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Ivan
379
src/util/DatasetReader.h
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379
src/util/DatasetReader.h
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/**
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* This file is part of DSO.
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*
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* Copyright 2016 Technical University of Munich and Intel.
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* Developed by Jakob Engel <engelj at in dot tum dot de>,
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* for more information see <http://vision.in.tum.de/dso>.
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* If you use this code, please cite the respective publications as
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* listed on the above website.
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*
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* DSO is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* DSO is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with DSO. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "util/settings.h"
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#include "util/globalFuncs.h"
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#include "util/globalCalib.h"
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#include <sstream>
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#include <fstream>
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#include <dirent.h>
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#include <algorithm>
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#include "util/Undistort.h"
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#include "IOWrapper/ImageRW.h"
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#if HAS_ZIPLIB
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#include "zip.h"
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#endif
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#include <boost/thread.hpp>
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using namespace dso;
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inline int getdir (std::string dir, std::vector<std::string> &files)
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{
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DIR *dp;
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struct dirent *dirp;
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if((dp = opendir(dir.c_str())) == NULL)
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{
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return -1;
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}
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while ((dirp = readdir(dp)) != NULL) {
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std::string name = std::string(dirp->d_name);
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if(name != "." && name != "..")
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files.push_back(name);
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}
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closedir(dp);
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std::sort(files.begin(), files.end());
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if(dir.at( dir.length() - 1 ) != '/') dir = dir+"/";
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for(unsigned int i=0;i<files.size();i++)
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{
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if(files[i].at(0) != '/')
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files[i] = dir + files[i];
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}
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return files.size();
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}
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struct PrepImageItem
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{
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int id;
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bool isQueud;
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ImageAndExposure* pt;
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inline PrepImageItem(int _id)
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{
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id=_id;
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isQueud = false;
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pt=0;
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}
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inline void release()
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{
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if(pt!=0) delete pt;
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pt=0;
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}
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};
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class ImageFolderReader
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{
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public:
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ImageFolderReader(std::string path, std::string calibFile, std::string gammaFile, std::string vignetteFile)
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{
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this->path = path;
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this->calibfile = calibFile;
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#if HAS_ZIPLIB
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ziparchive=0;
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databuffer=0;
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#endif
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isZipped = (path.length()>4 && path.substr(path.length()-4) == ".zip");
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if(isZipped)
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{
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#if HAS_ZIPLIB
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int ziperror=0;
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ziparchive = zip_open(path.c_str(), ZIP_RDONLY, &ziperror);
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if(ziperror!=0)
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{
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printf("ERROR %d reading archive %s!\n", ziperror, path.c_str());
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exit(1);
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}
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files.clear();
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int numEntries = zip_get_num_entries(ziparchive, 0);
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for(int k=0;k<numEntries;k++)
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{
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const char* name = zip_get_name(ziparchive, k, ZIP_FL_ENC_STRICT);
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std::string nstr = std::string(name);
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if(nstr == "." || nstr == "..") continue;
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files.push_back(name);
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}
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printf("got %d entries and %d files!\n", numEntries, (int)files.size());
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std::sort(files.begin(), files.end());
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#else
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printf("ERROR: cannot read .zip archive, as compile without ziplib!\n");
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exit(1);
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#endif
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}
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else
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getdir (path, files);
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undistort = Undistort::getUndistorterForFile(calibFile, gammaFile, vignetteFile);
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widthOrg = undistort->getOriginalSize()[0];
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heightOrg = undistort->getOriginalSize()[1];
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width=undistort->getSize()[0];
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height=undistort->getSize()[1];
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// load timestamps if possible.
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loadTimestamps();
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printf("ImageFolderReader: got %d files in %s!\n", (int)files.size(), path.c_str());
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}
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~ImageFolderReader()
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{
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#if HAS_ZIPLIB
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if(ziparchive!=0) zip_close(ziparchive);
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if(databuffer!=0) delete databuffer;
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#endif
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delete undistort;
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};
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Eigen::VectorXf getOriginalCalib()
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{
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return undistort->getOriginalParameter().cast<float>();
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}
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Eigen::Vector2i getOriginalDimensions()
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{
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return undistort->getOriginalSize();
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}
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void getCalibMono(Eigen::Matrix3f &K, int &w, int &h)
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{
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K = undistort->getK().cast<float>();
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w = undistort->getSize()[0];
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h = undistort->getSize()[1];
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}
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void setGlobalCalibration()
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{
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int w_out, h_out;
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Eigen::Matrix3f K;
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getCalibMono(K, w_out, h_out);
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setGlobalCalib(w_out, h_out, K);
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}
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int getNumImages()
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{
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return files.size();
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}
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double getTimestamp(int id)
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{
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if(timestamps.size()==0) return id*0.1f;
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if(id >= (int)timestamps.size()) return 0;
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if(id < 0) return 0;
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return timestamps[id];
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}
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void prepImage(int id, bool as8U=false)
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{
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}
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MinimalImageB* getImageRaw(int id)
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{
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return getImageRaw_internal(id,0);
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}
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ImageAndExposure* getImage(int id, bool forceLoadDirectly=false)
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{
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return getImage_internal(id, 0);
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}
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inline float* getPhotometricGamma()
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{
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if(undistort==0 || undistort->photometricUndist==0) return 0;
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return undistort->photometricUndist->getG();
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}
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// undistorter. [0] always exists, [1-2] only when MT is enabled.
