mirror of
https://github.com/introlab/rtabmap.git
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Extract images: added timestamp.jpg/.png filname options (to match RGBD-SLAM pose format). Fixed wrong calibration file when first node is an intermdediate node. Export poses: ignore intermediate nodes when output frame is camera or scan.
This commit is contained in:
matlabbe
@@ -1428,130 +1428,169 @@ void DatabaseViewer::extractImages()
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}
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QStringList formats;
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formats.push_back("jpg");
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formats.push_back("png");
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formats.push_back("id.jpg");
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formats.push_back("id.png");
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formats.push_back("timestamp.jpg");
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formats.push_back("timestamp.png");
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bool ok;
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QString ext = QInputDialog::getItem(this, tr("Which RGB format?"), tr("Format:"), formats, 0, false, &ok);
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QString format = QInputDialog::getItem(this, tr("Which RGB format?"), tr("Format:"), formats, 0, false, &ok);
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if(!ok)
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{
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return;
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}
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QString ext = format.split('.').back();
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bool useStamp = format.split('.').front().compare("timestamp") == 0;
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QString path = QFileDialog::getExistingDirectory(this, tr("Select directory where to save images..."), QDir::homePath());
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if(!path.isEmpty())
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{
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if(ids_.size())
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{
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int id = ids_.at(0);
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SensorData data;
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dbDriver_->getNodeData(id, data);
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data.uncompressData();
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if(!data.imageRaw().empty() && !data.rightRaw().empty())
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{
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QDir dir;
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dir.mkdir(QString("%1/left").arg(path));
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dir.mkdir(QString("%1/right").arg(path));
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if(databaseFileName_.empty())
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{
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UERROR("Cannot save calibration file, database name is empty!");
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}
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else if(data.stereoCameraModel().isValidForProjection())
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{
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std::string cameraName = uSplit(databaseFileName_, '.').front();
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StereoCameraModel model(
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cameraName,
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data.imageRaw().size(),
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data.stereoCameraModel().left().K(),
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data.stereoCameraModel().left().D(),
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data.stereoCameraModel().left().R(),
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data.stereoCameraModel().left().P(),
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data.rightRaw().size(),
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data.stereoCameraModel().right().K(),
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data.stereoCameraModel().right().D(),
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data.stereoCameraModel().right().R(),
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data.stereoCameraModel().right().P(),
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data.stereoCameraModel().R(),
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data.stereoCameraModel().T(),
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data.stereoCameraModel().E(),
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data.stereoCameraModel().F(),
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data.stereoCameraModel().left().localTransform());
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if(model.save(path.toStdString()))
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{
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UINFO("Saved stereo calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
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}
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else
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{
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UERROR("Failed saving calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
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}
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}
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}
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else if(!data.imageRaw().empty())
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{
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if(!data.depthRaw().empty())
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{
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QDir dir;
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dir.mkdir(QString("%1/rgb").arg(path));
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dir.mkdir(QString("%1/depth").arg(path));
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}
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if(databaseFileName_.empty())
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{
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UERROR("Cannot save calibration file, database name is empty!");
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}
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else if(data.cameraModels().size() > 1)
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{
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UERROR("Only one camera calibration can be saved at this time (%d detected)", (int)data.cameraModels().size());
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}
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else if(data.cameraModels().size() == 1 && data.cameraModels().front().isValidForProjection())
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{
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std::string cameraName = uSplit(databaseFileName_, '.').front();
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CameraModel model(cameraName,
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data.imageRaw().size(),
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data.cameraModels().front().K(),
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data.cameraModels().front().D(),
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data.cameraModels().front().R(),
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data.cameraModels().front().P(),
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data.cameraModels().front().localTransform());
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if(model.save(path.toStdString()))
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{
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UINFO("Saved calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
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}
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else
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{
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UERROR("Failed saving calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
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}
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}
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}
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}
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int imagesExported = 0;
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bool calibrationSaved = false;
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for(int i=0; i<ids_.size(); ++i)
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{
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int id = ids_.at(i);
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QString id = QString::number(ids_.at(i));
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SensorData data;
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dbDriver_->getNodeData(id, data);
