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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Geoffrey Biggs
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* \author Geoffrey Biggs
*/
#include <iostream>
#include <string>
#include <tide/ebml_element.h>
#include <tide/file_cluster.h>
#include <tide/segment.h>
#include <tide/simple_block.h>
#include <tide/tide_impl.h>
#include <tide/tracks.h>
#include <tide/track_entry.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/openni_grabber.h>
#include <pcl/PCLPointCloud2.h>
#include <pcl/conversions.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
#include <pcl/common/time.h>
#include "boost.h"
namespace bpt = boost::posix_time;
class Recorder
{
public:
Recorder(std::string const& filename, std::string const& title)
: filename_(filename), title_(title),
stream_(filename, std::ios::in|std::ios::out|std::ios::trunc),
count_(0)
{
}
void Callback(pcl::PointCloud<pcl::PointXYZ>::ConstPtr const& cloud)
{
// When creating a block, the track number must be specified. Currently,
// all blocks belong to track 1 (because this program only records one
// track). A timecode must also be given. It is an offset from the
// cluster's timecode measured in the segment's timecode scale.
bpt::ptime blk_start(bpt::microsec_clock::local_time());
bpt::time_duration blk_offset = blk_start - cltr_start_;
tide::BlockElement::Ptr block(new tide::SimpleBlock(1,
blk_offset.total_microseconds() / 10000));
// Here the frame data itself is added to the block
pcl::PCLPointCloud2 blob;
pcl::toPCLPointCloud2(*cloud, blob);
tide::Block::FramePtr frame_ptr(new tide::Block::Frame(blob.data.begin(),
blob.data.end()));
block->push_back(frame_ptr);
cluster_->push_back(block);
// Benchmarking
if (++count_ == 30)
{
double now = pcl::getTime();
std::cerr << "Average framerate: " <<
static_cast<double>(count_) / (now - last_) << "Hz\n";
count_ = 0;
last_ = now;
}
// Check if the cluster has enough data in it.
// What "enough" is depends on your own needs. Generally, a cluster
// shouldn't be allowed to get too big in data size or too long in time, or
// it has an adverse affect on seeking through the file. We will aim for 1
// second of data per cluster.
bpt::time_duration cluster_len(
bpt::microsec_clock::local_time() - cltr_start_);
if (cluster_len.total_seconds() >= 1)
{
// Finalise the cluster
cluster_->finalise(stream_);
// Create a new cluster
cltr_start_ = bpt::microsec_clock::local_time();
bpt::time_duration cltr_offset = cltr_start_ - seg_start_;
cluster_.reset(new tide::FileCluster(
cltr_offset.total_microseconds() / 10000));
cluster_->write(stream_);
}
}
int Run()
{
// Write the EBML PCLHeader. This specifies that the file is an EBML
// file, and is a Tide document.
tide::EBMLElement ebml_el;
ebml_el.write(stream_);
// Open a new segment in the file. This will write some initial meta-data
// and place some padding at the start of the file for final meta-data to
// be written after tracks, clusters, etc. have been written.
tide::Segment segment;
segment.write(stream_);
// Set up the segment information so it can be used while writing tracks
// and clusters.
// A UID is not required, but is highly recommended.
boost::uuids::random_generator gen;
boost::uuids::uuid uuid = gen();
std::vector<char> uuid_data(uuid.size());
std::copy(uuid.begin(), uuid.end(), uuid_data.begin());
segment.info.uid(uuid_data);
// The filename can be nice to know.
segment.info.filename(filename_);
// The segment's timecode scale is possibly the most important value in the
// segment meta-data data. Without it, timely playback of frames is not
// possible. It has a sensible default (defined in the Tide specification),
// but here we set it to ten milliseconds for demonstrative purposes.
segment.info.timecode_scale(10000000);
// The segment's date should be set. It is the somewhat-awkward value of
// the number of seconds since the start of the millennium. Boost::Date_Time
// to the rescue!
bpt::ptime basis(boost::gregorian::date(2001, 1, 1));
seg_start_ = boost::posix_time::microsec_clock::local_time();
bpt::time_duration td = seg_start_ - basis;
segment.info.date(td.total_microseconds() * 1000);
// Let's give the segment an inspirational title.
segment.info.title(title_);
// It sometimes helps to know what created a Tide file.
segment.info.muxing_app("libtide-0.1");
segment.info.writing_app("pcl_video");
// Set up the tracks meta-data and write it to the file.
tide::Tracks tracks;
// Each track is represented in the Tracks information by a TrackEntry.
