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Merged pcl_integration branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-12-11 00:12:44 +00:00
parent 97c70d394e
commit 8b8511e154
124 changed files with 21692 additions and 4458 deletions
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corelib/src/CameraThread.cpp
+26 -9
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@@ -31,7 +31,8 @@ namespace rtabmap
// ownership transferred
CameraThread::CameraThread(Camera * camera, bool autoRestart) :
_camera(camera),
_autoRestart(autoRestart)
_autoRestart(autoRestart),
_seq(0)
{
UASSERT(_camera != 0);
}
@@ -43,6 +44,27 @@ CameraThread::~CameraThread()
delete _camera;
}
bool CameraThread::init()
{
if(!this->isRunning())
{
if(_camera)
{
_seq = 0;
return _camera->init();
}
else
{
UERROR("Cannot initialize the camera because the camera object is null...");
}
}
else
{
UERROR("Cannot initialize the camera because it is already running...");
}
return false;
}
void CameraThread::mainLoop()
{
State state = kStateCapturing;
@@ -82,11 +104,6 @@ void CameraThread::pushNewState(State newState, const ParametersMap & parameters
_stateMutex.unlock();
}
void CameraThread::setImageRate(float imageRate)
{
_camera->setImageRate(imageRate);
}
void CameraThread::handleEvent(UEvent* anEvent)
{
if(anEvent->getClassName().compare("ParamEvent") == 0)
@@ -116,11 +133,11 @@ void CameraThread::process()
{
if(_camera->isFeaturesExtracted())
{
this->post(new CameraEvent(descriptors, keypoints, img, _camera->id()));
this->post(new CameraEvent(descriptors, keypoints, img, ++_seq));
}
else
{
this->post(new CameraEvent(img, _camera->id()));
this->post(new CameraEvent(img, ++_seq));
}
}
else if(!this->isKilled())
@@ -133,7 +150,7 @@ void CameraThread::process()
{
ULOGGER_DEBUG("Camera::process() : no more images...");
this->kill();
this->post(new CameraEvent(_camera->id()));
this->post(new CameraEvent());
}
}
}