1+ // ================================================================
2+ // Created by Gregory Kramida on 9/23/19.
3+ // Copyright (c) 2019 Gregory Kramida
4+ // Licensed under the Apache License, Version 2.0 (the "License");
5+ // you may not use this file except in compliance with the License.
6+ // You may obtain a copy of the License at
7+
8+ // http://www.apache.org/licenses/LICENSE-2.0
9+
10+ // Unless required by applicable law or agreed to in writing, software
11+ // distributed under the License is distributed on an "AS IS" BASIS,
12+ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13+ // See the License for the specific language governing permissions and
14+ // limitations under the License.
15+ // ================================================================
16+
17+ #include " GenericFileFetch.h"
18+ #include " common/OpenCV_CrossPlatform.h"
19+
20+ #include < opencv2/core.hpp>
21+ #include < boost/filesystem/operations.hpp>
22+ #include < exception>
23+ #include < regex>
24+ #include < iterator>
25+ #include < common/logging.h>
26+
27+
28+ namespace fs = boost::filesystem;
29+
30+ surfelwarp::GenericFileFetch::GenericFileFetch (const fs::path& data_path, std::string extension, bool force_no_masks) :
31+ m_mask_buffer_ix(SIZE_MAX), m_use_masks(false )
32+ {
33+ std::vector<path> sorted_paths;
34+ if (extension.length () > 0 && extension[0 ] != ' .'
35+ extension = " ."
36+ }
37+ std::copy (fs::directory_iterator (data_path), fs::directory_iterator (), std::back_inserter (sorted_paths));
38+ std::sort (sorted_paths.begin (), sorted_paths.end ());
39+ bool unexpected_mask_frame_number = false ;
40+ for (auto & path : sorted_paths) {
41+ if (FilenameIndicatesDepthImage (path.filename ().string (), extension)) {
42+ int frame_number = GetFrameNumber (path);
43+ if (frame_number != m_depth_image_paths.size ()) {
44+ throw std::runtime_error (" Unexpected depth frame number encountered"
45+ }
46+ m_depth_image_paths.push_back (path);
47+ } else if (FilenameIndicatesRGBImage (path.filename ().string (), extension)) {
48+ int frame_number = GetFrameNumber (path);
49+ if (frame_number != m_rgb_image_paths.size ()) {
50+ throw std::runtime_error (" Unexpected RGB frame number encountered"
51+ }
52+ m_rgb_image_paths.push_back (path);
53+ } else if (!force_no_masks && FilenameIndicatesMaskImage (path.filename ().string (), extension)) {
54+ int frame_number = GetFrameNumber (path);
55+ if (frame_number != m_mask_image_paths.size ()) {
56+ unexpected_mask_frame_number = true ;
57+ }
58+ m_mask_image_paths.push_back (path);
59+ }
60+ }
61+
62+ if (m_depth_image_paths.size () != m_rgb_image_paths.size ()) {
63+ LOG (FATAL) << " Presumed depth image count (" size () <<
64+ " ) doesn't equal presumed rgb image count." size ();
65+ }
66+
67+ if (!force_no_masks) {
68+ if (unexpected_mask_frame_number) {
69+ LOG (WARNING)
70+ << " Warning: inconsistent mask frame numbers encountered in the filenames. Proceeding without masks."
71+ } else if (!m_mask_image_paths.empty ()) {
72+ if (m_depth_image_paths.size () != m_mask_image_paths.size () && !m_mask_image_paths.empty ()) {
73+ LOG (WARNING)
74+ << " Warning: seems like there were some mask image files, but their number doesn't match the "
75+ " number of depth frames. Proceeding without masks."