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dbDriver_->getNodeData(ids_.at(i), data);
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data.uncompressData();
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if(!calibrationSaved)
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{
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//stereo
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if(!data.imageRaw().empty() && !data.rightRaw().empty())
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{
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QDir dir;
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dir.mkdir(QString("%1/left").arg(path));
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dir.mkdir(QString("%1/right").arg(path));
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if(databaseFileName_.empty())
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{
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UERROR("Cannot save calibration file, database name is empty!");
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}
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else if(data.stereoCameraModel().isValidForProjection())
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{
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std::string cameraName = uSplit(databaseFileName_, '.').front();
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StereoCameraModel model(
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cameraName,
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data.imageRaw().size(),
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data.stereoCameraModel().left().K(),
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data.stereoCameraModel().left().D(),
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data.stereoCameraModel().left().R(),
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data.stereoCameraModel().left().P(),
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data.rightRaw().size(),
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data.stereoCameraModel().right().K(),
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data.stereoCameraModel().right().D(),
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data.stereoCameraModel().right().R(),
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data.stereoCameraModel().right().P(),
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data.stereoCameraModel().R(),
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data.stereoCameraModel().T(),
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data.stereoCameraModel().E(),
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data.stereoCameraModel().F(),
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data.stereoCameraModel().left().localTransform());
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if(model.save(path.toStdString()))
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{
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calibrationSaved = true;
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UINFO("Saved stereo calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
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}
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else
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{
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UERROR("Failed saving calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
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}
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}
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}
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else if(!data.imageRaw().empty())
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{
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if(!data.depthRaw().empty())
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{
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QDir dir;
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dir.mkdir(QString("%1/rgb").arg(path));
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dir.mkdir(QString("%1/depth").arg(path));
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}
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if(databaseFileName_.empty())
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{
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UERROR("Cannot save calibration file, database name is empty!");
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}
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else if(data.cameraModels().size() > 1)
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{
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UERROR("Only one camera calibration can be saved at this time (%d detected)", (int)data.cameraModels().size());
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}
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else if(data.cameraModels().size() == 1 && data.cameraModels().front().isValidForProjection())
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{
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std::string cameraName = uSplit(databaseFileName_, '.').front();
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CameraModel model(cameraName,
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data.imageRaw().size(),
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data.cameraModels().front().K(),
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data.cameraModels().front().D(),
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data.cameraModels().front().R(),
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data.cameraModels().front().P(),
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data.cameraModels().front().localTransform());
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if(model.save(path.toStdString()))
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{
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calibrationSaved = true;
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UINFO("Saved calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
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}
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else
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{
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UERROR("Failed saving calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
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}
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}
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}
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}
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if(!data.imageRaw().empty() && useStamp)
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{
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Transform p,gt;
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int m,w;
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std::string l;
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double stamp;
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std::vector<float> v;
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GPS gps;
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EnvSensors s;
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dbDriver_->getNodeInfo(ids_.at(i), p, m, w, l, stamp, gt, v, gps, s);
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if(stamp == 0.0)
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{
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UWARN("Node %d has null timestamp! Using id instead!", ids_.at(i));
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}
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else
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{
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id = QString::number(stamp, 'f');
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}
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}
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if(!data.imageRaw().empty() && !data.rightRaw().empty())
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{
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cv::imwrite(QString("%1/left/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.imageRaw());
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cv::imwrite(QString("%1/right/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.rightRaw());
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if(!cv::imwrite(QString("%1/left/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.imageRaw()))
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UWARN("Failed saving \"%s\"", QString("%1/left/%2.%3").arg(path).arg(id).arg(ext).toStdString().c_str());
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if(!cv::imwrite(QString("%1/right/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.rightRaw()))
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UWARN("Failed saving \"%s\"", QString("%1/right/%2.%3").arg(path).arg(id).arg(ext).toStdString().c_str());
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UINFO(QString("Saved left/%1.%2 and right/%1.%2").arg(id).arg(ext).toStdString().c_str());
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++imagesExported;
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}
