やっつけMatパーサ

gistfile1.cpp

// data format
// # camnum
// # setnum
// # sets
// # data xd yd x0 y0 ... xN yN
// 0
// 4
// 1 2 3 4
// xxx xxx xxx xxx xxx xxx xxx xxx
// xxx ...

#include <iostream>
#include <fstream>
#include <sstream>
#include <vector>
#include <regex>

#include <boost/program_options.hpp>
#include <boost/foreach.hpp>
#include <boost/regex.hpp>

#include <opencv/highgui.h>
#include <opencv/cv.h>
#include <opencv/cxcore.h>

namespace dc_parser {

double toDouble(std::string s) { double r = 0; std::istringstream ss(s); ss >> r; return r; }

std::vector <std::string> split(const std::string _s, const std::string del)
{
    std::vector <std::string> ret;
    std::string s = _s;

    while (!s.empty())
    {
        size_t pos = s.find(del);
        std::string sub = "";
        sub = s.substr(0, pos);
        ret.push_back(sub);
        if (pos != std::string::npos)
        pos += del.size();
        s.erase(0, pos);
    }
    return ret;
}

int loadFromLine(std::ifstream& file, std::string& line, const std::string& escape_char){

  if ( !std::getline(file, line) ) return -1; // failed to load

  // escape sequence
  // excape character regexp
  boost::regex pattern("^\\s*" + escape_char);
  if ( regex_search(line, pattern) ) return 0; // skip the line

  return 1; // success
}

cv::Mat lineToMat(const std::string& line) {
  cv::Mat row;
  // load as string array
  std::vector<std::string> tmp  = split(line, " ");
  for (const auto& str : tmp) row.push_back(toDouble(str));
  return row;
}

std::vector<double> lineToVector(const std::string& line) {
  // load as string array
  std::vector<std::string> tmp  = split(line, " ");
  // to double convertion
  std::vector<double> args;
  for (const auto& str : tmp) args.push_back(toDouble(str));

  return args;
}

void loadFromDat(std::string& filename, int& cam_num, int& set_num, std::vector<double>& sets, cv::Mat& data) {
  std::ifstream file(filename.c_str());

  std::string line;
  // comment section
  while (true) {
    int status = dc_parser::loadFromLine(file, line, "#");

    if (status == 1) break;
    assert(status >=0 && "load failed");
  }

  // camera
  cam_num = dc_parser::lineToVector(line)[0];
  int status = dc_parser::loadFromLine(file, line, "#");
  // set-num
  assert(status >=0 && "load failed");
  set_num = dc_parser::lineToVector(line)[0];
  status = dc_parser::loadFromLine(file, line, "#");
  // sets
  assert(status >=0 && "load failed");
  sets = dc_parser::lineToVector(line);

  // data
  // rows: set_points (xd yd x0 y0 x1 y1 x2 y2 ... )
  // cols: points_num
  cv::Mat data_row;
  while (dc_parser::loadFromLine(file, line, "#") > 0) {
    data_row = dc_parser::lineToMat(line);

    // 1つ目
    if (data.empty()) {
      data = data_row;
      continue;
    }

    cv::Mat concat_mat[2];
    concat_mat[0] = data;
    concat_mat[1] = data_row;
    cv::hconcat(concat_mat, 2, data);
  }
}

}


int main(int argc, char const* argv[])
{
  boost::program_options::options_description cmdline("Command line options");
  cmdline.add_options()
    ("help,h",      "show help messages")
    ("camidx,c",    boost::program_options::value<int>(), "camera idx")
    ("inparam,i",   boost::program_options::value<std::string>(), "intrinsic matrix param .xml")
    ("filename,f",  boost::program_options::value<std::string>(), "file name cam0-x-x-x-x-x.dat");

  boost::program_options::variables_map variables_map;
  try {
      // parse_command_line
      boost::program_options::store(boost::program_options::parse_command_line(argc, argv, cmdline), variables_map);
  } catch (std::exception &e) {
      std::cerr << e.what() << std::endl;
      return -1;
  }

  if (argc==1 || variables_map.count("help")){
      std::cerr << " USAGE: $ ./excalib --camidx 0 --inparam camera0.xml --filename camera0-1-2-3-4.dat " << std::endl;
      std::cerr << cmdline << std::endl;
      return 0;
  }

  std::string filename = variables_map["filename"].as<std::string>();

  int cam_num, set_num;
  std::vector<double> sets;
  cv::Mat points;

  dc_parser::loadFromDat(filename, cam_num, set_num, sets, points);

  std::cout << points << std::endl;
  std::cout << points.rows << " " << points.cols << std::endl;



  return 0;
}

cv::Mat は痒い所にイマイチ手が届かないんだよなあ