Frivas 809 recoder rgbd

src/tools/recorder2/CMakeLists.txt

@@ -12,7 +12,7 @@ SET(SOURCE_FILES
 		pools/PoolsManager
 		buffer/RecorderInterface
         pools/PoolPaths
-		)
+		pools/PoolWriteRGBD.cpp pools/PoolWriteRGBD.h pools/RecorderRGBD.cpp pools/RecorderRGBD.h buffer/ImageRingNode.cpp buffer/ImageRingNode.h buffer/RGBDRingNode.cpp buffer/RGBDRingNode.h recorder/Common.cpp recorder/Common.h)
 
 add_definitions(-DGLADE_DIR="${gladedir}")
 
@@ -53,7 +53,8 @@ TARGET_LINK_LIBRARIES(recorder2
     JderobotInterfaces
     jderobotutil
 	ns
-    ${resourcelocator_LIBRARIES}
+	${ZLIB_LIBRARIES}
+	${resourcelocator_LIBRARIES}
 	${GLOG_LIBRARIES}
 )
 

src/tools/recorder2/buffer/ImageRingNode.cpp

@@ -0,0 +1,41 @@
+//
+// Created by frivas on 21/05/17.
+
+#include <boost/date_time/posix_time/posix_time_types.hpp>
+#include <opencv2/imgcodecs.hpp>
+#include "ImageRingNode.h"
+#include <logger/Logger.h>
+
+namespace RingBufferNS {
+    void ImageRingNode::write(const std::string&  logPath, const std::string &nameLog, std::vector<ImageRingNode> data2save) {
+        boost::posix_time::ptime init = boost::posix_time::microsec_clock::local_time();
+        std::stringstream root_path;
+        root_path << "data-" << nameLog << "/" <<  logPath << "/";
+        std::string jdeFile = root_path.str() + "cameraData2.jde";
+        std::ofstream myfile;
+        myfile.open (jdeFile);
+
+
+
+
+        for (auto it = data2save.begin(); it < data2save.end(); it++) {
+            std::stringstream path;
+            path << root_path.str() << it->relativeTime << ".png";
+            std::cout << "saving: " << path.str() << std::endl;
+            cv::imwrite(path.str(), it->frame, it->mCompression);
+            myfile << it->relativeTime << "/n";
+
+            std::cout << it->relativeTime << " to: " << jdeFile << std::endl;
+        }
+        myfile.close();
+        boost::posix_time::ptime end = boost::posix_time::microsec_clock::local_time();
+
+        boost::posix_time::time_duration total = end - init;
+        LOG(INFO) << "Total milliseconds spent: " << total.total_milliseconds() << " - " << "Total Size: "
+                  << data2save.size() << std::endl;
+
+        for (auto it = data2save.begin(); it < data2save.end(); it++)
+            it->frame.release();
+    }
+
+}

src/tools/recorder2/buffer/ImageRingNode.h

@@ -0,0 +1,21 @@
+//
+// Created by frivas on 21/05/17.
+//
+
+#ifndef JDEROBOT_IMAGERINGNODE_H
+#define JDEROBOT_IMAGERINGNODE_H
+
+#include <opencv2/core/mat.hpp>
+
+namespace RingBufferNS{
+    struct ImageRingNode {
+        static void write(const std::string&  logPath, const std::string&  nameLog, std::vector<RingBufferNS::ImageRingNode> data2save);
+
+        long long int relativeTime;
+        cv::Mat frame;
+        int cameraId;
+        std::vector<int> mCompression;
+    };
+}
+
+#endif //JDEROBOT_IMAGERINGNODE_H

