save image on key

Protonect.cpp.diff

--- Protonect.cpp.bak   2014-12-21 16:01:41.000000000 +0900
+++ Protonect.cpp       2014-12-21 18:26:10.000000000 +0900
@@ -38,6 +38,11 @@
 
 bool shutdown = false;
 
+cv::Mat mat_ir_raw;
+cv::Mat mat_ir;
+cv::Mat mat_depth_raw;
+cv::Mat mat_depth;
+
 void sigint_handler(int s)
 {
   shutdown = true;
@@ -91,6 +96,31 @@
     cv::imshow("depth", cv::Mat(depth->height, depth->width, CV_32FC1, depth->data) / 4500.0f);
 
     int key = cv::waitKey(1);
+    //std::cout << "key: " << key << std::endl;
+    // p:112, i:105, d:100, r:114
+    if (key > 0 && ((key & 0xFF) == 114)) {
+        // save "rgb" image
+        if (cv::imwrite("rgb.jpg", cv::Mat(rgb->height, rgb->width, CV_8UC3, rgb->data))) {
+            std::cout << "rgb image saved"  << std::endl;
+        }
+    } else if (key > 0 && ((key & 0xFF) == 105)) {
+        // save "ir" image
+        //if (cv::imwrite("ir.jpg", cv::Mat(ir->height, ir->width, CV_32FC1, ir->data) / 20000.0f)) {
+        mat_ir_raw = cv::Mat(ir->height, ir->width, CV_32FC1, ir->data) / 20000.0f;
+        mat_ir_raw.convertTo(mat_ir, CV_8UC1, 255.0);
+        if (cv::imwrite("ir.jpg", mat_ir)) {
+            std::cout << "ir image saved"  << std::endl;
+        }
+    } else if (key > 0 && ((key & 0xFF) == 100)) {
+        // save "depth" image
+        //if (cv::imwrite("depth.jpg", cv::Mat(depth->height, depth->width, CV_32FC1, depth->data) / 4500.0f)) {
+        mat_depth_raw = cv::Mat(depth->height, depth->width, CV_32FC1, depth->data) / 4500.0f;
+        mat_depth_raw.convertTo(mat_depth, CV_8UC1, 255.0);
+        if (cv::imwrite("depth.jpg", mat_depth)) {
+            std::cout << "depth image saved"  << std::endl;
+        }
+    }
+
     shutdown = shutdown || (key > 0 && ((key & 0xFF) == 27)); // shutdown on escape
 
     listener.release(frames);