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DataRecording.cpp
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DataRecording.cpp
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#include <ctime>
#include <cstdlib>
#include <cstdio>
#include <string>
#include <vector>
#include <memory>
#include <algorithm>
#include <Eigen/Dense>
#include <opencv2/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <boost/program_options.hpp>
#include <ceres/ceres.h>
#include <nanoflann.hpp>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
// OpenARK Libraries
#include "Version.h"
#ifdef PMDSDK_ENABLED
#include "PMDCamera.h"
#endif
#ifdef RSSDK_ENABLED
#include "SR300Camera.h"
#endif
#ifdef RSSDK2_ENABLED
#include "RS2Camera.h"
#endif
#ifdef AZURE_KINECT_ENABLED
#include "AzureKinectCamera.h"
#endif
#include "opencv2/imgcodecs.hpp"
#include "Core.h"
#include "Visualizer.h"
#include "StreamingAverager.h"
#include "HumanDetector.h"
using namespace ark;
int main(int argc, char ** argv) {
namespace po = boost::program_options;
std::string outPath;
bool skipRecord, jointInference;
bool forceKinect = false, forceRS2 = false;
po::options_description desc("Option arguments");
po::options_description descPositional("OpenARK Data Recording Tool");
po::options_description descCombined("");
desc.add_options()
("help", "produce help message")
("skip,s", po::bool_switch(&skipRecord), "skip recording")
("infer,i", po::bool_switch(&jointInference), "if set, infers joints using CNN and store joint files")
#if defined(AZURE_KINECT_ENABLED)
("k4a", po::bool_switch(&forceKinect), "if set, prefers Kinect Azure (k4a) depth camera")
#endif
#if defined(RSSDK2_ENABLED)
("rs2", po::bool_switch(&forceRS2), "if set, prefers librealsense2 depth cameras")
#endif
;
descPositional.add_options()
("output_path", po::value<std::string>(&outPath)->required(), "Output Path")
;
descCombined.add(descPositional);
descCombined.add(desc);
po::variables_map vm;
po::positional_options_description posopt;
posopt.add("output_path", 1);
try {
po::store(po::command_line_parser(argc, argv).options(descCombined)
.positional(posopt).run(),
vm);
} catch (std::exception& e) {
std::cerr << "Error: " << e.what() << "\n";
std::cerr << descPositional << "\n" << desc << "\n";
return 1;
}
if ( vm.count("help") )
{
std::cout << descPositional << "\n" << desc << "\n";
return 0;
}
try {
po::notify(vm);
} catch (std::exception& e) {
std::cerr << "Error: " << e.what() << "\n";
std::cerr << descPositional << "\n" << desc << "\n";
return 1;
}
printf("CONTROLS:\nQ or ESC to stop recording and begin writing dataset to disk,\nSPACE to start/pause"
"(warning: if pausing in the middle, may mess up timestamps)\n\n");
// seed the rng
srand(time(NULL));
using boost::filesystem::path;
const path directory_path(outPath);
path depth_path = directory_path / "depth_exr/";
path rgb_path = directory_path / "rgb/";
path timestamp_path = directory_path / "timestamp.txt";
path intrin_path = directory_path / "intrin.txt";
if (!boost::filesystem::exists(depth_path)) {
boost::filesystem::create_directories(depth_path);
} if (!boost::filesystem::exists(rgb_path)) {
boost::filesystem::create_directories(rgb_path);
}
cv::Vec4d intrin;
if (!skipRecord) {
// initialize the camera
DepthCamera::Ptr camera;
#ifdef AZURE_KINECT_ENABLED
if (!forceRS2) {
camera = std::make_shared<AzureKinectCamera>();
}
#endif
#ifdef RSSDK2_ENABLED
if (!forceKinect) {
camera = std::make_shared<RS2Camera>(true);
}
#endif
#ifdef RSSDK_ENABLED
ASSERT(strcmp(OPENARK_CAMERA_TYPE, "sr300") == 0, "Unsupported RealSense camera type.");
camera = std::make_shared<SR300Camera>();
#endif
#ifdef PMDSDK_ENABLED
camera = std::make_shared<PMDCamera>();
#endif
std::cerr << "Starting data recording, saving to: " << directory_path.string() << "\n";
#ifndef AZURE_KINECT_ENABLED
