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Some plumbing:

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- support for 16 bit images
- preventing copy constructors for certain utilities classes
This commit is contained in:
Tadas Baltrusaitis
2017-12-15 19:56:58 +00:00
parent 45548b097a
commit 7d58b86020
20 changed files with 197 additions and 181 deletions
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57
lib/local/Utilities/src/ImageCapture.cpp
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@@ -32,7 +32,7 @@
///////////////////////////////////////////////////////////////////////////////
#include "ImageCapture.h"
#include "ImageManipulationHelpers.h"
#include <iostream>
// Boost includes
@@ -177,8 +177,6 @@ bool ImageCapture::Open(std::vector<std::string>& arguments)
return false;
}
// TODO proper destructors and move constructors
bool ImageCapture::OpenImageFiles(const std::vector<std::string>& image_files, float fx, float fy, float cx, float cy)
{
@@ -318,48 +316,6 @@ bool ImageCapture::OpenDirectory(std::string directory, std::string bbox_directo
}
// TODO this should be shared somewhere
void convertToGrayscale(const cv::Mat& in, cv::Mat& out)
{
if (in.channels() == 3)
{
// Make sure it's in a correct format
if (in.depth() != CV_8U)
{
if (in.depth() == CV_16U)
{
cv::Mat tmp = in / 256;
tmp.convertTo(tmp, CV_8U);
cv::cvtColor(tmp, out, CV_BGR2GRAY);
}
}
else
{
cv::cvtColor(in, out, CV_BGR2GRAY);
}
}
else if (in.channels() == 4)
{
cv::cvtColor(in, out, CV_BGRA2GRAY);
}
else
{
if (in.depth() == CV_16U)
{
cv::Mat tmp = in / 256;
out = tmp.clone();
}
else if (in.depth() != CV_8U)
{
in.convertTo(out, CV_8U);
}
else
{
out = in.clone();
}
}
}
void ImageCapture::SetCameraIntrinsics(float fx, float fy, float cx, float cy)
{
// If optical centers are not defined just use center of image
@@ -389,6 +345,7 @@ void ImageCapture::SetCameraIntrinsics(float fx, float fy, float cx, float cy)
}
}
// Returns a read image in 3 channel RGB format, also prepares a grayscale frame if needed
cv::Mat ImageCapture::GetNextImage()
{
if (image_files.empty() || frame_num >= image_files.size())
@@ -398,14 +355,18 @@ cv::Mat ImageCapture::GetNextImage()
return latest_frame;
}
latest_frame = cv::imread(image_files[frame_num], -1);
// Load the image as an 8 bit RGB
latest_frame = cv::imread(image_files[frame_num], CV_LOAD_IMAGE_COLOR);
if (latest_frame.empty())
{
ERROR_STREAM("Could not open the image: " + image_files[frame_num - 1]);
ERROR_STREAM("Could not open the image: " + image_files[frame_num]);
exit(1);
}
// Convert the latest frame to 3 channel 8 bit format if it is not in it already
//ConvertToRGB_8bit(latest_frame); TODO check
image_height = latest_frame.size().height;
image_width = latest_frame.size().width;
@@ -431,7 +392,7 @@ cv::Mat ImageCapture::GetNextImage()
SetCameraIntrinsics(_fx, _fy, _cx, _cy);
// Set the grayscale frame
convertToGrayscale(latest_frame, latest_gray_frame);
ConvertToGrayscale_8bit(latest_frame, latest_gray_frame);
this->name = image_files[frame_num];