klg日志文件中提取RGBD图像数据

main函数
本程序用于从klg日志文件中提取RGB图像和Depth图像信息，klg文件在ElasticFusion中被用于保存数据集。
涉及的相关开源代码如下：
LogView
mp3guy/Logger1
mp3guy/Logger2
HTLife/png_to_klg

#include "Resolution.h"
#include "RawLogReader.h"
#include <fstream>
#include <iomanip>
#include <string>
#include <iostream>int find_argument(int argc, char** argv, const char* argument_name)
{for(int i = 1; i < argc; ++i){if(strcmp(argv[i], argument_name) == 0){return i;}}return -1;
}int parse_argument (int argc, char** argv, const char* str, int &val)
{int index = find_argument (argc, argv, str) + 1;if (index > 0 && index < argc )val = atoi (argv[index]);return (index - 1);
}int parse_argument (int argc, char** argv, const char* str, std::string &val)
{int index = find_argument (argc, argv, str) + 1;if (index > 0 && index < argc )val = argv[index];return index - 1;
}int main(int argc, char * argv[])
{int width = 640;int height = 480;parse_argument(argc, argv, "-w", width);parse_argument(argc, argv, "-h", height);Resolution::getInstance(width, height);Bytef * decompressionBuffer = new Bytef[Resolution::getInstance().numPixels() * 2];     //存储深度图的指针IplImage * deCompImage = 0;     //存储rgb图的指针std::string logFile;assert(parse_argument(argc, argv, "-l", logFile) > 0 && "Please provide a log file");RawLogReader logReader(decompressionBuffer,deCompImage,logFile,find_argument(argc, argv, "-f") != -1);cv::Mat1b tmp(height, width);cv::Mat3b depthImg(height, width);while(logReader.hasMore()){logReader.getNext();cv::Mat3b rgbImg(height, width, (cv::Vec<unsigned char, 3> *)logReader.deCompImage->imageData);cv::Mat1w depth(height, width, (unsigned short *)&decompressionBuffer[0]);cv::normalize(depth, tmp, 0, 255, cv::NORM_MINMAX, 0);cv::cvtColor(tmp, depthImg, CV_GRAY2RGB);//        cv::imshow("RGB", rgbImg);std::cout<<setiosflags(std::ios::fixed)<<logReader.timestamp<<std::endl;cv::imwrite("rgb"+std::to_string(logReader.timestamp)+".png",rgbImg);cv::imwrite("depth"+std::to_string(logReader.timestamp)+".png",depth);
//        cv::imshow("Depth", depthImg);char key = cv::waitKey(1);if(key == 'q')break;else if(key == ' ')key = cv::waitKey(0);if(key == 'q')break;}delete [] decompressionBuffer;if(deCompImage){cvReleaseImage(&deCompImage);}return 0;
}

Resolution.h文件

/** Resolution.h**  Created on: 18 Nov 2012*      Author: thomas*/#ifndef RESOLUTION_H_
#define RESOLUTION_H_#include <cassert>class Resolution
{public:static const Resolution & getInstance(int width = 0, int height = 0){static const Resolution instance(width, height);return instance;}const int & width() const{return imgWidth;}const int & height() const{return imgHeight;}const int & cols() const{return imgWidth;}const int & rows() const{return imgHeight;}const int & numPixels() const{return imgNumPixels;}private:Resolution(int width, int height): imgWidth(width),imgHeight(height),imgNumPixels(width * height){assert(width > 0 && height > 0);}const int imgWidth;const int imgHeight;const int imgNumPixels;
};#endif /* RESOLUTION_H_ */

RawLogReader.h文件

/** RawLogReader.h**  Created on: 19 Nov 2012*      Author: thomas*/#ifndef RAWLOGREADER_H_
#define RAWLOGREADER_H_#include <cassert>
#include "Resolution.h"
#include <zlib.h>
#include <opencv2/opencv.hpp>
#include <stdio.h>
#include <string>
#include <boost/filesystem.hpp>class RawLogReader
{public:RawLogReader(Bytef *& decompressionBuffer,IplImage *& deCompImage,std::string file,bool flipColors);virtual ~RawLogReader();void getNext();int getNumFrames();bool hasMore();Bytef *& decompressionBuffer;IplImage *& deCompImage;unsigned char * depthReadBuffer;unsigned char * imageReadBuffer;int64_t timestamp;int32_t depthSize;int32_t imageSize;private:const std::string file;FILE * fp;int32_t numFrames;int currentFrame;bool flipColors;bool isCompressed;
};#endif /* RAWLOGREADER_H_ */

