Moved some util3d methods to Transform.h, Graph.h and Compression.h

Added computePath() method implementating A star on graph GUI: SetWindowModified() and user should explicitly save the GUI config to keep them Calibration: added mirror checkbox, added device id argument
2026-10-07 10:37:47 +08:00 · 2015-01-23 11:17:42 -05:00
parent fdf7f69783
commit 7a6bf630ca
34 changed files with 1817 additions and 1282 deletions
@@ -0,0 +1,87 @@
+/*
+Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef COMPRESSION_H_
+#define COMPRESSION_H_
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include <rtabmap/utilite/UThread.h>
+#include <opencv2/opencv.hpp>
+
+namespace rtabmap {
+
+/**
+ * Compress image or data
+ *
+ * Example compression:
+ *   cv::Mat image;// an image
+ *   CompressionThread ct(image);
+ *   ct.start();
+ *   ct.join();
+ *   std::vector<unsigned char> bytes = ct.getCompressedData();
+ *
+ * Example uncompression
+ *   std::vector<unsigned char> bytes;// a compressed image
+ *   CompressionThread ct(bytes);
+ *   ct.start();
+ *   ct.join();
+ *   cv::Mat image = ct.getUncompressedData();
+ */
+class RTABMAP_EXP CompressionThread : public UThread
+{
+public:
+	// format : ".png" ".jpg" "" (empty is general)
+	CompressionThread(const cv::Mat & mat, const std::string & format = "");
+	CompressionThread(const cv::Mat & bytes, bool isImage);
+	const cv::Mat & getCompressedData() const {return compressedData_;}
+	cv::Mat & getUncompressedData() {return uncompressedData_;}
+protected:
+	virtual void mainLoop();
+private:
+	cv::Mat compressedData_;
+	cv::Mat uncompressedData_;
+	std::string format_;
+	bool image_;
+	bool compressMode_;
+};
+
+std::vector<unsigned char> RTABMAP_EXP compressImage(const cv::Mat & image, const std::string & format = ".png");
+cv::Mat RTABMAP_EXP compressImage2(const cv::Mat & image, const std::string & format = ".png");
+
+cv::Mat RTABMAP_EXP uncompressImage(const cv::Mat & bytes);
+cv::Mat RTABMAP_EXP uncompressImage(const std::vector<unsigned char> & bytes);
+
+std::vector<unsigned char> RTABMAP_EXP compressData(const cv::Mat & data);
+cv::Mat RTABMAP_EXP compressData2(const cv::Mat & data);
+
+cv::Mat RTABMAP_EXP uncompressData(const cv::Mat & bytes);
+cv::Mat RTABMAP_EXP uncompressData(const std::vector<unsigned char> & bytes);
+cv::Mat RTABMAP_EXP uncompressData(const unsigned char * bytes, unsigned long size);
+
+} /* namespace rtabmap */
+#endif /* COMPRESSION_H_ */