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New PoseFrame streaming format #1284

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New PoseFrame streaming format #1284

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f80d6da
Separate frame serialization from trackers
ButterscotchV Jan 17, 2025
f9ad10e
Make TrackerFrames name mutable & cleanup
ButterscotchV Jan 18, 2025
435da31
Initial PFS implementation
ButterscotchV Jan 18, 2025
f5e6126
PfsIO: Partially implement proportions packet
ButterscotchV Jan 18, 2025
7877924
PfsIO: Extract readFrame from readFrames
ButterscotchV Jan 18, 2025
b91d272
Log PFS end for debugging
ButterscotchV Jan 18, 2025
1b13c6a
Rename PoseFrameIO to PfrIO
ButterscotchV Jan 18, 2025
54cabfb
Handle loading and writing PFS in AutoBone
ButterscotchV Jan 18, 2025
2837bdd
Reduce PfsIO spam
ButterscotchV Jan 18, 2025
4b24c22
Better AutoBone recording load logging
ButterscotchV Jan 18, 2025
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33 changes: 20 additions & 13 deletions server/core/src/main/java/dev/slimevr/autobone/AutoBone.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,8 @@ import dev.slimevr.SLIMEVR_IDENTIFIER
import dev.slimevr.VRServer
import dev.slimevr.autobone.errors.*
import dev.slimevr.config.AutoBoneConfig
import dev.slimevr.poseframeformat.PoseFrameIO
import dev.slimevr.poseframeformat.PfrIO
import dev.slimevr.poseframeformat.PfsIO
import dev.slimevr.poseframeformat.PoseFrames
import dev.slimevr.tracking.processor.BoneType
import dev.slimevr.tracking.processor.HumanPoseManager
Expand Down Expand Up @@ -713,7 +714,7 @@ class AutoBone(server: VRServer) {
if (saveDir.isDirectory || saveDir.mkdirs()) {
LogManager
.info("[AutoBone] Exporting frames to \"${recordingFile.path}\"...")
if (PoseFrameIO.tryWriteToFile(recordingFile, frames)) {
if (PfsIO.tryWriteToFile(recordingFile, frames)) {
LogManager
.info(
"[AutoBone] Done exporting! Recording can be found at \"${recordingFile.path}\".",
Expand All @@ -740,29 +741,35 @@ class AutoBone(server: VRServer) {
var recordingFile: File
var recordingIndex = 1
do {
recordingFile = File(saveDir, "ABRecording${recordingIndex++}.pfr")
recordingFile = File(saveDir, "ABRecording${recordingIndex++}.pfs")
} while (recordingFile.exists())
saveRecording(frames, recordingFile)
}

fun loadRecordings(): FastList<Pair<String, PoseFrames>> {
val recordings = FastList<Pair<String, PoseFrames>>()
if (!loadDir.isDirectory) return recordings
val files = loadDir.listFiles() ?: return recordings
for (file in files) {
if (!file.isFile || !file.name.endsWith(".pfr", ignoreCase = true)) continue

LogManager
.info(
"[AutoBone] Detected recording at \"${file.path}\", loading frames...",
)
val frames = PoseFrameIO.tryReadFromFile(file)
loadDir.listFiles()?.forEach { file ->
if (!file.isFile) return@forEach

val frames = if (file.name.endsWith(".pfs", ignoreCase = true)) {
LogManager.info("[AutoBone] Loading PFS recording from \"${file.path}\"...")
PfsIO.tryReadFromFile(file)
} else if (file.name.endsWith(".pfr", ignoreCase = true)) {
LogManager.info("[AutoBone] Loading PFR recording from \"${file.path}\"...")
PfrIO.tryReadFromFile(file)
} else {
return@forEach
}

if (frames == null) {
LogManager.severe("Reading frames from \"${file.path}\" failed...")
LogManager.severe("[AutoBone] Failed to load recording from \"${file.path}\".")
} else {
recordings.add(Pair.of(file.name, frames))
LogManager.info("[AutoBone] Loaded recording from \"${file.path}\".")
}
}

return recordings
}

Expand Down
137 changes: 73 additions & 64 deletions ...ev/slimevr/poseframeformat/PoseFrameIO.kt → ...java/dev/slimevr/poseframeformat/PfrIO.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@ import java.io.FileInputStream
import java.io.FileOutputStream
import java.io.IOException

object PoseFrameIO {
object PfrIO {
@Throws(IOException::class)
private fun writeVector3f(outputStream: DataOutputStream, vector: Vector3) {
outputStream.writeFloat(vector.x)
Expand All @@ -34,41 +34,46 @@ object PoseFrameIO {
outputStream.writeFloat(quaternion.w)
}

fun writeFrame(outputStream: DataOutputStream, trackerFrame: TrackerFrame?) {
if (trackerFrame == null) {
outputStream.writeInt(0)
return
}

