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Rev 123 Rev 128
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        for(unsigned int j=0; j<captureData[i].frames0.size(); j++){
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        for(unsigned int j=0; j<captureData[i].frames0.size(); j++){
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            QString fileName = QString("%1/frames0_%2.png").arg(seqDirName).arg(j);
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            QString fileName = QString("%1/frames0_%2.png").arg(seqDirName).arg(j);
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            // Convert Bayer to rgb (png needs BGR order)
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            // Convert Bayer to rgb (png needs BGR order)
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            cv::cvtColor(captureData[i].frames0[j], frameBGR, CV_BayerBG2BGR);
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            cv::cvtColor(captureData[i].frames0[j], frameBGR, CV_BayerBG2BGR);
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            cv::imwrite(fileName.toStdString(), frameBGR);
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            cv::imwrite(fileName.toStdString(), frameBGR);
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            // Necessary to prevent memory pileup?
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            // Necessary to prevent memory pileup
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            QCoreApplication::processEvents();
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            QCoreApplication::processEvents();
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        }
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        }
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        for(unsigned int j=0; j<captureData[i].frames1.size(); j++){
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        for(unsigned int j=0; j<captureData[i].frames1.size(); j++){
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            QString fileName = QString("%1/frames1_%2.png").arg(seqDirName).arg(j);
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            QString fileName = QString("%1/frames1_%2.png").arg(seqDirName).arg(j);
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            // Convert Bayer to rgb (png needs BGR order)
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            // Convert Bayer to rgb (png needs BGR order)
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            cv::cvtColor(captureData[i].frames1[j], frameBGR, CV_BayerBG2BGR);
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            cv::cvtColor(captureData[i].frames1[j], frameBGR, CV_BayerBG2BGR);
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            cv::imwrite(fileName.toStdString(), frameBGR);
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            cv::imwrite(fileName.toStdString(), frameBGR);
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            // Necessary to prevent memory pileup?
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            // Necessary to prevent memory pileup
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            QCoreApplication::processEvents();
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            QCoreApplication::processEvents();
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        }
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        }
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    }
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    }
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}
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}
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        QString fileName = QString("%1/frames0_0.png").arg(seqDirName);
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        QString fileName = QString("%1/frames0_0.png").arg(seqDirName);
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        // Convert Bayer to rgb (png needs BGR order)
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        // Convert Bayer to rgb (png needs BGR order)
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        cv::cvtColor(captureData[i].frames0[0], frameBGR, CV_BayerBG2BGR);
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        cv::cvtColor(captureData[i].frames0[0], frameBGR, CV_BayerBG2BGR);
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        cv::imwrite(fileName.toStdString(), frameBGR);
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        cv::imwrite(fileName.toStdString(), frameBGR);
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        // Necessary to prevent memory pileup?
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        // Necessary to prevent memory pileup
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        QCoreApplication::processEvents();
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        QCoreApplication::processEvents();
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 - 
 
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        fileName = QString("%1/frames1_0.png").arg(seqDirName);
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        fileName = QString("%1/frames1_0.png").arg(seqDirName);
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        // Convert Bayer to rgb (png needs BGR order)
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        // Convert Bayer to rgb (png needs BGR order)
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        cv::cvtColor(captureData[i].frames1[0], frameBGR, CV_BayerBG2BGR);
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        cv::cvtColor(captureData[i].frames1[0], frameBGR, CV_BayerBG2BGR);
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        cv::imwrite(fileName.toStdString(), frameBGR);
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        cv::imwrite(fileName.toStdString(), frameBGR);
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        // Necessary to prevent memory pileup?
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        // Necessary to prevent memory pileup
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        QCoreApplication::processEvents();
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        QCoreApplication::processEvents();
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    }
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    }
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}
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}
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//    QString type = saveDirectoryDialog.selectedNameFilter();
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//    QString type = saveDirectoryDialog.selectedNameFilter();
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    // save point clouds in ply format
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    // save point clouds in ply format
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    for(unsigned int i=0; i<pointCloudData.size(); i++){
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    for(unsigned int i=0; i<pointCloudData.size(); i++){
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        QString fileName = QString("%1/pointcloud_%2.ply").arg(directory).arg(i);
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        QString fileName = QString("%1/pointcloud_%2.ply").arg(directory).arg(i);
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        pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloudPCL(pointCloudData[i].pointCloud);
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        pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCL(pointCloudData[i].pointCloud);
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        //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);
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        //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);
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        pcl::PLYWriter w;
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        pcl::PLYWriter w;
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        // Write to ply in binary without camera
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        // Write to ply in binary without camera
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        w.write<pcl::PointXYZRGB> (fileName.toStdString(), *pointCloudPCL, true, false);
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        w.write<pcl::PointXYZRGBNormal> (fileName.toStdString(), *pointCloudPCL, true, false);
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    }
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    }
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    // save meshlab aln project file
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    // save meshlab aln project file
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    std::ofstream s(QString("%1/alignment.aln").arg(directory).toLocal8Bit());
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    std::ofstream s(QString("%1/alignment.aln").arg(directory).toLocal8Bit());
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    s << pointCloudData.size() << std::endl;
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    s << pointCloudData.size() << std::endl;