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/************************************************************************
*
* Copyright (C) 2014-2025 IRCAD France
* Copyright (C) 2014-2020 IHU Strasbourg
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#include "open_cv_writer.hpp"
#include <core/location/single_file.hpp>
#include <core/location/single_folder.hpp>
#include <data/camera_set.hpp>
#include <ui/__/dialog/location.hpp>
#include <opencv2/core.hpp>
#include <sstream>
namespace sight::module::io::vision
{
// ----------------------------------------------------------------------------
open_cv_writer::open_cv_writer() :
writer("Enter file name")
{
}
// ----------------------------------------------------------------------------
void open_cv_writer::configuring()
{
sight::io::service::writer::configuring();
}
//----------------------------------------------------------------------------
void open_cv_writer::open_location_dialog()
{
this->define_location_gui();
}
//----------------------------------------------------------------------------
bool open_cv_writer::define_location_gui()
{
bool ok = false;
// Ask user for the file path
static auto default_directory = std::make_shared<core::location::single_folder>();
sight::ui::dialog::location dialog_file;
dialog_file.set_title(*m_window_title);
dialog_file.set_default_location(default_directory);
dialog_file.set_option(ui::dialog::location::write);
dialog_file.set_type(ui::dialog::location::single_file);
dialog_file.add_filter("XML file", "*.xml");
dialog_file.add_filter("YAML file", "*.yaml *.yml");
auto result = std::dynamic_pointer_cast<core::location::single_file>(dialog_file.show());
if(result)
{
this->set_file(result->get_file());
default_directory->set_folder(result->get_file().parent_path());
dialog_file.save_default_location(default_directory);
ok = true;
}
else
{
this->clear_locations();
}
return ok;
}
//----------------------------------------------------------------------------
void open_cv_writer::starting()
{
}
// ----------------------------------------------------------------------------
void open_cv_writer::stopping()
{
}
// ----------------------------------------------------------------------------
void open_cv_writer::updating()
{
bool use_dialog = false;
if(!this->has_location_defined())
{
use_dialog = this->define_location_gui();
if(!use_dialog)
{
m_write_failed = true;
return;
}
}
auto data = m_data.lock();
auto camera_set = std::dynamic_pointer_cast<const data::camera_set>(data.get_shared());
if(!camera_set)
{
m_write_failed = true;
}
SIGHT_ASSERT("CameraSet is null", camera_set);
std::size_t number_of_cameras = camera_set->size();
std::vector<data::camera::csptr> cameras;
std::vector<cv::Mat> camera_matrices;
std::vector<cv::Mat> camera_dist_coefs;
// Set the cameras
cv::Mat extrinsic = cv::Mat::eye(4, 4, CV_64F);
for(std::size_t i = 0 ; i < number_of_cameras ; ++i)
{
cameras.push_back(camera_set->get_camera(i));
camera_matrices.push_back(cv::Mat::eye(3, 3, CV_64F));
camera_dist_coefs.push_back(cv::Mat::eye(5, 1, CV_64F));
camera_matrices[i].at<double>(0, 0) = cameras[i]->get_fx();
camera_matrices[i].at<double>(1, 1) = cameras[i]->get_fy();
camera_matrices[i].at<double>(0, 2) = cameras[i]->get_cx();
camera_matrices[i].at<double>(1, 2) = cameras[i]->get_cy();
for(std::uint8_t c = 0 ; c < 5 ; ++c)
{
camera_dist_coefs[i].at<double>(c, 0) = cameras[i]->get_distortion_coefficient()[c];
}
}
cv::FileStorage fs(this->get_file().string(), cv::FileStorage::WRITE);
fs << "nbCameras" << static_cast<int>(number_of_cameras);
for(std::size_t c = 0 ; c < number_of_cameras ; ++c)
{
const auto camera = camera_set->get_camera(c);
std::stringstream cam_num;
cam_num << "camera_" << c;
fs << cam_num.str() << "{";
fs << "id" << camera->get_camera_id().c_str();
fs << "description" << camera->get_description().c_str();
fs << "imageWidth" << static_cast<int>(camera->get_width());
fs << "imageHeight" << static_cast<int>(camera->get_height());
fs << "matrix" << camera_matrices[c];
fs << "distortion" << camera_dist_coefs[c];
fs << "scale" << camera->get_scale();
const auto extrinsic_matrix = camera_set->get_extrinsic_matrix(c);
if(extrinsic_matrix)
{
for(std::uint8_t i = 0 ; i < 4 ; ++i)
{
for(std::uint8_t j = 0 ; j < 4 ; ++j)
{
extrinsic.at<double>(i, j) = (*extrinsic_matrix)(i, j);
}
}
fs << "extrinsic" << extrinsic;
}
fs << "}";
}
fs.release();
//clear locations only if it was configured through GUI.
if(use_dialog)
{
this->clear_locations();
}
}
// ----------------------------------------------------------------------------
sight::io::service::path_type_t open_cv_writer::get_path_type() const
{
return sight::io::service::file;
}
// ----------------------------------------------------------------------------
} //namespace sight::module::io::vision
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