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CameraImages: Added synchronization of captrue time with timestamps

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This commit is contained in:
matlabbe
2016-01-13 18:13:44 -05:00
parent f68203f529
commit dc2746a365
4 changed files with 114 additions and 32 deletions
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9
corelib/include/rtabmap/core/CameraRGB.h
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@@ -31,13 +31,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/highgui/highgui.hpp>
#include "rtabmap/core/Camera.h"
#include "rtabmap/utilite/UTimer.h"
#include <set>
#include <stack>
#include <list>
#include <vector>
class UDirectory;
class UTimer;
namespace rtabmap
{
@@ -70,10 +70,11 @@ public:
void setDirRefreshed(bool enabled) {_refreshDir = enabled;}
void setImagesRectified(bool enabled) {_rectifyImages = enabled;}
void setTimestamps(bool fileNamesAreStamps, const std::string & filePath = "")
void setTimestamps(bool fileNamesAreStamps, const std::string & filePath = "", bool syncImageRateWithStamps=true)
{
_filenamesAreTimestamps = fileNamesAreStamps;
timestampsPath_=filePath;
syncImageRateWithStamps_ = syncImageRateWithStamps;
}
void setScanPath(
@@ -147,6 +148,7 @@ private:
bool _filenamesAreTimestamps;
std::string timestampsPath_;
bool syncImageRateWithStamps_;
std::string groundTruthPath_;
int _groundTruthFormat;
@@ -154,6 +156,9 @@ private:
std::list<double> stamps_;
std::list<Transform> groundTruth_;
CameraModel _model;
UTimer _captureTimer;
double _captureDelay;
};