Add remote display to depthstream_test_suite

[Issue type] update

Change-Id: I06add78361bcb62f1e4930a5414bc2acd4784d32
Signed-off-by: Tae-Young Chung <ty83.chung@samsung.com>

diff --git a/test/testsuites/mv3d/depthstream_test_suite.cpp b/test/testsuites/mv3d/depthstream_test_suite.cpp
index 0a29ef6..0c47769 100644 (file)
--- a/test/testsuites/mv3d/depthstream_test_suite.cpp
+++ b/test/testsuites/mv3d/depthstream_test_suite.cpp
@@ -41,6 +41,7 @@
 #include <gst/app/gstappsrc.h>
 
 #ifdef BUILD_VISUALIZER
+#include "mv_util_visualizer_2d.h"
 #include "mv_util_visualizer_3d.h"
 #endif
 
@@ -52,6 +53,15 @@ using namespace open3d;
 #endif
 
 #define VISION_SOURCE_DEVICE_ID 3
+#define __max(a, b) (((a) > (b)) ? (a) : (b))
+#define __min(a, b) (((a) < (b)) ? (a) : (b))
+
+#define TRUNCATE_MIN(a,b,c) ((a < b) ? c : a)
+#define TRUNCATE_MAX(a,b,c) ((a > b) ? c : a)
+#define TRANSLATE_VAL(val) (TRUNCATE_MAX(TRUNCATE_MIN(val, 0, -0.05), 1, 1.05)/1.15 + 0.1)
+#define COLORMAP_JET_R(val) __max(0, __min(255, (int) (round(255 * (1.5 - 4 * fabs(val - .75))))))
+#define COLORMAP_JET_G(val) __max(0, __min(255, (int) (round(255 * (1.5 - 4 * fabs(val - .5))))))
+#define COLORMAP_JET_B(val) __max(0, __min(255, (int) (round(255 * (1.5 - 4 * fabs(val - .25))))))
 
 class StopWatch
 {
@@ -80,6 +90,7 @@ typedef struct _appdata
        std::string rgbName;
        std::string datasetName;
        std::string dispResultFile;
+
        float minDisp;
        float maxDisp;
        int fmt;
@@ -89,12 +100,21 @@ typedef struct _appdata
        unsigned char *buffer;
        mv_source_h mv_source;
        mv_3d_h mv3d_handle;
+
+       struct {
+               std::string url;
+               mv_source_h source;
+               unsigned char *buffer;
+       } remoteData;
+
 } appdata;
 
 static appdata app;
 
 // MediaVision
 mv_engine_config_h engine_config;
+// Vision source handle
+vision_source_h vision_source_handle;
 
 static GMainLoop *loop;
 
@@ -106,8 +126,9 @@ static int minDisp;
 static int maxDisp;
 static int display_xpos;
 static int display_ypos;
+static bool isRemote;
 
-void int_handler(int sig)
+static void int_handler(int sig)
 {
        char c;
 
@@ -127,7 +148,30 @@ void int_handler(int sig)
        getchar(); // Get new line character
 }
 
-void _depth_stereo_cb(mv_source_h source, unsigned short *depth, unsigned int width,
+static void _depth_stereo_remote_cb(mv_source_h source, unsigned short *depth, unsigned int width,
+                                         unsigned int height, void *user_data)
+{
+       auto mv3d = static_cast<appdata *>(user_data);
+
+       for (int y = 0; y < height; y++) {
+               unsigned short* src = depth + y * width;
+               unsigned char*  dst = mv3d->remoteData.buffer + y * (width * 4);
+               for (int x = 0; x < width; x++) {
+                       float value = TRANSLATE_VAL(((440.92750f * 21.87095f / static_cast<float>(src[x])) - 8.0f) / (88.f/*96-8*/));
+                       dst[x*4] = COLORMAP_JET_R(value);
+                       dst[x*4 + 1] = COLORMAP_JET_G(value);
+                       dst[x*4 + 2] = COLORMAP_JET_B(value);
+                       dst[x*4 + 3] = 255;
+               }
+       }
+       mv_source_fill_by_buffer(mv3d->remoteData.source, mv3d->remoteData.buffer, width * height * 4, width, height, MEDIA_VISION_COLORSPACE_RGBA);
+#if BUILD_VISUALIZER
+       mv_util_visualizer_2d(mv3d->remoteData.source, mv3d->remoteData.url.c_str());
+#endif
+       mv_source_clear(mv3d->remoteData.source);
+}
+
+static void _depth_stereo_cb(mv_source_h source, unsigned short *depth, unsigned int width,
                                          unsigned int height, void *user_data)
 {
        auto mv3d = static_cast<appdata *>(user_data);
@@ -162,7 +206,11 @@ static int _vision_source_cb(vision_source_buffer_s *buffer, void *user_data)
        mv_source_fill_by_buffer(app->mv_source, app->buffer, app->imgWidth * app->imgHeight,
                                                        app->imgWidth, app->imgHeight, MEDIA_VISION_COLORSPACE_Y800);
 
