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DatabaseViewer -> "Extract images...": support extraction of depth images

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matlabbe
2015-08-04 11:35:55 -04:00
parent e506873203
commit bcac262234
1 changed files with 44 additions and 1 deletions
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45
guilib/src/DatabaseViewer.cpp
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@@ -895,7 +895,7 @@ void DatabaseViewer::extractImages()
{
UERROR("Cannot save calibration file, database name is empty!");
}
else
else if(data.stereoCameraModel().isValid())
{
std::string cameraName = uSplit(databaseFileName_, '.').front();
StereoCameraModel model(
@@ -925,6 +925,43 @@ void DatabaseViewer::extractImages()
}
}
}
else if(!data.imageRaw().empty())
{
if(!data.depthRaw().empty())
{
QDir dir;
dir.mkdir(QString("%1/rgb").arg(path));
dir.mkdir(QString("%1/depth").arg(path));
}
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().isValid())
{
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()))
{
UINFO("Saved 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)
@@ -937,6 +974,12 @@ void DatabaseViewer::extractImages()
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() && !data.depthRaw().empty())
{
cv::imwrite(QString("%1/rgb/%2.jpg").arg(path).arg(id).toStdString(), data.imageRaw());
cv::imwrite(QString("%1/depth/%2.png").arg(path).arg(id).toStdString(), data.depthRaw());
UINFO(QString("Saved rgb/%1.jpg and depth/%1.png").arg(id).toStdString().c_str());
}
else if(!data.imageRaw().empty())
{
cv::imwrite(QString("%1/%2.jpg").arg(path).arg(id).toStdString(), data.imageRaw());