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Refactored Camera classes and Preferences->Source menu

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This commit is contained in:
matlabbe
2015-06-26 18:21:32 -04:00
parent 6f1df94b18
commit 6df403ed42
39 changed files with 3543 additions and 3388 deletions
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examples/BOWMapping/main.cpp
+5 -5
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@@ -26,7 +26,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "rtabmap/core/Rtabmap.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/CameraRGB.h"
#include <opencv2/core/core.hpp>
#include "rtabmap/utilite/UFile.h"
#include <stdio.h>
@@ -118,12 +118,12 @@ int main(int argc, char * argv[])
int countLoopDetected=0;
int i=0;
cv::Mat img = camera.takeImage();
rtabmap::SensorData data = camera.takeImage();
int nextIndex = rtabmap.getLastLocationId()+1;
while(!img.empty())
while(!data.imageRaw().empty())
{
// Process image : Main loop of RTAB-Map
rtabmap.process(img, nextIndex);
rtabmap.process(data.imageRaw(), nextIndex);
// Check if a loop closure is detected and print some info
if(rtabmap.getLoopClosureId())
@@ -157,7 +157,7 @@ int main(int argc, char * argv[])
++nextIndex;
//Get next image
img = camera.takeImage();
data = camera.takeImage();
}
printf("Processing images completed. Loop closures found = %d\n", countLoopDetected);
examples/RGBDMapping/main.cpp
+5 -4
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@@ -71,7 +71,7 @@ int main(int argc, char * argv[])
// Create the OpenNI camera, it will send a CameraEvent at the rate specified.
// Set transform to camera so z is up, y is left and x going forward
CameraRGBD * camera = 0;
Camera * camera = 0;
Transform opticalRotation(0,0,1,0, -1,0,0,0, 0,-1,0,0);
if(driver == 1)
{
@@ -114,13 +114,14 @@ int main(int argc, char * argv[])
camera = new rtabmap::CameraOpenni("", 0, opticalRotation);
}
CameraThread cameraThread(camera);
if(!cameraThread.init())
if(!camera->init())
{
UERROR("Camera init failed!");
exit(1);
}
CameraThread cameraThread(camera);
// GUI stuff, there the handler will receive RtabmapEvent and construct the map
// We give it the camera so the GUI can pause/resume the camera
QApplication app(argc, argv);
examples/WifiMapping/main.cpp
+7 -7
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@@ -109,7 +109,7 @@ int main(int argc, char * argv[])
// Create the OpenNI camera, it will send a CameraEvent at the rate specified.
// Set transform to camera so z is up, y is left and x going forward
CameraRGBD * camera = 0;
Camera * camera = 0;
Transform opticalRotation(0,0,1,0, -1,0,0,0, 0,-1,0,0);
if(driver == 1)
{
@@ -152,17 +152,17 @@ int main(int argc, char * argv[])
camera = new rtabmap::CameraOpenni("", 0, opticalRotation);
}
if(mirroring)
{
camera->setMirroringEnabled(true);
}
CameraThread cameraThread(camera);
if(!cameraThread.init())
if(!camera->init())
{
UERROR("Camera init failed!");
//exit(1);
}
CameraThread cameraThread(camera);
if(mirroring)
{
cameraThread.setMirroringEnabled(true);
}
// GUI stuff, there the handler will receive RtabmapEvent and construct the map
// We give it the camera so the GUI can pause/resume the camera