2025-08-22 16:57:29 +08:00
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/*******************************************************************************
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*BSD 3-Clause License
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*
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2026-01-14 14:04:07 +08:00
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*Copyright (c) 2016-2025, Mech-Mind Robotics Technologies Co., Ltd.
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2025-08-22 16:57:29 +08:00
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*All rights reserved.
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*
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*Redistribution and use in source and binary forms, with or without
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*modification, are permitted provided that the following conditions are met:
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*
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*1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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*2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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*3. Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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*THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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*AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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*IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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*DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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*FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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*DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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*SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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*CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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*OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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*OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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******************************************************************************/
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#pragma once
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#include <iostream>
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#include <opencv2/imgcodecs.hpp>
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#include "MechEyeApi.h"
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inline void saveMap(mmind::api::ColorMap color, std::string path)
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{
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cv::Mat color8UC3 = cv::Mat(color.height(), color.width(), CV_8UC3, color.data());
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cv::imwrite(path, color8UC3);
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std::cout << "Capture and save color image : " << path << std::endl;
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}
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inline void saveMap(mmind::api::DepthMap depth, std::string path)
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{
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cv::Mat depth32F = cv::Mat(depth.height(), depth.width(), CV_32FC1, depth.data());
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cv::imwrite(path, depth32F);
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std::cout << "Capture and save depth image : " << path << std::endl;
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}
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inline void saveMap(float* depth, int lineCount, int width, const std::string& path)
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{
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cv::imwrite(path, cv::Mat(lineCount, width, CV_32FC1, depth));
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}
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inline void saveIntensity(unsigned char* intensity, int lineCount, int width,
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const std::string& path)
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{
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cv::imwrite(path, cv::Mat(lineCount, width, CV_8UC1, intensity));
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}
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