auto capture_start_time = std::chrono::high_resolution_clock::now();
#endif
// turn on the camera
camera->beginCapture();
// Read in camera input and save it to the buffer
std::vector<cv::Mat> xyzMaps;
std::vector<cv::Mat> rgbMaps;
std::vector<uint64_t> timestamps;
// Pausing feature
bool pause = true;
std::cerr << "Note: paused, press space to begin recording.\n";
int currFrame = 0; // current frame number (since launch/last pause)
while (true)
{
++currFrame;
// get latest image from the camera
cv::Mat xyzMap = camera->getXYZMap();
cv::Mat rgbMap = camera->getRGBMap();
if (xyzMap.empty() || rgbMap.empty()) {
std::cerr << "WARNING: Empty image ignored in data recorder loop\n";
}
else {
if (pause) {
const cv::Scalar RECT_COLOR = cv::Scalar(0, 160, 255);
const std::string NO_SIGNAL_STR = "PAUSED";
const cv::Point STR_POS(rgbMap.cols / 2 - 50, rgbMap.rows / 2 + 7);
const int RECT_WID = 120, RECT_HI = 40;
cv::Rect rect(rgbMap.cols / 2 - RECT_WID / 2,
rgbMap.rows / 2 - RECT_HI / 2,
RECT_WID, RECT_HI);
// show 'paused' and do not record
cv::rectangle(rgbMap, rect, RECT_COLOR, -1);
cv::putText(rgbMap, NO_SIGNAL_STR, STR_POS, 0, 0.8, cv::Scalar(255, 255, 255), 1, cv::LINE_AA);
cv::rectangle(xyzMap, rect, RECT_COLOR / 255.0, -1);
cv::putText(xyzMap, NO_SIGNAL_STR, STR_POS, 0, 0.8, cv::Scalar(1.0f, 1.0f, 1.0f), 1, cv::LINE_AA);
}
else {
// store images
xyzMaps.push_back(xyzMap);
rgbMaps.push_back(rgbMap);
#ifdef AZURE_KINECT_ENABLED
// timestamps from camera only supported on Azure Kinect for now
timestamps.push_back(
static_cast<AzureKinectCamera*>(camera.get())->getTimestamp());
#else
// use system time for other cameras
auto curr_time = std::chrono::high_resolution_clock::now();
timestamps.push_back(
std::chrono::duration_cast<std::chrono::nanoseconds>(curr_time - capture_start_time).count());
#endif
}
// visualize
cv::Mat visual, rgbMapFloat;
rgbMap.convertTo(rgbMapFloat, CV_32FC3, 1. / 255.);
cv::hconcat(xyzMap, rgbMapFloat, visual);
const int MAX_ROWS = 380;
if (visual.rows > MAX_ROWS) {
cv::resize(visual, visual, cv::Size(MAX_ROWS * visual.cols / visual.rows, MAX_ROWS));
}
cv::imshow(camera->getModelName() + " XYZ/RGB Maps", visual);
}
int c = cv::waitKey(1);
// make case insensitive (convert to upper)
if (c >= 'a' && c <= 'z') c &= 0xdf;
// 27 is ESC
if (c == 'Q' || c == 27) {
break;
}
else if (c == ' ') {
pause = !pause;
}
}
camera->endCapture();
cv::destroyWindow(camera->getModelName() + " XYZ/RGB Maps");
// Write the captured frames to disk
ARK_ASSERT(xyzMaps.size() == rgbMaps.size(), "Depth map and RGB map are not in sync!");
std::ofstream timestamp_ofs(timestamp_path.string());
int img_index = 0;
for (int i = 0; i < xyzMaps.size(); ++i) {
cout << "Writing " << i << " / " << xyzMaps.size() << endl;
std::stringstream ss_img_id;
ss_img_id << std::setw(4) << std::setfill('0') << std::to_string(img_index);
const std::string depth_img_path = (depth_path / ("depth_" + ss_img_id.str() + ".exr")).string();
const std::string rgb_img_path = (rgb_path / ("rgb_" + ss_img_id.str() + ".jpg")).string();
cv::Mat depth; cv::extractChannel(xyzMaps[i], depth, 2);
if (!cv::countNonZero(depth)) {
std::cerr << "WARNING: depth image " << i << " is blank, skipping\n"; continue;
}
cout << "Writing " << depth_img_path << endl;
cv::imwrite(depth_img_path, depth);
cout << "Writing " << rgb_img_path << endl;
cv::imwrite(rgb_img_path, rgbMaps[i]);
timestamp_ofs << timestamps[i] << "\n"; // write timestamp
++img_index;
}
timestamp_ofs.close();
// fit intrinsics from an XYZ map
intrin = util::getCameraIntrinFromXYZ(xyzMaps[xyzMaps.size()/2]);
// write intrinsics
std::ofstream intrin_ofs(intrin_path.string());
intrin_ofs <<
"fx " << intrin[0] << "\n" <<
"cx " << intrin[1] << "\n" <<
"fy " << intrin[2] << "\n" <<
"cy " << intrin[3] << "\n";
intrin_ofs.close();
}
// To make sure data is good, we will load it from disk rather than reusing
