Fixed wrong stamp republished (double precision issue, #48). Fixed region selection with SuperPoint.

include/find_object/Camera.h

@@ -28,8 +28,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef CAMERA_H_
 #define CAMERA_H_
 
+#include <find_object/Header.h>
 #include "find_object/FindObjectExp.h" // DLL export/import defines
-
 #include <opencv2/highgui/highgui.hpp>
 #include <QtCore/QObject>
 #include <QtCore/QTimer>
@@ -57,7 +57,7 @@ public:
 
 Q_SIGNALS:
 	void imageReceived(const cv::Mat & image);
-	void imageReceived(const cv::Mat & image, const QString & frameId, double stamp, const cv::Mat & depth, float depthConstant);
+	void imageReceived(const cv::Mat & image, const find_object::Header & header, const cv::Mat & depth, float depthConstant);
 	void finished();
 
 public Q_SLOTS:

include/find_object/FindObject.h

@@ -28,11 +28,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef FINDOBJECT_H_
 #define FINDOBJECT_H_
 
+#include <find_object/Header.h>
 #include "find_object/FindObjectExp.h" // DLL export/import defines
 
 #include "find_object/DetectionInfo.h"
 #include "find_object/Settings.h"
-
 #include <QtCore/QObject>
 #include <QtCore/QString>
 #include <QtCore/QMap>
@@ -92,10 +92,10 @@ public Q_SLOTS:
 	void addObjectAndUpdate(const cv::Mat & image, int id=0, const QString & filePath = QString());
 	void removeObjectAndUpdate(int id);
 	void detect(const cv::Mat & image); // emit objectsFound()
-	void detect(const cv::Mat & image, const QString & frameId, double stamp, const cv::Mat & depth, float depthConstant); // emit objectsFound()
+	void detect(const cv::Mat & image, const find_object::Header & header, const cv::Mat & depth, float depthConstant); // emit objectsFound()
 
 Q_SIGNALS:
-	void objectsFound(const find_object::DetectionInfo &, const QString &, double, const cv::Mat &, float);
+	void objectsFound(const find_object::DetectionInfo &, const find_object::Header &, const cv::Mat &, float);
 
 private:
 	void clearVocabulary();

include/find_object/Header.h

@@ -0,0 +1,56 @@
+/*
+Copyright (c) 2011-2021, 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.
+*/
+
+#ifndef INCLUDE_FIND_OBJECT_HEADER_H_
+#define INCLUDE_FIND_OBJECT_HEADER_H_
+
+#include <bits/stdint-uintn.h>
+#include <QString>
+
+namespace find_object {
+
+class Header {
+public:
+	Header() :
+		sec_(0),
+		nsec_(0)
+	{
+	}
+	Header(const char * frameId, uint64_t sec, uint64_t nsec) :
+		frameId_(frameId),
+		sec_(sec),
+		nsec_(nsec)
+	{
+	}
+	QString frameId_;
+	uint64_t sec_;
+	uint64_t nsec_;
+};
+
+}
+
+#endif /* INCLUDE_FIND_OBJECT_HEADER_H_ */

include/find_object/MainWindow.h

@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "find_object/FindObjectExp.h" // DLL export/import defines
 
 #include "find_object/DetectionInfo.h"
+#include "find_object/Header.h"
 
 #include <QMainWindow>
 #include <QtCore/QSet>
@@ -80,7 +81,7 @@ public Q_SLOTS:
 	void stopProcessing();
 	void pauseProcessing();
 	void update(const cv::Mat & image);
-	void update(const cv::Mat & image, const QString & frameId, double stamp, const cv::Mat & depth, float depthConstant);
+	void update(const cv::Mat & image, const find_object::Header & header, const cv::Mat & depth, float depthConstant);
 
 private Q_SLOTS:
 	void loadSession();
@@ -114,7 +115,7 @@ private Q_SLOTS:
 	void rectHovered(int objId);
 
 Q_SIGNALS:
-	void objectsFound(const find_object::DetectionInfo &, const QString & frameId, double stamp, const cv::Mat & depth, float depthConstant);
+	void objectsFound(const find_object::DetectionInfo &, const find_object::Header & header, const cv::Mat & depth, float depthConstant);
 
 private:
 	bool loadSettings(const QString & path);