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Refactored how visualization data are transfered between core and gui: using only Signature object instead of separated image,deph,fx,fy...

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1928 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-26 21:47:29 +00:00
parent 60b0fd2e98
commit 457c068e0f
23 changed files with 514 additions and 1027 deletions
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corelib/src/RtabmapThread.cpp
+5 -40
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@@ -100,40 +100,19 @@ void RtabmapThread::setBufferSize(int bufferSize)
void RtabmapThread::publishMap(bool optimized, bool full) const
{
std::map<int, std::vector<unsigned char> > images;
std::map<int, std::vector<unsigned char> > depths;
std::map<int, std::vector<unsigned char> > depths2d;
std::map<int, float> depthFxs;
std::map<int, float> depthFys;
std::map<int, float> depthCxs;
std::map<int, float> depthCys;
std::map<int, Transform> localTransforms;
std::map<int, Signature> signatures;
std::map<int, Transform> poses;
std::multimap<int, Link> constraints;
std::map<int, int> mapIds;
_rtabmap->get3DMap(images,
depths,
depths2d,
depthFxs,
depthFys,
depthCxs,
depthCys,
localTransforms,
_rtabmap->get3DMap(signatures,
poses,
constraints,
mapIds,
optimized,
full);
this->post(new RtabmapEvent3DMap(images,
depths,
depths2d,
depthFxs,
depthFys,
depthCxs,
depthCys,
localTransforms,
this->post(new RtabmapEvent3DMap(signatures,
poses,
constraints,
mapIds));
@@ -141,14 +120,7 @@ void RtabmapThread::publishMap(bool optimized, bool full) const
void RtabmapThread::publishTOROGraph(bool optimized, bool full) const
{
std::map<int, std::vector<unsigned char> > images;
std::map<int, std::vector<unsigned char> > depths;
std::map<int, std::vector<unsigned char> > depths2d;
std::map<int, float> depthFxs;
std::map<int, float> depthFys;
std::map<int, float> depthCxs;
std::map<int, float> depthCys;
std::map<int, Transform> localTransforms;
std::map<int, Signature> signatures;
std::map<int, Transform> poses;
std::multimap<int, Link> constraints;
std::map<int, int> mapIds;
@@ -159,14 +131,7 @@ void RtabmapThread::publishTOROGraph(bool optimized, bool full) const
optimized,
full);
this->post(new RtabmapEvent3DMap(images,
depths,
depths2d,
depthFxs,
depthFys,
depthCxs,
depthCys,
localTransforms,
this->post(new RtabmapEvent3DMap(signatures,
poses,
constraints,
mapIds));