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DBViewer/Extract Images: export calibration for each image, also now export multi-camera calibrations.

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matlabbe
2021-07-07 12:21:57 -04:00
parent f9257beeb8
commit 456560b9e4
1 changed files with 120 additions and 95 deletions
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215
guilib/src/DatabaseViewer.cpp
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@@ -1457,12 +1457,18 @@ void DatabaseViewer::extractImages()
QString ext = format.split('.').back(); QString ext = format.split('.').back();
bool useStamp = format.split('.').front().compare("timestamp") == 0; bool useStamp = format.split('.').front().compare("timestamp") == 0;
bool directoriesCreated = false;
QString path = QFileDialog::getExistingDirectory(this, tr("Select directory where to save images..."), QDir::homePath()); QString path = QFileDialog::getExistingDirectory(this, tr("Select directory where to save images..."), QDir::homePath());
if(!path.isEmpty()) if(!path.isEmpty())
{ {
rtabmap::ProgressDialog * progressDialog = new rtabmap::ProgressDialog(this);
progressDialog->setAttribute(Qt::WA_DeleteOnClose);
progressDialog->setMaximumSteps(ids_.size());
progressDialog->setCancelButtonVisible(true);
progressDialog->appendText(tr("Saving %1 images to %2...").arg(ids_.size()).arg(path));
progressDialog->show();
int imagesExported = 0; int imagesExported = 0;
bool calibrationSaved = false;
for(int i=0; i<ids_.size(); ++i) for(int i=0; i<ids_.size(); ++i)
{ {
QString id = QString::number(ids_.at(i)); QString id = QString::number(ids_.at(i));
@@ -1471,7 +1477,7 @@ void DatabaseViewer::extractImages()
dbDriver_->getNodeData(ids_.at(i), data); dbDriver_->getNodeData(ids_.at(i), data);
data.uncompressData(); data.uncompressData();
if(!calibrationSaved) if(!directoriesCreated)
{ {
//stereo //stereo
if(!data.imageRaw().empty() && !data.rightRaw().empty()) if(!data.imageRaw().empty() && !data.rightRaw().empty())
@@ -1479,40 +1485,8 @@ void DatabaseViewer::extractImages()
QDir dir; QDir dir;
dir.mkdir(QString("%1/left").arg(path)); dir.mkdir(QString("%1/left").arg(path));
dir.mkdir(QString("%1/right").arg(path)); dir.mkdir(QString("%1/right").arg(path));
if(databaseFileName_.empty()) dir.mkdir(QString("%1/calib").arg(path));
{ directoriesCreated = true;
UERROR("Cannot save calibration file, database name is empty!");
}
else if(data.stereoCameraModel().isValidForProjection())
{
std::string cameraName = uSplit(databaseFileName_, '.').front();
StereoCameraModel model(
cameraName,
data.imageRaw().size(),
data.stereoCameraModel().left().K(),
data.stereoCameraModel().left().D(),
data.stereoCameraModel().left().R(),
data.stereoCameraModel().left().P(),
data.rightRaw().size(),
data.stereoCameraModel().right().K(),
data.stereoCameraModel().right().D(),
data.stereoCameraModel().right().R(),
data.stereoCameraModel().right().P(),
data.stereoCameraModel().R(),
data.stereoCameraModel().T(),
data.stereoCameraModel().E(),
data.stereoCameraModel().F(),
data.stereoCameraModel().left().localTransform());
if(model.save(path.toStdString()))
{
calibrationSaved = true;
UINFO("Saved stereo calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
}
else
{
UERROR("Failed saving calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
}
}
} }
else if(!data.imageRaw().empty()) else if(!data.imageRaw().empty())
{ {
@@ -1521,35 +1495,8 @@ void DatabaseViewer::extractImages()
QDir dir; QDir dir;
dir.mkdir(QString("%1/rgb").arg(path)); dir.mkdir(QString("%1/rgb").arg(path));
dir.mkdir(QString("%1/depth").arg(path)); dir.mkdir(QString("%1/depth").arg(path));
} dir.mkdir(QString("%1/calib").arg(path));
directoriesCreated = true;
if(databaseFileName_.empty())
{
UERROR("Cannot save calibration file, database name is empty!");
}
else if(data.cameraModels().size() > 1)
{
UERROR("Only one camera calibration can be saved at this time (%d detected)", (int)data.cameraModels().size());
}
else if(data.cameraModels().size() == 1 && data.cameraModels().front().isValidForProjection())
{
std::string cameraName = uSplit(databaseFileName_, '.').front();
CameraModel model(cameraName,
data.imageRaw().size(),
data.cameraModels().front().K(),
data.cameraModels().front().D(),
data.cameraModels().front().R(),
data.cameraModels().front().P(),
data.cameraModels().front().localTransform());
if(model.save(path.toStdString()))
{
calibrationSaved = true;
UINFO("Saved calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
}
else
{
UERROR("Failed saving calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
}
} }
} }
} }
@@ -1574,38 +1521,116 @@ void DatabaseViewer::extractImages()
} }
} }
if(!data.imageRaw().empty() && !data.rightRaw().empty()) if(!data.imageRaw().empty())
{ {
if(!cv::imwrite(QString("%1/left/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.imageRaw())) if(!data.rightRaw().empty())
UWARN("Failed saving \"%s\"", QString("%1/left/%2.%3").arg(path).arg(id).arg(ext).toStdString().c_str()); {
