Merged pcl_integration branch to trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-09-02 01:20:25 +08:00 · 2013-12-11 00:12:44 +00:00
parent 97c70d394e
commit 8b8511e154
124 changed files with 21692 additions and 4458 deletions
--- a/guilib/src/DataRecorder.cpp
+++ b/guilib/src/DataRecorder.cpp
@@ -0,0 +1,130 @@
+/*
+ * CloudRecorder.cpp
+ *
+ *  Created on: 2013-10-30
+ *      Author: Mathieu
+ */
+
+#include "rtabmap/gui/DataRecorder.h"
+
+#include <rtabmap/utilite/ULogger.h>
+#include <rtabmap/utilite/UTimer.h>
+#include <rtabmap/core/Memory.h>
+#include <rtabmap/core/CameraEvent.h>
+#include <rtabmap/core/util3d.h>
+#include <rtabmap/gui/ImageView.h>
+#include <rtabmap/gui/UCv2Qt.h>
+#include <QtCore/QMetaType>
+#include <QtGui/QHBoxLayout>
+
+namespace rtabmap {
+
+
+DataRecorder::DataRecorder(QWidget * parent) :
+		QWidget(parent),
+	memory_(0),
+	imageView_(new ImageView(this)),
+	dataQueue_(0)
+{
+	qRegisterMetaType<rtabmap::Image>("rtabmap::Image");
+
+	QHBoxLayout * layout = new QHBoxLayout(this);
+	layout->addWidget(imageView_);
+	this->setLayout(layout);
+}
+bool DataRecorder::init(const QString & path)
+{
+	if(!memory_)
+	{
+		ParametersMap customParameters;
+		customParameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
+		customParameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), "-1")); // desactivate keypoints extraction
+		customParameters.insert(ParametersPair(Parameters::kMemImageKept(), "true")); // to keep images
+		memory_ = new Memory();
+		if(!memory_->init(path.toStdString(), true, customParameters, false))
+		{
+			delete memory_;
+			memory_ = 0;
+			UERROR("Error initializing the memory.");
+			return false;
+		}
+		return true;
+	}
+	else
+	{
+		UERROR("Already initialized, close it first.");
+		return false;
+	}
+}
+
+void DataRecorder::close()
+{
+	if(memory_)
+	{
+		delete memory_;
+		memory_ = 0;
+	}
+}
+
+DataRecorder::~DataRecorder()
+{
+	this->close();
+}
+
+void DataRecorder::addData(const rtabmap::Image & image)
+{
+	if(memory_)
+	{
+		//save to database
+		UTimer time;
+		memory_->update(image);
+		memory_->cleanup();
+
+		if(image.id() % 30)
+		{
+			memory_->emptyTrash();
+		}
+
+		UDEBUG("Time to process a message = %f s", time.ticks());
+	}
+	else
+	{
+		UWARN("CloudRecorder not initialized!");
+	}
+	--dataQueue_;
+}
+
+void DataRecorder::showImage(const rtabmap::Image & image)
+{
+	if(this->isVisible() && !image.empty())
+	{
+		imageView_->setImage(uCvMat2QImage(image.image()));
+		imageView_->setImageDepth(uCvMat2QImage(image.depth()));
+		imageView_->fitInView(imageView_->sceneRect(), Qt::KeepAspectRatio);
+	}
+}
+
+void DataRecorder::handleEvent(UEvent * event)
+{
+	if(event->getClassName().compare("CameraEvent") == 0)
+	{
+		CameraEvent * camEvent = (CameraEvent*)event;
+		if(camEvent->getCode() == CameraEvent::kCodeImageDepth ||
+		   camEvent->getCode() == CameraEvent::kCodeImage)
+		{
+			if(!camEvent->image().empty())
+			{
+				UINFO("Receiving rate = %f Hz", 1.0f/timer_.ticks());
+				QMetaObject::invokeMethod(this, "addData", Q_ARG(rtabmap::Image, camEvent->image()));
+				++dataQueue_;
+
+				if(dataQueue_ < 2 && this->isVisible())
+				{
+					QMetaObject::invokeMethod(this, "showImage", Q_ARG(rtabmap::Image, camEvent->image()));
+				}
+			}
+		}
+	}
+}
+
+} /* namespace rtabmap */