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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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examples/BOWMapping/CMakeLists.txt
+2
View File
@@ -1,10 +1,12 @@
SET(INCLUDE_DIRS
${PROJECT_SOURCE_DIR}/corelib/include
${OpenCV_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
SET(LIBRARIES
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
)
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
examples/RGBDMapping/MapBuilder.h
+8 -15
View File
@@ -163,23 +163,16 @@ private slots:
cloudViewer_->setCloudVisibility(cloudName, true);
}
else if(iter->first == stats.refImageId() &&
uContains(stats.getImages(), iter->first) &&
uContains(stats.getDepths(), iter->first) &&
uContains(stats.getDepthFxs(), iter->first) &&
uContains(stats.getDepthFys(), iter->first) &&
uContains(stats.getLocalTransforms(), iter->first))
stats.getSignature().id() == iter->first)
{
// Add the new cloud
cv::Mat rgb = util3d::uncompressImage(stats.getImages().at(iter->first));
cv::Mat depth = util3d::uncompressImage(stats.getDepths().at(iter->first));
Transform localTransform = stats.getLocalTransforms().at(iter->first);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudFromDepthRGB(
rgb,
depth,
stats.getDepthCxs().at(iter->first),
stats.getDepthCys().at(iter->first),
stats.getDepthFxs().at(iter->first),
stats.getDepthFys().at(iter->first),
stats.getSignature().getImageRaw(),
stats.getSignature().getDepthRaw(),
stats.getSignature().getDepthCx(),
stats.getSignature().getDepthCy(),
stats.getSignature().getDepthFx(),
stats.getSignature().getDepthFy(),
8); // decimation
if(cloud->size())
@@ -187,7 +180,7 @@ private slots:
cloud = util3d::passThrough<pcl::PointXYZRGB>(cloud, "z", 0, 4.0f);
if(cloud->size())
{
cloud = util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, localTransform);
cloud = util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, stats.getSignature().getLocalTransform());
}
}
if(!cloudViewer_->addOrUpdateCloud(cloudName, cloud, iter->second))