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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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99
guilib/src/LoopClosureViewer.cpp
View File

@@ -40,8 +40,6 @@ namespace rtabmap {
LoopClosureViewer::LoopClosureViewer(QWidget * parent) :
QWidget(parent),
sA_(0),
sB_(0),
decimation_(1),
maxDepth_(0),
samples_(0)
@@ -55,37 +53,21 @@ LoopClosureViewer::LoopClosureViewer(QWidget * parent) :
LoopClosureViewer::~LoopClosureViewer() {
delete ui_;
if(sA_)
{
delete sA_;
}
if(sB_)
{
delete sB_;
}
}
void LoopClosureViewer::setData(Signature * sA, Signature * sB)
void LoopClosureViewer::setData(const Signature & sA, const Signature & sB)
{
if(sA_)
{
delete sA_;
}
if(sB_)
{
delete sB_;
}
sA_ = sA;
sB_ = sB;
if(sA_ && sB_)
if(sA_.id()>0 && sB_.id()>0)
{
ui_->label_idA->setText(QString("[%1-%2]").arg(sA->id()).arg(sB->id()));
ui_->label_idA->setText(QString("[%1-%2]").arg(sA.id()).arg(sB.id()));
}
}
void LoopClosureViewer::updateView(const Transform & transform)
{
if(sA_ && sB_)
if(sA_.id()>0 && sB_.id()>0)
{
int decimation = 1;
float maxDepth = 0;
@@ -113,56 +95,31 @@ void LoopClosureViewer::updateView(const Transform & transform)
t = transform_;
}
else
{
{
t = sB_.getPose();
}
UDEBUG("t= %s", t.prettyPrint().c_str());
ui_->label_transform->setText(QString("(%1)").arg(t.prettyPrint().c_str()));
if(!t.isNull())
{
util3d::CompressionThread ctiA(sA_->getImage(), true);
util3d::CompressionThread ctdA(sA_->getDepth(), true);
util3d::CompressionThread ctiB(sB_->getImage(), true);
util3d::CompressionThread ctdB(sB_->getDepth(), true);
util3d::CompressionThread ct2dA(sA_->getDepth2D(), false);
util3d::CompressionThread ct2dB(sB_->getDepth2D(), false);
ctiA.start();
ctdA.start();
ctiB.start();
ctdB.start();
ct2dA.start();
ct2dB.start();
ctiA.join();
ctdA.join();
ctiB.join();
ctdB.join();
ct2dA.join();
ct2dB.join();
cv::Mat imageA = ctiA.getUncompressedData();
cv::Mat depthA = ctdA.getUncompressedData();
cv::Mat imageB = ctiB.getUncompressedData();
cv::Mat depthB = ctdB.getUncompressedData();
cv::Mat depth2dA = ct2dA.getUncompressedData();
cv::Mat depth2dB = ct2dB.getUncompressedData();
{
//cloud 3d
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudA;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudA;
if(sA_.getDepthRaw().type() == CV_8UC1)
{
cloudA = util3d::cloudFromStereoImages(
imageA,
depthA,
sA_->getDepthCx(), sA_->getDepthCy(),
cloudA = util3d::cloudFromStereoImages(
sA_.getImageRaw(),
sA_.getDepthRaw(),
sA_.getDepthCx(), sA_.getDepthCy(),
sA_.getDepthFx(), sA_.getDepthFy(),
decimation);
}
else
{
cloudA = util3d::cloudFromDepthRGB(
imageA,
depthA,
sA_->getDepthCx(), sA_->getDepthCy(),
cloudA = util3d::cloudFromDepthRGB(
sA_.getImageRaw(),
sA_.getDepthRaw(),
sA_.getDepthCx(), sA_.getDepthCy(),
sA_.getDepthFx(), sA_.getDepthFy(),
decimation);
}
@@ -176,25 +133,25 @@ void LoopClosureViewer::updateView(const Transform & transform)
if(samples>0 && (int)cloudA->size() > samples)
{
cloudA = util3d::sampling<pcl::PointXYZRGB>(cloudA, samples);
}
}
cloudA = util3d::transformPointCloud<pcl::PointXYZRGB>(cloudA, sA_.getLocalTransform());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudB;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudB;
if(sB_.getDepthRaw().type() == CV_8UC1)
{
cloudB = util3d::cloudFromStereoImages(
imageB,
depthB,
sB_->getDepthCx(), sB_->getDepthCy(),
cloudB = util3d::cloudFromStereoImages(
sB_.getImageRaw(),
sB_.getDepthRaw(),
sB_.getDepthCx(), sB_.getDepthCy(),
sB_.getDepthFx(), sB_.getDepthFy(),
decimation);
}
else
{
cloudB = util3d::cloudFromDepthRGB(
imageB,
depthB,
sB_->getDepthCx(), sB_->getDepthCy(),
cloudB = util3d::cloudFromDepthRGB(
sB_.getImageRaw(),
sB_.getDepthRaw(),
sB_.getDepthCx(), sB_.getDepthCy(),
sB_.getDepthFx(), sB_.getDepthFy(),
decimation);
}
@@ -208,15 +165,15 @@ void LoopClosureViewer::updateView(const Transform & transform)
if(samples>0 && (int)cloudB->size() > samples)
{
cloudB = util3d::sampling<pcl::PointXYZRGB>(cloudB, samples);
}
}
cloudB = util3d::transformPointCloud<pcl::PointXYZRGB>(cloudB, t*sB_.getLocalTransform());
//cloud 2d
pcl::PointCloud<pcl::PointXYZ>::Ptr scanA, scanB;
scanA = util3d::depth2DToPointCloud(depth2dA);
pcl::PointCloud<pcl::PointXYZ>::Ptr scanA, scanB;
scanA = util3d::depth2DToPointCloud(sA_.getDepth2DRaw());
scanB = util3d::depth2DToPointCloud(sB_.getDepth2DRaw());
scanB = util3d::transformPointCloud<pcl::PointXYZ>(scanB, t);
ui_->label_idA->setText(QString("[%1 (%2) -> %3 (%4)]").arg(sB_.id()).arg(cloudB->size()).arg(sA_.id()).arg(cloudA->size()));
if(cloudA->size())