129 lines
3.5 KiB
C++
129 lines
3.5 KiB
C++
/**
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* This file is part of DSO.
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*
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* Copyright 2016 Technical University of Munich and Intel.
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* Developed by Jakob Engel <engelj at in dot tum dot de>,
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* for more information see <http://vision.in.tum.de/dso>.
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* If you use this code, please cite the respective publications as
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* listed on the above website.
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*
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* DSO is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* DSO is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with DSO. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "IOWrapper/ImageRW.h"
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#include <opencv2/highgui/highgui.hpp>
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namespace dso
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{
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namespace IOWrap
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{
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MinimalImageB* readImageBW_8U(std::string filename)
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{
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cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_GRAYSCALE);
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if(m.rows*m.cols==0)
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{
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printf("cv::imread could not read image %s! this may segfault. \n", filename.c_str());
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return 0;
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}
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if(m.type() != CV_8U)
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{
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printf("cv::imread did something strange! this may segfault. \n");
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return 0;
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}
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MinimalImageB* img = new MinimalImageB(m.cols, m.rows);
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memcpy(img->data, m.data, m.rows*m.cols);
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return img;
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}
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MinimalImageB3* readImageRGB_8U(std::string filename)
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{
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cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_COLOR);
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if(m.rows*m.cols==0)
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{
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printf("cv::imread could not read image %s! this may segfault. \n", filename.c_str());
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return 0;
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}
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if(m.type() != CV_8UC3)
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{
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printf("cv::imread did something strange! this may segfault. \n");
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return 0;
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}
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MinimalImageB3* img = new MinimalImageB3(m.cols, m.rows);
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memcpy(img->data, m.data, 3*m.rows*m.cols);
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return img;
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}
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MinimalImage<unsigned short>* readImageBW_16U(std::string filename)
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{
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cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_UNCHANGED);
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if(m.rows*m.cols==0)
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{
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printf("cv::imread could not read image %s! this may segfault. \n", filename.c_str());
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return 0;
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}
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if(m.type() != CV_16U)
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{
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printf("readImageBW_16U called on image that is not a 16bit grayscale image. this may segfault. \n");
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return 0;
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}
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MinimalImage<unsigned short>* img = new MinimalImage<unsigned short>(m.cols, m.rows);
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memcpy(img->data, m.data, 2*m.rows*m.cols);
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return img;
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}
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MinimalImageB* readStreamBW_8U(char* data, int numBytes)
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{
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cv::Mat m = cv::imdecode(cv::Mat(numBytes,1,CV_8U, data), CV_LOAD_IMAGE_GRAYSCALE);
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if(m.rows*m.cols==0)
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{
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printf("cv::imdecode could not read stream (%d bytes)! this may segfault. \n", numBytes);
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return 0;
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}
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if(m.type() != CV_8U)
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{
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printf("cv::imdecode did something strange! this may segfault. \n");
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return 0;
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}
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MinimalImageB* img = new MinimalImageB(m.cols, m.rows);
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memcpy(img->data, m.data, m.rows*m.cols);
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return img;
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}
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void writeImage(std::string filename, MinimalImageB* img)
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{
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cv::imwrite(filename, cv::Mat(img->h, img->w, CV_8U, img->data));
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}
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void writeImage(std::string filename, MinimalImageB3* img)
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{
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cv::imwrite(filename, cv::Mat(img->h, img->w, CV_8UC3, img->data));
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}
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void writeImage(std::string filename, MinimalImageF* img)
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{
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cv::imwrite(filename, cv::Mat(img->h, img->w, CV_32F, img->data));
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}
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void writeImage(std::string filename, MinimalImageF3* img)
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{
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cv::imwrite(filename, cv::Mat(img->h, img->w, CV_32FC3, img->data));
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}
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}
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}
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