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

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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
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guilib/src/DatabaseViewer.cpp
+10 -9
View File
@@ -47,7 +47,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/Signature.h"
#include "rtabmap/gui/DataRecorder.h"
#include "rtabmap/core/Image.h"
#include "rtabmap/core/SensorData.h"
#include "ExportDialog.h"
#include "DetailedProgressDialog.h"
@@ -273,7 +273,7 @@ void DatabaseViewer::exportDatabase()
depth2d = rtabmap::util3d::uncompressData(compressedDepth2d);
}
rtabmap::Image data(rgb, depth, depth2d, fx, fy, cx, cy, pose, localTransform, id);
rtabmap::SensorData data(rgb, depth, depth2d, fx, fy, cx, cy, pose, localTransform, id);
recorder.addData(data);
progressDialog.appendText(tr("Exported node %1").arg(id));
@@ -1645,6 +1645,7 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
UASSERT(!containsLink(linksRefined_, from, to));
Transform t;
std::string rejectedMsg;
if(ui_->checkBox_visual_recomputeFeatures->isChecked())
{
// create a fake memory to regenerate features
@@ -1669,18 +1670,18 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
memory_->getImageDepth(from, imageBytesA, depthBytesA, depth2dBytesA, fxA, fyA, cxA, cyA, localTransformA);
cv::Mat imageA = rtabmap::util3d::uncompressImage(imageBytesA);
cv::Mat depthA = rtabmap::util3d::uncompressImage(depthBytesA);
Image imageFrom(imageA, depthA, fxA, fyA, cxA, cyA, Transform::getIdentity(), localTransformA, 1);
SensorData dataFrom(imageA, depthA, fxA, fyA, cxA, cyA, Transform::getIdentity(), localTransformA, 1);
std::vector<unsigned char> imageBytesB, depthBytesB, depth2dBytesB;
memory_->getImageDepth(to, imageBytesB, depthBytesB, depth2dBytesB, fxB, fyB, cxB, cyB, localTransformB);
cv::Mat imageB = rtabmap::util3d::uncompressImage(imageBytesB);
cv::Mat depthB = rtabmap::util3d::uncompressImage(depthBytesB);
Image imageTo(imageB, depthB, fxB, fyB, cxB, cyB, Transform::getIdentity(), localTransformB, 2);
SensorData dataTo(imageB, depthB, fxB, fyB, cxB, cyB, Transform::getIdentity(), localTransformB, 2);
tmpMemory.update(imageFrom);
tmpMemory.update(imageTo);
tmpMemory.update(dataFrom);
tmpMemory.update(dataTo);
t = tmpMemory.computeVisualTransform(2, 1);
t = tmpMemory.computeVisualTransform(2, 1, &rejectedMsg);
}
else
{
@@ -1690,7 +1691,7 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
parameters.insert(ParametersPair(Parameters::kLccBowIterations(), uNumber2Str(ui_->spinBox_visual_iteration->value())));
parameters.insert(ParametersPair(Parameters::kLccBowMinInliers(), uNumber2Str(ui_->spinBox_visual_minCorrespondences->value())));
memory_->parseParameters(parameters);
t = memory_->computeVisualTransform(to, from);
t = memory_->computeVisualTransform(to, from, &rejectedMsg);
}
if(t.isNull())
@@ -1699,7 +1700,7 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
{
QMessageBox::warning(this,
tr("Add link"),
tr("Cannot find a transformation between nodes %1 and %2").arg(from).arg(to));
tr("Cannot find a transformation between nodes %1 and %2: %3").arg(from).arg(to).arg(rejectedMsg.c_str()));
}
}
else