analyseAB.asv

function analyseAB()

inputDir = 'G:\matlab\data\direct\gt\1';

MakeDirIfMissing(fullfile(inputDir,'01'));
dirInfo = dir(fullfile(inputDir,'Camera*'));
% for i = 1 : length(dirInfo)
%    img = rgb2gray(imread(fullfile(inputDir,dirInfo(i).name))); 
%    imgL = img(:,1:size(img,2)/2);
%    imgR = img(:,size(img,2)/2+1:end);
% %    imwrite(imgL,fullfile(inputDir,'1',sprintf('imgL_%03d.png',i)));
% %    imwrite(imgR,fullfile(inputDir,'1',sprintf('imgR_%03d.png',i)));
% end

names = {'Camera0','Camera1','Camera2','Camera3'};
srcs = {'src0','src1'};


camInfo = dir(fullfile(inputDir,'0*'));

tsInfo = cell(4,2);
frameNum = [];
for i = 1 : length(dirInfo)
    tsInfo{i,1} = loadjson(fullfile(inputDir, dirInfo(i).name,'data.json'));
    tsInfo{i,1}.Sequence.CameraInfo.width = 960;512;
    tsInfo{i,1}.Sequence.CameraInfo.height = 960;512;
    tsInfo{i,1}.Sequence.CameraInfo.Camera.width = 960;512;
    tsInfo{i,1}.Sequence.CameraInfo.Camera.height = 960;512;
%     srcInfo = dir(fullfile(inputDir,srcs{i},'*.png'));
    for j = 1:length(tsInfo{i,1}.Sequence.Frameset.Frame)
%         tsInfo{i,2} = [tsInfo{i,2};tsInfo{i,1}.Sequence.Frameset.Frame(j).timestamp];
        tsInfo{i,2} = [tsInfo{i,2};[tsInfo{i,1}.Sequence.Frameset.Frame(j).timestamp./1e9 tsInfo{i,1}.Sequence.Frameset.Frame(j).exposure_time./1e6]];
        
%         if j <= length(dirInfo)
%              img = (imread(fullfile(inputDir,srcs{i},srcInfo(j).name))); 
%         else
%             img = (imread(fullfile(inputDir,srcs{i},srcInfo(length(dirInfo)).name))); 
%         end
%         imwrite(img,fullfile(inputDir, camInfo(i).name,tsInfo{i,1}.Sequence.Frameset.Frame(j).filename));
%         frameNum = [frameNum;length(tsInfo{i,1}.Sequence.Frameset.Frame)];
    end
    
end

% err = [tsInfo{1,2}(1:min(frameNum),1) tsInfo{2,2}(1:min(frameNum),1) tsInfo{3,2}(1:min(frameNum),1)] - tsInfo{4,2}(1:min(frameNum),1);
% figure, subplot(1,2,1);plot(diff(tsInfo{1,2})./1e6);subplot(1,2,2), plot(err./1e6)

if 0
    figure,plot(tsInfo{1,2}(:,1), tsInfo{1,2}(:,2))
    figure,plot(tsInfo{1,2}(:,2))
end




ab = load(fullfile(inputDir,'ab.txt'));
ab(:,1:2) = ab(:,1:2)./1e9;

ab_bak = ab(:,3:4);

ab(:,3) = 1./exp(ab_bak(:,1));
ab(:,4) = ab(:,4)./exp(ab_bak(:,1));


if 1

    ab = load(fullfile(inputDir,'ab_statistics.txt'));

    ab = load(fullfile(inputDir,'abLog.txt'));
    
end


frameIds = unique(ab(:,2));

id_to_timestamp = [];
count = 1;
infoMat = {};
ts_stack = [];
for (i = 1 : length(frameIds))
    id = find(ab(:,2) == frameIds(i));
    ab_history = ab(id,1:4);
    infoMat{count,1} = frameIds(i);
    infoMat{count,2} = ab_history;
    count = count + 1;
    for j = 1 : length(id)
       ts = ab(id(j),1);
       idd = find(ts_stack == ts);
        if isempty(idd)
            ts_stack = [ts_stack; ts];
        else
            a = 1;
        end
    end
    
end
   
ab_curve = [];
ab_curve_key = [];
for i = 1 : size(infoMat,1)
    
    ab_curve = [ab_curve; [infoMat{i,1} infoMat{i,2}(1,3:4) infoMat{i,2}(end,3:4)]];
    
    if size(infoMat{i,2},1) > 1
        ab_curve_key = [ab_curve_key; [infoMat{i,1} infoMat{i,2}(1,3:4) infoMat{i,2}(end,3:4)]];
    end
end


figure,subplot(1,2,1),plot(ab_curve(:,1),ab_curve(:,[2 4]));title('normal frame a');legend('init','opt');grid on;
       subplot(1,2,2),plot(ab_curve(:,1),ab_curve(:,[3 5]));title('normal frame b');legend('init','opt');grid on;
       
       
figure,subplot(1,2,1),plot(ab_curve_key(:,1),ab_curve_key(:,[2 4]));title('key frame a');legend('init','opt');grid on;
       subplot(1,2,2),plot(ab_curve_key(:,1),ab_curve_key(:,[3 5]));title('key frame b');legend('init','opt');grid on;
%        hold on;plot(tsInfo{1,2}(:,1), tsInfo{1,2}(:,2))


if 0
    figure,subplot(1,2,1),plot(ab_curve(1:1200,1),ab_curve(1:1200,[2]));hold on;plot(ab_curve(212,1),ab_curve(212,[2]),'or','MarkerSize',5,'LineWidth',5);title('normal frame a');legend('init','opt');
    subplot(1,2,2),plot(ab_curve(1:1200,1),ab_curve(1:1200,[3]));hold on;plot(ab_curve(212,1),ab_curve(212,[3]),'or','MarkerSize',5,'LineWidth',5);title('normal frame b');legend('init','opt');
end

end