if(!cv::imwrite(QString("%1/right/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.rightRaw())) if(!cv::imwrite(QString("%1/left/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.imageRaw()))
UWARN("Failed saving \"%s\"", QString("%1/right/%2.%3").arg(path).arg(id).arg(ext).toStdString().c_str()); UWARN("Failed saving \"%s\"", QString("%1/left/%2.%3").arg(path).arg(id).arg(ext).toStdString().c_str());
UINFO(QString("Saved left/%1.%2 and right/%1.%2").arg(id).arg(ext).toStdString().c_str()); if(!cv::imwrite(QString("%1/right/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.rightRaw()))
++imagesExported; UWARN("Failed saving \"%s\"", QString("%1/right/%2.%3").arg(path).arg(id).arg(ext).toStdString().c_str());
} UINFO(QString("Saved left/%1.%2 and right/%1.%2").arg(id).arg(ext).toStdString().c_str());
else if(!data.imageRaw().empty() && !data.depthRaw().empty())
{
if(!cv::imwrite(QString("%1/rgb/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.imageRaw()))
UWARN("Failed saving \"%s\"", QString("%1/rgb/%2.%3").arg(path).arg(id).arg(ext).toStdString().c_str());
if(!cv::imwrite(QString("%1/depth/%2.png").arg(path).arg(id).toStdString(), data.depthRaw().type()==CV_32FC1?util2d::cvtDepthFromFloat(data.depthRaw()):data.depthRaw()))
UWARN("Failed saving \"%s\"", QString("%1/depth/%2.png").arg(path).arg(id).toStdString().c_str());
UINFO(QString("Saved rgb/%1.%2 and depth/%1.png").arg(id).arg(ext).toStdString().c_str());
++imagesExported;
}
else if(!data.imageRaw().empty())
{
if(!cv::imwrite(QString("%1/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.imageRaw()))
UWARN("Failed saving \"%s\"", QString("%1/%2.%3").arg(path).arg(id).arg(ext).toStdString().c_str());
else
UINFO(QString("Saved %1.%2").arg(id).arg(ext).toStdString().c_str());
++imagesExported;
}
}
if(!calibrationSaved) if(databaseFileName_.empty())
{ {
UWARN("no calibration exported..."); UERROR("Cannot save calibration file, database name is empty!");
}
else if(data.stereoCameraModel().isValidForProjection())
{
std::string cameraName = id.toStdString();
StereoCameraModel model(
cameraName,
data.imageRaw().size(),
data.stereoCameraModel().left().K(),
data.stereoCameraModel().left().D(),
data.stereoCameraModel().left().R(),
data.stereoCameraModel().left().P(),
data.rightRaw().size(),
data.stereoCameraModel().right().K(),
data.stereoCameraModel().right().D(),
data.stereoCameraModel().right().R(),
data.stereoCameraModel().right().P(),
data.stereoCameraModel().R(),
data.stereoCameraModel().T(),
data.stereoCameraModel().E(),
data.stereoCameraModel().F(),
data.stereoCameraModel().left().localTransform());
if(model.save(path.toStdString() + "/calib"))
{
UINFO("Saved stereo calibration \"%s\"", (path.toStdString()+"/calib/"+cameraName+".yaml").c_str());
}
else
{
UERROR("Failed saving calibration \"%s\"", (path.toStdString()+"/calib/"+cameraName+".yaml").c_str());
}
}
}
else
{
if(!data.depthRaw().empty())
{
if(!cv::imwrite(QString("%1/rgb/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.imageRaw()))
UWARN("Failed saving \"%s\"", QString("%1/rgb/%2.%3").arg(path).arg(id).arg(ext).toStdString().c_str());
if(!cv::imwrite(QString("%1/depth/%2.png").arg(path).arg(id).toStdString(), data.depthRaw().type()==CV_32FC1?util2d::cvtDepthFromFloat(data.depthRaw()):data.depthRaw()))
UWARN("Failed saving \"%s\"", QString("%1/depth/%2.png").arg(path).arg(id).toStdString().c_str());
UINFO(QString("Saved rgb/%1.%2 and depth/%1.png").arg(id).arg(ext).toStdString().c_str());
}
else
{
if(!cv::imwrite(QString("%1/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.imageRaw()))
UWARN("Failed saving \"%s\"", QString("%1/%2.%3").arg(path).arg(id).arg(ext).toStdString().c_str());
else
UINFO(QString("Saved %1.%2").arg(id).arg(ext).toStdString().c_str());
}
if(databaseFileName_.empty())
{
UERROR("Cannot save calibration file, database name is empty!");
}
else if(data.cameraModels().size() >= 1 && data.cameraModels().front().isValidForProjection())
{
for(size_t i=0; i<data.cameraModels().size(); ++i)
{
std::string cameraName = id.toStdString();
if(data.cameraModels().size()>1)
{
cameraName+="_"+uNumber2Str((int)i);
}
CameraModel model(cameraName,
data.imageRaw().size(),
data.cameraModels()[i].K(),
data.cameraModels()[i].D(),
data.cameraModels()[i].R(),
data.cameraModels()[i].P(),
data.cameraModels()[i].localTransform());
std::string dirPrefix = "";
if(!data.depthRaw().empty())
{
dirPrefix = "/calib";
}
if(model.save(path.toStdString()+dirPrefix))
{
UINFO("Saved calibration \"%s\"", (path.toStdString()+dirPrefix+"/"+cameraName+".yaml").c_str());
}
else
{
UERROR("Failed saving calibration \"%s\"", (path.toStdString()+"/"+cameraName+".yaml").c_str());
}
}
}
}
++imagesExported;
}
progressDialog->incrementStep();
QApplication::processEvents();
if(progressDialog->isCanceled())
{
progressDialog->appendText("Cancel!");
break;
}
} }
progressDialog->appendText("Done!");
progressDialog->setValue(progressDialog->maximumSteps());
QMessageBox::information(this, tr("Exporting"), tr("%1 images exported!").arg(imagesExported)); QMessageBox::information(this, tr("Exporting"), tr("%1 images exported!").arg(imagesExported));
} }