// Read in all the rgb images
std::vector<std::string> rgb_files;
if (is_directory(rgb_path)) {
boost::filesystem::directory_iterator end_iter;
for (boost::filesystem::directory_iterator dir_itr(rgb_path); dir_itr != end_iter; ++dir_itr) {
const auto& next_path = dir_itr->path().generic_string();
rgb_files.emplace_back(next_path);
}
std::sort(rgb_files.begin(), rgb_files.end());
}
std::vector<std::string> depth_files;
if (is_directory(depth_path)) {
boost::filesystem::directory_iterator end_iter;
for (boost::filesystem::directory_iterator dir_itr(depth_path); dir_itr != end_iter; ++dir_itr) {
const auto& next_path = dir_itr->path().generic_string();
depth_files.emplace_back(next_path);
}
std::sort(depth_files.begin(), depth_files.end());
}
ARK_ASSERT(depth_files.size() == rgb_files.size());
std::ifstream intrin_ifs(intrin_path.string());
if (intrin_ifs) {
// depth files are depth maps (require intrinsics to convert)
std::string _garbage;
intrin_ifs >> _garbage >> intrin[0];
intrin_ifs >> _garbage >> intrin[1];
intrin_ifs >> _garbage >> intrin[2];
intrin_ifs >> _garbage >> intrin[3];
}
if (jointInference) {
// Save timestamps and joints
// Run neural network to predict where the human joints are
path joint_path = directory_path / "joint/";
if (!boost::filesystem::exists(joint_path)) {
boost::filesystem::create_directories(joint_path);
}
std::shared_ptr<HumanDetector> human_detector = std::make_shared<HumanDetector>();
int frame = 0;
for (int i = 0; i < depth_files.size(); i++) {
const auto rgb_filename = rgb_files[i];
const auto depth_filename = depth_files[i];
std::cout << rgb_filename << std::endl;
cv::Mat rgb_map_raw, rgb_map, xyz_map, depth;
rgb_map = cv::imread(rgb_filename);
depth = cv::imread(depth_filename, cv::IMREAD_ANYCOLOR | cv::IMREAD_ANYDEPTH);
// depth to xyz
xyz_map = cv::Mat(depth.size(), CV_32FC3);
float * inPtr; cv::Vec3f * outPtr;
for (int r = 0; r < depth.rows; ++r) {
inPtr = depth.ptr<float>(r);
outPtr = xyz_map.ptr<cv::Vec3f>(r);
for (int c = 0; c < depth.cols; ++c) {
const float z = inPtr[c];
outPtr[c] = cv::Vec3f(
(c - intrin[1]) * z / intrin[0],
(r - intrin[3]) * z / intrin[2], z);
}
}
double alpha = 1.5; /*< Simple contrast control */
int beta = -20; /*< Simple brightness control */
//rgb_map_raw.convertTo(rgb_map, -1, alpha, beta);
human_detector->getHumanBodies().clear();
//cout << human_detector->getHumanBodies().size() << endl;
human_detector->detectPoseRGB(rgb_map);
std::vector<cv::Point> rgbJoints;
if (human_detector->getHumanBodies().size() != 0) {
int front_id = -1, min_dist = 100;
for (int i = 0; i < human_detector->getHumanBodies().size(); i++) {
cv::Point pt(human_detector->getHumanBodies()[i]->MPIISkeleton2D[1].x, human_detector->getHumanBodies()[i]->MPIISkeleton2D[1].y);
//cout << xyz_map.at<cv::Vec3f>(pt)[2] << endl;
if (xyz_map.at<cv::Vec3f>(pt)[2] < min_dist) {
front_id = i;
min_dist = xyz_map.at<cv::Vec3f>(pt)[2];
}
}
if (front_id == -1) {
cout << "No humans found" << endl;
continue;
}
/*
if (min_dist > 8 || min_dist < 1) {
cout << "Min distance " << min_dist << " not in range" << endl;
continue;
}*/
rgbJoints = human_detector->getHumanBodies()[front_id]->MPIISkeleton2D;
for (const auto& joint : rgbJoints) {
//cout << joint << endl;
cv::circle(rgb_map, joint, 2, cv::Scalar(255, 0, 0), 2);
}
cv::imshow("RGB Frame Data", rgb_map);
}
std::stringstream ss_img_id;
ss_img_id << std::setw(4) << std::setfill('0') << std::to_string(frame);
std::stringstream ss_joint;
const std::string joint_file_path = (joint_path / ("joint_" + ss_img_id.str() + ".yml")).string();
std::cout << "Writing joints: " << joint_file_path << "\n";
cv::FileStorage fs3(joint_file_path, cv::FileStorage::WRITE);
fs3 << "joints" << rgbJoints;
fs3.release();
rgbJoints.clear();
frame++;
cv::waitKey(1);
}
int c = cv::waitKey(1);
}
cv::destroyAllWindows();
return 0;
}