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Merged pcl_integration branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-12-11 00:12:44 +00:00
parent 97c70d394e
commit 8b8511e154
124 changed files with 21692 additions and 4458 deletions
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6
tools/ImagesDbExtractor/CMakeLists.txt
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@@ -9,17 +9,21 @@ SET(INCLUDE_DIRS
${CMAKE_CURRENT_SOURCE_DIR}
${UTILITE_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
SET(LIBRARIES
${UTILITE_LIBRARIES}
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
)
add_definitions(${PCL_DEFINITIONS})
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
ADD_EXECUTABLE(imagesDbExtractor ${SRC_FILES})
TARGET_LINK_LIBRARIES(imagesDbExtractor rtabmap_corelib rtabmap_utilite ${LIBRARIES})
TARGET_LINK_LIBRARIES(imagesDbExtractor rtabmap_core rtabmap_utilite ${LIBRARIES})
SET_TARGET_PROPERTIES( imagesDbExtractor
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-imagesDbExtractor)

3
tools/ImagesDbExtractor/main.cpp
View File

@@ -8,6 +8,7 @@
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UDirectory.h>
#include "rtabmap/core/Memory.h"
#include "rtabmap/core/util3d.h"
int main(int argc, char** argv)
{
@@ -41,7 +42,7 @@ int main(int argc, char** argv)
std::set<int> ids = memory->getAllSignatureIds();
for(std::set<int>::iterator iter=ids.begin(); iter!=ids.end(); ++iter)
{
cv::Mat image = memory->getImage(*iter);
cv::Mat image = rtabmap::util3d::uncompressImage(memory->getImage(*iter));
std::string fileName = uFormat("%d.png", *iter);
cv::imwrite(saveDirectory+fileName, image);
UINFO("Saved %s", (saveDirectory+fileName).c_str());