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else if(!data.imageRaw().empty() && !data.depthRaw().empty())
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{
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cv::imwrite(QString("%1/rgb/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.imageRaw());
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cv::imwrite(QString("%1/depth/%2.png").arg(path).arg(id).toStdString(), data.depthRaw().type()==CV_32FC1?util2d::cvtDepthFromFloat(data.depthRaw()):data.depthRaw());
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if(!cv::imwrite(QString("%1/rgb/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.imageRaw()))
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UWARN("Failed saving \"%s\"", QString("%1/rgb/%2.%3").arg(path).arg(id).arg(ext).toStdString().c_str());
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if(!cv::imwrite(QString("%1/depth/%2.png").arg(path).arg(id).toStdString(), data.depthRaw().type()==CV_32FC1?util2d::cvtDepthFromFloat(data.depthRaw()):data.depthRaw()))
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UWARN("Failed saving \"%s\"", QString("%1/depth/%2.png").arg(path).arg(id).toStdString().c_str());
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UINFO(QString("Saved rgb/%1.%2 and depth/%1.png").arg(id).arg(ext).toStdString().c_str());
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++imagesExported;
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}
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else if(!data.imageRaw().empty())
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{
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cv::imwrite(QString("%1/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.imageRaw());
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UINFO(QString("Saved %1.%2").arg(id).arg(ext).toStdString().c_str());
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if(!cv::imwrite(QString("%1/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.imageRaw()))
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UWARN("Failed saving \"%s\"", QString("%1/%2.%3").arg(path).arg(id).arg(ext).toStdString().c_str());
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else
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UINFO(QString("Saved %1.%2").arg(id).arg(ext).toStdString().c_str());
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++imagesExported;
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}
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}
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if(!calibrationSaved)
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{
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UWARN("no calibration exported...");
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}
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QMessageBox::information(this, tr("Exporting"), tr("%1 images exported!").arg(imagesExported));
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}
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}
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@@ -4660,6 +4699,11 @@ void DatabaseViewer::update(int value,
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else if(laserScanRaw.hasRGB())
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{
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr scan = util3d::laserScanToPointCloudRGB(laserScanRaw, laserScanRaw.localTransform());
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cloudViewer_->addCloud("scan", scan, pose, Qt::yellow);
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}
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else if(laserScanRaw.hasIntensity())
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{
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pcl::PointCloud<pcl::PointXYZI>::Ptr scan = util3d::laserScanToPointCloudI(laserScanRaw, laserScanRaw.localTransform());
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cloudViewer_->addCloud("scan", scan, pose, Qt::yellow);
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}
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else
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@@ -7335,15 +7335,20 @@ void MainWindow::exportImages()
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}
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QStringList formats;
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formats.push_back("jpg");
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formats.push_back("png");
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formats.push_back("id.jpg");
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formats.push_back("id.png");
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formats.push_back("timestamp.jpg");
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formats.push_back("timestamp.png");
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bool ok;
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QString ext = QInputDialog::getItem(this, tr("Which RGB format?"), tr("Format:"), formats, 0, false, &ok);
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QString format = QInputDialog::getItem(this, tr("Which RGB format?"), tr("Format:"), formats, 0, false, &ok);
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if(!ok)
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{
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return;
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}
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QString ext = format.split('.').back();
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bool useStamp = format.split('.').front().compare("timestamp") == 0;
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QMap<int, double> stamps;
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QString path = QFileDialog::getExistingDirectory(this, tr("Select directory where to save images..."), this->getWorkingDirectory());
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if(!path.isEmpty())
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{
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@@ -7353,113 +7358,134 @@ void MainWindow::exportImages()
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data = _cachedSignatures.value(poses.rbegin()->first).sensorData();
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data.uncompressData();
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}
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if(!data.imageRaw().empty() && !data.rightRaw().empty())
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{
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QDir dir;
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dir.mkdir(QString("%1/left").arg(path));
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dir.mkdir(QString("%1/right").arg(path));
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if(data.stereoCameraModel().isValidForProjection())
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{
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std::string cameraName = "calibration";
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StereoCameraModel model(
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cameraName,
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data.imageRaw().size(),
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data.stereoCameraModel().left().K(),
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data.stereoCameraModel().left().D(),
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data.stereoCameraModel().left().R(),
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data.stereoCameraModel().left().P(),
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data.rightRaw().size(),
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data.stereoCameraModel().right().K(),
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data.stereoCameraModel().right().D(),
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data.stereoCameraModel().right().R(),
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data.stereoCameraModel().right().P(),
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data.stereoCameraModel().R(),
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data.stereoCameraModel().T(),
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data.stereoCameraModel().E(),
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data.stereoCameraModel().F(),
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data.stereoCameraModel().left().localTransform());
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if(model.save(path.toStdString()))
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{
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UINFO("Saved stereo calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
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}
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else
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{
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UERROR("Failed saving calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
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}
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}
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}
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else if(!data.imageRaw().empty())
