new recorder

CMakeLists.txt

@@ -15,12 +15,12 @@
 
 cmake_minimum_required(VERSION 3.2)
 
-project(cfsd18-perception-detectcone)
+project(cfsd18-perception-imagerecorder)
 
 ################################################################################
 # Defining the relevant versions of OpenDLV Standard Message Set and libcluon.
 set(OPENDLV_STANDARD_MESSAGE_SET opendlv-standard-message-set-v0.9.1.odvd)
-set(CLUON_COMPLETE cluon-complete-v0.0.77.hpp)
+set(CLUON_COMPLETE cluon-complete-v0.0.99.hpp)
 
 ################################################################################
 # This project requires C++14 or newer.
@@ -84,11 +84,6 @@ find_package(OpenCV REQUIRED)
 include_directories(${OpenCV_INCLUDE_DIRS})
 
 
-################################################################################
-# Eigen
-find_package(Eigen3 REQUIRED NO_MODULE)
-include_directories(${Eigen3_INCLUDE_DIRS})
-
 ###############################################################################
 # OpenMP
 OPTION (USE_OpenMP "Use OpenMP" ON)
@@ -100,15 +95,6 @@ IF(USE_OpenMP)
   ENDIF()
 ENDIF()
 
-###############################################################################
-#TinyDnn
-find_package(TinyDNN REQUIRED)
-
-###############################################################################
-#TBB
-#find_package(TBB REQUIRED)
-#include_directories(${TBB_INCLUDE_DIRS})
-#add_definitions(${TBB_DEFINITIONS})
 
 SET(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}")
 
@@ -119,21 +105,16 @@ include_directories(SYSTEM ${LIBRT_INCLUDE_DIR})
 # Link libs
 #set(LIBRARIES Threads::Threads opencv_core opencv_imgcodecs opencv_features2d opencv_imgproc opencv_highgui opencv_calib3d rt libgio-2.0)
 
-include_directories(SYSTEM /usr/include)
-include_directories(SYSTEM /usr/local/include)
 link_directories(SYSTEM /usr/lib) #Access g2o
 link_directories(SYSTEM /usr/local/lib) #Access g2o
 
 include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src)
 
-add_library(${PROJECT_NAME}-core STATIC ${CMAKE_CURRENT_SOURCE_DIR}/src/detectcone.cpp ${CMAKE_CURRENT_SOURCE_DIR}/src/cone.cpp ${CMAKE_CURRENT_SOURCE_DIR}/src/point.cpp ${CMAKE_BINARY_DIR}/opendlv-standard-message-set.cpp)
+add_library(${PROJECT_NAME}-core ${CMAKE_BINARY_DIR}/opendlv-standard-message-set.cpp)
 
 # Add custom libs h
-set(LIBRARIES ${LIBRARIES} Threads::Threads ${OpenCV_LIBS} ${Eigen3_LIBS} ${TinyDNN_LIBS} rt) 
+set(LIBRARIES ${LIBRARIES} Threads::Threads ${OpenCV_LIBS} rt) 
 
-MESSAGE(STATUS "heej")
-MESSAGE(STATUS ${LIBRARIES})
-#${TBB_LIBRARIES}
 
 ################################################################################
 # Create executable.
@@ -143,7 +124,7 @@ target_link_libraries(${PROJECT_NAME} ${PROJECT_NAME}-core ${LIBRARIES}) #Links
 ################################################################################
 # Enable unit testing.
 enable_testing()
-add_executable(${PROJECT_NAME}-runner ${CMAKE_CURRENT_SOURCE_DIR}/test/tests-cfsd18-perception-detectcone.cpp)
+add_executable(${PROJECT_NAME}-runner ${CMAKE_CURRENT_SOURCE_DIR}/test/tests-cfsd18-perception-imagerecorder.cpp)
 target_link_libraries(${PROJECT_NAME}-runner ${LIBRARIES}  ${PROJECT_NAME}-core)
 add_test(NAME ${PROJECT_NAME}-runner COMMAND ${PROJECT_NAME}-runner)
 

Dockerfile.amd64

@@ -32,23 +32,6 @@ RUN apk update && \
 
 WORKDIR /tmp
 
-#RUN git clone https://github.com/justusc/FindTBB.git && \
-#   cp FindTBB/FindTBB.cmake /usr/share/cmake/Modules/ && \
-#   cd FindTBB && \
-#   ./test.sh
-
-RUN git clone https://github.com/tiny-dnn/tiny-dnn.git && \
-  mkdir -p tiny-dnn/build && \
-#  cp sources/config.h tiny-dnn/tiny_dnn/config.h && \
-  cd tiny-dnn/build && \
-  cmake .. && \
-  make install
-
-RUN git clone https://github.com/eigenteam/eigen-git-mirror.git && \
-   mkdir -p eigen-git-mirror/build && \
-   cd eigen-git-mirror/build && \
-   cmake .. && \
-   make install
 RUN echo "@testing http://nl.alpinelinux.org/alpine/edge/testing" >> /etc/apk/repositories
 RUN apk update && \
     apk --no-cache add \
@@ -59,18 +42,17 @@ ADD . /opt/sources
 WORKDIR /opt/sources
 RUN mkdir -p build && \
     cd build && \
-    cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/tmp/cfsd18-perception-detectcone-dest .. && \
-    make -j3 && make test && make install && upx -9 /tmp/cfsd18-perception-detectcone-dest/bin/cfsd18-perception-detectcone
+    cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/tmp/cfsd18-perception-imagerecorder-dest .. && \
+    make -j3 && make test && make install && upx -9 /tmp/cfsd18-perception-imagerecorder-dest/bin/cfsd18-perception-imagerecorder
 
