From 2c05e625e5fbae260b51136757f6d6d97f1909e5 Mon Sep 17 00:00:00 2001 From: polltooh Date: Wed, 23 Nov 2016 18:09:29 -0500 Subject: [PATCH] add image write --- lsd_slam_core/src/.SlamSystem.cpp.swp | Bin 73728 -> 0 bytes .../IOWrapper/OpenCV/ImageDisplay_OpenCV.cpp | 5 +---- lsd_slam_core/src/SlamSystem.cpp | 5 +++-- lsd_slam_core/src/SlamSystem.h | 8 +++++--- lsd_slam_core/src/main_on_images.cpp | 17 ++++++++++++++--- 5 files changed, 23 insertions(+), 12 deletions(-) delete mode 100644 lsd_slam_core/src/.SlamSystem.cpp.swp diff --git a/lsd_slam_core/src/.SlamSystem.cpp.swp b/lsd_slam_core/src/.SlamSystem.cpp.swp deleted file mode 100644 index 5883bdea99bf8e5aebb82b4be6091cd2cbf398b9..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 73728 zcmeI52Yh5#eeXpHAWSjsg#aOU7uFtWrBPY$uC3jb(WypRnvth$ z@!Hhz0+`TC2-T*T{_v4yzl>i&be*wjI=H!?>*`B`DteE zJ@?#m{^y+k`L}bEmA^fW zTzM&1Uaa-*&n@h(R1Wt}RV%$)vZcyGt`vFpiJD>GSY@HH?3e4czJYDM+XlCIqm|{A zM%}M^=N43tf#9yfQnM*VKM)voWYWcZZDYrbgP^tQTwdz9O z48LZM*XsUqc41{D^1}76>l9e0fT2L6Ug$mZz8zZz2m0m0qc(2v9`wLN>(p7Nz&Zui zDX>m~bqcIgV4VW%6j-OgItBheqCkD+)Q%@n-@Dp6Uu-|`lK8|lpns3FpBLLtm+tQN zchP>HNZfyb{e8Oq{9)q$AKBl}u%Gv~8N2-NVXxQi=kpTx?`f|$?C0HWh1~P^ve%t? z;CSMGr@j9|`}xDfeas>Hci4VjemC>Q<$sF3?(8MsPu#zcz3wjrKA7KgRp1;4n{&f5K+QfZZoQ@;*e#R2iJ#R0sf2>nrodW9=Sf{``1=cCB zPJwj_tW#i}0_zl5r@;TC6v*W}ItEb=KPmbqO8&*Rp1(t({0jIIxB{FFc7flZh+YdS zU=r*Bo#3M=u+IdK1LuPWgBwwLKM6ho-T|%yF94T>LxYyyu4_W*wcevCr@Bk)7;8c+o*;9M{Reu_chtKduE zi{QiHTJU=CSK!&;N>B!);7`F_KnM6X#)fZ!e*`ZFe*<0yj)Jp6C-^G*_1nR5a10y; z1+V}f0=|oWel55HjDpj_{lL#?2WgAD^8I^!egwQ7JP(w?VQ>j3fzXEPgHZuzPHOOA6%&ymy4I> z>O^Qv60D(L?HBy2UtaKQr0(C*(YaiU<-A;LmGyG1 zP2T2aGIOfYc|}KOXML&a=kjxvNTGTAe5F#W4-J`{nbX3!k)fez%2|DQU!}6r%I#=^^)rF<@*@nqyG<90mCptQdg^a|ujF)rsB|qOqC2R$jb1N&w@?!g! z*hDFLcXXC=wYrjFBI9>O}OMSEclX^=Px(hFQp!^Tm9w?z=(- zEojTrS@w_aooIPCB&a5Fxzj$4??~yw zl7GZ6U1U36p;GlSa4=7=a`B8E_Ule>>VoN!{gY#J`^L{5-#4?v+q_v5b#-+1^?73z zuUx5njhgQ*%ebl&3+J6-o~?P3Z6#k>_UqN-o-01%Te_?E-WF}fcv;FF@eh@k{pzBh zj}E_sg#z`Vgl>qE#c05nM)G+-AGxWN=C`)om>umwQ+ISS?ir2;7Q$J@LZixDPTsoe8e0ih1<%BZyqnie{c^lw;-sP8jOZ?cdtG}z`M8}X9Vf7hbS-xE9 z>hY?+hD;VO^Q*RjI-+w__+9(y(H>8_>r#(5UR?CcLqq#>^=k3hmV&ppN2a=x7s;H7 zu~DOxUYYs4wvt=$Jr_s`u^v?{FO(X2-`iMOVX8hd*k?YoODiiIx$VQW3t_6AF!5@o znC~l97PCvk+$iMzf;VztZ2I8jSR}ihwd1wET0K`csq9PiYW?