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DataRecorder: Can record odometry data if odometry is published by the camera (zed or realsense)

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matlabbe
2017-11-21 14:14:37 -05:00
parent 1df95702a3
commit 821c1c938e
2 changed files with 5 additions and 2 deletions
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guilib/src/DataRecorder.cpp
+4 -1
View File
@@ -180,7 +180,10 @@ bool DataRecorder::handleEvent(UEvent * event)
if(camEvent->data().isValid()) if(camEvent->data().isValid())
{ {
UINFO("Receiving rate = %f Hz", 1.0f/timer_.ticks()); UINFO("Receiving rate = %f Hz", 1.0f/timer_.ticks());
this->addData(camEvent->data()); this->addData(
camEvent->data(),
camEvent->info().odomPose,
camEvent->info().odomCovariance.empty()?cv::Mat::eye(6,6,CV_64FC1):camEvent->info().odomCovariance);
if(!processingImages_ && this->isVisible() && camEvent->data().isValid()) if(!processingImages_ && this->isVisible() && camEvent->data().isValid())
{ {
guilib/src/MainWindow.cpp
+1 -1
View File
@@ -4601,7 +4601,7 @@ void MainWindow::startDetection()
} }
} }
if(_dataRecorder && _camera) if(_dataRecorder && _camera && _odomThread)
{ {
UEventsManager::createPipe(_camera, _dataRecorder, "CameraEvent"); UEventsManager::createPipe(_camera, _dataRecorder, "CameraEvent");
} }