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Merged Audio branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@560 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-06-24 17:19:34 +00:00
parent 06fb556e78
commit 17b8e10ed8
111 changed files with 8370 additions and 9779 deletions
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30
tools/ImagesDbExtractor/CMakeLists.txt Normal file
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SET(SRC_FILES
main.cpp
)
SET(INCLUDE_DIRS
${PROJECT_SOURCE_DIR}/corelib/include
${CMAKE_CURRENT_SOURCE_DIR}
${UTILITE_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
SET(LIBRARIES
${UTILITE_LIBRARIES}
${OpenCV_LIBRARIES}
)
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
ADD_EXECUTABLE(imagesDbExtractor ${SRC_FILES})
TARGET_LINK_LIBRARIES(imagesDbExtractor rtabmap_corelib ${LIBRARIES})
SET_TARGET_PROPERTIES( imagesDbExtractor
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-imagesDbExtractor)
INSTALL(TARGETS imagesDbExtractor
RUNTIME DESTINATION bin COMPONENT runtime
LIBRARY DESTINATION lib COMPONENT devel
ARCHIVE DESTINATION lib COMPONENT devel)

64
tools/ImagesDbExtractor/main.cpp Normal file
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#include <opencv2/core/core.hpp>
#include <opencv2/core/types_c.h>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <iostream>
#include <utilite/ULogger.h>
#include <utilite/UTimer.h>
#include <utilite/UConversion.h>
#include <utilite/UDirectory.h>
#include "rtabmap/core/SMMemory.h"
int main(int argc, char** argv)
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kInfo);
std::string path = rtabmap::Parameters::defaultRtabmapWorkingDirectory() + "/LTM.db";
if(argc > 1)
{
path = argv[1];
}
// Open database
std::string driverType = "sqlite3";
rtabmap::ParametersMap parameters;
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory(), "false"));
rtabmap::SMMemory * memory = new rtabmap::SMMemory(parameters);
if(!memory)
{
UWARN("Can't create database driver \"%s\"", driverType.c_str());
}
else if(!memory->init(driverType, path))
{
UWARN("Can't open database \"%s\"", path.c_str());
}
if(memory)
{
UINFO("Using database %s", path.c_str());
std::string saveDirectory = "imagesExtracted/";
if(!UDirectory::exists(saveDirectory))
{
UDirectory::makeDir(saveDirectory);
}
std::set<int> ids = memory->getAllSignatureIds();
for(std::set<int>::iterator iter=ids.begin(); iter!=ids.end(); ++iter)
{
std::list<rtabmap::Sensor> sensors = memory->getRawData(*iter);
for(std::list<rtabmap::Sensor>::const_iterator jter=sensors.begin(); jter!=sensors.end(); ++jter)
{
int k=0;
if(jter->type() == rtabmap::Sensor::kTypeImage)
{
std::string fileName = uFormat("%d-%d.png", *iter, k++);
cv::imwrite(saveDirectory+fileName, jter->data());
UINFO("Saved %s", (saveDirectory+fileName).c_str());
}
}
}
}
return 0;
}