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updated for compressed cv::Mat data format

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1938 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-28 19:59:19 +00:00
parent 52c6bd60eb
commit f122090620
7 changed files with 63 additions and 21 deletions
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src/CoreWrapper.cpp
+9 -9
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@@ -1000,9 +1000,9 @@ bool CoreWrapper::getMapCallback(rtabmap::GetMap::Request& req, rtabmap::GetMap:
for(std::map<int, Signature>::iterator iter = signatures.begin(); iter!=signatures.end(); ++iter)
{
rep.data.nodes[i].id = iter->second.id();
rep.data.nodes[i].image.bytes = iter->second.getImage();
rep.data.nodes[i].depth.bytes = iter->second.getDepth();
rep.data.nodes[i].depth2D.bytes = iter->second.getDepth2D();
compressedMatToBytes(iter->second.getImageCompressed(), rep.data.nodes[i].image.bytes);
compressedMatToBytes(iter->second.getDepthCompressed(), rep.data.nodes[i].depth.bytes);
compressedMatToBytes(iter->second.getDepth2DCompressed(), rep.data.nodes[i].depth2D.bytes);
rep.data.nodes[i].fx = iter->second.getDepthFx();
rep.data.nodes[i].fy = iter->second.getDepthFy();
rep.data.nodes[i].cx = iter->second.getDepthCx();
@@ -1107,9 +1107,9 @@ bool CoreWrapper::publishMapCallback(rtabmap::PublishMap::Request& req, rtabmap:
for(std::map<int, Signature>::iterator iter = signatures.begin(); iter!=signatures.end(); ++iter)
{
msg->nodes[i].id = iter->second.id();
msg->nodes[i].image.bytes = iter->second.getImage();
msg->nodes[i].depth.bytes = iter->second.getDepth();
msg->nodes[i].depth2D.bytes = iter->second.getDepth2D();
compressedMatToBytes(iter->second.getImageCompressed(), msg->nodes[i].image.bytes);
compressedMatToBytes(iter->second.getDepthCompressed(), msg->nodes[i].depth.bytes);
compressedMatToBytes(iter->second.getDepth2DCompressed(), msg->nodes[i].depth2D.bytes);
msg->nodes[i].fx = iter->second.getDepthFx();
msg->nodes[i].fy = iter->second.getDepthFy();
msg->nodes[i].cx = iter->second.getDepthCx();
@@ -1235,9 +1235,9 @@ void CoreWrapper::publishStats(const Statistics & stats)
// add data
msg->nodes.resize(1);
msg->nodes[0].id = stats.getSignature().id();
msg->nodes[0].image.bytes = stats.getSignature().getImage();
msg->nodes[0].depth.bytes = stats.getSignature().getDepth();
msg->nodes[0].depth2D.bytes = stats.getSignature().getDepth2D();
compressedMatToBytes(stats.getSignature().getImageCompressed(), msg->nodes[0].image.bytes);
compressedMatToBytes(stats.getSignature().getDepthCompressed(), msg->nodes[0].depth.bytes);
compressedMatToBytes(stats.getSignature().getDepth2DCompressed(), msg->nodes[0].depth2D.bytes);
msg->nodes[0].fx = stats.getSignature().getDepthFx();
msg->nodes[0].fy = stats.getSignature().getDepthFy();
msg->nodes[0].cx = stats.getSignature().getDepthCx();