// This specifies such things as the track number, the track's UID and the
// codec used.
tide::TrackEntry::Ptr track(new tide::TrackEntry(1, 1, "pointcloud2"));
track->name("3D video");
track->codec_name("pcl::PCLPointCloud2");
// Adding each level 1 element (only the first occurance, in the case of
// clusters) to the index makes opening the file later much faster.
segment.index.insert(std::make_pair(tracks.id(),
segment.to_segment_offset(stream_.tellp())));
// Now we can write the Tracks element.
tracks.insert(track);
tracks.write(stream_);
// The file is now ready for writing the data. The data itself is stored in
// clusters. Each cluster contains a number of blocks, with each block
// containing a single frame of data. Different cluster implementations are
// (will be) available using different optimisations. Here, we use the
// implementation that stores all its blocks in memory before writing them
// all to the file at once. As with the segment, clusters must be opened
// for writing before blocks are added. Once the cluster is complete, it is
// finalised. How many blocks each cluster contains is relatively flexible:
// the only limitation is on the range of block timecodes that can be
// stored. Each timecode is a signed 16-bit integer, and usually blocks
// have timecodes that are positive, limiting the range to 32767. The unit
// of this value is the segment's timecode scale. The default timecode
// scale therefore gives approximately 65 seconds of total range, with 32
// seconds being usable.
// The first cluster will appear at this point in the file, so it is
// recorded in the segment's index for faster file reading.
segment.index.insert(std::make_pair(tide::ids::Cluster,
segment.to_segment_offset(stream_.tellp())));
// Set up a callback to get clouds from a grabber and write them to the
// file.
pcl::Grabber* interface(new pcl::OpenNIGrabber());
boost::function<void (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr&)> f(
boost::bind(&Recorder::Callback, this, _1));
interface->registerCallback(f);
// Start the first cluster
cltr_start_ = bpt::microsec_clock::local_time();
bpt::time_duration cltr_offset = cltr_start_ - seg_start_;
cluster_.reset(new tide::FileCluster(
cltr_offset.total_microseconds() / 10000));
cluster_->write(stream_);
last_ = pcl::getTime();
interface->start();
std::cout << "Recording frames. Press any key to stop.\n";
getchar();
interface->stop();
// Close the last open cluster
if (cluster_)
{
cluster_->finalise(stream_);
}
// Now that the data has been written, the last thing to do is to finalise
// the segment.
segment.finalise(stream_);
// And finally, close the file.
stream_.close();
return 0;
}
private:
std::string filename_;
std::string title_;
std::fstream stream_;
tide::FileCluster::Ptr cluster_;
bpt::ptime seg_start_;
bpt::ptime cltr_start_;
unsigned int count_;
double last_;
};
class Player
{
public:
Player(std::string const& filename)
: filename_(filename), viewer_("PCL Video Player: " + filename)
{
//viewer_.setBackgroundColor(0, 0, 0);
//viewer_.initCameraParameters();
}
int Run()
{
// Open the file and check for the EBML header. This confirms that the file
// is an EBML file, and is a Tide document.
std::ifstream stream(filename_, std::ios::in);
tide::ids::ReadResult id = tide::ids::read(stream);
if (id.first != tide::ids::EBML)
{
std::cerr << "File does not begin with an EBML header.\n";
return 1;
}
tide::EBMLElement ebml_el;
ebml_el.read(stream);
if (ebml_el.doc_type() != tide::TideDocType)
{
std::cerr << "Specified EBML file is not a Tide document.\n";
return 1;
}
if (ebml_el.read_version() > tide::TideEBMLVersion)
{
std::cerr << "This Tide document requires read version " <<
ebml_el.read_version() << ".\n";
return 1;
}
if (ebml_el.doc_read_version() > tide::TideVersionMajor)
{
std::cerr << "This Tide document requires doc read version " <<
ebml_el.read_version() << ".\n";
return 1;
}
std::cerr << "Found EBML header\n";
// Open the file's segment. This will read some meta-data about the segment
// and read (or build, if necessary) an index of the level 1 elements. With
// this index, we will be able to quickly jump to important elements such
// as the Tracks and the first Cluster.
id = tide::ids::read(stream);
if (id.first != tide::ids::Segment)
{
std::cerr << "Segment element not found\n";
return 1;
}
tide::Segment segment;
segment.read(stream);
// The segment's date is stored as the number of nanoseconds since the
// start of the millenium. Boost::Date_Time is invaluable here.
bpt::ptime basis(boost::gregorian::date(2001, 1, 1));
bpt::time_duration sd(bpt::microseconds(segment.info.date() / 1000));
bpt::ptime seg_start(basis + sd);
// The segment is now open and we can start reading its child elements. To
// begin with, we get the tracks element (their may be more than one, if
// the document was created by merging other documents) but generally only
// one will exist).
