i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Refactoring: Renamed rtabmap::Image to rtabmap::SensorData

Browse Source 
removed keypoints and descriptors stuff from CameraEvent and Image/SensorData
removed keypoints3 from Image/SensorData

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1653 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-08-18 23:14:04 +00:00
parent 9aca634b28
commit e460cb592f
34 changed files with 499 additions and 557 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
guilib/src/DataRecorder.cpp
View File

@@ -46,7 +46,7 @@ DataRecorder::DataRecorder(QWidget * parent) :
imageView_(new ImageView(this)),
dataQueue_(0)
{
qRegisterMetaType<rtabmap::Image>("rtabmap::Image");
qRegisterMetaType<rtabmap::SensorData>("rtabmap::SensorData");
QHBoxLayout * layout = new QHBoxLayout(this);
layout->addWidget(imageView_);
@@ -95,16 +95,16 @@ DataRecorder::~DataRecorder()
this->close();
}
void DataRecorder::addData(const rtabmap::Image & image)
void DataRecorder::addData(const rtabmap::SensorData & data)
{
if(memory_)
{
//save to database
UTimer time;
memory_->update(image);
memory_->update(data);
memory_->cleanup();
if(image.id() % 30)
if(data.id() % 30)
{
memory_->emptyTrash();
}
@@ -118,12 +118,12 @@ void DataRecorder::addData(const rtabmap::Image & image)
--dataQueue_;
}
void DataRecorder::showImage(const rtabmap::Image & image)
void DataRecorder::showImage(const rtabmap::SensorData & data)
{
if(this->isVisible() && !image.empty())
if(this->isVisible() && data.isValid())
{
imageView_->setImage(uCvMat2QImage(image.image()));
imageView_->setImageDepth(uCvMat2QImage(image.depth()));
imageView_->setImage(uCvMat2QImage(data.image()));
imageView_->setImageDepth(uCvMat2QImage(data.depth()));
imageView_->fitInView(imageView_->sceneRect(), Qt::KeepAspectRatio);
}
}
@@ -136,15 +136,15 @@ void DataRecorder::handleEvent(UEvent * event)
if(camEvent->getCode() == CameraEvent::kCodeImageDepth ||
camEvent->getCode() == CameraEvent::kCodeImage)
{
if(!camEvent->image().empty())
if(camEvent->data().isValid())
{
UINFO("Receiving rate = %f Hz", 1.0f/timer_.ticks());
QMetaObject::invokeMethod(this, "addData", Q_ARG(rtabmap::Image, camEvent->image()));
QMetaObject::invokeMethod(this, "addData", Q_ARG(rtabmap::SensorData, camEvent->data()));
++dataQueue_;
if(dataQueue_ < 2 && this->isVisible())
{
QMetaObject::invokeMethod(this, "showImage", Q_ARG(rtabmap::Image, camEvent->image()));
QMetaObject::invokeMethod(this, "showImage", Q_ARG(rtabmap::SensorData, camEvent->data()));
}
}
}