process_raw.m

% Usage: copy to raw data directory along with toolbox files (inside of 'tools' subdirectory)

addpath('tools');

d = dir('.');
isub = [d(:).isdir]; %# returns logical vector
nameFolds = {d(isub).name}';
nameFolds(ismember(nameFolds,{'.','..','tools'})) = [];
nameFolds(~cellfun(@isempty,(regexp(nameFolds,'._out')))) = [];
disp(numel(nameFolds));

count = 0;
dist = 40;

rgbOutFolder = '_rgb';
if ~exist(rgbOutFolder, 'dir')
	mkdir(rgbOutFolder);
end

depthOutFolder = '_depth';
if ~exist(depthOutFolder, 'dir')
	mkdir(depthOutFolder);
end

maskOutFolder = '_mask';
if ~exist(maskOutFolder, 'dir')
	mkdir(maskOutFolder);
end

%filledDepthOutFolder = '_filled';
%if ~exist(filledDepthOutFolder, 'dir')
%	mkdir(filledDepthOutFolder);
%end

for f = 1:numel(nameFolds)
        disp(f);
	disp(nameFolds{f});
	files = get_synched_frames(nameFolds{f});
        c = numel(files);
	disp(strcat('filecount: ',int2str(c)));

	files = files(1:dist:c);
	c = numel(files);
	disp(strcat('filecount to process: ',int2str(c)));

	parfor idx = 1:c
	    rgbFilename = strcat(nameFolds{f},'/',files(idx).rawRgbFilename);
	    depthFilename = strcat(nameFolds{f},'/',files(idx).rawDepthFilename);
	    outRGBFilename = strcat(rgbOutFolder,'/',num2str(count + idx - 1),'.ppm');
	    outDepthFilename = strcat(depthOutFolder,'/',num2str(count + idx - 1),'.pgm');
	    maskOutFilename = strcat(maskOutFolder,'/',num2str(count + idx - 1),'.pgm');
	    %filledDepthFilename = strcat(filledDepthOutFolder,'/',num2str(count + idx - 1),'.pgm');
	    rgb = imread(rgbFilename);
	    depth = imread(depthFilename);
	    depth = swapbytes(depth);
	    [depthOut, rgbOut] = project_depth_map(depth, rgb);
   	    %filledImgDepth = fill_depth_colorization(double(rgbOut) / 255.0, depthOut, 0.8);
	    imgDepth = depthOut;
	    imgDepth = imgDepth / 10.0;
	    imgDepth = crop_image(imgDepth);
	    rgbOut = crop_image(rgbOut);
	    maskOut = double(~(imgDepth == 0 | imgDepth == 1.0));

	    %filledImgDepth = filledImgDepth / 10.0;
	    %filledImgDepth = crop_image(filledImgDepth);

	    imwrite(rgbOut, outRGBFilename);
	    imwrite(uint16(round(imgDepth*65535)), outDepthFilename);
	    imwrite(maskOut, maskOutFilename);
	    %imwrite(filledImgDepth, filledDepthFilename);

	end
	count = count + c;
end
disp(count);

exit;