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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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16
guilib/src/CameraViewer.cpp
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@@ -76,19 +76,11 @@ CameraViewer::~CameraViewer()
void CameraViewer::showImage(const rtabmap::SensorData & data)
{
processingImages_ = true;
imageView_->setImage(uCvMat2QImage(data.image()));
imageView_->setImageDepth(uCvMat2QImage(data.depthOrRightImage()));
if(!data.depth().empty() && data.fx() && data.fy())
imageView_->setImage(uCvMat2QImage(data.imageRaw()));
imageView_->setImageDepth(uCvMat2QImage(data.depthOrRightRaw()));
if(!data.depthOrRightRaw().empty() && (data.stereoCameraModel().isValid() || data.cameraModels().size()))
{
cloudView_->addOrUpdateCloud("cloud",
util3d::cloudFromDepthRGB(data.image(), data.depth(), data.cx(), data.cy(), data.fx(), data.fy()),
data.localTransform());
}
else if(!data.rightImage().empty() && data.fx() && data.baseline())
{
cloudView_->addOrUpdateCloud("cloud",
util3d::cloudFromStereoImages(data.image(), data.rightImage(), data.cx(), data.cy(), data.fx(), data.baseline()),
data.localTransform());
cloudView_->addOrUpdateCloud("cloud", util3d::cloudFromSensorData(data));
}
else
{