-       mv_3d_run_async(app->mv3d_handle, app->mv_source, nullptr, nullptr);
+       if (isAsync)
+               mv_3d_run_async(app->mv3d_handle, app->mv_source, nullptr, nullptr);
+       else
+               mv_3d_run(app->mv3d_handle, app->mv_source, nullptr, nullptr);
+
        mv_source_clear(app->mv_source);
 
        return 0;
@@ -176,9 +224,11 @@ int main(int argc, char *argv[])
        camHeight = 400;
        isLive = true;
        isAsync = true;
+       isRemote = false;
        std::string stereoConfigFile;
        std::string dispResultFile;
-       // mv_depthstream_test_suite 1 8 96 0 0 640 400 /usr/share/dfs-qcmv/stereoCalibDA.yaml /tmp/test.png
+       std::string remoteUrl;
+       // mv_depthstream_test_suite 1 8 96 0 0 640 400 /usr/share/dfs-qcmv/stereoCalibDA.yaml /tmp/test.png 1 192.168.0.4:50051
        if (argc > 1) {
                isAsync = (atoi(argv[1])!=0);
                minDisp = atoi(argv[2]);
@@ -189,6 +239,8 @@ int main(int argc, char *argv[])
                camHeight = atoi(argv[7]);
                stereoConfigFile = argv[8];
                dispResultFile = argv[9];
+               isRemote = (atoi(argv[10])!=0);
+               if (isRemote) remoteUrl = argv[11];
        }
 #ifdef MV_3D_POINTCLOUD_IS_AVAILABLE
        utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
@@ -197,101 +249,114 @@ int main(int argc, char *argv[])
        int ret = MEDIA_VISION_ERROR_NONE;
        printf("enter main\n");
 
+       vision_source_format_s format {
+               .pixel_format = VISION_SOURCE_PIXEL_FORMAT_NV12,
+               .resolution = { camWidth << 1, camHeight },
+               .fps = 10,
+               .quality = 0,
+               .bitrate = 0
+       };
+
        // mediavision
        // engine_config
        ret = mv_create_engine_config(&engine_config);
        if (ret != MEDIA_VISION_ERROR_NONE) {
-               return -1;
+               goto _err;
        }
 
        ret = mv_engine_config_set_int_attribute(engine_config, MV_3D_DEPTH_WIDTH,
                                                                                         camWidth);
        if (ret != MEDIA_VISION_ERROR_NONE) {
-               return -1;
+               goto _err;
        }
 
        ret = mv_engine_config_set_int_attribute(engine_config, MV_3D_DEPTH_HEIGHT,
                                                                                         camHeight);
        if (ret != MEDIA_VISION_ERROR_NONE) {
-               return -1;
+               goto _err;
        }
 
        ret = mv_engine_config_set_int_attribute(engine_config,
                                                                                         MV_3D_DEPTH_MIN_DISPARITY, minDisp);
        if (ret != MEDIA_VISION_ERROR_NONE) {
-               return -1;
+               goto _err;
        }
 
        ret = mv_engine_config_set_int_attribute(engine_config,
                                                                                         MV_3D_DEPTH_MAX_DISPARITY, maxDisp);
        if (ret != MEDIA_VISION_ERROR_NONE) {
-               return -1;
+               goto _err;
        }
 
        ret = mv_engine_config_set_string_attribute(
                        engine_config, MV_3D_DEPTH_STEREO_CONFIG_FILE_PATH,
                        stereoConfigFile.c_str());
        if (ret != MEDIA_VISION_ERROR_NONE) {
-               return -1;
+               goto _err;
        }
        app.dispResultFile = dispResultFile;
+       app.remoteData.url = remoteUrl;
 
