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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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14
guilib/include/rtabmap/gui/LoopClosureViewer.h
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@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/Signature.h>
#include <opencv2/opencv.hpp>
#include <QtGui/QWidget>
@@ -39,8 +40,6 @@ class Ui_loopClosureViewer;
namespace rtabmap {
class Signature;
class RTABMAPGUI_EXP LoopClosureViewer : public QWidget {
Q_OBJECT
@@ -49,11 +48,10 @@ public:
LoopClosureViewer(QWidget * parent);
virtual ~LoopClosureViewer();
// take ownership
void setData(Signature * sA, Signature * sB); // sB contains loop transform as pose() from sA
void setData(const Signature & sA, const Signature & sB); // sB contains loop transform as pose() from sA
const Signature * sA() const {return sA_;}
const Signature * sB() const {return sB_;}
const Signature & sA() const {return sA_;}
const Signature & sB() const {return sB_;}
public slots:
void setDecimation(int decimation) {decimation_ = decimation;}
@@ -67,8 +65,8 @@ protected:
private:
Ui_loopClosureViewer * ui_;
Signature * sA_;
Signature * sB_;
Signature sA_;
Signature sB_;
Transform transform_;
int decimation_;

9
guilib/include/rtabmap/gui/MainWindow.h
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@@ -248,15 +248,8 @@ private:
bool _processingStatistics;
bool _odometryReceived;
QMap<int, std::vector<unsigned char> > _imagesMap;
QMap<int, std::vector<unsigned char> > _depthsMap;
QMap<int, std::vector<unsigned char> > _depths2DMap;
QMap<int, float> _depthFxsMap;
QMap<int, float> _depthFysMap;
QMap<int, float> _depthCxsMap;
QMap<int, float> _depthCysMap;
QMap<int, Signature> _cachedSignatures;
QMap<int, int> _mapIds;
QMap<int, Transform> _localTransformsMap;
std::map<int, Transform> _currentPosesMap;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > _createdClouds;
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > _createdScans;