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st1002: implementation of Range Image Local Set (#455)
This required ST 1202 transformations, which in turn required ST 1010 SDCC. Includes usual javadoc, unit tests and a generator example.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,48 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd"> | ||
| <modelVersion>4.0.0</modelVersion> | ||
| <parent> | ||
| <groupId>org.jmisb</groupId> | ||
| <artifactId>examples</artifactId> | ||
| <version>2.0.0-SNAPSHOT</version> | ||
| </parent> | ||
| <artifactId>rangeimagegenerator</artifactId> | ||
| <packaging>jar</packaging> | ||
| <name>Range image generator example</name> | ||
| <description>Example code that generates ST 1002 range image test files.</description> | ||
| <properties> | ||
| <main.class>org.jmisb.examples.rangeimagegenerator.GeneratorCLI</main.class> | ||
| </properties> | ||
| <dependencies> | ||
| <dependency> | ||
| <groupId>org.jmisb</groupId> | ||
| <artifactId>jmisb-api-ffmpeg</artifactId> | ||
| <version>${project.version}</version> | ||
| </dependency> | ||
| <dependency> | ||
| <groupId>org.slf4j</groupId> | ||
| <artifactId>slf4j-simple</artifactId> | ||
| </dependency> | ||
| <dependency> | ||
| <groupId>commons-cli</groupId> | ||
| <artifactId>commons-cli</artifactId> | ||
| </dependency> | ||
| <dependency> | ||
| <groupId>org.jmisb</groupId> | ||
| <artifactId>st1002</artifactId> | ||
| <version>${project.version}</version> | ||
| </dependency> | ||
| </dependencies> | ||
| <build> | ||
| <plugins> | ||
| <plugin> | ||
| <groupId>com.theoryinpractise</groupId> | ||
| <artifactId>googleformatter-maven-plugin</artifactId> | ||
| </plugin> | ||
| <plugin> | ||
| <groupId>org.apache.maven.plugins</groupId> | ||
| <artifactId>maven-shade-plugin</artifactId> | ||
| </plugin> | ||
| </plugins> | ||
| </build> | ||
| </project> |
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examples/rangeimagegenerator/src/main/java/module-info.java
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| module org.jmisb.examples.rangeimagegenerator { | ||
| requires org.jmisb.api.ffmpeg; | ||
| requires org.jmisb.api; | ||
| requires org.jmisb.core; | ||
| requires org.jmisb.st1002; | ||
| requires org.jmisb.st1010; | ||
| requires org.jmisb.st1202; | ||
| requires commons.cli; | ||
| requires java.desktop; | ||
| requires org.slf4j; | ||
| } |
211 changes: 211 additions & 0 deletions
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...s/rangeimagegenerator/src/main/java/org/jmisb/examples/rangeimagegenerator/Generator.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,211 @@ | ||
| package org.jmisb.examples.rangeimagegenerator; | ||
|
|
||
| import java.awt.image.BufferedImage; | ||
| import java.io.File; | ||
| import java.io.IOException; | ||
| import java.util.Map; | ||
| import java.util.SortedMap; | ||
| import java.util.TreeMap; | ||
| import java.util.UUID; | ||
| import javax.imageio.ImageIO; | ||
| import org.jmisb.api.common.KlvParseException; | ||
| import org.jmisb.api.klv.st1204.CoreIdentifier; | ||
| import org.jmisb.api.video.CodecIdentifier; | ||
| import org.jmisb.api.video.IVideoFileOutput; | ||
| import org.jmisb.api.video.KlvFormat; | ||
| import org.jmisb.api.video.MetadataFrame; | ||
| import org.jmisb.api.video.VideoFileOutput; | ||
| import org.jmisb.api.video.VideoFrame; | ||
| import org.jmisb.api.video.VideoOutputOptions; | ||
| import org.jmisb.core.video.TimingUtils; | ||
| import org.jmisb.st1002.GeneralizedTransformation; | ||
| import org.jmisb.st1002.IRangeImageMetadataValue; | ||
| import org.jmisb.st1002.RangeImageCompressionMethod; | ||
| import org.jmisb.st1002.RangeImageEnumerations; | ||
| import org.jmisb.st1002.RangeImageLocalSet; | ||
| import org.jmisb.st1002.RangeImageMetadataKey; | ||