_%Uz5v>AQ>aehx5g1 z!TEPdnLupCNZVyA(;cb8)cJr?H{c$~>()$1p4V zrMcqrN-0*1jgtrM4Apl~=c_Ga_IE75NU}-kHDkrvN+}nA=f*vy%6zWGG%B-oA0?Qj zdNZ)rnaavigL*~^m`FS;eZHBQwtK`4A02}6gpGQ!)VHXmnP`+35^vsDJmO1VORc9C zM2hde1gtmy3gsc=HN-)c0s9tjz0*^s4F*$o+d}hX*I5_Q%cvBSih)6?X3!44$_5}C(r zSJraNP$*KHqq%A|SFTHa$iNZHE7stQ$n!ttCf3A<#{D>O#d(t#nYs6AUOXX}mSY~Ggu_8JlE!yZqM(wnL} zj}7(@Z1EnOJ6xIf#>X{|ubK>d!|1cmCn;pzFT}yaK!& z)WIY;2kZe8pc`bs>EJZ52|OBn4ST>>z`McAz+Z!xf|r2f;203wK`*#F_#U=`?}G1u zw}LCc32+$@Tf!D_SMU>T1)m2W23LY-fF*DSxI4HTxB1K>X36W9el z4n7911Ahyi1qxsW90X%v6l?*vU?=!n@IQdq5T?Na@V~JEdu?1WT?gj1%?g4&){yz)O0%wBl;O^kA;4a{s=>A^^uL4g5hrvOxAM68r!A9VL zdxFoQ_rDRG3pRrLf%||{z#Gu}Uk9EDq>WF2^}qib6hK0)`Uo>+FD7UA4(CcGm2Rfc z*K0eF8Ef_Y(9jVU!c?j|gF8kR>JG%eT&cKN_VaT*&BB|sq{H5@7tWYNLyLZWq*T(k zWV#r4L3tK(%d?g9D%DaRakgFI_A^5q%Qniq@$g(tC4QsWhB+XQ*ZeIL)ylF+0&yKN zQPu1`qEM!*cbI~W21UqpiBOG+q+LO>HKgWD7ZpUvUPFW-drgPISnf z1kpx~79)hSauBbkPeDM{)|!}Do1Yoz@9&pdTZX|rhQk07SUitk=w)wgJ?qZ^OPIxZh7E*H!8`)Q{! z@nO5$B_Alxv(@8h3>}^67QxM%DRpa;UVrwi?pAjvl zigo+Dt6NBu?Jszny+}&rka$wL(A8(t3MJ`M(3TZ#`P}i$Y33b0-ho5=_Hmc$@VDmr zduMwav8P~BX!xEbD1!6Gp^fL|iehI_`7W2w^Mmzl^@_JB7LlxKhn-Fb#SZ3e%Dd-{ zJ+PQN@0MyknYV$lFxd;pL7jhCj33rW)EO8ezTG;{_E#-fb+~ zcI=byJvxw#UN|MX@R&c}Se!(3@n~l)S+w)Y4LWvbO7DvF;*QQ0iYXQdq(;=oK*p;i+=4uV_AFZ+LDh~tCi{u(%0r) zUM4e62Exj^yE2kj7yN2rsW@o(-U*6;9GJ;9Xmz>m4JEmIQ;CFn@I2`v=VGq#kJ&=P z_{a_Yn4aYMQU=pc+mKOfn3kVW*I-jJ7FMN^$pItN6h%``L9dwhYZyl|rbuFdT2N*o zWuj+6o9&Xdwn5nIpqR`dox;EK!dD!R=?cHXZB3d&se-g?j92ruLMEdZx-tmcg$pma z$duhtSZp7c?CRff$$cq7)XiW<#i+{iROhsHz07I(I(l%4N)ctvUYPSbNFL-V%aw`G3Ot3emEY1_QT zaHXWIAhc}acF9CiT`?VqRvK+GR7x2}S;!7ArVs1nn(T1)2|p9exiW6a6Jv8S$E>G% zo~Wz!++p9lw81QbE{oqzX1op3M`9M@D6dVELSQ%JC100li`cfiQNV+z2~)C>dh0z3 zC*RdZ?AymNO31U`X{Kb9eA%lo2&MLEbBfDMirh3|s~8YW*_{|DFa>HAkDvuRIRTfQ z$`2yCsSz|PyG0u!aAK-4HK22kXZlVc010D>N=XbHUah`P*9j#-8_!ekFq{YJT-;uc zj43XzWU|#-E!G&LYQ@jbpaSGdSxjBnCqxr)@00#&O6~juX5tk6{~qXxA4ZQ9|9?^H z!k_5;N5K&wx_=E^0L}v=;4$Dq;EU+**MVn(9M}%Ffk%Shp|gJjycS#yE(YD;-_XNzBeP9rDf_s6R(9ORHz5w0~-UQwVo&%l@t^|`{57+?y z3_KFt+=)I8ZUC^utNsGDk)Y~pOoRm^HJ_7*^4BT zESC6ojxJ$Q%cQu)nTHx>aclZ{WAM&v@r*VWk(bj`#fL7`(xKZXL&q!w5;svdn{_5n zDDFs2o8Ok2#kft=3=+G0TX|91EEQBTh2G5HhKaSMfaUpXpn!xr;EbHs$=xtZZO8CE zLFJ>r^N&8UrnI}f0g=SqXi00z0)aNFTgo63`OQs38#Y)w zlFWHc3O|p@n4>%CEau)Yeheugj}UGGOia9qXGf!Skd#po?Zb)t@!snuo2vct-1SDXc@-1Y)_D*^sYTr(h^mtEt` zh{dC+bu6z;X=B@pVFZwxqr@K7X?-4ht*)(XS2+t>L)phcZ+s$j4*hGV%9}G)K$-m2{)Dnq!`(3}qB~0w*L&Lp2qXyfe=wND}L4j7*5d9do0gv5iU>n33{q_-o+x z*7wcWC>CBpg>>K~Vpt+~#Mx=X?R+!$H{H}sXRCN$Co0uxiT8*kNo6Y81?pzhFABdb z8eVOQ2nbP~wNTpZ#`f;5R8T1~a>z~T4O+z-o?1G-IGdq~Od+B|LK(el`vrl1hGI$w zUxIa_7ovm-Z^3tBKP37=r_6YA9RcX4ts?