src/tools/recorder2/buffer/RGBDRingNode.cpp

@@ -0,0 +1,47 @@
+//
+// Created by frivas on 21/05/17.
+//
+
+#include "RGBDRingNode.h"
+#include <boost/date_time/posix_time/posix_time_types.hpp>
+#include <opencv2/imgcodecs.hpp>
+#include <logger/Logger.h>
+#include <boost/algorithm/string/replace.hpp>
+
+
+namespace RingBufferNS {
+
+    void RGBDRingNode::write(const std::string&  logPath,const std::string &nameLog, std::vector<RingBufferNS::RGBDRingNode> data2save) {
+        boost::posix_time::ptime init = boost::posix_time::microsec_clock::local_time();
+        std::string root_path;
+        root_path = "data-" + nameLog + "/" +  logPath + "/";
+
+        boost::replace_all(root_path, "./", "");
+        boost::replace_all(root_path, "//", "/");
+
+//        std::string jdeFile = root_path.str() + "cameraData2.jde";
+//        std::ofstream myfile;
+//        myfile.open (jdeFile);
+
+        for (auto it = data2save.begin(); it < data2save.end(); it++) {
+            std::stringstream pathRGB;
+            pathRGB << root_path << it->relativeTime << "rgb.png";
+            cv::imwrite(pathRGB.str(), it->rgb, it->mCompression);
+            std::stringstream pathDEPTH;
+            pathDEPTH << root_path << it->relativeTime << "depth.png";
+            cv::imwrite(pathDEPTH.str(), it->depth, it->mCompression);
+        }
+
+
+        boost::posix_time::ptime end = boost::posix_time::microsec_clock::local_time();
+
+        boost::posix_time::time_duration total = end - init;
+        LOG(INFO) << "Total milliseconds spent: " << total.total_milliseconds() << " - " << "Total Size: "
+                  << data2save.size() << std::endl;
+
+        for (auto it = data2save.begin(); it < data2save.end(); it++) {
+            it->depth.release();
+            it->rgb.release();
+        }
+    }
+}

src/tools/recorder2/buffer/RGBDRingNode.h

@@ -0,0 +1,24 @@
+//
+// Created by frivas on 21/05/17.
+//
+
+#ifndef JDEROBOT_RGBDRINGNODE_H
+#define JDEROBOT_RGBDRINGNODE_H
+
+#include <opencv2/core/mat.hpp>
+
+namespace RingBufferNS{
+    struct RGBDRingNode {
+        static void write(const std::string&  logPath, const std::string&  nameLog, std::vector<RingBufferNS::RGBDRingNode> data2save);
+
+        long long int relativeTime;
+        cv::Mat depth;
+        cv::Mat rgb;
+
+        int cameraId;
+        std::vector<int> mCompression;
+    };
+}
+
+
+#endif //JDEROBOT_RGBDRINGNODE_H

src/tools/recorder2/buffer/RecorderInterface.cpp

@@ -2,34 +2,49 @@
 // Created by frivas on 3/04/17.
 //
 
+#include <pools/PoolWriteRGBD.h>
+#include <pools/PoolWriteImages.h>
 #include "RecorderInterface.h"
 
 
 
 namespace recorder {
 
-    RecorderInterface::RecorderInterface(std::vector<RecorderPoolPtr> &poolImages):
-            poolImages(poolImages)
+    RecorderInterface::RecorderInterface(PoolsManagerPtr& manager):
+            manager(manager)
     {
-
     }
 
     bool RecorderInterface::saveLog(const ::std::string &name, ::Ice::Int seconds, const ::Ice::Current &ic)
     {
         bool ret = true;
+
+        auto poolImages=manager->getPoolsByType(IMAGES);
+        auto poolRGBD=manager->getPoolsByType(RGBD);
+
         for (size_t i=0; i< poolImages.size(); i++)
         {
+
+
             poolWriteImagesPtr pool = boost::dynamic_pointer_cast<poolWriteImages> (poolImages[i]);
             bool log = pool->startCustomLog(name, seconds);
             ret = ret && log;
         }
 
+        for (size_t i=0; i< poolRGBD.size(); i++)
+        {
+            PoolWriteRGBDPtr pool = boost::dynamic_pointer_cast<PoolWriteRGBD> (poolRGBD[i]);
+            bool log = pool->startCustomLog(name, seconds);
+            ret = ret && log;
+        }
+
         return ret;
     }
 
     bool RecorderInterface::saveVideo(const ::std::string &path, const ::std::string &name, ::Ice::Int seconds,
                                       const ::Ice::Current &ic) {
         bool ret = true;
+        auto poolImages=manager->getPoolsByType(IMAGES);
         for (size_t i = 0; i < poolImages.size(); i++) {
             RecorderPoolPtr test;
             poolWriteImagesPtr pool = boost::dynamic_pointer_cast<poolWriteImages> (poolImages[i]);

src/tools/recorder2/buffer/RecorderInterface.h

@@ -7,20 +7,22 @@
 
 
 #include <recorder.h>
-#include <pools/PoolWriteImages.h>
+#include <pools/PoolsManager.h>
 