| import org.jmisb.st1002.RangeImageSource; | ||
| import org.jmisb.st1002.RangeImageryDataType; | ||
| import org.jmisb.st1002.ST1002PrecisionTimeStamp; | ||
| import org.jmisb.st1002.ST1002VersionNumber; | ||
| import org.jmisb.st1002.SinglePointRangeMeasurement; | ||
| import org.jmisb.st1002.SinglePointRangeMeasurementColumn; | ||
| import org.jmisb.st1002.SinglePointRangeMeasurementRow; | ||
| import org.jmisb.st1010.SDCC; | ||
| import org.jmisb.st1202.Denominator_X; | ||
| import org.jmisb.st1202.Denominator_Y; | ||
| import org.jmisb.st1202.GeneralizedTransformationLocalSet; | ||
| import org.jmisb.st1202.GeneralizedTransformationParametersKey; | ||
| import org.jmisb.st1202.IGeneralizedTransformationMetadataValue; | ||
| import org.jmisb.st1202.SDCC_FLP; | ||
| import org.jmisb.st1202.ST1202DocumentVersion; | ||
| import org.jmisb.st1202.TransformationEnumeration; | ||
| import org.jmisb.st1202.X_Numerator_Constant; | ||
| import org.jmisb.st1202.X_Numerator_X; | ||
| import org.jmisb.st1202.X_Numerator_Y; | ||
| import org.jmisb.st1202.Y_Numerator_Constant; | ||
| import org.jmisb.st1202.Y_Numerator_X; | ||
| import org.jmisb.st1202.Y_Numerator_Y; | ||
| import org.slf4j.Logger; | ||
| import org.slf4j.LoggerFactory; | ||
|
|
||
| public class Generator { | ||
|
|
||
| private static Logger LOG = LoggerFactory.getLogger(Generator.class); | ||
| private final int width = 1280; | ||
| private final int height = 960; | ||
| private final int bitRate = 500_000; | ||
| private final int gopSize = 30; | ||
| private final double frameRate = 15.0; | ||
| private final double frameDuration = 1.0 / frameRate; | ||
| private final int duration = 60; | ||
| private KlvFormat klvFormat = KlvFormat.Synchronous; | ||
| private CodecIdentifier codec = CodecIdentifier.H264; | ||
| private String filename = "rangeimage.ts"; | ||
|
|
||
| public Generator() throws KlvParseException {} | ||
|
|
||
| public void setKlvFormat(KlvFormat klvFormat) { | ||
| this.klvFormat = klvFormat; | ||
| } | ||
|
|
||
| public void setCodec(CodecIdentifier codec) { | ||
| this.codec = codec; | ||
| } | ||
|
|
||
| public void setOutputFile(String filename) { | ||
| this.filename = filename; | ||
| } | ||
|
|
||
| public void generate() throws KlvParseException { | ||
| showConfiguration(); | ||
| CoreIdentifier coreIdentifier = new CoreIdentifier(); | ||
| coreIdentifier.setMinorUUID(UUID.randomUUID()); | ||
| coreIdentifier.setVersion(1); | ||
|
|
||
| try (IVideoFileOutput output = | ||
| new VideoFileOutput( | ||
| new VideoOutputOptions( | ||
| width, height, bitRate, frameRate, gopSize, klvFormat, codec))) { | ||
| output.open(filename); | ||
|
|
||
| BufferedImage image = new BufferedImage(width, height, BufferedImage.TYPE_3BYTE_BGR); | ||
| try { | ||
| image = ImageIO.read(new File("test1280.jpg")); | ||
| } catch (IOException e) { | ||
| // TODO: log | ||
| } | ||
|
|
||
| final long numFrames = duration * Math.round(frameRate); | ||
| long startTime = System.currentTimeMillis(); | ||
| double pts = 1000.0 * System.currentTimeMillis(); // Close enough for this. | ||
| for (long i = 0; i < numFrames; ++i) { | ||
| output.addVideoFrame(new VideoFrame(image, pts * 1.0e-6)); | ||
| SortedMap<RangeImageMetadataKey, IRangeImageMetadataValue> values = new TreeMap<>(); | ||
| values.put( | ||
| RangeImageMetadataKey.PrecisionTimeStamp, | ||
| new ST1002PrecisionTimeStamp((long) pts)); | ||
| values.put(RangeImageMetadataKey.DocumentVersion, new ST1002VersionNumber(2)); | ||
| values.put( | ||
| RangeImageMetadataKey.RangeImageEnumerations, | ||
| new RangeImageEnumerations( | ||
| RangeImageCompressionMethod.NO_COMPRESSION, | ||
| RangeImageryDataType.PERSPECTIVE, | ||
| RangeImageSource.RANGE_SENSOR)); | ||
| values.put( | ||
