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DBReader now inherits from Camera (so that CameraThread's post processing stuff can be used with a database stream)

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This commit is contained in:
matlabbe
2016-06-21 11:22:24 -04:00
parent cdddb1209e
commit 0ec39e3c77
20 changed files with 435 additions and 642 deletions
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tools/Camera/main.cpp
+3 -18
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@@ -132,7 +132,6 @@ int main(int argc, char * argv[])
}
rtabmap::Camera * camera = 0;
rtabmap::DBReader * dbReader = 0;
if(!path.empty())
{
@@ -140,7 +139,7 @@ int main(int argc, char * argv[])
{
if(UFile::getExtension(path).compare("db") == 0)
{
dbReader = new rtabmap::DBReader(path, rate);
camera = new rtabmap::DBReader(path, rate);
}
else
{
@@ -176,18 +175,8 @@ int main(int argc, char * argv[])
}
}
if(dbReader)
{
if(!dbReader->init())
{
delete dbReader;
UERROR("Cannot initialize the camera.");
return -1;
}
}
cv::Mat rgb;
rgb = camera?camera->takeImage().imageRaw():dbReader->getNextData().data().imageRaw();
rgb = camera->takeImage().imageRaw();
cv::namedWindow("Video", CV_WINDOW_AUTOSIZE); // create window
while(!rgb.empty())
{
@@ -197,16 +186,12 @@ int main(int argc, char * argv[])
if(c == 27)
break; // if ESC, break and quit
rgb = camera?camera->takeImage().imageRaw():dbReader->getNextData().data().imageRaw();
rgb = camera->takeImage().imageRaw();
}
cv::destroyWindow("Video");
if(camera)
{
delete camera;
}
if(dbReader)
{
delete dbReader;
}
return 0;
}