From 59335b591b55a3d4bc4816ab2635afc778caf9c2 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 14 Apr 2019 09:57:01 +0300
Subject: [PATCH] Allow for test directories with local calibration, video and
config
---
common/cpp/include/ftl/configuration.hpp | 4 ++-
common/cpp/src/configuration.cpp | 31 ++++++++++++++-------
vision/src/calibrate.cpp | 34 ++++++++++++++++++------
vision/src/main.cpp | 11 +++++++-
4 files changed, 61 insertions(+), 19 deletions(-)
diff --git a/common/cpp/include/ftl/configuration.hpp b/common/cpp/include/ftl/configuration.hpp
index b4b0e6eaa..685c9b4ba 100644
--- a/common/cpp/include/ftl/configuration.hpp
+++ b/common/cpp/include/ftl/configuration.hpp
@@ -14,7 +14,9 @@ bool is_directory(const std::string &path);
bool is_file(const std::string &path);
bool create_directory(const std::string &path);
-std::optional<std::string> locateFile(const std::string &name, const std::vector<std::string> &paths);
+bool is_video(const std::string &file);
+
+std::optional<std::string> locateFile(const std::string &name);
std::vector<std::string> configure(int argc, char **argv, const std::string &app);
diff --git a/common/cpp/src/configuration.cpp b/common/cpp/src/configuration.cpp
index 76e1eb99c..6a7df835d 100644
--- a/common/cpp/src/configuration.cpp
+++ b/common/cpp/src/configuration.cpp
@@ -63,6 +63,15 @@ bool ftl::is_file(const std::string &path) {
#endif
}
+static bool endsWith(const string &s, const string &e) {
+ return s.size() >= e.size() &&
+ s.compare(s.size() - e.size(), e.size(), e) == 0;
+}
+
+bool ftl::is_video(const string &file) {
+ return endsWith(file, ".mp4");
+}
+
bool ftl::create_directory(const std::string &path) {
#ifdef WIN32
// TODO(nick)
@@ -75,16 +84,20 @@ bool ftl::create_directory(const std::string &path) {
#endif
}
-optional<string> locateFile(const string &name, const vector<string> &paths) {
- for (auto p : paths) {
- if (is_directory(p)) {
- if (is_file(p+"/"+name)) {
- return p+"/"+name;
+optional<string> ftl::locateFile(const string &name) {
+ auto paths = config["paths"];
+
+ if (!paths.is_null()) {
+ for (string p : paths) {
+ if (is_directory(p)) {
+ if (is_file(p+"/"+name)) {
+ return p+"/"+name;
+ }
+ } else if (p.size() >= name.size() &&
+ p.compare(p.size() - name.size(), name.size(), name) == 0 &&
+ is_file(p)) {
+ return p;
}
- } else if (p.size() >= name.size() &&
- p.compare(p.size() - name.size(), name.size(), name) == 0 &&
- is_file(p)) {
- return p;
}
}
diff --git a/vision/src/calibrate.cpp b/vision/src/calibrate.cpp
index 46dadb8ab..092f5015d 100644
--- a/vision/src/calibrate.cpp
+++ b/vision/src/calibrate.cpp
@@ -4,6 +4,7 @@
#include <glog/logging.h>
#include <ftl/config.h>
+#include <ftl/configuration.hpp>
#include <iostream>
#include <sstream>
@@ -214,12 +215,21 @@ bool Calibrate::_loadCalibration() {
float scale = 1.0f;
Rect roi1, roi2;
+ FileStorage fs;
// reading intrinsic parameters
- FileStorage fs(FTL_LOCAL_CONFIG_ROOT "/intrinsics.yml", FileStorage::READ);
- if (!fs.isOpened()) {
- LOG(WARNING) << "Calibration file not found";
- return false;
+ auto ifile = ftl::locateFile("intrinsics.yml");
+ if (ifile) {
+ fs.open((*ifile).c_str(), FileStorage::READ);
+ if (!fs.isOpened()) {
+ LOG(WARNING) << "Could not open intrinsics file";
+ return false;
+ }
+
+ LOG(INFO) << "Intrinsics from: " << *ifile;
+ } else {
+ LOG(WARNING) << "Calibration intrinsics file not found";
+ return false;
}
Mat M1, D1, M2, D2;
@@ -231,10 +241,18 @@ bool Calibrate::_loadCalibration() {
M1 *= scale;
M2 *= scale;
- fs.open(FTL_LOCAL_CONFIG_ROOT "/extrinsics.yml", FileStorage::READ);
- if (!fs.isOpened()) {
- LOG(WARNING) << "Calibration file not found";
- return false;
+ auto efile = ftl::locateFile("extrinsics.yml");
+ if (efile) {
+ fs.open((*efile).c_str(), FileStorage::READ);
+ if (!fs.isOpened()) {
+ LOG(WARNING) << "Could not open extrinsics file";
+ return false;
+ }
+
+ LOG(INFO) << "Extrinsics from: " << *efile;
+ } else {
+ LOG(WARNING) << "Calibration extrinsics file not found";
+ return false;
}
Mat R, T, R1, P1, R2, P2;
diff --git a/vision/src/main.cpp b/vision/src/main.cpp
index 27a071b08..0755a6513 100644
--- a/vision/src/main.cpp
+++ b/vision/src/main.cpp
@@ -61,9 +61,16 @@ static void run(const string &file) {
Universe net(config["net"]);
LocalSource *lsrc;
- if (file != "") {
+ if (ftl::is_video(file)) {
// Load video file
lsrc = new LocalSource(file, config["source"]);
+ } else if (file != "") {
+ auto vid = ftl::locateFile("video.mp4");
+ if (!vid) {
+ LOG(FATAL) << "No video.mp4 file found in provided paths";
+ } else {
+ lsrc = new LocalSource(*vid, config["source"]);
+ }
} else {
// Use cameras
lsrc = new LocalSource(config["source"]);
@@ -161,6 +168,8 @@ static void run(const string &file) {
int main(int argc, char **argv) {
auto paths = ftl::configure(argc, argv, "vision");
+
+ config["paths"] = paths;
// Choose normal or middlebury modes
if (config["middlebury"]["dataset"] == "") {
--
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