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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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12
guilib/src/DataRecorder.cpp
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@@ -120,7 +120,7 @@ DataRecorder::~DataRecorder()
this->closeRecorder();
}
void DataRecorder::addData(const rtabmap::SensorData & data)
void DataRecorder::addData(const rtabmap::SensorData & data, const Transform & pose, const cv::Mat & covariance)
{
memoryMutex_.lock();
if(memory_)
@@ -134,10 +134,10 @@ void DataRecorder::addData(const rtabmap::SensorData & data)
//save to database
UTimer time;
memory_->update(data);
memory_->update(data, pose, covariance);
const Signature * s = memory_->getLastWorkingSignature();
totalSizeKB_ += (int)s->getImageCompressed().total()/1000;
totalSizeKB_ += (int)s->getDepthCompressed().total()/1000;
totalSizeKB_ += (int)s->sensorData().imageCompressed().total()/1000;
totalSizeKB_ += (int)s->sensorData().depthOrRightCompressed().total()/1000;
memory_->cleanup();
if(++count_ % 30)
@@ -183,8 +183,8 @@ void DataRecorder::handleEvent(UEvent * event)
{
processingImages_ = true;
QMetaObject::invokeMethod(this, "showImage",
Q_ARG(cv::Mat, camEvent->data().image()),
Q_ARG(cv::Mat, camEvent->data().depthOrRightImage()));
Q_ARG(cv::Mat, camEvent->data().imageRaw()),
Q_ARG(cv::Mat, camEvent->data().depthOrRightRaw()));
}
}
}