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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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54
corelib/src/Signature.cpp
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@@ -36,9 +36,19 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap
{
Signature::~Signature()
Signature::Signature() :
_id(0), // invalid id
_mapId(-1),
_weight(-1),
_saved(false),
_modified(true),
_neighborsModified(true),
_enabled(false),
_fx(0.0f),
_fy(0.0f),
_cx(0.0f),
_cy(0.0f)
{
ULOGGER_DEBUG("id=%d", _id);
}
Signature::Signature(
@@ -76,6 +86,11 @@ Signature::Signature(
{
}
Signature::~Signature()
{
ULOGGER_DEBUG("id=%d", _id);
}
void Signature::addNeighbors(const std::map<int, Transform> & neighbors)
{
for(std::map<int, Transform>::const_iterator i=neighbors.begin(); i!=neighbors.end(); ++i)
@@ -212,4 +227,39 @@ void Signature::setDepth(const std::vector<unsigned char> & depth, float fx, flo
_cy=cy;
}
SensorData Signature::toSensorData()
{
this->uncompressData();
return SensorData(_imageRaw,
_depthRaw,
_depth2DRaw,
_fx,
_fy,
_cx,
_cy,
_pose,
_localTransform,
_id);
}
void Signature::uncompressData()
{
if(_imageRaw.empty() && _image.size())
{
//uncompress data
util3d::CompressionThread ctImage(_image, true);
util3d::CompressionThread ctDepth(_depth, true);
util3d::CompressionThread ctDepth2D(_depth2D, false);
ctImage.start();
ctDepth.start();
ctDepth2D.start();
ctImage.join();
ctDepth.join();
ctDepth2D.join();
_imageRaw = ctImage.getUncompressedData();
_depthRaw = ctDepth.getUncompressedData();
_depth2DRaw = ctDepth2D.getUncompressedData();
}
}
} //namespace rtabmap