add support for loading yml images

src/main.cpp

@@ -32,6 +32,7 @@
 #include "uvosunwrap/log.h"
 #include "uvosunwrap/charuco.h"
 #include "uvosunwrap/harris.h"
+#include "uvosunwrap/curve.h"
 
 #define IMREAD_SIZE pow(2, 20)
 
@@ -39,6 +40,8 @@ enum {
 	CREATE_CHARUCO,
 	CREATE_MAP,
 	APPLY_MAP,
+	APPLY_CURVE,
+	CREATE_CURVE,
 	EXIT
 };
 
@@ -50,36 +53,71 @@ int selectOperation(char** opt)
 		return CREATE_MAP;
 	else if(strcmp(opt[0], "apply" ) == 0)
 		return APPLY_MAP;
-	else if(strcmp(opt[0], "makeboard" ) == 0)
+	else if(strcmp(opt[0], "curve" ) == 0)
+		return APPLY_CURVE;
+	else if(strcmp(opt[0], "mkcurve" ) == 0)
+		return CREATE_CURVE;
+	else if(strcmp(opt[0], "mkboard" ) == 0)
 		return CREATE_CHARUCO;
 	else if(strcmp(opt[0], "exit" ) == 0)
 		return EXIT;
 	return -1;
 }
 
+cv::Mat openImageImg(char* fileName)
+{
+	int fd = open(fileName, O_RDONLY);
+	if(fd < 0)
+	{
+		Log(Log::WARN)<<"could not open "<<fileName<< "ignoreing";
+		return cv::Mat();
+	}
+	
+	size_t pos = 0;
+	std::vector<char> buffer(IMREAD_SIZE);
+	size_t count;
+	while((count = read(fd, buffer.data()+pos, IMREAD_SIZE)) > 0)
+	{
+		pos+=count;
+		buffer.resize(pos+IMREAD_SIZE);
+		Log(Log::WARN)<<pos<<"  "<<IMREAD_SIZE;
+	}
+	close(fd);
+	return cv::imdecode(buffer, cv::IMREAD_UNCHANGED);
+}
+
+cv::Mat openImageYml(char* fileName)
+{
+	cv::Mat image;
+	cv::FileStorage matf(fileName, cv::FileStorage::READ);
+	matf["image"]>>image;
+
+	if(matf.isOpened() && (!image.data || image.type() != CV_32FC1))
+	{
+		Log(Log::WARN)<<fileName<<" dose not contain a valid image";
+		matf.release();
+		return cv::Mat();
+	}
+	else if(!image.data)
+	{
+		Log(Log::WARN)<<"could not open "<<fileName<< "ignoreing";
+		matf.release();
+		return cv::Mat();
+	}
+	return image;
+}
+
 std::vector<cv::Mat> loadImages(char** fileNames)
 { 
 	std::vector<cv::Mat> images;
 	for(size_t i = 0; fileNames[i]; ++i)
 	{
-		int fd = open(fileNames[i], O_RDONLY);
-		if(fd < 0)
-		{
-			Log(Log::WARN)<<"could not open "<<fileNames[i]<< "ignoreing";
-			continue;
-		}
-		
-		size_t pos = 0;
-		std::vector<char> buffer(IMREAD_SIZE);
-		size_t count;
-		while((count = read(fd, buffer.data()+pos, IMREAD_SIZE)) > 0)
-		{
-			pos+=count;
-			buffer.resize(pos+IMREAD_SIZE);
-			Log(Log::WARN)<<pos<<"  "<<IMREAD_SIZE;
-		}
-
-		cv::Mat tmpImage = cv::imdecode(buffer, cv::IMREAD_UNCHANGED);
+		cv::Mat tmpImage;
+		const std::string str(fileNames[i]);
+		if(str.find(".mat") !=  std::string::npos)
+			openImageYml(fileNames[i]);
+		else	
+		 tmpImage = openImageImg(fileNames[i]);
 		if(tmpImage.data)
 			images.push_back(tmpImage);
 		else 
@@ -91,7 +129,7 @@ std::vector<cv::Mat> loadImages(char** fileNames)
 int perfromOperation(int operation, char** fileNames, const Config& config)
 {
 	std::vector<cv::Mat> inImages;
-	if(operation == CREATE_MAP || operation == APPLY_MAP)
+	if(operation == CREATE_MAP || operation == APPLY_MAP || operation == APPLY_CURVE)
 	{
 		inImages = loadImages(fileNames);
 		
@@ -213,6 +251,69 @@ int perfromOperation(int operation, char** fileNames, const Config& config)
 		
 		cv::imwrite(!config.output.empty() ? config.output : "out.png", out);
 	}
+	else if(operation == APPLY_CURVE)
+	{
+		if(config.curve.empty())
+		{
+			Log(Log::INFO)<<"a curve must be supplied";
+			return -1;
+		}
+		
+		cv::FileStorage fs(config.curve, cv::FileStorage::READ);
+		cv::Mat curve;
+		fs["curve"]>>curve;
+		if(!curve.data || curve.type() != CV_32FC1 || curve.rows != 2 || curve.cols < 3)
+		{
+			Log(Log::INFO)<<"invalid curve";
+			return -1;
+		}
+		
+		cvtColor(inImages[0], inImages[0], cv::COLOR_BGR2GRAY);
+		inImages[0].convertTo(inImages[0], CV_32F);
+		
+		applyCurve(inImages[0], curve);
+	}
+	else if(operation == CREATE_CURVE)
+	{
+		cv::Mat curve = cv::Mat::zeros(2, 10, CV_32FC1);
+		float* keys   = curve.ptr<float>(0);
+		float* values = curve.ptr<float>(1);
+		std::cout<<"Please type 10 coordinate pairs\n";
+		for(int i = 0; i < curve.cols; ++i)
+		{
+			std::cout<<i<<"> ";
+			double key;
+			double value;
+			
+			std::cin>>key;
+			if(std::cin.fail())
+			{
+				std::cin.clear();
+				--i;
+				continue;
+			}
+			std::cin>>value;
+			if(std::cin.fail())
+			{
+				std::cin.clear();
+				--i;
+				continue;
+			}
+			
+			
+			keys[i] = key;
+			values[i] = value;
+		}
+		
+		for(int i = 0; i < curve.cols; ++i)
+			std::cout<<keys[i]<<' '<<values[i]<<'\n';
+		
+		cv::FileStorage fs(!config.output.empty() ? config.output : "curve.mat", cv::FileStorage::WRITE);
+		fs<<"curve"<<curve;
+		fs.release();
+		
+		std::cout<<"Curve saved to "<<(!config.output.empty() ? config.output : "curve.mat")<<'\n';
+	}
 	else if(operation == EXIT)
 		return -1;
 	return 0;
@@ -244,6 +345,7 @@ int main(int argc, char* argv[])
 		if(operation < 0)
 		{
 			Log(Log::ERROR)<<"An operation must be selected";
+			Log(Log::INFO)<<"Possible operations: apply create curve mkcurve mkboard";
 			return -1;
 		}
 		ret = perfromOperation(operation, config.commandsFiles+1, config);