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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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48
corelib/src/DBDriver.cpp
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@@ -412,15 +412,7 @@ void DBDriver::loadNodeData(std::list<Signature *> & signatures, bool loadMetric
void DBDriver::getNodeData(
int signatureId,
cv::Mat & imageCompressed,
cv::Mat & depthCompressed,
cv::Mat & laserScanCompressed,
float & fx,
float & fy,
float & cx,
float & cy,
Transform & localTransform,
int & laserScanMaxPts) const
SensorData & data) const
{
bool found = false;
// look in the trash
@@ -428,17 +420,9 @@ void DBDriver::getNodeData(
if(uContains(_trashSignatures, signatureId))
{
const Signature * s = _trashSignatures.at(signatureId);
if(!s->getImageCompressed().empty() || !s->isSaved())
if(!s->sensorData().imageCompressed().empty() || !s->isSaved())
{
imageCompressed = s->getImageCompressed();
depthCompressed = s->getDepthCompressed();
laserScanCompressed = s->getLaserScanCompressed();
fx = s->getFx();
fy = s->getFy();
cx = s->getCx();
cy = s->getCy();
localTransform = s->getLocalTransform();
laserScanMaxPts = s->getLaserScanMaxPts();
data = (SensorData)s->sensorData();
found = true;
}
}
@@ -447,31 +431,7 @@ void DBDriver::getNodeData(
if(!found)
{
_dbSafeAccessMutex.lock();
this->getNodeDataQuery(signatureId, imageCompressed, depthCompressed, laserScanCompressed, fx, fy, cx, cy, localTransform, laserScanMaxPts);
_dbSafeAccessMutex.unlock();
}
}
void DBDriver::getNodeData(int signatureId, cv::Mat & imageCompressed) const
{
bool found = false;
// look in the trash
_trashesMutex.lock();
if(uContains(_trashSignatures, signatureId))
{
const Signature * s = _trashSignatures.at(signatureId);
if(!s->getImageCompressed().empty() || !s->isSaved())
{
imageCompressed = s->getImageCompressed();
found = true;
}
}
_trashesMutex.unlock();
if(!found)
{
_dbSafeAccessMutex.lock();
this->getNodeDataQuery(signatureId, imageCompressed);
this->getNodeDataQuery(signatureId, data);
_dbSafeAccessMutex.unlock();
}
}