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#include <opencv2/rgbd.hpp>

#include <opencv2/highgui.hpp>
#include <opencv2/calib3d.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/core/utility.hpp>

#include <iostream>
#include <fstream>

using namespace std;
using namespace cv;
using namespace cv::rgbd;

#define BILATERAL_FILTER 0// if 1 then bilateral filter will be used for the depth

class MyTickMeter
{
public:
    MyTickMeter() { reset(); }
    void start() { startTime = getTickCount(); }
    void stop()
    {
        int64 time = getTickCount();
        if ( startTime == 0 )
            return;
        ++counter;
        sumTime += ( time - startTime );
        startTime = 0;
    }

    int64 getTimeTicks() const { return sumTime; }
    double getTimeSec()   const { return (double)getTimeTicks()/getTickFrequency(); }
    int64 getCounter() const { return counter; }

    void reset() { startTime = sumTime = 0; counter = 0; }
private:
    int64 counter;
    int64 sumTime;
    int64 startTime;
};

static
void writeResults( const string& filename, const vector<string>& timestamps, const vector<Mat>& Rt )
{
    CV_Assert( timestamps.size() == Rt.size() );

    ofstream file( filename.c_str() );
    if( !file.is_open() )
        return;

    cout.precision(4);
    for( size_t i = 0; i < Rt.size(); i++ )
    {
        const Mat& Rt_curr = Rt[i];
        if( Rt_curr.empty() )
            continue;

        CV_Assert( Rt_curr.type() == CV_64FC1 );

        Mat R = Rt_curr(Rect(0,0,3,3)), rvec;
        Rodrigues(R, rvec);
        double alpha = norm( rvec );
        if(alpha > DBL_MIN)
            rvec = rvec / alpha;

        double cos_alpha2 = std::cos(0.5 * alpha);
        double sin_alpha2 = std::sin(0.5 * alpha);

        rvec *= sin_alpha2;

        CV_Assert( rvec.type() == CV_64FC1 );
        // timestamp tx ty tz qx qy qz qw
        file << timestamps[i] << " " << fixed
             << Rt_curr.at<double>(0,3) << " " << Rt_curr.at<double>(1,3) << " " << Rt_curr.at<double>(2,3) << " "
             << rvec.at<double>(0) << " " << rvec.at<double>(1) << " " << rvec.at<double>(2) << " " << cos_alpha2 << endl;

    }
    file.close();
}

static
void setCameraMatrixFreiburg1(float& fx, float& fy, float& cx, float& cy)
{
    fx = 517.3f; fy = 516.5f; cx = 318.6f; cy = 255.3f;
}

static
void setCameraMatrixFreiburg2(float& fx, float& fy, float& cx, float& cy)
{
    fx = 520.9f; fy = 521.0f; cx = 325.1f; cy = 249.7f;
}

/*
 * This sample helps to evaluate odometry on TUM datasets and benchmark http://vision.in.tum.de/data/datasets/rgbd-dataset.
 * At this link you can find instructions for evaluation. The sample runs some opencv odometry and saves a camera trajectory
 * to file of format that the benchmark requires. Saved file can be used for online evaluation.
 */
int main(int argc, char** argv)
{
    if(argc != 4)
    {
        cout << "Format: file_with_rgb_depth_pairs trajectory_file odometry_name [Rgbd or ICP or RgbdICP]" << endl;
        return -1;
    }
    
    vector<string> timestamps;
    vector<Mat> Rts;

    const string filename = argv[1];
    ifstream file( filename.c_str() );
    if( !file.is_open() )
        return -1;

    char dlmrt = '/';
    size_t pos = filename.rfind(dlmrt);
    string dirname = pos == string::npos ? "" : filename.substr(0, pos) + dlmrt;

    const int timestampLength = 17;
    const int rgbPathLehgth = 17+8;
    const int depthPathLehgth = 17+10;

    float fx = 525.0f, // default
          fy = 525.0f,
          cx = 319.5f,
          cy = 239.5f;
    if(filename.find("freiburg1") != string::npos)
        setCameraMatrixFreiburg1(fx, fy, cx, cy);
    if(filename.find("freiburg2") != string::npos)
        setCameraMatrixFreiburg2(fx, fy, cx, cy);
    Mat cameraMatrix = Mat::eye(3,3,CV_32FC1);
    {
        cameraMatrix.at<float>(0,0) = fx;
        cameraMatrix.at<float>(1,1) = fy;
        cameraMatrix.at<float>(0,2) = cx;
        cameraMatrix.at<float>(1,2) = cy;
    }