 namespace recorder {
     class RecorderInterface : virtual public jderobot::recorder {
     public:
-        RecorderInterface(std::vector<RecorderPoolPtr> &poolImages);
+        RecorderInterface(PoolsManagerPtr& manager);
 
         virtual bool saveLog(const ::std::string &name, ::Ice::Int seconds, const ::Ice::Current &ic);
 
         virtual bool
         saveVideo(const ::std::string &path, const ::std::string &name, ::Ice::Int seconds, const ::Ice::Current &ic);
 
     private:
-        std::vector<RecorderPoolPtr> &poolImages;
+        PoolsManagerPtr manager;
+
+
     };
 
 }

src/tools/recorder2/buffer/RingBuffer.cpp

@@ -23,105 +23,4 @@
 namespace recorder
 {
 
-    RingBuffer::RingBuffer(long int maxTime)
-    {
-        mMaxBufferTime = maxTime;
-    }
-
-    RingBuffer::~RingBuffer()
-    {
-
-        for (std::vector<RingNode>::iterator it = mBuffer.begin(); it < mBuffer.end(); it++ )
-        {
-            it->frame.release();
-        }
-
-        mBuffer.clear();
-    }
-
-    bool RingBuffer::addNode(RingNode node)
-    {
-
-        mBuffer.push_back(node);
-        return checkBuffer();
-    }
-
-    static void *write_thread(void* context){
-
-        ((RingBuffer *)context)->write_th();
-
-        pthread_exit(NULL);
-        return NULL;
-    }
-
-    void RingBuffer::write_th()
-    {
-        boost::posix_time::ptime init = boost::posix_time::microsec_clock::local_time();
-        for (std::vector<RingNode>::iterator it = mWriteBuffer.begin(); it < mWriteBuffer.end(); it++ )
-        {
-            std::stringstream path;
-            path << "data-" << mNameLog << "/images/camera" << it->cameraId << "/" << it->relativeTime << ".png";
-            cv::imwrite(path.str(), it->frame, mCompression);
-        }
-        boost::posix_time::ptime end = boost::posix_time::microsec_clock::local_time();
-
-        boost::posix_time::time_duration total = end - init;
-        std::cout << "Total milliseconds spent: " << total.total_milliseconds() << " - " << "Total Size: " << mBuffer.size() << std::endl;
-
-        for (std::vector<RingNode>::iterator it = mWriteBuffer.begin(); it < mWriteBuffer.end(); it++ )
-            it->frame.release();
-
-
-        mWriteBuffer.clear();
-
-    }
-
-    void RingBuffer::write(std::string nameLog, std::vector<int> compression)
-    {
-        mCompression = compression;
-        mNameLog = nameLog;
-
-        mWriteBuffer.resize(mBuffer.size());
-        std::copy( mBuffer.begin(), mBuffer.end(), mWriteBuffer.begin() );
-
-        //std::cout << &(mBuffer[0].frame) << std::endl;
-        //std::cout << &(mWriteBuffer[0].frame) << std::endl;
-
-        pthread_attr_init(&mAttr);
-        pthread_attr_setdetachstate(&mAttr, PTHREAD_CREATE_JOINABLE);
-        pthread_create(&mThread, &mAttr, write_thread, this);
-
-
-    }
-
-    bool RingBuffer::checkBuffer()
-    {
-
-
-        for (std::vector<RingNode>::iterator it = mBuffer.begin(); it < mBuffer.end(); it++ )
-        {
-            std::vector<RingNode>::iterator newer = mBuffer.end()-1;
-            //jderobot::Logger::getInstance()->info("Current: " + boost::lexical_cast<std::string>(it->relativeTime) +
-            //		"  -  Newer: " + boost::lexical_cast<std::string>(newer->relativeTime));
-
-
-            if ( ( newer->relativeTime - it->relativeTime) > mMaxBufferTime )
-            {
-                it->frame.release();
-                mBuffer.erase(it);
-                return true;
-            }
-            else
-            {
-                //jderobot::Logger::getInstance()->info("Older: " + boost::lexical_cast<std::string>(mBuffer.begin()->relativeTime) +
-                //			"  -  Newer: " + boost::lexical_cast<std::string>((mBuffer.end()-1)->relativeTime));
-
-                return false;
-            }
-        }
-
-        return true;
-
-    }
-
 }