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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#pragma once
#include <fmt/chrono.h>
#include <json/json.h>
#include <atomic>
#include <fstream>
#include <iomanip>
#include <sstream>
#include "open3d/Open3D.h"
namespace open3d {
namespace apps {
namespace offline_reconstruction {
inline std::string PadZeroToNumber(int num, int size) {
return fmt::format("{0:0{1}}", num, size);
}
inline std::string DurationToHMS(const double& ms) {
std::chrono::system_clock::time_point t{
std::chrono::milliseconds{size_t(ms)}};
return fmt::format("{:%T}", t.time_since_epoch());
}
inline std::string FloatToString(float f, int precision = 3) {
return fmt::format("{0:.{1}f}", f, precision);
}
bool CheckFolderStructure(const std::string& path_dataset) {
if (utility::filesystem::FileExists(path_dataset) &&
utility::filesystem::GetFileExtensionInLowerCase(path_dataset) ==
"bag") {
return true;
}
const std::string path_color = utility::filesystem::AddIfExist(
path_dataset, {"color", "rgb", "image"});
if (path_color == path_dataset) {
utility::LogError("Can not find color folder in {}", path_dataset);
}
const std::string path_depth =
utility::filesystem::JoinPath(path_dataset, "depth");
if (!utility::filesystem::DirectoryExists(path_color) ||
!utility::filesystem::DirectoryExists(path_depth)) {
utility::LogWarning("Folder structure of {} is not correct",
path_dataset);
return false;
}
return true;
}
void MakeCleanFolder(const std::string& path) {
if (utility::filesystem::DirectoryExists(path)) {
utility::filesystem::DeleteDirectory(path);
}
utility::filesystem::MakeDirectory(path);
}
bool ReadJsonFromFile(const std::string& path, Json::Value& json) {
std::ifstream ifs(path);
if (!ifs.is_open()) {
utility::LogWarning("Failed to open {}", path);
return false;
}
Json::CharReaderBuilder builder;
builder["collectComments"] = false;
Json::String errs;
bool is_parse_successful = parseFromStream(builder, ifs, &json, &errs);
if (!is_parse_successful) {
utility::LogWarning("Read JSON failed: {}.", errs);
return false;
}
return true;
}
std::tuple<std::string, std::string> GetRGBDFolders(
const std::string& path_dataset) {
return std::make_tuple(
utility::filesystem::AddIfExist(path_dataset,
{"image/", "rgb/", "color/"}),
utility::filesystem::JoinPath(path_dataset, "depth/"));
}
std::tuple<std::vector<std::string>, std::vector<std::string>> ReadRGBDFiles(
const std::string& path) {
std::string path_rgb, path_depth;
std::tie(path_rgb, path_depth) = GetRGBDFolders(path);
std::vector<std::string> color_files, depth_files;
utility::filesystem::ListFilesInDirectoryWithExtension(path_rgb, "png",
color_files);
if (color_files.empty()) {
utility::filesystem::ListFilesInDirectoryWithExtension(path_rgb, "jpg",
color_files);
}
utility::filesystem::ListFilesInDirectoryWithExtension(path_depth, "png",
depth_files);
if (color_files.size() != depth_files.size()) {
utility::LogError(
"Number of color {} and depth {} images are not equal.",
color_files.size(), depth_files.size());
}
return std::make_tuple(color_files, depth_files);
}
std::vector<std::string> ReadPlyFiles(const std::string& path) {
std::vector<std::string> ply_files;
utility::filesystem::ListFilesInDirectoryWithExtension(path, "ply",
ply_files);
return ply_files;
}
std::tuple<std::string, std::string, float> ExtractRGBDFrames(
const std::string& rgbd_video_file) {
const std::string frames_folder =
utility::filesystem::GetFileParentDirectory(rgbd_video_file);
const std::string path_intrinsic = frames_folder + "intrinsic.json";
if (!utility::filesystem::FileExists(path_intrinsic)) {
utility::LogError("Intrinsic file not found: {}", path_intrinsic);
} else {
auto rgbd_video = t::io::RGBDVideoReader::Create(rgbd_video_file);
rgbd_video->SaveFrames(frames_folder);
}
Json::Value intrinsic = utility::StringToJson(path_intrinsic);
return std::make_tuple(frames_folder, path_intrinsic,
intrinsic["depth_scale"].asFloat());
}
} // namespace offline_reconstruction
} // namespace apps
} // namespace open3d
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