The open source OpenXR runtime
a/tracking: Support JPEG output in euroc recorder
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src/xrt/auxiliary/tracking/t_euroc_recorder.cpp
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src/xrt/auxiliary/tracking/t_euroc_recorder.cpp
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#include "util/u_frame.h"
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#include "util/u_sink.h"
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#include "util/u_var.h"
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#include "util/u_debug.h"
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#include <cassert>
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#include <ctime>
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#include <iomanip>
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#include <opencv2/imgcodecs.hpp>
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DEBUG_GET_ONCE_BOOL_OPTION(euroc_recorder_use_jpg, "EUROC_RECORDER_USE_JPG", false);
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//! @todo: Now that IMU sinks support groundtruth, we could save it here as well.
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bool recording; //!< Whether samples are being recorded
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bool files_created; //!< Whether the dataset directory structure has been created
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struct u_var_button recording_btn; //!< UI button to start/stop `recording`
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bool use_jpg; //! Whether or not we should save images as .jpg files
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// Cloner sinks: copy frame to heap for quick release of the original
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struct xrt_slam_sinks cloner_queues; //!< Queue sinks that write into cloner sinks
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assert(frame->format == XRT_FORMAT_L8 || frame->format == XRT_FORMAT_R8G8B8); // Only formats supported
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auto img_type = frame->format == XRT_FORMAT_L8 ? CV_8UC1 : CV_8UC3;
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string img_path = er->path + "/mav0/" + cam_name + "/data/" + std::to_string(ts) + ".png";
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string file_extension = er->use_jpg ? ".jpg" : ".png";
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string filename = std::to_string(ts) + file_extension;
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string img_path = er->path + "/mav0/" + cam_name + "/data/" + filename;
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cv::Mat img{(int)frame->height, (int)frame->width, img_type, frame->data, frame->stride};
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cv::imwrite(img_path, img);
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ofstream *cam_csv = is_left ? er->left_cam_csv : er->right_cam_csv;
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*cam_csv << ts << "," << ts << ".png" CSV_EOL;
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*cam_csv << ts << "," << filename << CSV_EOL;
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}
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extern "C" void
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if (record_from_start) {
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euroc_recorder_try_mkfiles(er);
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}
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er->use_jpg = debug_get_bool_option_euroc_recorder_use_jpg();
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// Setup sink pipeline
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