()qBNx=(xzoPUZqScH9jzw2Xj}7f@Pi$ zC(bZZ&P>%o34*CLOp$z6Yl&tXdu^Dty=|USiZ(}h#Gh@EC@K_;9Xv3O&pxy;hpO%A zGTtTRRa@R?ZnrbJxf%{1Lbreg6aCDsUJSz^Bpm-w3V& zWzYjQgIm$>Zvj_<=YS(%85{z$;GW%mLGZ_(Yq0=^8c0WSqF1TO&32Q^Ru7l9#g z7C0Sz7v24v;EiAp*bPR&@6g$Q3%&q84_*&m44x032c8R_1Fi(m0vCb{!1*8xdcdQ= zuh8Xx3BC;^CP3EoKNH*s{2O}v*T7f74d8v?S-=P5U<5oAJOn%#{0P1M2SD~Ect3bA zcokRz1>ghG?;j3srZ0RJxOD>8@cs3m0fvG06(cPM66?g|fsuWakDENO$J;xBTT7i$ ziJ1}uS3Yp&w)H_7L6!k#98f6|FIo+eJk}8lf6=MTsyHn}+O4*javzOe0wZMr+pnoI zO;utNYdFo4G4mPap`QBbQOhX#X+cg#vWdsU_YSAZeXnqSlwY9|k?{uu*-F>^#y1?(oXwFh5q|DbWms1ld1p1T0$&dwJ3^lL`_ z11g*cohi=*g%4Hr+~|YY%I(4vXEw5mR=PC?J)=ptj2SANDKso*>~?&*x($lw$!VVA z#)-XOi-&5kMwK-7Y+%JY;S5%hd5ZoJ(Aue*F*+N;z*z%KkV@)+h(2Wott^{KH#LM} z296+IIum=1^g8~cMu9-Zp&{2|aM>lEQXgL;xwJ9n1bP+Pv5f~;>!eghZIfce!Tr9n z!81K%Q$A{LkudKb^Cr5jyh=v^(dHU?kH?dq8=Z%d^bdsL^|fRiixb4f4UQg*1435b z1Rn!gjRfH}bdVT>=p9Zx3RgjKg3ShQJ}DhN!1$zZo8oI6Y`h&`m8qdR(_l7cV@UsXS4r{pqNlLq(zAv#?V}uW@QQ1MjWQv&hZK-yB<7Z?*uL~ z)@ix_rhmz^t9jh;^YdU^pPOXU#B;?8xYw!xwd_h|We#t4*(lSUMy>A_w;_UqE-?wy zM$$>Y@fjCksO}kgg98o9Sat}&Dhi)s+jD{Me zay}#0@Su)OVf=a2j2Wj^2!FP8bOS&O)@t;tDM5?ZWS9?#=9pCMMbO*IM5YpnKIQGy z6;WNQzt?&~yDrL@C0=HSq|mY;5#bVXCgyV~8LY=%TaCBY84t5E9+VLT zOw_W}LFJ{lk(O(GEW6UEEzM~pW4tg%#%XCl3>z_vkVBYC@U)#}+(-$oYZYn2?%;~D z07fa%qPl!$C!zL;wcXzE(2$Xxh*l3$^XM8{cHUnUbAiO$u~+~B-rMB0oQEQnFaeo; zTa1tx^z=2nF$m=xFzv6V(PY03WwzCG3=Okt_DEq-G7jl@F-B#JVY?wIj6|G}qqJ|v zSuu1KX1q2>LgbZ!%+@TOMdXjT@Z<#HHZoc$cO};#Bd3Y}kNV#6TQLHl|GWL^zQ@Jy zf`0)wg69MA{r7?%a98lZ(eXb6#P@#=I0bwk{r=tHUEmeq67U$X5j+w+96Su%4g52D z{zt(_z$?Ma!C@fr{9Ay;0o((K&M*3Y6;wbOEQ1Tc`JflvicT;41-uIU1$YXO{Q)Gd ze;Q=KPdix~06qZT2i^+`K>Yt_0Jj&w7trlxKY$N`*8qtH5MRIO`p&n11K*zqo(n3V z1P%kS18fC9M}NNpc;L^#zoWC?41NLr1-u1Z2}GZNEI0=|6nqO^{hQ!=@J{d~Fa}1! zCh!^bbMehT30wgrrhfp4fBqpr*7v^+ycvjJz5t|ce#LUZMNtI8IuiWb5_7^3;g-ic`=?3s{R z;#Ose*SK3dZ`hx)htIL<)C9~AtAJtc1VK?5sm(TfhOXtBjLisrM8ZnZxJ?w~UT1OCM(jGwLZ!MO0=>rH!7!g#u%CFOnadZE z8Y!<|EP$mH_o!-r8wo)ik_ALNgOt#`!6%(fUG zcVu*S^4yWx@raEowd!jq*y<)KT04J$mD$0PXQfC+$=;nHNSF9(Q>knmp=pjM8rDo6 zns3mjS8pznpJPU)z#0`qgJHEKn-%BE&ZOK~9D`7{|6r9lhuKke{a#nJS z%E3}PwyCunqiwjX6b5&NG=${l6KSa)LOMp47fMUh!L`e&=U;|)IQW~mO}oT|PwQfO zl`iEab1S)GHMMMpf%K$yPa_VlS}3RY1o7_&#?K4Jj3{Kqd~b=Ph8io5tg%Uex(7^Y zbb4HdykwxJX%kCrP1I>4$Q3^^9xYph;;S*O)p>(y;1up)EXe9~UTyM%4T=)HDk&oz zq)l3@bhNBHA$B`K1v5j%1Apy^bh0`saJm;m zIHQ}jSjK$-ugVaL`f+QEU`g^qt}2Vs>CYPGvBcu$TuJ=D$MN;E%G(&~7$)NBR}a4! zE_j^_zhp4iN$zYIhBKv5?AT;^uN4kz-mq%qk;08l&Ww&skNv^CKDOqgi78b_LaRB= z6+e@xoe@)ofzrof)1mtGZCh#YG)zJ}Of$=DZGuWfVaJSB*uerbLCb>0o=EnuCeBXh z)ZU+5PGxo8MBlAf>ba6EH_~9C^u5JD|XjK)Aa;DLCEe^QuJVU^XB z%Q>FOw8}~l`7U;WD!3FZ zfE>6O%z+)?EFkOtPXRx}9&jZ%3hLmI;1$>awt=nSf#7~%4{a;$yIb1$j{ma;`IfeW zAdJOzf0^5}XLg^&1LA8L?9Q})LI-4!Ke4`3vh`EGYX{RN#^5xQhS}dRc*e>bj2@W} zT0CV!wuBK#r6$xU65ZX9TBY2urB`QEz%gV8sj!sEd$u&~0)B*qt?