140 lines
4.2 KiB
C++
140 lines
4.2 KiB
C++
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "dataset/dataset.h"
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#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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#include <glog/logging.h>
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#include <iomanip>
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#include <limits>
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#include <stdexcept>
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#include <utility>
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#include "mynteye/files.h"
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#define FULL_PRECISION \
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std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10)
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#define IMAGE_FILENAME_WIDTH 6
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MYNTEYE_BEGIN_NAMESPACE
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namespace tools {
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Dataset::Dataset(std::string outdir) : outdir_(std::move(outdir)) {
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VLOG(2) << __func__;
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if (!files::mkdir(outdir_)) {
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LOG(FATAL) << "Create directory failed: " << outdir_;
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}
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}
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Dataset::~Dataset() {
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VLOG(2) << __func__;
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for (auto &&it = stream_writers_.begin(); it != stream_writers_.end(); it++) {
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if (it->second) {
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it->second->ofs.flush();
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it->second->ofs.close();
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}
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}
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if (motion_writer_) {
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motion_writer_->ofs.flush();
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motion_writer_->ofs.close();
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}
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}
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void Dataset::SaveStreamData(
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const Stream &stream, const device::StreamData &data) {
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auto &&writer = GetStreamWriter(stream);
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auto seq = stream_counts_[stream];
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writer->ofs << seq << ", " << data.img->frame_id << ", "
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<< data.img->timestamp << ", " << data.img->exposure_time
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<< std::endl;
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if (data.frame) {
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std::stringstream ss;
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ss << writer->outdir << OS_SEP << std::dec
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<< std::setw(IMAGE_FILENAME_WIDTH) << std::setfill('0') << seq << ".png";
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cv::Mat img(
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data.frame->height(), data.frame->width(), CV_8UC2, data.frame->data());
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cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
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cv::imwrite(ss.str(), img);
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}
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++stream_counts_[stream];
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}
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void Dataset::SaveMotionData(const device::MotionData &data) {
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auto &&writer = GetMotionWriter();
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auto seq = motion_count_;
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if (data.imu->flag == 1 || data.imu->flag == 2) {
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writer->ofs << seq << ", " << data.imu->timestamp << ", "
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<< data.imu->accel[0] << ", " << data.imu->accel[1] << ", "
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<< data.imu->accel[2] << ", " << data.imu->gyro[0] << ", "
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<< data.imu->gyro[1] << ", " << data.imu->gyro[2] << ", "
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<< data.imu->temperature << std::endl;
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++motion_count_;
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}
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}
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Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) {
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try {
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return stream_writers_.at(stream);
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} catch (const std::out_of_range &e) {
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writer_t writer = std::make_shared<Writer>();
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switch (stream) {
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case Stream::LEFT: {
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writer->outdir = outdir_ + OS_SEP "left";
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} break;
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case Stream::RIGHT: {
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writer->outdir = outdir_ + OS_SEP "right";
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} break;
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default:
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LOG(FATAL) << "Unsupported stream: " << stream;
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}
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writer->outfile = writer->outdir + OS_SEP "stream.txt";
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files::mkdir(writer->outdir);
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writer->ofs.open(writer->outfile, std::ofstream::out);
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writer->ofs << "seq, frame_id, timestamp, exposure_time" << std::endl;
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writer->ofs << FULL_PRECISION;
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stream_writers_[stream] = writer;
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stream_counts_[stream] = 0;
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return writer;
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}
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}
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Dataset::writer_t Dataset::GetMotionWriter() {
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if (motion_writer_ == nullptr) {
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writer_t writer = std::make_shared<Writer>();
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writer->outdir = outdir_;
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writer->outfile = writer->outdir + OS_SEP "motion.txt";
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files::mkdir(writer->outdir);
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writer->ofs.open(writer->outfile, std::ofstream::out);
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writer->ofs << "seq, timestamp, accel_x, accel_y, accel_z, "
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"gyro_x, gyro_y, gyro_z, temperature"
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<< std::endl;
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writer->ofs << FULL_PRECISION;
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motion_writer_ = writer;
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motion_count_ = 0;
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accel_count_ = 0;
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gyro_count_ = 0;
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}
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return motion_writer_;
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}
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} // namespace tools
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MYNTEYE_END_NAMESPACE
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