void SegmentationImpl::loadInputImageColor()
{
std::string fileName = inputSettings()->color();
cv::Mat input = loadImage(fileName);
if (!input.empty()) {
if (input.type() != CV_8UC3) {
LERRORF("Expected type '8UC3' for color image, but got '%s'.", matTypeToStr(input.type()).c_str());
} else {
// convert input image from 0 ... 255 to 0 ... 1
input.convertTo(inputImageColor_, CV_32FC3, 1/255.0f, 0);
}
}
}
void SegmentationImpl::saveDepthImage(std::string filename, cv::Mat image, bool normalize) const
{
if (image.type() != CV_32FC1) {
LERRORF("Expected type 'CV_32FC1' for depth image, but got '%s'.", matTypeToStr(image.type()).c_str());
} else {
cv::Mat tmp;
if (normalize) {
cv::normalize(image, tmp, 0, 65535, cv::NORM_MINMAX, CV_16UC1);
} else {
float scale = inputSettings()->depthScale();
image.convertTo(tmp, CV_16UC1, scale, 0);
}
saveImage(filename, tmp);
}
}
void SegmentationImpl::loadInputImageGroundTruth()
{
std::string fileName = replaceString(inputSettings()->color(), inputSettings()->colorMatch(), inputSettings()->groundTruthReplace());
cv::Mat input = loadImage(fileName);
if (!input.empty()) {
switch (input.type()) {
case CV_8UC1:
inputImageGroundTruth_ = input;
break;
case CV_16UC1:
input.convertTo(inputImageGroundTruth_, CV_8UC1, 1.0f, 0);
break;
default:
LERRORF("Expected type CV_16UC1 or CV_16UC1 for ground truth image, but got '%s'.", matTypeToStr(input.type()).c_str());
}
}
}
void SegmentationImpl::loadInputImageDepth()
{
std::string fileName = replaceString(inputSettings()->color(), inputSettings()->colorMatch(), inputSettings()->depthReplace());
cv::Mat input = loadImage(fileName);
if (!input.empty()) {
const float scale = inputSettings()->depthScale();
switch (input.type()) {
case CV_16UC1:
input.convertTo(inputImageDepth_, CV_32FC1, 1/scale, 0);
break;
case CV_8UC1:
input.convertTo(inputImageDepth_, CV_32FC1, 255/scale, 0);
break;
default:
LERRORF("Expected type 'CV_16UC1' or 'CV_8UC1' for depth image, but got '%s'.", matTypeToStr(input.type()).c_str());
break;
}
}
}
GLenum _CheckGLError(const char* file, int line, const char* function)
{
GLenum err = glGetError();
if (err != GL_NO_ERROR) {
QString errStr;
switch (err) {
case GL_INVALID_ENUM:
errStr = "openGL invalid enumerant";
break;
case GL_INVALID_VALUE:
errStr = "openGL invalid value";
break;
case GL_INVALID_OPERATION:
errStr = "openGL invalid operation";
break;
case GL_INVALID_FRAMEBUFFER_OPERATION:
errStr = "openGL invalid framebuffer operation";
break;
case GL_STACK_OVERFLOW:
errStr = "openGL stack overflow";
break;
case GL_STACK_UNDERFLOW:
errStr = "openGL stack underflow";
break;
case GL_OUT_OF_MEMORY:
errStr = "openGL out of memory";
break;
default:
errStr = "openGL unknown error";
break;
}
LERRORF(file, line, function) << errStr;
}
return err;
}