#>cifgWU+s4?d z)00F>pu|>Vj z;e}+dAwU>;&w5(uJ27D+(7jJyPSM^daxhjJS&Lq2)TTxc>Q+{IHIR}_+gY*33O4D5 zXlVc#I3rbIuFRto9`WaDhl_aiFoQ!etJH5<{eenlK1`o(VsI}&mQoK;m|m?0O-2Ei zo(;|LxnUPVmk6Ip*ZSQvi|jdvn(k_FR@(}gkn1^XERdiBTk$j3@K~67d)w4TO-y;o zwlzE^b+KjInwq@oFV4-EV2`YpV6{O|gY>4B)FvXBeN`89ySVU?^u~@pVr+>y**wA) zD!swwnc6a5(nx{Qn@v($^N`E)WKA;GB6C|TkjA)Thj!qMN)2Ld(iu*4SU0F>7u8^Y z+(@K1%P?da89NI|@HaNL!c_5?Upg)M-Fj_-b>ySO!nb1vhS?iNG){xj8w|k33`SlpjapXDUP7@YUgpamasK%u}M?jBO85cm>!jsfzoGN42w$odXNZO^eyWU_3 zWaR|m$}*lUn@@i%5rdJQC}`-Geb6{{TeOa&nC|AIB0yl=!H3Lblu-Aq2BRMT%!XBp zgu$aJ%gZl!F52{m1Glo+j?`>wOxJFagterwWa{HScPN4gxt$2F_e%l~=ompvc{Mu}O=EK-T-z*fUj@-W^7`D$C--tfv8pLSS7D zqe~U5&Z~_sU-pl&^9bhP$^0=W(91GOt_G`hf}LUm7Hm2tBc^PfaMGg~Lo$fe5yx+S z+E}6%P8uve(~jlsosbGkhOvu*E+7O*$nVCSlD0*;?thd}97KM;^EN(8NW6)ik3|39 zhRpLotN*W9{jiFz|1)&=o4}WVtn>c@cmuc^i2g2m`-{LFI0J~D{y6Y3@ZZ3Lzyral z;Qru#;Ctxivfux=!AHS6z|+7a7yur)Ke!*bFSs7P{Y6%PzYCuo;J>4fi=N&K9tAqV zzoCbJ5QxA27?5@Qli(a6>-KL&4;MZC#o$F?1)LAg1+or*7W9B_@K7N8^!*ea{hz@* zz#=#Z4uH*|8{7woFaIj=6!2tl377?s0U03s`o9Rh{Q2NQ@Nn=ebn;ulP2eZs13+T( z{{~dSD0l>rSp477F5dtj1`>mRHFynpHIOq5j{;e9zaQ)a4*}Aa4*<9APX-5_JzTk( zqD!>2k0s}nFbBp6Oy`#E#Py_Hq1bH zoF3nIa8%ZJjLc3RJm5`?Ozs;W^LCGn?Ym%u>=i5S2w~xNZyOi=OY^THT0`q#fv63N zwB1jOCtJ6>a$4C}cGC{-iNY^Cg^v<2SQme7i#wa+kL=EwC%Oo59O&)OZr@ty&J6VK zpFA+P=itGysqty~pn7vtljo1`W5G7`Vv{S|h&WIu=J4Fq%|sYnH-u)3wG`rVH7J{Y zF^xpVt95Nn4RM2Z(kI=zRHnp42Fz7WkF3#joX9EJ)mqGz&d?7vI^2%y?wXk-DH1Dm zO;fY^4Bb9puOjiQ)@x zOpb9ysT_uBq=x>;c1xkuV(Ua_5y^{P2J(7*LS}_gfh`gVOiC$l3a`+7X34WGFC;}q zR>IJM%tc0)Y&AY9+m2_vjcS}RYofie@u}H!h^tW@Ft3~V>E`6JGRa20dipvR5ZP?p zswI(!R9xFnxyboodGuWKiuBCb!)bs(rbc1VWSFUxXBKcW%6J_!C6qeT>j(VaZC{-#n{`VY9u!)G}!lq3-Jh4rMzqCB^bC8W7>0a`6pwPF2{kRvyRQq!)Y!#XJ2>9o} z#QpOz&VSM_dsFq=#vX09wDM}p86AtmC(5$JSWlAEXvKI5h6YZ~LUVz!^;k3)pqfdw; z|AZKDV?r;quU|+bTtq*07Y5t~v}_%3-b#r*xiuV*($b+#qcrhj)qiKC1I0EA%xZFF zTq#nLi*QIZjnz3=+r+LN>;oXV!a_tRQi^H8rYM&i>uM=VF;#0qJ9xvi%DIeTOC$vT zS}%|>%_f@6Xt1~;Jp9Qtvpk>bT`&))-!d=OvDoakQ3A02YKz;w!?tGyZk-{I5Udud zSIsQwn6d1llnEwfMu()1Yj)a|t(|VUHmad)n{C%7rRuto&TSI7hs@y9ahN(pf_z&K zk}!