_resolution_clock::now();

        // Send 200 frames
        for (int idx = 0; idx < (int)vstrImageLeft.size(); idx++) {
            // Fill in the buffer. It is likely that you would do something much smarter than this.
            cv::Mat imLeft = cv::imread(vstrImageLeft[idx], cv::IMREAD_GRAYSCALE);
            std::printf("imLeft is loaded! Width: %d, Height: %d \n", imLeft.cols, imLeft.rows);
            cv::Mat imRight = cv::imread(vstrImageRight[idx], cv::IMREAD_GRAYSCALE);
            cv::cvtColor(imLeft, imLeft, cv::COLOR_GRAY2RGBA);
            cv::cvtColor(imRight, imRight, cv::COLOR_GRAY2RGBA);
            cv::Mat frame(imLeft.rows, imLeft.cols*2, CV_8UC4);
            std::printf("Frame width: %d, height: %d \n", frame.cols, frame.rows);
            cv::Rect leftROI(0, 0, imLeft.cols, imLeft.rows);
            cv::Rect rightROI(imLeft.cols, 0, imLeft.cols, imLeft.rows);
            std::printf("Cropped frame width: %d, height %d \n", frame(leftROI).cols, frame(leftROI).rows);
            std::printf("RightROI width: %d, height %d \n", rightROI.width, rightROI.height);
            imLeft.copyTo(frame(leftROI));
            imRight.copyTo(frame(rightROI));

            std::cout << "Frame dimensions are: " << frame.cols << " " << frame.rows << " Channels: " << frame.channels() << std::endl;
            cv::imshow("test", frame);
            cv::waitKey(0);

            uint8_t* p_data;
            if (frame.isContinuous())
                std::cout << "The frame is continuous. Proceed to copying" << std::endl;
                p_data = frame.data;
            cv::Mat continiousRGBA(frame.size(), CV_8UC4, p_data);
//            cv::cvtColor(frame, continiousRGBA, cv::COLOR_GRAY2RGBA, 4);
            // CV_GRAY2RGBA

            int xres = imLeft.cols*2;
            std::printf("xres is: %d \n", xres);
            int yres = imLeft.rows;
            std::printf("yres is: %d \n", yres);
            double timestamp = vTimestamps[idx];

            std::string metadata_string = "<metadata_string " + std::to_string(total_frames_counter) + " timestamp: " + std::to_string(timestamp) + ">";
            NDIlib_video_frame_v2_t ndi_video_frame(
                    xres, yres, NDIlib_FourCC_type_RGBA,
                    30000, 1001, (float)xres / (float)yres,
                    NDIlib_frame_format_type_progressive,
                    0,
                    (uint8_t*) malloc(xres * yres * 4 * sizeof(uint8_t)),
                    0,
                    metadata_string.c_str()
            );
            // std::cout << "hi there" << std::endl;
            // std::cout << "xres = " << ndi_video_frame.xres << std::endl;
            // std::cout << "yres = " << ndi_video_frame.yres << std::endl;
            // std::cout << "frame_rate_N = " << ndi_video_frame.frame_rate_N << std::endl;
            // std::cout << "frame_rate_D = " << ndi_video_frame.frame_rate_D << std::endl;
            // std::cout << "picture_aspect_ratio = " << ndi_video_frame.picture_aspect_ratio << std::endl;
            // std::cout << "frame_format_type = " << ndi_video_frame.frame_format_type << std::endl;
            // std::cout << "timecode = " << ndi_video_frame.timecode << std::endl;
            // std::cout << "line_stride_in_bytes = " << ndi_video_frame.line_stride_in_bytes << std::endl;
            // std::cout << "p_metadata = " << ndi_video_frame.p_metadata << std::endl;
            // std::cout << "timestamp = " << ndi_video_frame.timestamp << std::endl;

            //memset((void*)ndi_video_frame.p_data, , ndi_video_frame.xres * ndi_video_frame.yres * 4);
            ndi_video_frame.p_data = p_data;
            ndi_video_frame.timestamp = total_frames_counter;
            ndi_video_frame.timecode = total_frames_counter;
            // memset((void*)ndi_video_frame.p_data, (idx & 1) ? 255 : 0, ndi_video_frame.xres*ndi_video_frame.yres * 4);

            // We now submit the frame. Note that this call will be clocked so that we end up submitting at exactly 29.97fps.
            NDIlib_send_send_video_v2(pNDI_send, &ndi_video_frame);
            std::printf("Frame is successfully sent \n");
            total_frames_counter += 1;

//            free(ndi_video_frame.p_data);
            // Free the video frame
            // NDIlib_recv_free_video(pNDI_recv, &video_frame);
            //    free(ndi_video_frame.p_metadata);
        }

        // Just display something helpful
        printf("All frames sent, at %1.2ffps\n", (double)vstrImageLeft.size() / duration_cast<duration<float>>(high_resolution_clock::now() - start_send).count());
    }

    // Destroy the NDI sender
    NDIlib_send_destroy(pNDI_send);

    // Not required, but nice
    NDIlib_destroy();

    // Success
    return 0;
}