//thread entry function - continuously loads images (producer)
void AsyncImageLoader::Run()
{
ImageSet images(mNumCameras);
BinaryImageSet FGImages(mNumCameras);
std::vector<std::string> FGfiles(mNumCameras), ImageFiles(mNumCameras);
while(mCurrentFrame < mNumFrames && !mFailed)
{
for(unsigned int i = 0; i < mNumCameras; i++) //generate filenames
{ FGfiles[i] = mPath + "FG" + str(i + 1) + DIR_SEPARATOR + "image" + str(mCurrentFrame, 4) + ".bmp";
ImageFiles[i] = mPath + "CAM" + str(i + 1) + DIR_SEPARATOR + "image" + str(mCurrentFrame, 4) + ".bmp";
}
LoadSet(FGfiles, FGImages, ImageFiles, images); //load the data and convert FG images to binary
mDataLock.Lock(); //push images to buffer
mImageBuffer.push_back(images);
mFGBuffer.push_back(FGImages);
mDataLock.Unlock();
mCondEmpty.NotifyOne(); //notify waiting threads of data
if(mImageBuffer.size() >= mBufferSize) //if buffer is full
{ mLock1.Lock();
mCondFull.Wait(); //wait on full condition (wait until a request removes a set of images)
mLock1.Unlock();
}
mCurrentFrame++;
}
}
const std::vector<std::string> ImageFiles( const std::string path, const unsigned int level ) {
DIR *root = opendir( path.c_str() );
if( root == NULL ) {
std::cerr << "Invalid image path" << std::endl;
exit( EXIT_FAILURE );
}
std::vector<std::string> retVal;
dirent *entry = readdir( root );
do {
std::string name( entry->d_name );
if( entry->d_type == DT_DIR ) {
if( name.compare( "." ) == 0 || name.compare( ".." ) == 0 ) {
continue;
} else {
const std::vector<std::string> child = ImageFiles( path + "/" + name, level + 1 );
retVal.insert( retVal.end(), child.begin(), child.end() );
}
} else {
if( name.compare( ".DS_Store" ) != 0 ) {
retVal.push_back( std::string( path + "/" + name ) );
}
}
} while( ( entry = readdir( root ) ) );
return retVal;
}
int main(int argc, char *argv[]) {
if( argc != 6 ) {
std::cerr << "Usage: <image_directory> <horizontal_squares> <vertical_squares> <square_size> <stereo>" << std::endl;
exit( EXIT_FAILURE );
}
const bool stereo = atoi( argv[5] ) == 1;
const int nx = atoi( argv[2] ), ny = atoi( argv[3] );
const float size = ( float )atof( argv[4] );
// Find Images
const std::vector<std::string> image_paths = ImageFiles( std::string(argv[1]), 0 );
// Load Images
std::vector<cv::Mat> images;
for( size_t i = 0; i < image_paths.size(); i++ ){
images.push_back( cv::imread( image_paths[i], CV_LOAD_IMAGE_GRAYSCALE ) );
}
if( !stereo ){
// Calculate Calibration
CalibrateSingle( images, nx, ny, size );
}else{
// Sort Images
std::vector<cv::Mat> left_images, right_images;
for( size_t i = 0; i < image_paths.size(); i++ ) {
if( image_paths[i].find( "left" ) != std::string::npos ) {
left_images.push_back( images[i] );
}
if( image_paths[i].find( "right" ) != std::string::npos ) {
right_images.push_back( images[i] );
}
}
// Fail if we dont have enough
if( left_images.empty() || left_images.size() != right_images.size() ) {
std::cerr << "Uneven distribution of left and right images" << std::endl;
exit( EXIT_FAILURE );
}
// Calculate Calibration
CalibrateStereo( left_images, right_images, nx, ny, size );
}
return 0;
}
