From 5f99781fb21d8858e63ccb8a6a68e20823af0aba Mon Sep 17 00:00:00 2001
From: Henri Rebecq <h.rebecq@gmail.com>
Date: Mon, 16 Sep 2019 14:09:49 +0200
Subject: [PATCH] Update DataProviderFromFolder, which reads images from a
 folder

---
 .../data_provider_from_folder.hpp             |  3 ++-
 .../src/data_provider_from_folder.cpp         | 24 +++++++++++--------
 2 files changed, 16 insertions(+), 11 deletions(-)

diff --git a/event_camera_simulator/esim_data_provider/include/esim/data_provider/data_provider_from_folder.hpp b/event_camera_simulator/esim_data_provider/include/esim/data_provider/data_provider_from_folder.hpp
index 4df491e..1dbe0d3 100644
--- a/event_camera_simulator/esim_data_provider/include/esim/data_provider/data_provider_from_folder.hpp
+++ b/event_camera_simulator/esim_data_provider/include/esim/data_provider/data_provider_from_folder.hpp
@@ -35,7 +35,8 @@ private:
   std::string path_to_data_folder_;
   std::ifstream images_in_str_;
   const char delimiter_{','};
-  const size_t num_tokens_in_line_ = 3; // stamp, image, depth
+  const size_t num_tokens_in_line_ = 2; // stamp, image
+  bool finished_parsing_;
 
   SimulatorData sim_data_;
 };
diff --git a/event_camera_simulator/esim_data_provider/src/data_provider_from_folder.cpp b/event_camera_simulator/esim_data_provider/src/data_provider_from_folder.cpp
index 132d589..fb61a31 100644
--- a/event_camera_simulator/esim_data_provider/src/data_provider_from_folder.cpp
+++ b/event_camera_simulator/esim_data_provider/src/data_provider_from_folder.cpp
@@ -1,21 +1,26 @@
 #include <esim/data_provider/data_provider_from_folder.hpp>
 #include <ze/common/file_utils.hpp>
 #include <opencv2/imgcodecs/imgcodecs.hpp>
+#include <ze/cameras/camera_impl.hpp>
 
 namespace event_camera_simulator {
 
 DataProviderFromFolder::DataProviderFromFolder(const std::string& path_to_data_folder)
   : DataProviderBase(DataProviderType::Folder),
-    path_to_data_folder_(path_to_data_folder)
+    path_to_data_folder_(path_to_data_folder),
+    finished_parsing_(false)
 {
   // Load CSV image file
   images_in_str_.open(ze::joinPath(path_to_data_folder, "images.csv"));
   CHECK(images_in_str_.is_open());
 
-  // Load camera rig
-  camera_rig_ = ze::cameraRigFromYaml(ze::joinPath(path_to_data_folder, "calib.yaml"));
-  CHECK(camera_rig_);
-  CHECK_EQ(camera_rig_->size(), 1u) << "Only one camera in the rig is supported at the moment";
+  // Create dummy camera rig
+  // these intrinsic values are filled with garbage (width = height = 1) since the actual values are not known
+  ze::CameraVector cameras;
+  cameras.emplace_back(ze::createEquidistantCameraShared(1, 1, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0));
+  ze::TransformationVector extrinsics;
+  extrinsics.push_back(ze::Transformation());
+  camera_rig_ = std::make_shared<ze::CameraRig>(extrinsics, cameras, "camera");
 
   // Allocate memory for image data
   sim_data_.images.emplace_back(ImagePtr(new Image(
@@ -46,6 +51,8 @@ bool DataProviderFromFolder::spinOnce()
   std::string line;
   if(!getline(images_in_str_, line))
   {
+    VLOG(1) << "Finished parsing images.csv file";
+    finished_parsing_ = true;
     return false;
   }
 
@@ -55,12 +62,9 @@ bool DataProviderFromFolder::spinOnce()
     CHECK_GE(items.size(), num_tokens_in_line_);
     int64_t stamp = getTimeStamp(items[0]);
 
-    const std::string& path_to_image = ze::joinPath(path_to_data_folder_, "frame", "cam_0", items[1]);
+    const std::string& path_to_image = ze::joinPath(path_to_data_folder_, items[1]);
     cv::Mat image = cv::imread(path_to_image, 0);
     CHECK(image.data) << "Could not load image from file: " << path_to_image;
-    CHECK(image.rows == camera_rig_->at(0).height()
-          && image.cols == camera_rig_->at(0).width()) << "The image size in the data folder and the image size"
-                                                          "specified in the camera rig do not match";
 
     VLOG(3) << "Read image from file: " << path_to_image;
     image.convertTo(*sim_data_.images[0], cv::DataType<ImageFloatType>::type, 1./255.);
@@ -77,7 +81,7 @@ bool DataProviderFromFolder::spinOnce()
 
 bool DataProviderFromFolder::ok() const
 {
-  if (!running_)
+  if (!running_ || finished_parsing_)
   {
     VLOG(1) << "Data Provider was paused/terminated.";
     return false;