        // mv3d handle
        ret = mv_3d_create(&app.mv3d_handle);
        if (ret != MEDIA_VISION_ERROR_NONE) {
-               return -1;
+               goto _err;
        }
 
        ret = mv_3d_configure(app.mv3d_handle, engine_config);
        if (ret != MEDIA_VISION_ERROR_NONE) {
-               return -1;
+               goto _err;
        }
 
-       ret = mv_3d_set_depth_cb(app.mv3d_handle, _depth_stereo_cb, &app);
+       if (isRemote)
+               ret = mv_3d_set_depth_cb(app.mv3d_handle, _depth_stereo_remote_cb, &app);
+       else
+               ret = mv_3d_set_depth_cb(app.mv3d_handle, _depth_stereo_cb, &app);
        if (ret != MEDIA_VISION_ERROR_NONE) {
-               return -1;
+               goto _err;
        }
 
        ret = mv_3d_prepare(app.mv3d_handle);
        if (ret != MEDIA_VISION_ERROR_NONE) {
-               return -1;
+               goto _err;
        }
 
        // source
        ret = mv_create_source(&app.mv_source);
        if (ret != MEDIA_VISION_ERROR_NONE) {
-               return -1;
+               goto _err;
        }
 
-       vision_source_format_s format {
-               .pixel_format = VISION_SOURCE_PIXEL_FORMAT_NV12,
-               .resolution = { camWidth << 1, camHeight },
-               .fps = 10,
-               .quality = 0,
-               .bitrate = 0
-       };
+       ret = mv_create_source(&app.remoteData.source);
+       if (ret != MEDIA_VISION_ERROR_NONE) {
+               goto _err;
+       }
 
        app.imgWidth = camWidth << 1;
        app.imgHeight = camHeight;
-       app.buffer = new unsigned char [app.imgWidth * app.imgHeight];
        app.stopWatch.resetTime();
+       try {
+               app.buffer = new unsigned char [app.imgWidth * app.imgHeight];
+               app.remoteData.buffer = new unsigned char [app.imgWidth * app.imgHeight * 4];
+       } catch (const std::exception &e) {
+               goto _err;
+       }
 
        // vision-source
-       vision_source_h vision_source_handle = nullptr;
        ret = vision_source_init(&vision_source_handle);
        if (ret != VISION_SOURCE_ERROR_NONE) {
-               return -1;
+               goto _err;
        }
 
        ret = vision_source_open_device(vision_source_handle, VISION_SOURCE_DEVICE_ID);
        if (ret != VISION_SOURCE_ERROR_NONE) {
-               return -1;
+               goto _err;
        }
 
        loop = g_main_loop_new(NULL,false);
        ret = vision_source_set_stream_format(vision_source_handle, &format);
        if (ret != VISION_SOURCE_ERROR_NONE) {
-               return -1;
+               goto _err;
        }
 
        vision_source_start_stream(vision_source_handle, _vision_source_cb, &app);
@@ -299,15 +364,34 @@ int main(int argc, char *argv[])
        g_main_loop_run(loop);
        printf("stop\n");
 
-       delete [] app.buffer;
-
        vision_source_stop_stream(vision_source_handle);
-       vision_source_close_device(vision_source_handle);
-       vision_source_exit(vision_source_handle);
 
-       mv_destroy_source(app.mv_source);
-       mv_3d_destroy(app.mv3d_handle);
-       mv_destroy_engine_config(engine_config);
+_err:
+       if (loop)
+               g_main_loop_unref(loop);
+
+       if (vision_source_handle) {
+               vision_source_close_device(vision_source_handle);
+               vision_source_exit(vision_source_handle);
+       }
+
+       if (app.buffer)
+               delete [] app.buffer;
+
+       if (app.mv_source)
+               mv_destroy_source(app.mv_source);
+
+       if (app.mv3d_handle)
+               mv_3d_destroy(app.mv3d_handle);
+
+       if (engine_config)
+               mv_destroy_engine_config(engine_config);
+
+       if (app.remoteData.source)
+               mv_destroy_source(app.remoteData.source);
+
+       if (app.remoteData.buffer)
+               delete [] app.remoteData.buffer;
 
        return 0;
 }