feature: Add filenames as parameters to scene flow class

Previoulsy the source file names for intensity and depth images were
hard coded as i1, i2, z1 and z2.  This makes it difficult to run the
code from a script across multiple input files (without writing code
to rename files before running the scene flow alogrithm).

These changes mean that the PD_flow_mrpt can be constructed with file
names for each of these files (which may include paths too).

The output file root can be provdied too. The code will continue to
suffix _results and _representation and to apply a unique extension if
the file name already exists.

scene_flow_impair.cpp

@@ -28,8 +28,13 @@ bool  fileExists(const std::string& path)
     return 0 == access(path.c_str(), 0x00 ); // 0x00 = Check for existence only!
 }
 
-PD_flow_opencv::PD_flow_opencv(unsigned int rows_config)
-{     
+PD_flow_opencv::PD_flow_opencv(unsigned int rows_config, 
+	const char *intensity_filename_1, 
+	const char *intensity_filename_2,
+	const char *depth_filename_1,
+	const char *depth_filename_2,
+	const char* output_filename_root) {
+
     rows = rows_config;      //Maximum size of the coarse-to-fine scheme - Default 240 (QVGA)
     cols = rows*320/240;
     ctf_levels = static_cast<unsigned int>(log2(float(rows/15))) + 1;
@@ -62,8 +67,16 @@ PD_flow_opencv::PD_flow_opencv(unsigned int rows_config)
     lambda_i = 0.04f;
     lambda_d = 0.35f;
     mu = 75.f;
+
+    // Set file names
+    this->intensity_filename_1 = intensity_filename_1;
+    this->intensity_filename_2 = intensity_filename_2;
+    this->depth_filename_1 = depth_filename_1;
+    this->depth_filename_2 = depth_filename_2;
+    this->output_filename_root = output_filename_root;
 }
 
+
 void PD_flow_opencv::createImagePyramidGPU()
 {
     //Copy new frames to the scene flow object
@@ -209,15 +222,13 @@ void PD_flow_opencv::showImages()
 
 bool PD_flow_opencv::loadRGBDFrames()
 {
-	char name[100];
 	cv::Mat depth_float;
 
 	//First intensity image
-	sprintf(name, "i1.png");
-	intensity1 = cv::imread(name, CV_LOAD_IMAGE_GRAYSCALE);
+	intensity1 = cv::imread(intensity_filename_1, CV_LOAD_IMAGE_GRAYSCALE);
 	if (intensity1.empty())
 	{
-		printf("\nThe first intensity image (i1) cannot be found, please check that it is in the correct folder \n");
+		printf("\nThe first intensity image (%s) cannot be found, please check that it is in the correct folder \n", intensity_filename_1);
 		return 0;
 	}
 
@@ -226,11 +237,10 @@ bool PD_flow_opencv::loadRGBDFrames()
 			I[v + u*height] = float(intensity1.at<unsigned char>(v,u));
 
 	//First depth image
-	sprintf(name, "z1.png");
-	depth1 = cv::imread(name, -1);
+	depth1 = cv::imread(depth_filename_1, -1);
 	if (depth1.empty())
 	{
-		printf("\nThe first depth image (z1) cannot be found, please check that it is in the correct folder \n");
+		printf("\nThe first depth image (%s) cannot be found, please check that it is in the correct folder \n", depth_filename_1);
 		return 0;
 	}
 
@@ -243,11 +253,10 @@ bool PD_flow_opencv::loadRGBDFrames()
 
 
 	//Second intensity image
-	sprintf(name, "i2.png");
-	intensity2 = cv::imread(name, CV_LOAD_IMAGE_GRAYSCALE);
+	intensity2 = cv::imread(intensity_filename_2, CV_LOAD_IMAGE_GRAYSCALE);
 	if (intensity2.empty())
 	{
-		printf("\nThe second intensity image (i2) cannot be found, please check that it is in the correct folder \n");
+		printf("\nThe second intensity image (%s) cannot be found, please check that it is in the correct folder \n", intensity_filename_2);
 		return 0;
 	}
 
@@ -256,11 +265,10 @@ bool PD_flow_opencv::loadRGBDFrames()
 			I[v + u*height] = float(intensity2.at<unsigned char>(v,u));
 
 	//Second depth image
-	sprintf(name, "z2.png");
-	depth2 = cv::imread(name, -1);
+	depth2 = cv::imread(depth_filename_2, -1);
 	if (depth2.empty())
 	{
-		printf("\nThe second depth image (z2) cannot be found, please check that they are in the correct folder \n");
+		printf("\nThe second depth image (%s) cannot be found, please check that they are in the correct folder \n", depth_filename_2);
 		return 0;
 	}
 	depth2.convertTo(depth_float, CV_32FC1, 1.0 / 5000.0);
@@ -273,7 +281,7 @@ bool PD_flow_opencv::loadRGBDFrames()
 	return 1;
 }
 
-void PD_flow_opencv::showAndSaveResults()
+void PD_flow_opencv::showAndSaveResults( )
 {
 	//Save scene flow as an RGB image (one colour per direction)
 	cv::Mat sf_image(rows, cols, CV_8UC3);
@@ -308,14 +316,14 @@ void PD_flow_opencv::showAndSaveResults()
 
 
 	//Save the scene flow as a text file 
-	char	name[100];
+	char	name[500];
 	int     nFichero = 0;
 	bool    free_name = false;
 
 	while (!free_name)
 	{
 		nFichero++;
-		sprintf(name, "pdflow_results%02u.txt", nFichero );
+		sprintf(name, "%s%02u.txt", output_filename_root, nFichero );
 		free_name = !fileExists(name);
 	}
 
@@ -337,7 +345,7 @@ void PD_flow_opencv::showAndSaveResults()
 	f_res.close();
 
 	//Save the RGB representation of the scene flow
-	sprintf(name, "pdflow_representation%02u.png", nFichero);
+	sprintf(name, "%s_representation%02u.png", output_filename_root, nFichero);
 	printf("Saving the visual representation to file: %s \n", name);
 	cv::imwrite(name, sf_image);
 }

scene_flow_impair.h

@@ -90,6 +90,13 @@ class PD_flow_opencv {
     //Cuda
     CSF_cuda csf_host, *csf_device;
 
+    // Filenames
+    const char *intensity_filename_1;
+    const char *intensity_filename_2;
+    const char *depth_filename_1;
+    const char *depth_filename_2;
+    const char *output_filename_root;
+
 	//Methods
 	bool loadRGBDFrames();
     void createImagePyramidGPU();
@@ -99,7 +106,7 @@ class PD_flow_opencv {
 	void showImages();
 	void showAndSaveResults();
 
-    PD_flow_opencv(unsigned int rows_config);
+    PD_flow_opencv(unsigned int rows_config, const char *intensity_filename_1="i1.png", const char *intensity_filename_2="i2.png", const char *depth_filename_1="z1.png", const char *depth_filename_2="z2.png", const char* output_filename_root="pdflow");
 };