How to save an image in Intel RealSense(Visual C++) - c++

Question

I'm working on Intel RealSense SDK (R2). I want to save the image from Camera_viewer. I have worked till saving the frame to specific buffers and retrieving from the same. I want to know how to save those frames/images to a specified location/folder.
Here's my code:
PXCImage *colorIm, *depthIm;
for (int i=0; i<MAX_FRAMES; i++) {
// This function blocks until all streams are ready (depth and color)
// if false streams will be unaligned
if (psm->AcquireFrame(true)<PXC_STATUS_NO_ERROR) break;
// retrieve all available image samples
PXCCapture::Sample *sample = psm->QuerySample();
// retrieve the image or frame by type from the sample
colorIm = sample->color;
depthIm = sample->depth;
// render the frame
if (!renderColor->RenderFrame(colorIm)) break;
if (!renderDepth->RenderFrame(depthIm)) break;
// release or unlock the current frame to fetch the next frame
psm->ReleaseFrame();
}
I'm able to retrieve the frames/images successfully, but I want to save those files for further use. So I want to know how to save those files in a folder.
Thanks in advance

Answer 1

Same question was asked here and the answer that was posted solved the initial question. However there was a follow-up question on how to save the images to specific folder.
If you have that specific question, then answer would be the same SetFileName() only. According to this link, pxcCHAR *file is the full path of the file to playback or to be recorded. . That being said, you can create a custom folder and point your path to that custom folder followed by a valid file name to save your image.

Answer 2

To save the data I would create a Bitmap from the image data as ThorngardSO said and use the code from http://www.runicsoft.com/bmp.cpp to save it -
#include <windows.h>
#include <stdio.h> // for memset
bool SaveBMP ( BYTE* Buffer, int width, int height, long paddedsize, LPCTSTR bmpfile )
{
// declare bmp structures
BITMAPFILEHEADER bmfh;
BITMAPINFOHEADER info;
// andinitialize them to zero
memset ( &bmfh, 0, sizeof (BITMAPFILEHEADER ) );
memset ( &info, 0, sizeof (BITMAPINFOHEADER ) );
// fill the fileheader with data
bmfh.bfType = 0x4d42; // 0x4d42 = 'BM'
bmfh.bfReserved1 = 0;
bmfh.bfReserved2 = 0;
bmfh.bfSize = sizeof(BITMAPFILEHEADER) + sizeof(BITMAPINFOHEADER) + paddedsize;
bmfh.bfOffBits = 0x36; // number of bytes to start of bitmap bits
// fill the infoheader
info.biSize = sizeof(BITMAPINFOHEADER);
info.biWidth = width;
info.biHeight = height;
info.biPlanes = 1; // we only have one bitplane
info.biBitCount = 24; // RGB mode is 24 bits
info.biCompression = BI_RGB;
info.biSizeImage = 0; // can be 0 for 24 bit images
info.biXPelsPerMeter = 0x0ec4; // paint and PSP use this values
info.biYPelsPerMeter = 0x0ec4;
info.biClrUsed = 0; // we are in RGB mode and have no palette
info.biClrImportant = 0; // all colors are important
// now we open the file to write to
HANDLE file = CreateFile ( bmpfile , GENERIC_WRITE, FILE_SHARE_READ,
NULL, CREATE_ALWAYS, FILE_ATTRIBUTE_NORMAL, NULL );
if ( file == NULL )
{
CloseHandle ( file );
return false;
}
// write file header
unsigned long bwritten;
if ( WriteFile ( file, &bmfh, sizeof ( BITMAPFILEHEADER ), &bwritten, NULL ) == false )
{
CloseHandle ( file );
return false;
}
// write infoheader
if ( WriteFile ( file, &info, sizeof ( BITMAPINFOHEADER ), &bwritten, NULL ) == false )
{
CloseHandle ( file );
return false;
}
// write image data
if ( WriteFile ( file, Buffer, paddedsize, &bwritten, NULL ) == false )
{
CloseHandle ( file );
return false;
}
// and close file
CloseHandle ( file );
return true;
}
This can then be subsequently loaded using more code from the same link -
/*******************************************************************
BYTE* LoadBMP ( int* width, int* height, long* size
LPCTSTR bmpfile )
The function loads a 24 bit bitmap from bmpfile,
stores it's width and height in the supplied variables
and the whole size of the data (padded) in <size>
and returns a buffer of the image data
On error the return value is NULL.
NOTE: make sure you [] delete the returned array at end of
program!!!
*******************************************************************/
BYTE* LoadBMP ( int* width, int* height, long* size, LPCTSTR bmpfile )
{
// declare bitmap structures
BITMAPFILEHEADER bmpheader;
BITMAPINFOHEADER bmpinfo;
// value to be used in ReadFile funcs
DWORD bytesread;
// open file to read from
HANDLE file = CreateFile ( bmpfile , GENERIC_READ, FILE_SHARE_READ,
NULL, OPEN_EXISTING, FILE_FLAG_SEQUENTIAL_SCAN, NULL );
if ( NULL == file )
return NULL; // coudn't open file
// read file header
if ( ReadFile ( file, &bmpheader, sizeof ( BITMAPFILEHEADER ), &bytesread, NULL ) == false )
{
CloseHandle ( file );
return NULL;
}
//read bitmap info
if ( ReadFile ( file, &bmpinfo, sizeof ( BITMAPINFOHEADER ), &bytesread, NULL ) == false )
{
CloseHandle ( file );
return NULL;
}
// check if file is actually a bmp
if ( bmpheader.bfType != 'MB' )
{
CloseHandle ( file );
return NULL;
}
// get image measurements
*width = bmpinfo.biWidth;
*height = abs ( bmpinfo.biHeight );
// check if bmp is uncompressed
if ( bmpinfo.biCompression != BI_RGB )
{
CloseHandle ( file );
return NULL;
}
// check if we have 24 bit bmp
if ( bmpinfo.biBitCount != 24 )
{
CloseHandle ( file );
return NULL;
}
// create buffer to hold the data
*size = bmpheader.bfSize - bmpheader.bfOffBits;
BYTE* Buffer = new BYTE[ *size ];
// move file pointer to start of bitmap data
SetFilePointer ( file, bmpheader.bfOffBits, NULL, FILE_BEGIN );
// read bmp data
if ( ReadFile ( file, Buffer, *size, &bytesread, NULL ) == false )
{
delete [] Buffer;
CloseHandle ( file );
return NULL;
}
// everything successful here: close file and return buffer
CloseHandle ( file );
return Buffer;
}
You can then load those bitmap files at a later date using the code from Intel https://software.intel.com/sites/landingpage/realsense/camera-sdk/v1.1/documentation/html/manuals_image_and_audio_data.html -
// Image info
PXCImage::ImageInfo info={};
info.format=PXCImage::PIXEL_FORMAT_RGB32;
info.width=image_width;
info.height=image_height;
// Create the image instance
PXCImage image=session->CreateImage(&info);
// Write data
PXCImage::ImageData data;
image->AcquireAccess(PXCImage::ACCESS_WRITE,&data);
... // copy the imported image to data.planes[0]
image->ReleaseAccess(&data);
Using these three sets of code you should easily be able to save Bitmaps in any specified folder using WriteFile then, once loaded you can convert the bitmap back into ImageData.
Let me know how it goes.