var dataFlags = trackerFrame.dataFlags

// Don't write destination strings anymore, replace with
// the enum
if (trackerFrame.hasData(TrackerFrameData.DESIGNATION_STRING)) {
dataFlags = TrackerFrameData.TRACKER_POSITION_ENUM
.add(TrackerFrameData.DESIGNATION_STRING.remove(dataFlags))
}
outputStream.writeInt(dataFlags)
if (trackerFrame.hasData(TrackerFrameData.ROTATION)) {
writeQuaternion(outputStream, trackerFrame.rotation!!)
}
if (trackerFrame.hasData(TrackerFrameData.POSITION)) {
writeVector3f(outputStream, trackerFrame.position!!)
}
if (TrackerFrameData.TRACKER_POSITION_ENUM.check(dataFlags)) {
// ID is offset by 1 for historical reasons
outputStream.writeInt(trackerFrame.trackerPosition!!.id - 1)
}
if (trackerFrame.hasData(TrackerFrameData.ACCELERATION)) {
writeVector3f(outputStream, trackerFrame.acceleration!!)
}
if (trackerFrame.hasData(TrackerFrameData.RAW_ROTATION)) {
writeQuaternion(outputStream, trackerFrame.rawRotation!!)
}
}

fun writeFrames(outputStream: DataOutputStream, frames: PoseFrames) {
outputStream.writeInt(frames.frameHolders.size)
for (tracker in frames.frameHolders) {
outputStream.writeUTF(tracker.name)
outputStream.writeInt(tracker.frames.size)
for (i in 0 until tracker.frames.size) {
val trackerFrame = tracker.tryGetFrame(i)
if (trackerFrame == null) {
outputStream.writeInt(0)
continue
}
var dataFlags = trackerFrame.dataFlags

// Don't write destination strings anymore, replace with
// the enum
if (trackerFrame.hasData(TrackerFrameData.DESIGNATION_STRING)) {
dataFlags = TrackerFrameData.TRACKER_POSITION_ENUM
.add(TrackerFrameData.DESIGNATION_STRING.remove(dataFlags))
}
outputStream.writeInt(dataFlags)
if (trackerFrame.hasData(TrackerFrameData.ROTATION)) {
writeQuaternion(outputStream, trackerFrame.rotation!!)
}
if (trackerFrame.hasData(TrackerFrameData.POSITION)) {
writeVector3f(outputStream, trackerFrame.position!!)
}
if (TrackerFrameData.TRACKER_POSITION_ENUM.check(dataFlags)) {
outputStream.writeInt(trackerFrame.trackerPosition!!.ordinal)
}
if (trackerFrame.hasData(TrackerFrameData.ACCELERATION)) {
writeVector3f(outputStream, trackerFrame.acceleration!!)
}
if (trackerFrame.hasData(TrackerFrameData.RAW_ROTATION)) {
writeQuaternion(outputStream, trackerFrame.rawRotation!!)
}
writeFrame(outputStream, tracker.tryGetFrame(i))
}
}
}
Expand Down Expand Up @@ -112,6 +117,43 @@ object PoseFrameIO {
return Quaternion(w, x, y, z)
}

fun readFrame(inputStream: DataInputStream): TrackerFrame {
val dataFlags = inputStream.readInt()

var designation: TrackerPosition? = null
if (TrackerFrameData.DESIGNATION_STRING.check(dataFlags)) {
designation = getByDesignation(inputStream.readUTF())
}
var rotation: Quaternion? = null
if (TrackerFrameData.ROTATION.check(dataFlags)) {
rotation = readQuaternion(inputStream)
}
var position: Vector3? = null
if (TrackerFrameData.POSITION.check(dataFlags)) {
position = readVector3f(inputStream)
}
if (TrackerFrameData.TRACKER_POSITION_ENUM.check(dataFlags)) {
// ID is offset by 1 for historical reasons
designation = TrackerPosition.getById(inputStream.readInt() + 1)
}
var acceleration: Vector3? = null
if (TrackerFrameData.ACCELERATION.check(dataFlags)) {
acceleration = readVector3f(inputStream)
}
var rawRotation: Quaternion? = null
if (TrackerFrameData.RAW_ROTATION.check(dataFlags)) {
rawRotation = readQuaternion(inputStream)
}

return TrackerFrame(
designation,
rotation,
position,
acceleration,
rawRotation,
)
}

fun readFrames(inputStream: DataInputStream): PoseFrames {
val trackerCount = inputStream.readInt()
val trackers = FastList<TrackerFrames>(trackerCount)
Expand All @@ -122,40 +164,7 @@ object PoseFrameIO {
trackerFrameCount,
)
for (j in 0 until trackerFrameCount) {
val dataFlags = inputStream.readInt()
var designation: TrackerPosition? = null
if (TrackerFrameData.DESIGNATION_STRING.check(dataFlags)) {
designation = getByDesignation(inputStream.readUTF())
}
var rotation: Quaternion? = null
if (TrackerFrameData.ROTATION.check(dataFlags)) {
rotation = readQuaternion(inputStream)
}
var position: Vector3? = null
if (TrackerFrameData.POSITION.check(dataFlags)) {
position = readVector3f(inputStream)
}
if (TrackerFrameData.TRACKER_POSITION_ENUM.check(dataFlags)) {
designation = TrackerPosition.values()[inputStream.readInt()]
}
var acceleration: Vector3? = null
if (TrackerFrameData.ACCELERATION.check(dataFlags)) {
acceleration = readVector3f(inputStream)
}
var rawRotation: Quaternion? = null
if (TrackerFrameData.RAW_ROTATION.check(dataFlags)) {
rawRotation = readQuaternion(inputStream)
}
trackerFrames
.add(
TrackerFrame(
designation,
rotation,
position,
acceleration,
rawRotation,
),
)
trackerFrames.add(readFrame(inputStream))
}
trackers.add(TrackerFrames(name, trackerFrames))
}
Expand Down
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