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Undistort* undistort;
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private:
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MinimalImageB* getImageRaw_internal(int id, int unused)
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{
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if(!isZipped)
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{
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// CHANGE FOR ZIP FILE
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return IOWrap::readImageBW_8U(files[id]);
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}
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else
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{
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#if HAS_ZIPLIB
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if(databuffer==0) databuffer = new char[widthOrg*heightOrg*6+10000];
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zip_file_t* fle = zip_fopen(ziparchive, files[id].c_str(), 0);
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long readbytes = zip_fread(fle, databuffer, (long)widthOrg*heightOrg*6+10000);
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if(readbytes > (long)widthOrg*heightOrg*6)
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{
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printf("read %ld/%ld bytes for file %s. increase buffer!!\n", readbytes,(long)widthOrg*heightOrg*6+10000, files[id].c_str());
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delete[] databuffer;
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databuffer = new char[(long)widthOrg*heightOrg*30];
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fle = zip_fopen(ziparchive, files[id].c_str(), 0);
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readbytes = zip_fread(fle, databuffer, (long)widthOrg*heightOrg*30+10000);
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if(readbytes > (long)widthOrg*heightOrg*30)
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{
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printf("buffer still to small (read %ld/%ld). abort.\n", readbytes,(long)widthOrg*heightOrg*30+10000);
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exit(1);
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}
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}
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return IOWrap::readStreamBW_8U(databuffer, readbytes);
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#else
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printf("ERROR: cannot read .zip archive, as compile without ziplib!\n");
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exit(1);
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#endif
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}
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}
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ImageAndExposure* getImage_internal(int id, int unused)
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{
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MinimalImageB* minimg = getImageRaw_internal(id, 0);
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ImageAndExposure* ret2 = undistort->undistort<unsigned char>(
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minimg,
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(exposures.size() == 0 ? 1.0f : exposures[id]),
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(timestamps.size() == 0 ? 0.0 : timestamps[id]));
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delete minimg;
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return ret2;
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}
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inline void loadTimestamps()
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{
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std::ifstream tr;
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std::string timesFile = path.substr(0,path.find_last_of('/')) + "/times.txt";
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tr.open(timesFile.c_str());
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while(!tr.eof() && tr.good())
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{
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std::string line;
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char buf[1000];
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tr.getline(buf, 1000);
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int id;
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double stamp;
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float exposure = 0;
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if(3 == sscanf(buf, "%d %lf %f", &id, &stamp, &exposure))
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{
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timestamps.push_back(stamp);
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exposures.push_back(exposure);
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}
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else if(2 == sscanf(buf, "%d %lf", &id, &stamp))
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{
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timestamps.push_back(stamp);
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exposures.push_back(exposure);
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}
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}
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tr.close();
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// check if exposures are correct, (possibly skip)
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bool exposuresGood = ((int)exposures.size()==(int)getNumImages()) ;
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for(int i=0;i<(int)exposures.size();i++)
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{
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if(exposures[i] == 0)
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{
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// fix!
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float sum=0,num=0;
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if(i>0 && exposures[i-1] > 0) {sum += exposures[i-1]; num++;}
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if(i+1<(int)exposures.size() && exposures[i+1] > 0) {sum += exposures[i+1]; num++;}
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if(num>0)
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exposures[i] = sum/num;
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}
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if(exposures[i] == 0) exposuresGood=false;
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}
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if((int)getNumImages() != (int)timestamps.size())
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{
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printf("set timestamps and exposures to zero!\n");
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exposures.clear();
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timestamps.clear();
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}
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if((int)getNumImages() != (int)exposures.size() || !exposuresGood)
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{
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printf("set EXPOSURES to zero!\n");
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exposures.clear();
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}
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printf("got %d images and %d timestamps and %d exposures.!\n", (int)getNumImages(), (int)timestamps.size(), (int)exposures.size());
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}
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std::vector<ImageAndExposure*> preloadedImages;
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std::vector<std::string> files;
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std::vector<double> timestamps;
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std::vector<float> exposures;
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int width, height;
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int widthOrg, heightOrg;
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std::string path;
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std::string calibfile;
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bool isZipped;
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#if HAS_ZIPLIB
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zip_t* ziparchive;
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char* databuffer;
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#endif
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};
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