source: trunk/src/read_rdvision.m @ 1033

Last change on this file since 1033 was 1032, checked in by sommeria, 3 years ago

reading LaVision? images improved

File size: 9.6 KB
Line 
1%=======================================================================
2% Copyright 2008-2018, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France
3%   http://www.legi.grenoble-inp.fr
4%   Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.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 s???quence.
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        fid=fopen(binfile,'rb');
128        fseek(fid,data(ii).offset,-1);
129        A(:,:,i)=reshape(fread(fid,w*h,classname),w,h)';
130        fclose(fid);
131    end
132   
133    if ~isempty(frame_idx)
134        timestamps=timestamps(frame_idx);
135    end
136end
137
138function Result = ini2struct(FileName)
139%==========================================================================
140%  Author: Andriy Nych ( nych.andriy@gmail.com )
141% Version:        733341.4155741782200
142%==========================================================================
143%
144% INI = ini2struct(FileName)
145%
146% This function parses INI file FileName and returns it as a structure with
147% section names and keys as fields.
148%
149% Sections from INI file are returned as fields of INI structure.
150% Each fiels (section of INI file) in turn is structure.
151% It's fields are variables from the corresponding section of the INI file.
152%
153% If INI file contains "oprhan" variables at the beginning, they will be
154% added as fields to INI structure.
155%
156% Lines starting with ';' and '#' are ignored (comments).
157%
158% See example below for more information.
159%
160% Usually, INI files allow to put spaces and numbers in section names
161% without restrictions as long as section name is between '[' and ']'.
162% It makes people crazy to convert them to valid Matlab variables.
163% For this purpose Matlab provides GENVARNAME function, which does
164%  "Construct a valid MATLAB variable name from a given candidate".
165% See 'help genvarname' for more information.
166%
167% The INI2STRUCT function uses the GENVARNAME to convert strange INI
168% file string into valid Matlab field names.
169%
170% [ test.ini ]~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
171%
172%     SectionlessVar1=Oops
173%     SectionlessVar2=I did it again ;o)
174%     [Application]
175%     Title = Cool program
176%     LastDir = c:\Far\Far\Away
177%     NumberOFSections = 2
178%     [1st section]
179%     param1 = val1
180%     Param 2 = Val 2
181%     [Section #2]
182%     param1 = val1
183%     Param 2 = Val 2
184%
185% ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
186%
187% The function converts this INI file it to the following structure:
188%
189% [ MatLab session (R2006b) ]~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
190%  >> INI = ini2struct('test.ini');
191%  >> disp(INI)
192%         sectionlessvar1: 'Oops'
193%         sectionlessvar2: 'I did it again ;o)'
194%             application: [1x1 struct]
195%             x1stSection: [1x1 struct]
196%            section0x232: [1x1 struct]
197%
198%  >> disp(INI.application)
199%                    title: 'Cool program'
200%                  lastdir: 'c:\Far\Far\Away'
201%         numberofsections: '2'
202%
203%  >> disp(INI.x1stSection)
204%         param1: 'val1'
205%         param2: 'Val 2'
206%
207%  >> disp(INI.section0x232)
208%         param1: 'val1'
209%         param2: 'Val 2'
210%
211% ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
212%
213% NOTE.
214% WhatToDoWithMyVeryCoolSectionAndVariableNamesInIniFileMyVeryCoolProgramWrites?
215% GENVARNAME also does the following:
216%   "Any string that exceeds NAMELENGTHMAX is truncated". (doc genvarname)
217% Period.
218%
219% =========================================================================
220Result = [];                            % we have to return something
221CurrMainField = '';                     % it will be used later
222f = fopen(FileName,'r');                % open file
223while ~feof(f)                          % and read until it ends
224    s = strtrim(fgetl(f));              % Remove any leading/trailing spaces
225    if isempty(s)
226        continue;
227    end;
228    if (s(1)==';')                      % ';' start comment lines
229        continue;
230    end;
231    if (s(1)=='#')                      % '#' start comment lines
232        continue;
233    end;
234    if ( s(1)=='[' ) && (s(end)==']' )
235        % We found section
236        CurrMainField = genvarname(lower(s(2:end-1)));
237        Result.(CurrMainField) = [];    % Create field in Result
238    else
239        % ??? This is not a section start
240        [par,val] = strtok(s, '=');
241        val = CleanValue(val);
242        if ~isempty(CurrMainField)
243            % But we found section before and have to fill it
244            Result.(CurrMainField).(lower(genvarname(par))) = val;
245        else
246            % No sections found before. Orphan value
247            Result.(lower(genvarname(par))) = val;
248        end
249    end
250end
251fclose(f);
252return;
253
254function res = CleanValue(s)
255res = strtrim(s);
256if strcmpi(res(1),'=')
257    res(1)=[];
258end
259res = strtrim(res);
260return;
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