// We can guarantee that there is at least one in the index because
// otherwise the call to segment.read() would have thrown an error.
std::streampos tracks_pos(segment.index.find(tide::ids::Tracks)->second);
stream.seekg(segment.to_stream_offset(tracks_pos));
// To be sure, we can check it really is a Tracks element, but this is
// usually not necessary.
id = tide::ids::read(stream);
if (id.first != tide::ids::Tracks)
{
std::cerr << "Tracks element not at indicated position.\n";
return 1;
}
// Read the tracks
tide::Tracks tracks;
tracks.read(stream);
// Now we can introspect the tracks available in the file.
if (tracks.empty())
{
std::cerr << "No tracks found.\n";
return 1;
}
// Let's check that the file contains the codec we expect for the first
// track.
if (tracks[1]->codec_id() != "pointcloud2")
{
std::cerr << "Track #1 has wrong codec type " <<
tracks[1]->codec_id() << '\n';
return 1;
}
bpt::ptime pb_start(bpt::microsec_clock::local_time());
// Now we can start reading the clusters. Get an iterator to the clusters
// in the segment.
// In this case, we are using a file-based cluster implementation, which
// reads blocks from the file on demand. This is usually a better
// option tham the memory-based cluster when the size of the stored
// data is large.
for (tide::Segment::FileBlockIterator block(segment.blocks_begin_file(stream));
block != segment.blocks_end_file(stream); ++block)
{
bpt::time_duration blk_offset(bpt::microseconds((
(block.cluster()->timecode() + block->timecode()) *
segment.info.timecode_scale() / 1000)));
bpt::time_duration played_time(bpt::microsec_clock::local_time() -
pb_start);
// If the current playback time is ahead of this block, skip it
if (played_time > blk_offset)
{
std::cerr << "Skipping block at " << blk_offset <<
" because current playback time is " << played_time << '\n';
continue;
}
// Some blocks may actually contain multiple frames in a lace.
// In this case, we are reading blocks that do not use lacing,
// so there is only one frame per block. This is the general
// case; lacing is typically only used when the frame size is
// very small to reduce overhead.
tide::BlockElement::FramePtr frame_data(*block->begin());
// Copy the frame data into a serialised cloud structure
pcl::PCLPointCloud2 blob;
blob.height = 480;
blob.width = 640;
pcl::PCLPointField ptype;
ptype.name = "x";
ptype.offset = 0;
ptype.datatype = 7;
ptype.count = 1;
blob.fields.push_back(ptype);
ptype.name = "y";
ptype.offset = 4;
ptype.datatype = 7;
ptype.count = 1;
blob.fields.push_back(ptype);
ptype.name = "z";
ptype.offset = 8;
ptype.datatype = 7;
ptype.count = 1;
blob.fields.push_back(ptype);
blob.is_bigendian = false;
blob.point_step = 16;
blob.row_step = 10240;
blob.is_dense = false;
blob.data.assign(frame_data->begin(), frame_data->end());
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromPCLPointCloud2(blob, *cloud);
// Sleep until the block's display time. The played_time is
// updated to account for the time spent preparing the data.
played_time = bpt::microsec_clock::local_time() - pb_start;
bpt::time_duration sleep_time(blk_offset - played_time);
std::cerr << "Will sleep " << sleep_time << " until displaying block\n";
boost::this_thread::sleep(sleep_time);
viewer_.showCloud(cloud);
//viewer_.removePointCloud("1");
//viewer_.addPointCloud(cloud, "1");
//viewer_.spinOnce();
//if (viewer_.wasStopped())
//{
//break;
//}
}
return 0;
}
private:
std::string filename_;
//pcl::visualization::PCLVisualizer viewer_;
pcl::visualization::CloudViewer viewer_;
};
int main(int argc, char** argv)
{
std::string filename;
if (pcl::console::parse_argument(argc, argv, "-f", filename) < 0)
{
std::cerr << "Usage: " << argv[0] << " -f filename [-p] [-t title]\n";
return 1;
}
std::string title("PCL 3D video");
pcl::console::parse_argument(argc, argv, "-t", title);
if (pcl::console::find_switch(argc, argv, "-p"))
{
Player player(filename);
return player.Run();
}
else
{
Recorder recorder(filename, title);
return recorder.Run();
}
}
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