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DBViewer: added stereo images extraction

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This commit is contained in:
matlabbe
2015-06-24 20:20:27 -04:00
parent cdb59371d7
commit 817906d608
4 changed files with 64 additions and 10 deletions
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1
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -156,6 +156,7 @@ private:
QList<rtabmap::Link> loopLinks_;
rtabmap::Memory * memory_;
QString pathDatabase_;
std::string databaseFileName_;
std::list<std::map<int, rtabmap::Transform> > graphes_;
std::multimap<int, rtabmap::Link> graphLinks_;
std::map<int, rtabmap::Transform> poses_;

65
guilib/src/DatabaseViewer.cpp
View File

@@ -44,6 +44,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/core/core_c.h>
#include <opencv2/highgui/highgui.hpp>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UFile.h>
#include "rtabmap/core/Memory.h"
#include "rtabmap/core/DBDriver.h"
#include "rtabmap/gui/KeypointItem.h"
@@ -557,6 +558,7 @@ bool DatabaseViewer::openDatabase(const QString & path)
localMaps_.clear();
ui_->actionGenerate_TORO_graph_graph->setEnabled(false);
ui_->checkBox_showOptimized->setEnabled(false);
databaseFileName_.clear();
}
std::string driverType = "sqlite3";
@@ -576,6 +578,7 @@ bool DatabaseViewer::openDatabase(const QString & path)
else
{
pathDatabase_ = UDirectory::getDir(path.toStdString()).c_str();
databaseFileName_ = UFile::getName(path.toStdString());
updateIds();
return true;
}
@@ -880,15 +883,65 @@ void DatabaseViewer::extractImages()
QString path = QFileDialog::getExistingDirectory(this, tr("Select directory where to save images..."), QDir::homePath());
if(!path.isNull())
{
for(int i=0; i<ids_.size(); i+=1)
if(ids_.size())
{
int id = ids_.at(0);
SensorData data = memory_->getNodeData(id, true);
if(!data.imageRaw().empty() && !data.rightRaw().empty())
{
QDir dir;
dir.mkdir(QString("%1/left").arg(path));
dir.mkdir(QString("%1/right").arg(path));
if(databaseFileName_.empty())
{
UERROR("Cannot save calibration file, database name is empty!");
}
else
{
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(), cameraName))
{
UINFO("Saved stereo calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
}
else
{
UERROR("Failed saving calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
}
}
}
}
for(int i=0; i<ids_.size(); ++i)
{
int id = ids_.at(i);
cv::Mat compressedRgb = memory_->getImageCompressed(id);
if(!compressedRgb.empty())
SensorData data = memory_->getNodeData(id, true);
if(!data.imageRaw().empty() && !data.rightRaw().empty())
{
cv::Mat imageMat = rtabmap::uncompressImage(compressedRgb);
cv::imwrite(QString("%1/%2.png").arg(path).arg(id).toStdString(), imageMat);
UINFO(QString("Saved %1/%2.png").arg(path).arg(id).toStdString().c_str());
cv::imwrite(QString("%1/left/%2.jpg").arg(path).arg(id).toStdString(), data.imageRaw());
cv::imwrite(QString("%1/right/%2.jpg").arg(path).arg(id).toStdString(), data.rightRaw());
UINFO(QString("Saved left/%1.jpg and right/%1.jpg").arg(id).toStdString().c_str());
}
else if(!data.imageRaw().empty())
{
cv::imwrite(QString("%1/%2.jpg").arg(path).arg(id).toStdString(), data.imageRaw());
UINFO(QString("Saved %1.jpg").arg(id).toStdString().c_str());
}
}
}