| RangeImageMetadataKey.SinglePointRangeMeasurement, | ||
| new SinglePointRangeMeasurement(8000)); | ||
| values.put( | ||
| RangeImageMetadataKey.SinglePointRangeMeasurementRowCoordinate, | ||
| new SinglePointRangeMeasurementRow(403)); | ||
| values.put( | ||
| RangeImageMetadataKey.SinglePointRangeMeasurementColumnCoordinate, | ||
| new SinglePointRangeMeasurementColumn(803)); | ||
| Map<GeneralizedTransformationParametersKey, IGeneralizedTransformationMetadataValue> | ||
| st1202values = new TreeMap<>(); | ||
| st1202values.put( | ||
| GeneralizedTransformationParametersKey.X_Numerator_x, new X_Numerator_X(0)); | ||
| st1202values.put( | ||
| GeneralizedTransformationParametersKey.X_Numerator_y, new X_Numerator_Y(0)); | ||
| st1202values.put( | ||
| GeneralizedTransformationParametersKey.X_Numerator_Constant, | ||
| new X_Numerator_Constant(0)); | ||
| st1202values.put( | ||
| GeneralizedTransformationParametersKey.Y_Numerator_x, new Y_Numerator_X(0)); | ||
| st1202values.put( | ||
| GeneralizedTransformationParametersKey.Y_Numerator_y, new Y_Numerator_Y(0)); | ||
| st1202values.put( | ||
| GeneralizedTransformationParametersKey.Y_Numerator_Constant, | ||
| new Y_Numerator_Constant(0)); | ||
| st1202values.put( | ||
| GeneralizedTransformationParametersKey.Denominator_x, new Denominator_X(0)); | ||
| st1202values.put( | ||
| GeneralizedTransformationParametersKey.Denominator_y, new Denominator_Y(0)); | ||
| st1202values.put( | ||
| GeneralizedTransformationParametersKey.DocumentVersion, | ||
| new ST1202DocumentVersion(2)); | ||
| SDCC sdcc = new SDCC(); | ||
| sdcc.setValues( | ||
| new double[][] { | ||
| {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, | ||
| {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, | ||
| {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, | ||
| {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, | ||
| {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, | ||
| {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, | ||
| {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, | ||
| {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0} | ||
| }); | ||
| st1202values.put(GeneralizedTransformationParametersKey.SDCC, new SDCC_FLP(sdcc)); | ||
| st1202values.put( | ||
| GeneralizedTransformationParametersKey.TransformationEnumeration, | ||
| TransformationEnumeration.CHILD_PARENT); | ||
| values.put( | ||
| RangeImageMetadataKey.GeneralizedTransformationLocalSet, | ||
| new GeneralizedTransformation( | ||
| new GeneralizedTransformationLocalSet(st1202values))); | ||
| RangeImageLocalSet localSet = new RangeImageLocalSet(values); | ||
| output.addMetadataFrame(new MetadataFrame(localSet, pts)); | ||
| pts += frameDuration * 1.0e6; | ||
| long elapsedTime = System.currentTimeMillis() - startTime; | ||
| long requiredElapsedTime = (long) ((i + 1) * frameDuration * 1000.0); | ||
| long waitTime = requiredElapsedTime - elapsedTime; | ||
| if (waitTime > 0) { | ||
| TimingUtils.shortWait(waitTime); | ||
| } | ||
| } | ||
|
|
||
| } catch (IOException e) { | ||
| LOG.error("Failed to write file", e); | ||
| } | ||
| } | ||
|
|
||
| private void showConfiguration() { | ||
| System.out.println("Generating with configuration:"); | ||
| System.out.println(toString()); | ||
| } | ||
|
|
||
| @Override | ||
| public String toString() { | ||
| return "Generator{" | ||
| + "width=" | ||
| + width | ||
| + ", height=" | ||
| + height | ||
| + ", bitRate=" | ||
| + bitRate | ||
| + ", gopSize=" | ||
| + gopSize | ||
| + ", frameRate=" | ||
| + frameRate | ||
| + ", frameDuration=" | ||
| + frameDuration | ||
| + ", duration=" | ||
| + duration | ||
| + ",\nklvFormat=" | ||
| + klvFormat | ||
| + ",\nfilename=" | ||
| + filename | ||
| + '}'; | ||
| } | ||
| } |
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