std::vector<std::string> getFilesOnDirectory(const std::string& directoryPath, const std::string& extension)
{
try
{
return getFilesOnDirectory(directoryPath, std::vector<std::string>{extension});
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
return {};
}
}
std::vector<std::string> getTxtPathsOnDirectory(const std::string& txtDirectoryPath)
{
try
{
// Get files on directory with JSON extension
const auto txtPaths = getFilesOnDirectory(txtDirectoryPath, ".txt");
// Check #files > 0
if (txtPaths.empty())
error("No txt files were found on " + txtDirectoryPath, __LINE__, __FUNCTION__, __FILE__);
// Return file names
return txtPaths;
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
return {};
}
}
std::vector<std::string> getImagePathsOnDirectory(const std::string& imageDirectoryPath)
{
try
{
// Get files on directory with the desired extensions
const std::vector<std::string> extensions{".bmp", ".dib", ".pbm", ".pgm", ".ppm", ".sr", ".ras", // Completely supported by OpenCV
".jpg", "jpeg", ".png"}; // Most of them supported by OpenCV
const auto imagePaths = getFilesOnDirectory(imageDirectoryPath, extensions);
// Check #files > 0
if (imagePaths.empty())
error("No images were found on " + imageDirectoryPath, __LINE__, __FUNCTION__, __FILE__);
return imagePaths;
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
return {};
}
}
void CameraParameterReader::readParameters(const std::string& cameraParameterPath,
const std::vector<std::string>& serialNumbers)
{
try
{
// Serial numbers
if (serialNumbers.empty())
{
mSerialNumbers = getFilesOnDirectory(cameraParameterPath, "xml");
for (auto& serialNumber : mSerialNumbers)
serialNumber = getFileNameNoExtension(serialNumber);
}
else
mSerialNumbers = serialNumbers;
// Commong saving/loading
const auto dataFormat = DataFormat::Xml;
const std::vector<std::string> cvMatNames {
"CameraMatrix", "Intrinsics", "Distortion"
};
// Load parameters
mCameraMatrices.clear();
mCameraExtrinsics.clear();
mCameraIntrinsics.clear();
mCameraDistortions.clear();
// log("Camera matrices:");
for (auto i = 0ull ; i < mSerialNumbers.size() ; i++)
{
const auto parameterPath = cameraParameterPath + mSerialNumbers.at(i);
const auto cameraParameters = loadData(cvMatNames, parameterPath, dataFormat);
// Error if empty element
if (cameraParameters.empty() || cameraParameters.at(0).empty()
|| cameraParameters.at(1).empty() || cameraParameters.at(2).empty())
{
const std::string errorMessage = " of the camera with serial number `" + mSerialNumbers[i]
+ "` (file: " + parameterPath + "." + dataFormatToString(dataFormat)
+ "). Is its format valid? You might want to check the example xml"
+ " file.";
if (cameraParameters.empty())
error("Error at reading the camera parameters" + errorMessage,
__LINE__, __FUNCTION__, __FILE__);
if (cameraParameters.at(0).empty())
error("Error at reading the camera matrix parameters" + errorMessage,
__LINE__, __FUNCTION__, __FILE__);
if (cameraParameters.at(1).empty())
error("Error at reading the camera intrinsics parameters" + errorMessage,
__LINE__, __FUNCTION__, __FILE__);
if (cameraParameters.at(2).empty())
error("Error at reading the camera distortion parameters" + errorMessage,
__LINE__, __FUNCTION__, __FILE__);
}
mCameraExtrinsics.emplace_back(cameraParameters.at(0));
mCameraIntrinsics.emplace_back(cameraParameters.at(1));
mCameraDistortions.emplace_back(cameraParameters.at(2));
mCameraMatrices.emplace_back(mCameraIntrinsics.back() * mCameraExtrinsics.back());
// log(cameraParameters.at(0));
}
// // mCameraMatrices
// log("\nFull camera matrices:");
// for (const auto& cvMat : mCameraMatrices)
// log(cvMat);
// // mCameraIntrinsics
// log("\nCamera intrinsic parameters:");
// for (const auto& cvMat : mCameraIntrinsics)
// log(cvMat);
// // mCameraDistortions
// log("\nCamera distortion parameters:");
// for (const auto& cvMat : mCameraDistortions)
// log(cvMat);
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