&du`yYP8ElcEFC&9bJ1{VBq}?!uNxNg~n08C)#8^waM{B2D4th|^O|eKq?Gs=% zQSu=Bp1|{sm&Qy-QEw1~MBO>$B+ZoC^GNfD^Qi^ZZay{56{2Ml=WlD7Am)8*nM!?e zqW|w=+>350{{I*9A%8cZ|Gxpe8ax#|1(d*_fky&42k@8R-@%u`KY@P)*8_ z0I@rq3*=nEy9)Yq)ghc`ODyf=D(k&#b^N_uBF~3Qa>m5MK84P0ND*ggh=9t%?ya>G&ypyjg8A>HgiA2iHgj@hz23!nG{ZeL~K@qXUH#qKxw& zB`%+AcrbGVQ$xNYJFGyi)wJp65Kd<jHLU+RyzRa1E+G&LlEvge3sAx22cMrluDXyLvX%6vG1H342 z9NFW0m&hS!VO8=H6FPg&|1`ZWMuyq^PiK9@AX)aV0a)-7- zA-OBUnC{xpZe*kgqOzp0vOLK+N(|Y^D0E~&b1ur^n4(^XFJ(0DnGI{DA@yz~O5a!? zJjsB6*MF>~_YXLDWVOzoSyeb%j-RGZuc4Frj6PnK#lf@HMtv!xTvJqyKirUubUZP5 zw(5B)J$=zAWhq@<UcmA7dq1|QBX!kK-5|$b|y?4vXMVVW-$ec zKFdiIu!jQ5oR>4xtBm^aIXyz`Y{t60J2d1mJ#xBYV&34V&ae`OtZJYzjObIv+O%0n zWZ$m2L|(=biv@Oi!G*|xw*fvbx?PH(s;TA5(QUP*be+ttVvHV5xG{}BYJGlf*_WY^&{>KJ<19b!orI-T_L6R`Q3G?&Ks8vNH>?BQHT!YUpNVdu?N@9YZT0 z-J_wk7ou zl3k)2GPwpD6^PP0YeNna=QVeuo^Ic2>PV}%Nl8SdbUFH*n~Pv7d)gEk&M7^N06&$hFKyn~C+8_d4p_B`L6I+a zkn%apY)g(M`u`XWb05*s(EktfA%Cwz$A2Yw26#I7b1(&D-@o6Zw@W<0C&9X6!2s8 zY|+U@7k@R7b^cEP7lFrvVIXV!Memj~`U$Bm4EP`q&IS(xKS5vqG5AOD9&kN)CwK?A4qOdh4Nia}m;mEI_Un^1{VxG8 z1|=YC`X2`V82mTz9rWgJgMS5g13#ioz7O66-T<5~{a1YV!To`>+bQ6V_%lP9O{Ad67MX-?0o{qU?bo3)65j3f!Z_AwHa+Mb&h;#`N7lw^e3o zciT1YU)YVyGE~aoTr%;+@^IGlzCJy*C*XZiLp|kOuGH#Qo`}Azgwqwlie$Z7T;zUBbbr-Qqv|Q2hyYX zlv4E9WDFk#b+-clO4_s;MpWeG1l&a`%fWnOljjn@F+R4D<-8lkrV(5)qEqK;F5H$0 zbP_f08CO2XXsk7hk~?`}c6wxVuLNB0J2*3|=K&fvinlSdX#mIVrcK7FYgSNV5?U%Q zEJ@s?yGxj4?g&dNM6fU$d*fuxL6*YeRwnSerEY^SkVH!TsxlLsbeCxe)u zxv6tTX2$164<0%&D^tM+r9eu2js(ku5h&_Pw=QxcgIKqxPE@Xa zNrzSEi=#NVPEEBb;MABz>paf@hb;ZE+l za2m60O(#r^GL5>@dCqKFI4itD)38M9&I~S%uck`GmQq?&ZLzk`vMZZiK%jwB*v!Z6 ziG*fQIx@JXG&7NoHFqn>fvXb7Q`TtQ*@{+kPBy+Yj?gIa^jS@ip)gH_Rm(%m^Cw7m3H45c_sVU8b-w+5SLh{L$c?S&lBiC}0jHWY$kuQsOZzZgmBuTI5Ab&IHt^uUUd8eKw|wxzyA{;@&0cIhk^LZcYz_W z8HnHfbnq$k_*Z}oxRv&}1>6kY3Ely;jkJC2Qt2wAgsq>50*lN@FfKhX_Z*2jWm1t7 zaJ#bkN?otg+aQWP9#`*4`jL8NH%WKbD4U2?UMIW1D5a zD{-FB&*kTBu8Aa+Dom24Hm2&0E zJmPq{QeB2*A#?Et{6X29h(X&aC6T&iw)JcyH{>rdyareMd-}~)_^7?^;{FIdcZU_5 zPiaEVGpg5i)+#GYjoR$-6`yTe{gqmgMSU!pYt8~YFBQ2B*@!6wzbFgdg*dY!EsB5} zQ4*w=nDzKlnYo4p$wIA^hhpMvtW!EWukc(kAKMPzG*uHw>;Ox}jXZo!u~&#UG>_${SCz8|ou>KsOBX zxy{`$$ia28^!ASHdXa7@&rAEZer!$MP_i-IF3}C;s@zP^KiLgW(53fID8Ewv;pAwa zWdfA@ zxn@o(y3<}-Zq)r_!+K`7h>ww~s$3n4rO606G5=_nh)AlUouP`DW4}Fpg1hjm)G{`y zWT~l6MhK6rwR1&tvawVIT{HC+j##qdPE?)MQeirb*518BwR+bFjXgfo)go$u6=xcE zky@UFMq_%XJ?X&d;WK+Dr>4ea)q-l_y8f=tnvN|6Y&~Y4)*rjfHJGy~>Pf0tJ-zud z=7r{(m>nH(Q`W5@S*x?dgFY;BLns2+i_L-iN+R@DGn*}N8li+iu9ltMJAO4&f%6&7 zIG2&|N?|!NR$>7O0TIXdjgQW*6Ok!