76+ } else {
77+ m_use_masks = true ;
78+ }
79+ }
80+ }
81+ }
82+
83+ bool surfelwarp::GenericFileFetch::HasSubstringFromSet (const std::string& string, const std::string* set, int set_size)
84+ {
85+ bool found_indicator = false ;
86+ for (int i_target_string = 0 ; i_target_string < set_size; i_target_string++) {
87+ if (string.find (set[i_target_string]) != std::string::npos) {
88+ return true ;
89+ }
90+ }
91+ return false ;
92+ }
93+
94+ bool surfelwarp::GenericFileFetch::FilenameIndicatesDepthImage (const path& filename, const std::string& valid_extension)
95+ {
96+ if (filename.extension () != valid_extension) return false ;
97+ const std::array<std::string, 3 > possible_depth_indicators = {" depth" " DEPTH" " Depth"
98+ return HasSubstringFromSet (filename.string (), possible_depth_indicators.data (), possible_depth_indicators.size ());
99+ }
100+
101+ bool surfelwarp::GenericFileFetch::FilenameIndicatesRGBImage (const path& filename, const std::string& valid_extension)
102+ {
103+ if (filename.extension () != valid_extension) return false ;
104+ const std::array<std::string, 5 > possible_depth_indicators = {" color" " COLOR" " Color" " rgb" " RGB"
105+ return HasSubstringFromSet (filename.string (), possible_depth_indicators.data (), possible_depth_indicators.size ());
106+ }
107+
108+
109+ bool surfelwarp::GenericFileFetch::FilenameIndicatesMaskImage (const surfelwarp::GenericFileFetch::path& filename,
110+ const std::string& valid_extension)
111+ {
112+ if (filename.extension () != valid_extension) return false ;
113+ const std::array<std::string, 3 > possible_depth_indicators = {" mask" " Mask" " MASK"
114+ return HasSubstringFromSet (filename.string (), possible_depth_indicators.data (), possible_depth_indicators.size ());
115+ }
116+
117+ int surfelwarp::GenericFileFetch::GetFrameNumber (const surfelwarp::GenericFileFetch::path& filename)
118+ {
119+ const std::regex digits_regex (" \\ d+"
120+ std::smatch match_result;
121+ const std::string filename_stem = filename.stem ().string ();
122+ if (!std::regex_search (filename_stem, match_result, digits_regex)) {
123+ throw std::runtime_error (" Could not find frame number in filename."
124+ };
125+ return std::stoi (match_result.str (0 ));
126+ }
127+
128+ void surfelwarp::GenericFileFetch::FetchDepthImage (size_t frame_idx, cv::Mat& depth_img)
129+ {
130+ path file_path = this ->m_depth_image_paths [frame_idx];
131+ // Read the image
132+ depth_img = cv::imread (file_path.string (), CV_ANYCOLOR | CV_ANYDEPTH); // NOLINT(hicpp-signed-bitwise)
133+
134+ if (this ->m_use_masks ) {
135+ mask_mutex.lock ();
136+ // Apply mask to image
137+ if (this ->m_mask_buffer_ix != frame_idx) {
138+ m_mask_image_buffer = cv::imread (this ->m_mask_image_paths [frame_idx].string (),
139+ CV_ANYCOLOR | CV_ANYDEPTH); // NOLINT(hicpp-signed-bitwise)
140+ m_mask_buffer_ix = frame_idx;
141+ }
142+ cv::Mat masked;
143+ depth_img.copyTo (masked, m_mask_image_buffer);
144+ mask_mutex.unlock ();
145+ depth_img = masked;
146+ }
147+ }
148+
149+ void surfelwarp::GenericFileFetch::FetchDepthImage (size_t frame_idx, void * depth_img)
150+ {
151+
152+ }
153+
154+ void surfelwarp::GenericFileFetch::FetchRGBImage (size_t frame_idx, cv::Mat& rgb_img)
155+ {
156+ path file_path = this ->m_rgb_image_paths [frame_idx];
157+ // Read the image
158+ rgb_img = cv::imread (file_path.string (), CV_ANYCOLOR | CV_ANYDEPTH); // NOLINT(hicpp-signed-bitwise)
159+ if (this ->m_use_masks ) {
160+ mask_mutex.lock ();
161+ if (this ->m_mask_buffer_ix != frame_idx) {
162+ m_mask_image_buffer = cv::imread (this ->m_mask_image_paths [frame_idx].string (),
163+ CV_ANYCOLOR | CV_ANYDEPTH); // NOLINT(hicpp-signed-bitwise)
164+ m_mask_buffer_ix = frame_idx;
165+ }
166+ cv::Mat masked;
167+ rgb_img.copyTo (masked, m_mask_image_buffer);
168+ mask_mutex.unlock ();
169+ rgb_img = masked;
170+ }
171+ }
172+
173+ void surfelwarp::GenericFileFetch::FetchRGBImage (size_t frame_idx, void * rgb_img)
174+ {
175+
176+ }
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