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Refactored Camera classes and Preferences->Source menu

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This commit is contained in:
matlabbe
2015-06-26 18:21:32 -04:00
parent 6f1df94b18
commit 6df403ed42
39 changed files with 3543 additions and 3388 deletions
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30
guilib/src/CameraViewer.cpp
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@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/gui/ImageView.h>
#include <rtabmap/gui/CloudViewer.h>
#include <rtabmap/gui/UCv2Qt.h>
#include <rtabmap/utilite/ULogger.h>
#include <QtCore/QMetaType>
#include <QHBoxLayout>
#include <QVBoxLayout>
@@ -76,17 +77,33 @@ CameraViewer::~CameraViewer()
void CameraViewer::showImage(const rtabmap::SensorData & data)
{
processingImages_ = true;
imageView_->setImage(uCvMat2QImage(data.imageRaw()));
imageView_->setImageDepth(uCvMat2QImage(data.depthOrRightRaw()));
if(!data.depthOrRightRaw().empty() && (data.stereoCameraModel().isValid() || data.cameraModels().size()))
if(!data.imageRaw().empty())
{
cloudView_->addOrUpdateCloud("cloud", util3d::cloudFromSensorData(data));
imageView_->setImage(uCvMat2QImage(data.imageRaw()));
}
if(!data.depthOrRightRaw().empty())
{
imageView_->setImageDepth(uCvMat2QImage(data.depthOrRightRaw()));
}
if((data.stereoCameraModel().isValid() || data.cameraModels().size()))
{
if(!data.imageRaw().empty() && !data.depthOrRightRaw().empty())
{
cloudView_->addOrUpdateCloud("cloud", util3d::cloudRGBFromSensorData(data));
cloudView_->setVisible(true);
cloudView_->update();
}
else if(!data.depthOrRightRaw().empty())
{
cloudView_->addOrUpdateCloud("cloud", util3d::cloudFromSensorData(data));
cloudView_->setVisible(true);
cloudView_->update();
}
}
else
{
cloudView_->setVisible(false);
}
cloudView_->update();
processingImages_ = false;
}
@@ -95,8 +112,7 @@ void CameraViewer::handleEvent(UEvent * event)
if(event->getClassName().compare("CameraEvent") == 0)
{
CameraEvent * camEvent = (CameraEvent*)event;
if(camEvent->getCode() == CameraEvent::kCodeImageDepth ||
camEvent->getCode() == CameraEvent::kCodeImage)
if(camEvent->getCode() == CameraEvent::kCodeData)
{
if(camEvent->data().isValid())
{