require 'torch'

require 'paths'

require 'sys'

require 'xlua'

require 'image'

function loadCameras(dirbasename)

local filename = dirbasename .. 'depths/cameras'

if not paths.filep(filename) then

print('File' .. filename .. ' not found. Can\'t read camera positions.')

return nil

end

local file = torch.DiskFile(filename, 'r')

local version = file:readString('*l')

if version ~= 'cameras version 1' then

print('File ' .. filename .. ': wrong version')

return nil

end

file:quiet()

local ret = {}

while true do

local cam = {}

cam.file = file:readString('*l')

cam.f = file:readDouble()

cam.k1 = file:readDouble()

cam.k2 = file:readDouble()

cam.R = torch.Tensor(3,3)

for i = 1,3 do

for j = 1,3 do

cam.R[i][j] = file:readDouble()

end

end

cam.t = torch.Tensor(3)

for i = 1,3 do

cam.t[i] = file:readDouble()

end

if file:hasError() then

return ret

else

table.insert(ret, cam)

end

end

file:close()

end

function loadImage(dirbasename, filebasename)

local imfilename = dirbasename .. 'images/' .. filebasename .. '.jpg'

local depthfilename = dirbasename .. 'depths/' .. filebasename .. '.mat'

if not paths.filep(imfilename) then

print('File ' .. imfilename .. ' not found. Skipping...')

return

end

if not paths.filep(depthfilename) then

print('File ' .. depthfilename .. ' not found. Skipping...')

return

end

local im = image.loadJPG(imfilename)

local h_im = im:size(2)

local w_im = im:size(3)

im = image.scale(im, w_imgs, h_imgs)

local file_depth = torch.DiskFile(depthfilename, 'r')

local version = file_depth:readString('*l')

if version ~= 'depths version 2' then

print('File ' .. depthfilename .. ': wrong version. Skipping...')

return

end

local nPts = file_depth:readInt()

local depthPoints = torch.Tensor(nPts, 4)

for i = 1,nPts do

-- todo : indices are wrong by one because of the indexing from 1

depthPoints[i][4] = file_depth:readInt()

depthPoints[i][1] = file_depth:readInt() * h_imgs / h_im

depthPoints[i][2] = file_depth:readInt() * w_imgs / w_im

depthPoints[i][3] = file_depth:readDouble()

end

file_depth:close()

return {im, depthPoints}

end

function loadData(nImgs, delta, root_dir)

--print("Loading images")

local directories = {}

local nDirs = 0

local findIn = 'find -L ' .. root_dir .. ' -name images'

for i in io.popen(findIn):lines() do

nDirs = nDirs + 1

directories[nDirs] = string.gsub(i, "images", "")

end

--local imagesPerDir = math.floor(nImgs/nDirs)

local imagesPerDir = nImgs

for j=1,nDirs do

print("")

print("Loading " .. imagesPerDir .. " images from " .. directories[j])

local blacklist = {}

local nBl

local bl = torch.DiskFile(directories[j] .. 'images/blacklist.txt',r,true)

if (bl == nil) then

nBl = 0

else

nBl = bl:readInt()

for iBl = 0, nBl-1 do blacklist[iBl] = bl:readInt() end

end

print('- ' .. nBl .. ' images in blacklist')

for i = 0,imagesPerDir-1 do

xlua.progress(imagesPerDir*(j-1)+i+1, nImgs*nDirs)

local imageId = i*delta

local isInBl = false

for iBl = 0, nBl-1 do

if (blacklist[iBl] == imageId) then

isInBl = true

break

end

end

if (isInBl) then

print("")

print('Skipping image ' .. string.format("%09d", imageId))

else

table.insert(raw_data, loadImage(directories[j],string.format("%09d", imageId)))

end

end

end

end