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{
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if(!data.depthRaw().empty())
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{
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QDir dir;
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dir.mkdir(QString("%1/rgb").arg(path));
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dir.mkdir(QString("%1/depth").arg(path));
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}
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if(data.cameraModels().size() > 1)
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{
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UERROR("Only one camera calibration can be saved at this time (%d detected)", (int)data.cameraModels().size());
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}
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else if(data.cameraModels().size() == 1 && data.cameraModels().front().isValidForProjection())
|
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{
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std::string cameraName = "calibration";
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CameraModel model(cameraName,
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data.imageRaw().size(),
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data.cameraModels().front().K(),
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data.cameraModels().front().D(),
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data.cameraModels().front().R(),
|
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data.cameraModels().front().P(),
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data.cameraModels().front().localTransform());
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if(model.save(path.toStdString()))
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{
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UINFO("Saved calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
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}
|
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else
|
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{
|
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UERROR("Failed saving calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
|
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}
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}
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}
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else
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{
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QMessageBox::warning(this,
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tr("Export images..."),
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tr("Data in the cache don't seem to have images (tested node %1). Calibration file will not be saved. Try refreshing the cache (with clouds).").arg(poses.rbegin()->first));
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}
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_progressDialog->resetProgress();
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_progressDialog->show();
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_progressDialog->setMaximumSteps(_cachedSignatures.size());
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unsigned int saved = 0;
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bool calibrationSaved = false;
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for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
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{
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int id = iter->first;
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QString id = QString::number(iter->first);
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SensorData data;
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if(_cachedSignatures.contains(iter->first))
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{
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data = _cachedSignatures.value(iter->first).sensorData();
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data.uncompressData();
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|
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if(!calibrationSaved)
|
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{
|
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if(!data.imageRaw().empty() && !data.rightRaw().empty())
|
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{
|
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QDir dir;
|
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dir.mkdir(QString("%1/left").arg(path));
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dir.mkdir(QString("%1/right").arg(path));
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if(data.stereoCameraModel().isValidForProjection())
|
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{
|
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std::string cameraName = "calibration";
|
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StereoCameraModel model(
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cameraName,
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data.imageRaw().size(),
|
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data.stereoCameraModel().left().K(),
|
||||
data.stereoCameraModel().left().D(),
|
||||
data.stereoCameraModel().left().R(),
|
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data.stereoCameraModel().left().P(),
|
||||
data.rightRaw().size(),
|
||||
data.stereoCameraModel().right().K(),
|
||||
data.stereoCameraModel().right().D(),
|
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data.stereoCameraModel().right().R(),
|
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data.stereoCameraModel().right().P(),
|
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data.stereoCameraModel().R(),
|
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data.stereoCameraModel().T(),
|
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data.stereoCameraModel().E(),
|
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data.stereoCameraModel().F(),
|
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data.stereoCameraModel().left().localTransform());
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if(model.save(path.toStdString()))
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||||
{
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calibrationSaved = true;
|
||||
UINFO("Saved stereo calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
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}
|
||||
else
|
||||
{
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||||
UERROR("Failed saving calibration \"%s\"", (path.toStdString()+"/"+cameraName).c_str());
|
||||
}
|
||||
}
|
||||
}
|
||||
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(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 = "calibration";
|
||||
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());
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if(!data.imageRaw().empty() && useStamp)
|
||||
{
|
||||
double stamp = _cachedSignatures.value(iter->first).getStamp();
|
||||
if(stamp == 0.0)
|
||||
{
|
||||
UWARN("Node %d has null timestamp! Using id instead!", iter->first);
|
||||
}
|
||||
else
|
||||
{
|
||||
id = QString::number(stamp, 'f');
|
||||
}
|
||||
}
|
||||
}
|
||||
QString info;
|
||||
bool warn = false;
|
||||
if(!data.imageRaw().empty() && !data.rightRaw().empty())
|
||||
{
|
||||
cv::imwrite(QString("%1/left/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.imageRaw());
|
||||
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/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()))
|
||||
UWARN("Failed saving \"%s\"", QString("%1/right/%2.%3").arg(path).arg(id).arg(ext).toStdString().c_str());
|
||||
info = tr("Saved left/%1.%2 and right/%1.%2.").arg(id).arg(ext);
|
||||
}
|
||||
else if(!data.imageRaw().empty() && !data.depthRaw().empty())
|
||||
{
|
||||
cv::imwrite(QString("%1/rgb/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.imageRaw());
|
||||
cv::imwrite(QString("%1/depth/%2.png").arg(path).arg(id).toStdString(), data.depthRaw().type()==CV_32FC1?util2d::cvtDepthFromFloat(data.depthRaw()):data.depthRaw());
|
||||
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());
|
||||
info = tr("Saved rgb/%1.%2 and depth/%1.png.").arg(id).arg(ext);
|
||||
}
|
||||
else if(!data.imageRaw().empty())
|
||||
{
|
||||
cv::imwrite(QString("%1/%2.%3").arg(path).arg(id).arg(ext).toStdString(), data.imageRaw());
|
||||
info = tr("Saved %1.%2.").arg(id).arg(ext);
|
||||
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
|
||||
info = tr("Saved %1.%2.").arg(id).arg(ext);
|
||||
}
|
||||
else
|
||||
{
|
||||
@@ -7482,6 +7508,13 @@ void MainWindow::exportImages()
|
||||
_progressDialog->appendText(tr("%1 images saved to \"%2\".").arg(saved).arg(path));
|
||||
}
|
||||
|
||||
if(!calibrationSaved)
|
||||
{
|
||||
QMessageBox::warning(this,
|
||||
tr("Export images..."),
|
||||
tr("Data in the cache don't seem to have valid calibration. Calibration file will not be saved. Try refreshing the cache (with clouds)."));
|
||||
}
|
||||
|
||||
_progressDialog->setValue(_progressDialog->maximumSteps());
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user