void RGBDFrameRecorder :: writeFrame(const RGBDImage& image, const std::string& frame_dir) { std::string raw_frame_dir = format("%s/raw", frame_dir.c_str(), m_frame_index); QDir dir (frame_dir.c_str()); dir.mkpath("raw"); std::string filename; if (m_save_rgb_pose && image.calibration()) { filename = cv::format("%s/rgb_pose.avs", frame_dir.c_str()); image.rgbPose().saveToAvsFile(filename.c_str()); } if (!m_only_raw) { filename = cv::format("%s/color.png", frame_dir.c_str()); imwrite(filename, image.rgb()); } if (m_save_pcl_point_cloud) { filename = cv::format("%s/cloud.pcd", frame_dir.c_str()); #ifdef NESTK_USE_PCL pcl::PointCloud<pcl::PointXYZ> cloud; rgbdImageToPointCloud(cloud, image); pcl::io::savePCDFileASCII(filename.c_str(), cloud); #endif } if (m_use_compressed_format) filename = cv::format("%s/raw/color.png", frame_dir.c_str()); else filename = cv::format("%s/raw/color.bmp", frame_dir.c_str()); imwrite(filename, image.rawRgb()); if (!m_only_raw && image.mappedDepth().data) { filename = cv::format("%s/mapped_depth.png", frame_dir.c_str()); imwrite_normalized(filename, image.mappedDepth()); filename = cv::format("%s/mapped_color.png", frame_dir.c_str()); imwrite(filename, image.mappedRgb()); filename = cv::format("%s/depth.yml", frame_dir.c_str()); imwrite_yml(filename, image.mappedDepth()); } if (!m_only_raw) { filename = cv::format("%s/raw/depth.png", frame_dir.c_str()); if (image.rawDepth().data) imwrite_normalized(filename.c_str(), image.rawDepth()); filename = cv::format("%s/depth.png", frame_dir.c_str()); if (image.depth().data) imwrite_normalized(filename.c_str(), image.depth()); filename = cv::format("%s/intensity.png", frame_dir.c_str()); if (image.intensity().data) imwrite_normalized(filename.c_str(), image.intensity()); } if (image.rawDepth().data) { if (m_use_binary_raw) { filename = cv::format("%s/raw/depth.raw", frame_dir.c_str()); imwrite_Mat1f_raw(filename.c_str(), image.rawDepth()); } else { filename = cv::format("%s/raw/depth.yml", frame_dir.c_str()); imwrite_yml(filename.c_str(), image.rawDepth()); } } if (m_save_intensity && image.rawIntensity().data) { if (m_use_binary_raw) { filename = cv::format("%s/raw/intensity.raw", frame_dir.c_str()); imwrite_Mat1f_raw(filename.c_str(), image.rawIntensity()); } else { filename = cv::format("%s/raw/intensity.yml", frame_dir.c_str()); imwrite_yml(filename.c_str(), image.rawIntensity()); } } if (!m_only_raw) { filename = cv::format("%s/raw/amplitude.png", frame_dir.c_str()); if (image.rawAmplitude().data) imwrite_normalized(filename.c_str(), image.rawAmplitude()); filename = cv::format("%s/amplitude.png", frame_dir.c_str()); if (image.amplitude().data) imwrite_normalized(filename.c_str(), image.amplitude()); } if (image.rawAmplitude().data) { if (m_use_binary_raw) { filename = cv::format("%s/raw/amplitude.raw", frame_dir.c_str()); imwrite_Mat1f_raw(filename.c_str(), image.rawAmplitude()); } else { filename = cv::format("%s/raw/amplitude.yml", frame_dir.c_str()); imwrite_yml(filename.c_str(), image.rawAmplitude()); } } }
void RGBDFrameRecorder :: saveCurrentFrame(const RGBDImage& image) { std::string frame_dir = format("%s/view%04d", m_dir.absolutePath().toStdString().c_str(), m_frame_index); std::string raw_frame_dir = format("%s/raw", frame_dir.c_str(), m_frame_index); QDir dir (frame_dir.c_str()); dir.mkpath("raw"); std::string filename; if (!m_only_raw) { filename = cv::format("%s/color.png", frame_dir.c_str()); imwrite(filename, image.rgb()); } filename = cv::format("%s/raw/color.png", frame_dir.c_str()); imwrite(filename, image.rawRgb()); if (!m_only_raw && image.mappedDepth().data) { filename = cv::format("%s/mapped_depth.png", frame_dir.c_str()); imwrite_normalized(filename, image.mappedDepth()); filename = cv::format("%s/mapped_color.png", frame_dir.c_str()); imwrite(filename, image.mappedRgb()); filename = cv::format("%s/depth.yml", frame_dir.c_str()); imwrite_yml(filename, image.mappedDepth()); } if (!m_only_raw) { filename = cv::format("%s/raw/depth.png", frame_dir.c_str()); if (image.rawDepth().data) imwrite_normalized(filename.c_str(), image.rawDepth()); filename = cv::format("%s/depth.png", frame_dir.c_str()); if (image.depth().data) imwrite_normalized(filename.c_str(), image.depth()); filename = cv::format("%s/intensity.png", frame_dir.c_str()); if (image.intensity().data) imwrite_normalized(filename.c_str(), image.intensity()); } if (image.rawDepth().data) { if (m_use_binary_raw) { filename = cv::format("%s/raw/depth.raw", frame_dir.c_str()); imwrite_Mat1f_raw(filename.c_str(), image.rawDepth()); } else { filename = cv::format("%s/raw/depth.yml", frame_dir.c_str()); imwrite_yml(filename.c_str(), image.rawDepth()); } } if (image.rawIntensity().data) { if (m_use_binary_raw) { filename = cv::format("%s/raw/intensity.raw", frame_dir.c_str()); imwrite_Mat1f_raw(filename.c_str(), image.rawIntensity()); } else { filename = cv::format("%s/raw/intensity.yml", frame_dir.c_str()); imwrite_yml(filename.c_str(), image.rawIntensity()); } } if (!m_only_raw) { filename = cv::format("%s/raw/amplitude.png", frame_dir.c_str()); if (image.rawAmplitude().data) imwrite_normalized(filename.c_str(), image.rawAmplitude()); filename = cv::format("%s/amplitude.png", frame_dir.c_str()); if (image.amplitude().data) imwrite_normalized(filename.c_str(), image.amplitude()); } if (image.rawAmplitude().data) { if (m_use_binary_raw) { filename = cv::format("%s/raw/amplitude.raw", frame_dir.c_str()); imwrite_Mat1f_raw(filename.c_str(), image.rawAmplitude()); } else { filename = cv::format("%s/raw/amplitude.yml", frame_dir.c_str()); imwrite_yml(filename.c_str(), image.rawAmplitude()); } } ++m_frame_index; }