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

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
2026-10-04 16:57:46 +08:00 · 2014-08-18 23:14:04 +00:00
parent 9aca634b28
commit e460cb592f
34 changed files with 499 additions and 557 deletions
@@ -0,0 +1,112 @@
+/*
+Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+
+#include "rtabmap/core/SensorData.h"
+
+namespace rtabmap
+{
+
+/**
+ * An id is automatically generated if id=0.
+ */
+SensorData::SensorData() :
+	_image(cv::Mat()),
+	_id(0),
+	_fx(0.0f),
+	_fy(0.0f),
+	_cx(0.0f),
+	_cy(0.0f),
+	_localTransform(Transform::getIdentity())
+{
+}
+
+SensorData::SensorData(const cv::Mat & image,
+	  int id) :
+	_image(image),
+	_id(id),
+	_fx(0.0f),
+	_fy(0.0f),
+	_cx(0.0f),
+	_cy(0.0f),
+	_localTransform(Transform::getIdentity())
+{
+}
+
+	// Metric constructor
+SensorData::SensorData(const cv::Mat & image,
+		  const cv::Mat & depth,
+		  float fx,
+		  float fy,
+		  float cx,
+		  float cy,
+		  const Transform & pose,
+		  const Transform & localTransform,
+		  int id) :
+	_image(image),
+	_id(id),
+	_depth(depth),
+	_fx(fx),
+	_fy(fy),
+	_cx(cx),
+	_cy(cy),
+	_pose(pose),
+	_localTransform(localTransform)
+{
+}
+
+	// Metric constructor + 2d depth
+SensorData::SensorData(const cv::Mat & image,
+		  const cv::Mat & depth,
+		  const cv::Mat & depth2d,
+		  float fx,
+		  float fy,
+		  float cx,
+		  float cy,
+		  const Transform & pose,
+		  const Transform & localTransform,
+		  int id) :
+	_image(image),
+	_id(id),
+	_depth(depth),
+	_depth2d(depth2d),
+	_fx(fx),
+	_fy(fy),
+	_cx(cx),
+	_cy(cy),
+	_pose(pose),
+	_localTransform(localTransform)
+{
+}
+
+bool SensorData::empty() const
+{
+	return _image.empty();
+}
+
+} // namespace rtabmap
+