}(X3QyK}6w%O{zQdg!suBSxRCNCuQz(9VZdE zFzm5)5}`0%@B=-_r$stz8ot9ik2+@PI|;KIKMfxyKq+JZtF+x0qMAYp!N$ zvDfji@GZj@WikZU@HUC$I8*jXZvE088-c*IsoKEMkkQ$;Q>j04## zK;i;E1g-)Sqc3p*j{*+@4+KBMX7E!Wu>qHXe$WLT08RzJ#%AyjJ2i%H% z;3wc);70IiAohf}06F__EBG4BTFS5<~DYAbSS?1e2Ei~bNxOJ-T}6P%^(9#2d4qqH{e}BV(hDkm*6zd~DKrmmWvJ9HC7y8`o5gjr zxAck}L)@r}nYg%6FQem8HDO_$k__v0wK`YwkNBl6%!P?dgUy!)>}1BcO*xx3*twWh zme?YS*hkDcHc_cIOhhT%R5mg;##(&Df!<;M4|x>JF7SfE$T~0k(Uq0ORI5#;5ve|M zQW3QlkvMcXx2lBWt>Lo$2|XJnwt2Yh8*WZz=s7oBI#e9 zrmN6ureE?!cZ;?s7MqKb&Rx*HqMZBoHXo~;MGxVx6%BN9k+thVt=xPUvD>>ul9g*o z-BuxJNv6~zC4P0S)}*(wO|8*6=*0v0e6{Oi6>|Mud;3JaGTP&f)+;O^HgxAx*?~4i z=b@Q#tGGcL&rm0wHtk5#BPxU_ph}q?-aKCe0y=|Gq_83^#FaVAb$E`qrzoOo9}GH9 z>oosY^mXlm38s_EhfEuF4w_Dz-Yy|u2}you^x0m+gYKXXJ4lB;LwI%T4%^g02RV~L zDUnWyJFbHc(hU z89Cnsqx8c040Z18jGN)hP~%={5Afm@L-th)k;i zr%quTF&DLyZRk-a=xaugiVk3FCk!)87Xzdxrr8=#b2C)>O`W#n*$D|tK{s;c>1jSn zxz6&>P#nr2`XK|^)d8uVHz9N6^|$WzV*BL-As2v2 z8BG`?5b5FslKff`h{Q<(Nph`!a4(errpv_$6er*bBlr)P9WSu>_=7h1S^WQ~jvZIx zUl#rULO$eA*8D#iTma4mXMy{HpQGD<7+eEh4*nXv6r2j~4rIUoyMni))4vT&f*+y7 z%bNXXfm_hk%RtWWD}kNhU(wIM0bT}P3?!ESX7utefX{-D16f<|&hC3T-;aPA_!YYO zYk}L?pqIZ5ycN6!ycxU+yb(MWNX))HKX8ACnvThI zgQ~s8Swk$P^Y_-R+r)0I=CU&?TOuR)vP78;F3{QANrQ6SOCw9H6*xa#|e^ViMe_uxU5T%#ws4GpjAd$Sn?MRi=$0hWp2J$DiTXXWWK&W z(u_nWV!zlG|I1Kd335Lv&TD4Sc-k-K**UyEo8K>)`J*wiMCnJtpsgDH|2!H z)cl=59gLPW@pSt1Y7bCuqZO@|FgZTx{4=uYT6`Jw|@3+b($ zjL=q%qjU4-1*uci*Qpb=D@@HD?`Ji6XL3|$a_m@ug&ctxvi#niC+ExQsvIv@i%k1A zUZHydFSqdx$NGTsKPk^`we(o8V!UUS{o>-%e5G2;5bEI3gY$HpawefE) z95Q3%)f7KDJ*8L&dRkLFCAAVeh@g~dD~0{TE$9d(7H`QhG&nKB_F+IV18_QHk?k&w zheNi&K#}JB0f~jprcDCsbFkvHS?xF)l)*^#5yrG8-UW-LKUk}VN)2cWx=p@`W0CNH zXrr$F*6#R_T!mvM6dTUj%l5N*LDU9sTsw^Ou&zx3L_(PGw%IEz9}gg+A&ey=mUJYa z_s#MzBfKVNPBs>B>PwUg%0*-O#3OgCZ)F2X+~cXzYZpc^5!0eEYC52TR;^7`st3Yc zYEGDp=0i9vd_S^;JKgzWDh^tU*I9&^VlM81UG;eg6Du|foFmuC;%Vi!3H4q3t5-& zGLQq(PvpFTwf)IBFtLgn+ZdDdUFZ$bLAhfG8p{(=HGs(#!7}9rVe?zN(w>0ZZG{WV zXi9sGr3zf$hgW~pc=f~C$J;z0>j4H054Rp;voBfccq(5naTZ*i!&sJyTo7e|dPO;V zTnP}_U4^v7=(7^pQ3M*C>~F(H{fp^r8TrphiU3x6uQG{4cDZK5wo)=1^DvN_x*KEr37Jch}ilaTBr zT}E*%5GUybJ6fH5X~7n+riL;_sdO00rXUJ+{C$#>WR$F^&A`6jkxep%Xpx?p$S&4b zQ#+B71~ms3vB@g7@^LvFOHRIV;-T)Mr9YNv7`zK2QI}+^`E|xuSymM7LIVn;(OoZFbvo!Ru*1l72?{cxFI?#oa zWr~EJ8Rtlfz&I$Qo$+g|ZMg=ENMX;rJb3t`kFp4Z-62=d7R@D-(++R*X3p^7IbDAs zZ&qTL%);JI%}5{Mazx&0ifuAhBu$w~64P+@wpLANg*U^%D7Q`7G}#yvPdWYy8H6*& zHoPtF>fce^8Ozc#v>nCGn+@k$yB^E&4!Nqdpf+GD!