mirror of
https://github.com/introlab/rtabmap.git
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2836d4c48c
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@657 f169173b-cf89-36c8-b27e-44dbe73f0c83
53 lines
1.4 KiB
C++
53 lines
1.4 KiB
C++
#include <opencv2/core/core.hpp>
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#include <opencv2/core/types_c.h>
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#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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#include <iostream>
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#include <utilite/ULogger.h>
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#include <utilite/UTimer.h>
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#include <utilite/UConversion.h>
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#include <utilite/UDirectory.h>
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#include "rtabmap/core/Memory.h"
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int main(int argc, char** argv)
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{
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ULogger::setType(ULogger::kTypeConsole);
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ULogger::setLevel(ULogger::kInfo);
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std::string path = rtabmap::Parameters::defaultRtabmapWorkingDirectory() + "/LTM.db";
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if(argc > 1)
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{
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path = argv[1];
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}
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// Open database
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rtabmap::ParametersMap parameters;
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parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory(), "false"));
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rtabmap::Memory * memory = new rtabmap::Memory(parameters);
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if(!memory->init(path))
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{
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UWARN("Can't open database \"%s\"", path.c_str());
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}
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if(memory)
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{
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UINFO("Using database %s", path.c_str());
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std::string saveDirectory = "imagesExtracted/";
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if(!UDirectory::exists(saveDirectory))
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{
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UDirectory::makeDir(saveDirectory);
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}
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std::set<int> ids = memory->getAllSignatureIds();
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for(std::set<int>::iterator iter=ids.begin(); iter!=ids.end(); ++iter)
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{
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cv::Mat image = memory->getImage(*iter);
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std::string fileName = uFormat("%d.png", *iter);
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cv::imwrite(saveDirectory+fileName, image);
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UINFO("Saved %s", (saveDirectory+fileName).c_str());
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}
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}
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return 0;
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}
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