 # Part to deploy opendlv-perception-vision-orbslam2
 FROM alpine:edge
 MAINTAINER Christian Berger "[email protected]"
 
 #Start microservice
 WORKDIR /usr/bin
-COPY --from=builder /usr/local/include/ /usr/include/
 COPY --from=builder /usr/local/lib/ /usr/lib/
 COPY --from=builder /usr/lib/ /usr/lib/
-COPY --from=builder /tmp/cfsd18-perception-detectcone-dest/bin/cfsd18-perception-detectcone .
+COPY --from=builder /tmp/cfsd18-perception-imagerecorder-dest/bin/cfsd18-perception-imagerecorder .
 RUN apk update && apk add glib
-CMD ["/usr/bin/cfsd18-perception-detectcone"]
+CMD ["/usr/bin/cfsd18-perception-imagerecorder"]

src/cfsd18-perception-detectcone.cpp → src/cfsd18-perception-imagerecorder.cpp

@@ -14,8 +14,26 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
+#include <iostream>
+#include <memory>
+#include <vector>
+#include <cmath>
+#include <thread>
+#include <cstdint>
+#include <tuple>
+#include <utility>
+#include <string>
+#include <sstream>
+
+#include "cluon-complete.hpp"
+#include "opendlv-standard-message-set.hpp"
+
+#include <opencv2/opencv.hpp>
+#include <opencv2/core/core.hpp>
+#include <opencv2/features2d/features2d.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
 
-#include "detectcone.hpp"
 
 int32_t main(int32_t argc, char **argv) {
   int32_t retCode{0};
@@ -44,7 +62,6 @@ int32_t main(int32_t argc, char **argv) {
     // od4.dataTrigger(opendlv::logic::perception::ObjectDistance::ID(),envelopeRecieved);
 
     // // Just sleep as this microservice is data driven.
-    // using namespace std::literals::chrono_literals;
     // while (od4.isRunning()) {
     //   std::this_thread::sleep_for(1s);
     //   std::chrono::system_clock::time_point tp;
@@ -53,6 +70,7 @@ int32_t main(int32_t argc, char **argv) {
 
 
 
+    using namespace std::literals::chrono_literals;
     const uint32_t WIDTH{static_cast<uint32_t>(std::stoi(commandlineArguments["width"]))};
     const uint32_t HEIGHT{static_cast<uint32_t>(std::stoi(commandlineArguments["height"]))};
     const uint32_t BPP{static_cast<uint32_t>(std::stoi(commandlineArguments["bpp"]))};
@@ -64,16 +82,20 @@ int32_t main(int32_t argc, char **argv) {
         const uint32_t SIZE{WIDTH * HEIGHT * BPP/8};
         const std::string NAME{(commandlineArguments["name"].size() != 0) ? commandlineArguments["name"] : "/cam0"};
         const uint32_t ID{(commandlineArguments["id"].size() != 0) ? static_cast<uint32_t>(std::stoi(commandlineArguments["id"])) : 0};
-        const bool VERBOSE{commandlineArguments.count("verbose") != 0};
+        //const bool VERBOSE{commandlineArguments.count("verbose") != 0};
 
         (void)ID;
         (void)SIZE;
-        std::cout << "Making slammer" << VERBOSE << std::endl;
-        DetectCone detectcone(commandlineArguments, od4);
+
+         std::string filepathTimestamp;
+         filepathTimestamp = "/opt/timestamp/timestamps.txt";
+         std::ofstream f;
+         f.open(filepathTimestamp.c_str());
+
         // Interface to a running OpenDaVINCI session (ignoring any incoming Envelopes).
         // cluon::OD4Session od4{static_cast<uint16_t>(std::stoi(commandlineArguments["cid"]))};
         size_t frameCounter = 0;
-
+        std::string imgPath = "/opt/images/";
         std::unique_ptr<cluon::SharedMemory> sharedMemory(new cluon::SharedMemory{NAME});
         if (sharedMemory && sharedMemory->valid()) {
             std::clog << argv[0] << ": Found shared memory '" << sharedMemory->name() << "' (" << sharedMemory->size() << " bytes)." << std::endl;
@@ -98,13 +120,20 @@ int32_t main(int32_t argc, char **argv) {
                 image->imageData = sharedMemory->data();
                 image->imageDataOrigin = image->imageData;
                 cv::Mat img = cv::cvarrToMat(image); 
-
+                 cluon::data::TimeStamp imgTimestamp = cluon::time::now();
+
+                int64_t ts = cluon::time::toMicroseconds(imgTimestamp);
+
+                f << std::setprecision(19) << ts << std::endl;
+                std::string saveString = imgPath + std::to_string(frameCounter) + ".png";
+                cv::imwrite( saveString, img);
+
+                std::cout << "Saved image: " << frameCounter << std::endl;
                 sharedMemory->unlock();
                 cv::waitKey(1);
-                detectcone.forwardDetectionORB(img);
                 frameCounter++;
             }
-
+            f.close();
             cvReleaseImageHeader(&image);
         }
         else {
@@ -113,6 +142,8 @@ int32_t main(int32_t argc, char **argv) {
       }
 
   }
+
+
   return retCode;
 }