source: trunk/src/read_rdvision.m

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1%=======================================================================
2% Copyright 2008-2024, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France
3%   http://www.legi.grenoble-inp.fr
4%   Joel.Sommeria - Joel.Sommeria (A) univ-grenoble-alpes.fr
5%
6%     This file is part of the toolbox UVMAT.
7%
8%     UVMAT is free software; you can redistribute it and/or modify
9%     it under the terms of the GNU General Public License as published
10%     by the Free Software Foundation; either version 2 of the license,
11%     or (at your option) any later version.
12%
13%     UVMAT is distributed in the hope that it will be useful,
14%     but WITHOUT ANY WARRANTY; without even the implied warranty of
15%     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
16%     GNU General Public License (see LICENSE.txt) for more details.
17%=======================================================================
18
19function [A,FileInfo,timestamps,errormsg]=read_rdvision(filename,frame_idx)
20% BINREAD_RDV Permet de lire les fichiers bin g???n???r???s par Hiris ??? partir du
21% fichier seq associ???.
22%   [IMGS,TIMESTAMPS,NB_FRAMES] = BINREAD_RDV(FILENAME,FRAME_IDX) lit
23%   l'image d'indice FRAME_IDX de la s???quence FILENAME.
24%
25%   Entr???es
26%   -------
27%   FILENAME  : Nom du fichier s???quence (.seq).
28%   FRAME_IDX : Indice de l'image ??? lire. Si FRAME_IDX vaut -1 alors la
29%   s???quence est enti???rement lue. Si FRAME_IDX est un tableau d'indices
30%   alors toutes les images d'incides correspondant sont lues. Si FRAME_IDX
31%   est un tableau vide alors aucune image n'est lue mais le nombre
32%   d'images et tous les timestamps sont renvoy???s. Les indices commencent ???
33%   1 et se termines ??? NB_FRAMES.
34%
35%   Sorties
36%   -------
37%   IMGS        : Images de sortie.
38%   TIMESTAMPS  : Timestaps des images lues.
39%   NB_FRAMES   : Nombres d'images dans la sequence.
40
41errormsg='';
42if nargin<2% no frame indices specified
43   frame_idx=-1;% all the images in the series are read
44end
45A=[];
46timestamps=[];
47[PathDir,RootFile,Ext]=fileparts(filename);
48RootPath=fileparts(PathDir);
49switch Ext
50    case '.seq'
51        filename_seq=filename;
52        filename_sqb=fullfile(PathDir,[RootFile '.sqb']);
53    case '.sqb'
54        filename_seq=fullfile(PathDir,[RootFile '.seq']);
55        filename_sqb=filename;
56    otherwise
57        errormsg='input file extension must be .seq or .sqb';
58end
59if ~exist(filename_seq,'file')
60    errormsg=[filename_seq ' does not exist'];
61    return
62end
63s=ini2struct(filename_seq);
64FileInfo=s.sequenceSettings;
65if isfield(s.sequenceSettings,'numberoffiles')
66    FileInfo.NumberOfFrames=str2double(s.sequenceSettings.numberoffiles);
67    FileInfo.FrameRate=str2double(s.sequenceSettings.framepersecond);
68    FileInfo.ColorType='grayscale';
69    FileInfo.TimeName='timestamp';
70else
71    FileInfo.FileType='';
72    return
73end
74FileInfo.FileType='rdvision'; % file used to store info from image acquisition systems of rdvision
75nbfield=numel(fieldnames(FileInfo));
76FileInfo=orderfields(FileInfo,[nbfield nbfield-1 nbfield-2 (1:nbfield-3)]); %reorder the fields of fileInfo for clarity
77
78% read the images the input frame_idxis not empty
79if ~isempty(frame_idx)
80    w=str2double(FileInfo.width);
81    h=str2double(FileInfo.height);
82    bpp=str2double(FileInfo.bytesperpixel);
83    bin_file=FileInfo.binfile;
84   % bin_file='Dalsa1_';
85    nb_frames=str2double(FileInfo.numberoffiles);
86    %%%% reading the .sqb file
87    m = memmapfile(filename_sqb,'Format', { 'uint32' [1 1] 'offset'; ...
88        'uint32' [1 1] 'garbage1';...
89        'double' [1 1] 'timestamp';...
90        'uint32' [1 1] 'file_idx';...