RawLogReader.cpp文件

/** RawLogReader.cpp**  Created on: 19 Nov 2012*      Author: thomas*/#include "RawLogReader.h"/*** @brief* @param [in] deCompImage 指向depth图的指针* @param [in] decompressionBuffer 指向RGB图的指针* @param [in] file 输入的klg文件地址* @param [in] flipColors 是否翻转颜色的bool变量* */
RawLogReader::RawLogReader(Bytef *& decompressionBuffer,IplImage *& deCompImage,std::string file,bool flipColors): decompressionBuffer(decompressionBuffer),deCompImage(deCompImage),file(file),flipColors(flipColors), isCompressed(false)
{assert(boost::filesystem::exists(file.c_str()));fp = fopen(file.c_str(), "rb");     //以binary方式读入文件，得到文件指针fpcurrentFrame = 0;assert(fread(&numFrames, sizeof(int32_t), 1, fp));  //文件的第一行是一个int32_t类型的帧数depthReadBuffer = new unsigned char[Resolution::getInstance().numPixels() * 2];     //深度图是16UC1的，所以一个像素占用16bitimageReadBuffer = new unsigned char[Resolution::getInstance().numPixels() * 3];     //RGB图是8UC1的，一个像素占用8bit
}RawLogReader::~RawLogReader()
{delete [] depthReadBuffer;delete [] imageReadBuffer;fclose(fp);
}void RawLogReader::getNext()
{assert(fread(&timestamp, sizeof(int64_t), 1, fp));assert(fread(&depthSize, sizeof(int32_t), 1, fp));assert(fread(&imageSize, sizeof(int32_t), 1, fp));assert(fread(depthReadBuffer, depthSize, 1, fp));if(imageSize > 0){assert(fread(imageReadBuffer, imageSize, 1, fp));}if(deCompImage != 0){cvReleaseImage(&deCompImage);}CvMat tempMat = cvMat(1, imageSize, CV_8UC1, (void *)imageReadBuffer);if(imageSize == Resolution::getInstance().numPixels() * 3){isCompressed = false;deCompImage = cvCreateImage(cvSize(Resolution::getInstance().width(), Resolution::getInstance().height()), IPL_DEPTH_8U, 3);memcpy(deCompImage->imageData, imageReadBuffer, Resolution::getInstance().numPixels() * 3);}else if(imageSize > 0){isCompressed = true;deCompImage = cvDecodeImage(&tempMat);}else{isCompressed = false;deCompImage = cvCreateImage(cvSize(Resolution::getInstance().width(), Resolution::getInstance().height()), IPL_DEPTH_8U, 3);memset(deCompImage->imageData, 0, Resolution::getInstance().numPixels() * 3);}if(depthSize == Resolution::getInstance().numPixels() * 2){//RGB should not be compressed in this caseassert(!isCompressed);memcpy(&decompressionBuffer[0], depthReadBuffer, Resolution::getInstance().numPixels() * 2);}else if(depthSize > 0){//RGB should also be compressedassert(isCompressed);unsigned long decompLength = Resolution::getInstance().numPixels() * 2;uncompress(&decompressionBuffer[0], (unsigned long *)&decompLength, (const Bytef *)depthReadBuffer, depthSize);}else{isCompressed = false;memset(&decompressionBuffer[0], 0, Resolution::getInstance().numPixels() * 2);}if(flipColors){cv::Mat3b rgb(Resolution::getInstance().rows(), Resolution::getInstance().cols(), (cv::Vec<unsigned char, 3> *)deCompImage->imageData, Resolution::getInstance().width() * 3);cv::cvtColor(rgb, rgb, CV_RGB2BGR);}currentFrame++;
}int RawLogReader::getNumFrames()
{return numFrames;
}bool RawLogReader::hasMore()
{return currentFrame + 1 < numFrames;
}

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klg日志文件中提取RGBD图像数据

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