1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
|
/************************************************************************
*
* Copyright (C) 2019-2025 IRCAD France
* Copyright (C) 2019-2020 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 "calibration_images_writer.hpp"
#include <core/location/single_folder.hpp>
#include <data/calibration_info.hpp>
#include <data/image.hpp>
#include <io/opencv/image.hpp>
#include <service/macros.hpp>
#include <ui/__/cursor.hpp>
#include <ui/__/dialog/location.hpp>
#include <ui/__/dialog/message.hpp>
#include <opencv2/opencv.hpp>
#include <filesystem>
#include <sstream>
namespace sight::module::io::vision
{
//------------------------------------------------------------------------------
calibration_images_writer::calibration_images_writer() noexcept :
writer("Choose a folder to save the images")
{
}
//------------------------------------------------------------------------------
sight::io::service::path_type_t calibration_images_writer::get_path_type() const
{
return sight::io::service::folder;
}
//------------------------------------------------------------------------------
void calibration_images_writer::open_location_dialog()
{
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::folder);
auto result = std::dynamic_pointer_cast<core::location::single_folder>(dialog_file.show());
if(result)
{
this->set_folder(result->get_folder());
default_directory->set_folder(result->get_folder().parent_path());
dialog_file.save_default_location(default_directory);
}
else
{
this->clear_locations();
}
}
//------------------------------------------------------------------------------
void calibration_images_writer::configuring()
{
sight::io::service::writer::configuring();
const auto config_tree = this->get_config();
m_file_extension = config_tree.get("format", m_file_extension);
}
//------------------------------------------------------------------------------
void calibration_images_writer::starting()
{
}
//------------------------------------------------------------------------------
void calibration_images_writer::updating()
{
if(!m_file_extension.empty() && this->has_location_defined())
{
const auto data = m_data.lock();
const auto calib_info = std::dynamic_pointer_cast<const data::calibration_info>(data.get_shared());
SIGHT_ASSERT("Missing calibration info input.", calib_info);
sight::ui::cursor cursor;
cursor.set_cursor(ui::cursor_base::busy);
std::size_t count(0);
for(const auto& calib_img : calib_info->get_image_container())
{
std::ostringstream image_number;
image_number << std::setw(4) << std::setfill('0') << count++;
const std::string filename = "img_" + image_number.str() + m_file_extension;
const std::filesystem::path path = this->get_folder() / filename;
cv::Mat cv_img = sight::io::opencv::image::copy_to_cv(calib_img);
if(cv_img.dims == 3)
{
// Ensure that we have a true depth-less 2D image.
cv_img = cv_img.reshape(0, 2, cv_img.size + 1);
}
try
{
if(cv_img.type() == CV_8UC3 || cv_img.type() == CV_8UC4)
{
// convert the image from BGR to RGB
const auto col_conv_type = cv_img.type() == CV_8UC3 ? cv::COLOR_BGR2RGB : cv::COLOR_BGRA2RGBA;
cv::cvtColor(cv_img, cv_img, col_conv_type);
}
cv::imwrite(path.string(), cv_img);
}
catch(const cv::Exception& e)
{
m_write_failed = true;
sight::ui::dialog::message::show(
"Error writing calibration images.",
e.what(),
sight::ui::dialog::message::critical
);
}
}
cursor.set_default_cursor();
}
else
{
m_write_failed = true;
}
}
//------------------------------------------------------------------------------
void calibration_images_writer::stopping()
{
}
//------------------------------------------------------------------------------
} // namespace sight::module::io::vision
|
