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CameraThread: Added stereo to depth option. Added parameter "Mem/SaveDepth16Format".

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matlabbe
2015-08-27 17:16:12 -04:00
parent 0651d5dfbd
commit ce2bbd8feb
16 changed files with 343 additions and 230 deletions
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corelib/src/Memory.cpp
+5 -4
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@@ -68,6 +68,7 @@ Memory::Memory(const ParametersMap & parameters) :
_similarityThreshold(Parameters::defaultMemRehearsalSimilarity()),
_rawDataKept(Parameters::defaultMemImageKept()),
_binDataKept(Parameters::defaultMemBinDataKept()),
_saveDepth16Format(Parameters::defaultMemSaveDepth16Format()),
_notLinkedNodesKeptInDb(Parameters::defaultMemNotLinkedNodesKept()),
_incrementalMemory(Parameters::defaultMemIncrementalMemory()),
_maxStMemSize(Parameters::defaultMemSTMSize()),
@@ -399,6 +400,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kMemImageKept(), _rawDataKept);
Parameters::parse(parameters, Parameters::kMemBinDataKept(), _binDataKept);
Parameters::parse(parameters, Parameters::kMemSaveDepth16Format(), _saveDepth16Format);
Parameters::parse(parameters, Parameters::kMemNotLinkedNodesKept(), _notLinkedNodesKeptInDb);
Parameters::parse(parameters, Parameters::kMemRehearsalIdUpdatedToNewOne(), _idUpdatedToNewOneRehearsal);
Parameters::parse(parameters, Parameters::kMemGenerateIds(), _generateIds);
@@ -4257,10 +4259,10 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
std::vector<unsigned char> imageBytes;
std::vector<unsigned char> depthBytes;
if(!depthOrRightImage.empty() && depthOrRightImage.type() == CV_32FC1)
if(_saveDepth16Format && !depthOrRightImage.empty() && depthOrRightImage.type() == CV_32FC1)
{
UWARN("Keeping raw data in database: depth type is 32FC1, use 16UC1 depth format to avoid a conversion.");
depthOrRightImage = util3d::cvtDepthFromFloat(depthOrRightImage);
UWARN("Save depth data to 16 bits format: depth type detected is 32FC1, use 16UC1 depth format to avoid this conversion.");
depthOrRightImage = util2d::cvtDepthFromFloat(depthOrRightImage);
}
rtabmap::CompressionThread ctImage(image, std::string(".jpg"));
@@ -4347,7 +4349,6 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
s->sensorData().setUserDataRaw(data.userDataRaw());
}
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemCompressing_data(), t*1000.0f);
UDEBUG("time compressing data (id=%d) %fs", id, t);