91        'uint32' [1 1] 'garbage2' },'Repeat',nb_frames);   
92    data=m.Data;
93       %%%%%%%BRICOLAGE in case of unreadable .sqb file
94%      ind=[144 149:646];%indices of bin files
95%      lengthimage=w*h*bpp;% lengthof an image record on the binary file
96%     for ii=1:32*numel(ind)
97%         data(ii).offset=mod(ii-1,32)*2*lengthimage+lengthimage;%Dalsa_2
98%         %data(ii).offset=mod(ii-1,32)*2*lengthimage;%Dalsa_1
99%         data(ii).file_idx=ind(ceil(ii/32));
100%         data(ii).timestamp=0.2*(ii-1);
101%     end
102    %%%%%%%
103    timestamps=[data.timestamp];
104    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
105    if frame_idx==-1
106        frame_idx=1:nb_frames;
107    end
108   
109    classname=sprintf('uint%d',bpp*8);
110    A=zeros([h,w,length(frame_idx)],classname);
111   
112    classname=['*' classname];
113   
114    for i=1:length(frame_idx)
115        ii=frame_idx(i);
116        if ~isempty(FileInfo.binrepertoire)
117            binrepertoire=FileInfo.binrepertoire;
118        else %used when binrepertoire empty, strange feature of rdvision
119            binrepertoire=regexprep(FileInfo.bindirectory,'\\$','');%tranform Windows notation to Linux
120            binrepertoire=regexprep(binrepertoire,'\','/');
121            [tild,binrepertoire,DirExt]=fileparts(binrepertoire);
122            binrepertoire=[binrepertoire DirExt];     
123        end
124      %  binrepertoire='2014-07-04T10.48.46'% case FJORD5a %%%%%%%%%%%%%%%%%%%%%%%%%
125      % binrepertoire='2017-01-19T22.12.182'% EXP14 %%%%%%%%%%%%%%%%%%%%%%%%%
126        binfile=fullfile(RootPath,binrepertoire,sprintf('%s%.5d.bin',bin_file,data(ii).file_idx));
127        if ~exist(binfile,'file')
128            errormsg=[binfile ' does not exist'];
129            FileInfo.StartTime=regexprep(FileInfo.binrepertoire,'T',' ');
130            FileInfo.EndTime=datestr(datenum(FileInfo.StartTime,'yyyy-mm-dd HH.MM.SS')+timestamps(end)/86400);
131            disp(FileInfo)
132            return
133        else
134        fid=fopen(binfile,'rb');
135        fseek(fid,data(ii).offset,-1);
136        A(:,:,i)=reshape(fread(fid,w*h,classname),w,h)';
137        fclose(fid);
138        end
139    end
140   
141    if ~isempty(frame_idx)
142        timestamps=timestamps(frame_idx);
143    end 
144    FileInfo.StartTime=regexprep(FileInfo.binrepertoire,'T',' ');
145    FileInfo.EndTime=datestr(datenum(FileInfo.StartTime,'yyyy-mm-dd HH.MM.SS')+timestamps(end)/86400);
146    disp(FileInfo)
147end
148
149
150
151function Result = ini2struct(FileName)
152%==========================================================================
153%  Author: Andriy Nych ( nych.andriy@gmail.com )
154% Version:        733341.4155741782200
155%==========================================================================
156%
157% INI = ini2struct(FileName)
158%
159% This function parses INI file FileName and returns it as a structure with
160% section names and keys as fields.
161%
162% Sections from INI file are returned as fields of INI structure.
163% Each fiels (section of INI file) in turn is structure.
164% It's fields are variables from the corresponding section of the INI file.
165%
166% If INI file contains "oprhan" variables at the beginning, they will be
167% added as fields to INI structure.
168%
169% Lines starting with ';' and '#' are ignored (comments).
170%
171% See example below for more information.
172%
173% Usually, INI files allow to put spaces and numbers in section names
174% without restrictions as long as section name is between '[' and ']'.
175% It makes people crazy to convert them to valid Matlab variables.
176% For this purpose Matlab provides GENVARNAME function, which does
177%  "Construct a valid MATLAB variable name from a given candidate".
178% See 'help genvarname' for more information.
179%
180% The INI2STRUCT function uses the GENVARNAME to convert strange INI
181% file string into valid Matlab field names.
182%
183% [ test.ini ]~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
184%
185%     SectionlessVar1=Oops
186%     SectionlessVar2=I did it again ;o)
187%     [Application]
188%     Title = Cool program
189%     LastDir = c:\Far\Far\Away
190%     NumberOFSections = 2
191%     [1st section]
192%     param1 = val1
193%     Param 2 = Val 2
194%     [Section #2]
195%     param1 = val1
196%     Param 2 = Val 2
197%
198% ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
199%
200% The function converts this INI file it to the following structure:
201%
202% [ MatLab session (R2006b) ]~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
203%  >> INI = ini2struct('test.ini');
204%  >> disp(INI)
205%         sectionlessvar1: 'Oops'
206%         sectionlessvar2: 'I did it again ;o)'
207%             application: [1x1 struct]
208%             x1stSection: [1x1 struct]
209%            section0x232: [1x1 struct]
210%
211%  >> disp(INI.application)
212%                    title: 'Cool program'
213%                  lastdir: 'c:\Far\Far\Away'
214%         numberofsections: '2'
215%
216%  >> disp(INI.x1stSection)
217%         param1: 'val1'
218%         param2: 'Val 2'
219%
220%  >> disp(INI.section0x232)
221%         param1: 'val1'
222%         param2: 'Val 2'
223%
224% ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
225%
226% NOTE.
227% WhatToDoWithMyVeryCoolSectionAndVariableNamesInIniFileMyVeryCoolProgramWrites?
228% GENVARNAME also does the following:
229%   "Any string that exceeds NAMELENGTHMAX is truncated". (doc genvarname)
230% Period.
231%
232% =========================================================================
233Result = [];                            % we have to return something
234CurrMainField = '';                     % it will be used later
235f = fopen(FileName,'r');                % open file
236while ~feof(f)                          % and read until it ends
237    s = strtrim(fgetl(f));              % Remove any leading/trailing spaces
238    if isempty(s)
239        continue;
240    end;
241    if (s(1)==';')                      % ';' start comment lines
242        continue;
243    end;
244    if (s(1)=='#')                      % '#' start comment lines
245        continue;
246    end;
247    if ( s(1)=='[' ) && (s(end)==']' )
248        % We found section
249        CurrMainField = genvarname(lower(s(2:end-1)));
250        Result.(CurrMainField) = [];    % Create field in Result
251    else
252        % ??? This is not a section start
253        [par,val] = strtok(s, '=');
254        val = CleanValue(val);
255        if ~isempty(CurrMainField)
256            % But we found section before and have to fill it
257            Result.(CurrMainField).(lower(genvarname(par))) = val;
258        else
259            % No sections found before. Orphan value
260            Result.(lower(genvarname(par))) = val;
261        end
262    end
263end
264fclose(f);
265return;
266
267function res = CleanValue(s)
268res = strtrim(s);
269if strcmpi(res(1),'=')
270    res(1)=[];
271end
272res = strtrim(res);
273return;
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