    Ptr<OdometryFrame> frame_prev = Ptr<OdometryFrame>(new OdometryFrame()),
                           frame_curr = Ptr<OdometryFrame>(new OdometryFrame());
    Ptr<Odometry> odometry = Odometry::create("RGBD." + string(argv[3]) + "Odometry");
    if(odometry.empty())
    {
        cout << "Can not create Odometry algorithm. Check the passed odometry name." << endl;
        return -1;
    }
    odometry->setCameraMatrix(cameraMatrix);

    MyTickMeter gtm;
    int count = 0;
    for(int i = 0; !file.eof(); i++)
    {
        string str;
        std::getline(file, str);
        if(str.empty()) break;
        if(str.at(0) == '#') continue; /* comment */

        Mat image, depth;
        // Read one pair (rgb and depth)
        // example: 1305031453.359684 rgb/1305031453.359684.png 1305031453.374112 depth/1305031453.374112.png
#if BILATERAL_FILTER
        MyTickMeter tm_bilateral_filter;
#endif
        {
            string rgbFilename = str.substr(timestampLength + 1, rgbPathLehgth );
            string timestap = str.substr(0, timestampLength);
            string depthFilename = str.substr(2*timestampLength + rgbPathLehgth + 3, depthPathLehgth );

            image = imread(dirname + rgbFilename);
            depth = imread(dirname + depthFilename, -1);

            CV_Assert(!image.empty());
            CV_Assert(!depth.empty());
            CV_Assert(depth.type() == CV_16UC1);

            cout << i << " " << rgbFilename << " " << depthFilename << endl;

            // scale depth
            Mat depth_flt;
            depth.convertTo(depth_flt, CV_32FC1, 1.f/5000.f);
#if !BILATERAL_FILTER
            depth_flt.setTo(std::numeric_limits<float>::quiet_NaN(), depth == 0);
            depth = depth_flt;
#else
            tm_bilateral_filter.start();
            depth = Mat(depth_flt.size(), CV_32FC1, Scalar(0));
            const double depth_sigma = 0.03;
            const double space_sigma = 4.5;  // in pixels
            Mat invalidDepthMask = depth_flt == 0.f;
            depth_flt.setTo(-5*depth_sigma, invalidDepthMask);
            bilateralFilter(depth_flt, depth, -1, depth_sigma, space_sigma);
            depth.setTo(std::numeric_limits<float>::quiet_NaN(), invalidDepthMask);
            tm_bilateral_filter.stop();
            cout << "Time filter " << tm_bilateral_filter.getTimeSec() << endl;
#endif
            timestamps.push_back( timestap );
        }

        {
            Mat gray;
            cvtColor(image, gray, COLOR_BGR2GRAY);
            frame_curr->image = gray;
            frame_curr->depth = depth;
            
            Mat Rt;
            if(!Rts.empty())
            {
                MyTickMeter tm;
                tm.start();
                gtm.start();
                bool res = odometry->compute(frame_curr, frame_prev, Rt);
                gtm.stop();
                tm.stop();
                count++;
                cout << "Time " << tm.getTimeSec() << endl;
#if BILATERAL_FILTER
                cout << "Time ratio " << tm_bilateral_filter.getTimeSec() / tm.getTimeSec() << endl;
#endif
                if(!res)
                    Rt = Mat::eye(4,4,CV_64FC1);
            }

            if( Rts.empty() )
                Rts.push_back(Mat::eye(4,4,CV_64FC1));
            else
            {
                Mat& prevRt = *Rts.rbegin();
                cout << "Rt " << Rt << endl;
                Rts.push_back( prevRt * Rt );
            }

            if(!frame_prev.empty())
                frame_prev->release();
            std::swap(frame_prev, frame_curr);
        }
    }

    std::cout << "Average time " << gtm.getTimeSec()/count << std::endl;
    writeResults(argv[2], timestamps, Rts);

    return 0;
}