$X`Mui5&LIWWHFek&G$|B8K8 zd?f5V+^)x>;oQC+t1f+c(dxD?ad>nuTofAbWuV=GJ)TyO9JMzvp9O9JXOohFnKTk6 zIPU5b0SI%Hc8nTeH1i}63<@q|c-=>oh(}5Ih+LP7N=Ni9HQ1QW7IX4g?wssY#WJTg zM_b;+|D!f{>=d02{r~CG;rRPB`ux>E_5nN$4uHpkJwSB+aWDo(!EP`D9s?c%9t^&Z zjxXl`Tnoe|@C+bl0u+Jl6Sxn^T7gG_o6zk)3qAw>2AmJh0}?wh4o(NM|Np(f=P2w| z;1xjj{a*oF!M~!%e+yg-UId;4o(Y}~o(i4Q~1OE(O z0H(p8gHdoc*Z}SZe&5Ny1K_vdH$c`FdniXTm>!#!(bPX{;>nZ|C%=L zG(9Yog(IuXYxXGI7UBtPhcGZ%j$U)j&j=@Lw#czJQq%|-x5(KMp|g~jSEY#fHQH?9 z!?YzVD=3uPf5(LxsV175A{lNpu(qTUZ?wjwHf5_Ku5FPpJnfo{a|*>zw*~JYSMJ-g*;*TF1Wyla?Wd%i_qBcS3`xx^DPdR^t&!A3ND@?;1!w(dovG>N zc~=TaCv|ZY;j@20Nvg$7>;KWV^>*%*a-}6phO(ul2_x28I7>sJRXnRHgVDT2%{eWy z(7v+Dqo$vSmim+shnCrdb%^KE^gt-G$(U+(DdDcvXHvOSlh-#~HNxgdWnv75FgCf} zV2rnpixRmYZ!3s&fk;-ArhT?x2nU(T-cEo56S22IfU_E7r84ZC_Z$cisVE-Y-ys44t zakeqc^vjv|nj8h?HduFr39%&Hv|A(wIz41r6fqNZbCKZ%=7%h*kp(q!Eg5p09^>o} zqR^ANxes-dm)<*}_H*+Bjr0^h9y9L(duhut<`5)0BSyzZgp{|N&={e_z$RqoU<2mc z<`|N=Dsnp-Lt2=f9MYHV$vxflq05jyP(IpGzZHqsM1F{!8u=B|sH7QGbB-9p^y?}{ z!o=+h54ScGDp?|Ze~gvyvu43yfenU5PlXo{+#$*<`&HER98@9^3XPK46F#7oF}B#= zE;{{f95QrH{&+q{3#~-NoFOI>V*qTD7!T9O52qWn4y!@SoNB>t0PN-DY8f?}W6dqr zPp?V96)yOypH=>FXN`hUwtyY~uQLvU_G}#^5{Z!g&mJ!c9acvSQ(Ed0+UQCXNn;}= zq{kASp&JW2ixRV?-PBR{=8dG5zK{~jF)JI;Zb$}YICUr-#IZh|ZEM`GS6DDj7i~Rw zgLy2L>xJQin6%@D7UTAE37A+hOB1c+ZIXdL>TE@UilzSl8v64+(XB=Qf26I^f1tzv z65IkL4&dED_5>8)|Ha@U@OU750yvw%0N)=3et}MZBlt9UCJ^2KD5!%!1|Q;G9{}$M zvPZys!Now!;3&HOxlVy~3anFLodW9=Sf{``1=cCBPJwj_tW)65p+NLl4YA|4Iv~DG z7+QWbG)qph)vsIpuJ?j1ek5j7taOR@$BoXFA+kOpR25} z@pkbtS0cO9r@5IqEgEGWO=(VAkkC4|Z{$oVweSRahE@@l)a9z2QM1cylW~~b#KEOy zZmg3t`$qPUm-W~@vCrBnusB9f)oc3_njw0AiT8gA$b%d>8}x#1&;>H!*XZ+K z1s?#i58!3s@!&CF7uXCk;B;^r_$7M2`1;=no(c+J0sJ|Ty#XHpZlWxo03Qc`4_*Xb z0Az1KE$5xX1J-k0r@%S|)+w+~fprS3Q(&C}>l9e0z&Zu~;1nSK!L9ikV^0N7b+O`Q z63wLBmt;3cSc2%Njams^EHlUsjv9oc0iYTShIYr%=V?cFplhv?!s@oS?ZgZT-bfZp zf*8!w!W6}lD2FyDK|~I!OHCDD;qK1lO-&jPhYd*FMBQxGTWQRf*s%tRJ5pO!_GD`Y zu}1@2Nz^>1RM$NVC F{{e9z$;bcz diff --git a/lsd_slam_core/src/IOWrapper/OpenCV/ImageDisplay_OpenCV.cpp b/lsd_slam_core/src/IOWrapper/OpenCV/ImageDisplay_OpenCV.cpp index 88255e9..812a13c 100644 --- a/lsd_slam_core/src/IOWrapper/OpenCV/ImageDisplay_OpenCV.cpp +++ b/lsd_slam_core/src/IOWrapper/OpenCV/ImageDisplay_OpenCV.cpp @@ -8,10 +8,7 @@ * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. -* -* LSD-SLAM is distributed in the hope that it will be useful, -* but WITHOUT ANY WARRANTY; without even the implied warranty of -* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License diff --git a/lsd_slam_core/src/SlamSystem.cpp b/lsd_slam_core/src/SlamSystem.cpp