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Refactored how visualization data are transfered between core and gui: using only Signature object instead of separated image,deph,fx,fy...

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1928 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-26 21:47:29 +00:00
parent 60b0fd2e98
commit 457c068e0f
23 changed files with 514 additions and 1027 deletions
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corelib/include/rtabmap/core/Statistics.h
+5 -36
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@@ -35,6 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/imgproc/imgproc.hpp>
#include <list>
#include <vector>
#include <rtabmap/core/Signature.h>
#include <rtabmap/core/Link.h>
namespace rtabmap {
@@ -129,26 +130,16 @@ public:
void setLocalLoopClosureId(int localLoopClosureId) {_localLoopClosureId = localLoopClosureId;}
void setMapIds(const std::map<int, int> & mapIds) {_mapIds = mapIds;}
void setImages(const std::map<int, std::vector<unsigned char> > & images) {_images = images;}
void setDepths(const std::map<int, std::vector<unsigned char> > & depths) {_depths = depths;}
void setDepth2ds(const std::map<int, std::vector<unsigned char> > & depth2ds) {_depth2ds = depth2ds;}
void setDepthFxs(const std::map<int, float> & fxs) {_depthFxs = fxs;}
void setDepthFys(const std::map<int, float> & fys) {_depthFys = fys;}
void setDepthCxs(const std::map<int, float> & cxs) {_depthCxs = cxs;}
void setDepthCys(const std::map<int, float> & cys) {_depthCys = cys;}
void setLocalTransforms(const std::map<int, Transform> & localTransforms) {_localTransforms = localTransforms;}
void setSignature(const Signature & s) {_signature = s;}
void setPoses(const std::map<int, Transform> & poses) {_poses = poses;}
void setConstraints(const std::multimap<int, Link> & constraints) {_constraints = constraints;}
void setCurrentPose(const Transform & pose) {_currentPose = pose;}
void setMapCorrection(const Transform & mapCorrection) {_mapCorrection = mapCorrection;}
void setLoopClosureTransform(const Transform & loopClosureTransform) {_loopClosureTransform = loopClosureTransform;}
void setWeights(const std::map<int, int> & weights) {_weights = weights;}
void setPosterior(const std::map<int, float> & posterior) {_posterior = posterior;}
void setLikelihood(const std::map<int, float> & likelihood) {_likelihood = likelihood;}
void setRawLikelihood(const std::map<int, float> & rawLikelihood) {_rawLikelihood = rawLikelihood;}
void setRefWords(const std::multimap<int, cv::KeyPoint> & refWords) {_refWords = refWords;}
void setLoopWords(const std::multimap<int, cv::KeyPoint> & loopWords) {_loopWords = loopWords;}
// getters
bool extended() const {return _extended;}
@@ -157,26 +148,16 @@ public:
int localLoopClosureId() const {return _localLoopClosureId;}
const std::map<int, int> & getMapIds() const {return _mapIds;}
const std::map<int, std::vector<unsigned char> > & getImages() const {return _images;}
const std::map<int, std::vector<unsigned char> > & getDepths() const {return _depths;}
const std::map<int, std::vector<unsigned char> > & getDepth2ds() const {return _depth2ds;}
const std::map<int, float> & getDepthFxs() const {return _depthFxs;}
const std::map<int, float> & getDepthFys() const {return _depthFys;}
const std::map<int, float> & getDepthCxs() const {return _depthCxs;}
const std::map<int, float> & getDepthCys() const {return _depthCys;}
const std::map<int, Transform> & getLocalTransforms() const {return _localTransforms;}
const Signature & getSignature() const {return _signature;}
const std::map<int, Transform> & poses() const {return _poses;}
const std::multimap<int, Link> & constraints() const {return _constraints;}
const Transform & currentPose() const {return _currentPose;}
const Transform & mapCorrection() const {return _mapCorrection;}
const Transform & loopClosureTransform() const {return _loopClosureTransform;}
const std::map<int, int> & weights() const {return _weights;}
const std::map<int, float> & posterior() const {return _posterior;}
const std::map<int, float> & likelihood() const {return _likelihood;}
const std::map<int, float> & rawLikelihood() const {return _rawLikelihood;}
const std::multimap<int, cv::KeyPoint> & refWords() const {return _refWords;}
const std::multimap<int, cv::KeyPoint> & loopWords() const {return _loopWords;}
const std::map<std::string, float> & data() const {return _data;}
@@ -189,20 +170,12 @@ private:
// extended data start here...
std::map<int, int> _mapIds;
std::map<int, std::vector<unsigned char> > _images;
// Metric data
std::map<int, std::vector<unsigned char> > _depths;
std::map<int, std::vector<unsigned char> > _depth2ds;
std::map<int, float> _depthFxs;
std::map<int, float> _depthFys;
std::map<int, float> _depthCxs;
std::map<int, float> _depthCys;
std::map<int, Transform> _localTransforms;
// Signature data
Signature _signature;
std::map<int, Transform> _poses;
std::multimap<int, Link> _constraints;
Transform _currentPose;
Transform _mapCorrection;
Transform _loopClosureTransform;
@@ -211,10 +184,6 @@ private:
std::map<int, float> _likelihood;
std::map<int, float> _rawLikelihood;
//keypoint memory
std::multimap<int, cv::KeyPoint> _refWords;
std::multimap<int, cv::KeyPoint> _loopWords;
// Format for statistics (Plottable statistics must go in that map) :
// {"Group/Name/Unit", value}
// Example : {"Timing/Total time/ms", 500.0f}