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Refactored how depth is used to compute 3D transform (making sure the same depth image is used with same stamp and frame_id). Fixed CameraTcpServer ingoring incoming connections with Qt5. Added approx_sync parameter to ros.

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This commit is contained in:
matlabbe
2019-08-09 21:45:27 -04:00
parent 413cb6820d
commit f43bc943f8
13 changed files with 92 additions and 73 deletions
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include/find_object/Camera.h
+1
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@@ -57,6 +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 finished();
public Q_SLOTS:
include/find_object/FindObject.h
+2 -1
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@@ -92,9 +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()
Q_SIGNALS:
void objectsFound(const find_object::DetectionInfo &);
void objectsFound(const find_object::DetectionInfo &, const QString &, double, const cv::Mat &, float);
private:
void clearVocabulary();
include/find_object/MainWindow.h
+2 -1
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@@ -80,6 +80,7 @@ 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);
private Q_SLOTS:
void loadSession();
@@ -113,7 +114,7 @@ private Q_SLOTS:
void rectHovered(int objId);
Q_SIGNALS:
void objectsFound(const find_object::DetectionInfo &);
void objectsFound(const find_object::DetectionInfo &, const QString & frameId, double stamp, const cv::Mat & depth, float depthConstant);
private:
bool loadSettings(const QString & path);