index 07d536e..40cede5 100644 --- a/lsd_slam_core/src/SlamSystem.cpp +++ b/lsd_slam_core/src/SlamSystem.cpp @@ -141,8 +141,8 @@ SlamSystem::~SlamSystem() newConstraintCreatedSignal.notify_all(); thread_mapping.join(); - thread_constraint_search.join(); - thread_optimization.join(); + //thread_constraint_search.join(); + //thread_optimization.join(); printf("DONE waiting for SlamSystem's threads to exit\n"); if(trackableKeyFrameSearch != 0) delete trackableKeyFrameSearch; @@ -690,6 +690,7 @@ void SlamSystem::debugDisplayDepthMap() if(onSceenInfoDisplay) printMessageOnCVImage(map->debugImageDepth, buf1, buf2); + displayMatQueue.push(map->debugImageDepth); if (displayDepthMap) Util::displayImage( "DebugWindow DEPTH", map->debugImageDepth, false ); diff --git a/lsd_slam_core/src/SlamSystem.h b/lsd_slam_core/src/SlamSystem.h index 6849240..afb7b22 100644 --- a/lsd_slam_core/src/SlamSystem.h +++ b/lsd_slam_core/src/SlamSystem.h @@ -20,6 +20,8 @@ #pragma once #include +#include + #include #include #include @@ -110,7 +112,7 @@ friend class IntegrationTest; std::vector > getAllPoses(); - + std::queue displayMatQueue; float msTrackFrame, msOptimizationIteration, msFindConstraintsItaration, msFindReferences; int nTrackFrame, nOptimizationIteration, nFindConstraintsItaration, nFindReferences; @@ -202,8 +204,8 @@ friend class IntegrationTest; // threads boost::thread thread_mapping; - boost::thread thread_constraint_search; - boost::thread thread_optimization; + //boost::thread thread_constraint_search; + //boost::thread thread_optimization; bool keepRunning; // used only on destruction to signal threads to finish. diff --git a/lsd_slam_core/src/main_on_images.cpp b/lsd_slam_core/src/main_on_images.cpp index c857bcf..516d6e0 100644 --- a/lsd_slam_core/src/main_on_images.cpp +++ b/lsd_slam_core/src/main_on_images.cpp @@ -255,8 +255,12 @@ int main( int argc, char** argv ) system->trackFrame(image.data, runningIDX ,hz == 0,fakeTimeStamp); std::cout<<"index is "<displayMatQueue.empty()){ + std::cout<<"queue size is "<displayMatQueue.size()<displayMatQueue.front()); + system->displayMatQueue.pop(); + } runningIDX++; fakeTimeStamp+=0.03; @@ -282,8 +286,15 @@ int main( int argc, char** argv ) // break; } + while(!system->displayMatQueue.empty()){ + std::cout<<"queue size is "<displayMatQueue.size()<displayMatQueue.front()); + system->displayMatQueue.pop(); + runningIDX++; + } - system->finalize(); + //system->finalize();