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Added multi-camera feature

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This commit is contained in:
Mathieu Labbe
2015-05-29 14:46:48 -04:00
parent e6923daf1c
commit c6d0d47b1c
51 changed files with 2833 additions and 2297 deletions
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corelib/include/rtabmap/core/RtabmapThread.h
+6 -5
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@@ -38,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/RtabmapEvent.h"
#include "rtabmap/core/SensorData.h"
#include "rtabmap/core/Parameters.h"
#include "rtabmap/core/OdometryEvent.h"
#include <stack>
@@ -90,8 +91,8 @@ private:
virtual void mainLoop();
virtual void mainLoopKill();
void process();
void addData(const SensorData & data);
void getData(SensorData & data);
void addData(const OdometryEvent & odomEvent);
void getData(OdometryEvent & data);
void pushNewState(State newState, const ParametersMap & parameters = ParametersMap());
void setDataBufferSize(int size);
void publishMap(bool optimized, bool full) const;
@@ -102,7 +103,7 @@ private:
std::stack<State> _state;
std::stack<ParametersMap> _stateParam;
std::list<SensorData> _dataBuffer;
std::list<OdometryEvent> _dataBuffer;
UMutex _dataMutex;
USemaphore _dataAdded;
int _dataBufferMaxSize;
@@ -112,8 +113,8 @@ private:
Rtabmap * _rtabmap;
bool _paused;
Transform lastPose_;
float _rotVariance;
float _transVariance;
double _rotVariance;
double _transVariance;
std::vector<unsigned char> _userData;
UMutex _userDataMutex;