C++ (Cpp) Timestamp::toSec 예제들

예제 #1

파일: LiveSLAMWrapper.cpp 프로젝트: IceFish99/lsd_slam

void LiveSLAMWrapper::newImageCallback(const cv::Mat& img, Timestamp imgTime)
{
	++ imageSeqNumber;

	// Convert image to grayscale, if necessary
	cv::Mat grayImg;
	if (img.channels() == 1)
		grayImg = img;
	else
		cvtColor(img, grayImg, CV_RGB2GRAY);
	

	// Assert that we work with 8 bit images
	assert(grayImg.elemSize() == 1);
	assert(fx != 0 || fy != 0);


	// need to initialize
	if(!isInitialized)
	{
		monoOdometry->randomInit(grayImg.data, img.data, imgTime.toSec(), 1);
		isInitialized = true;
	}
	else if(isInitialized && monoOdometry != nullptr)
	{
		monoOdometry->trackFrame(grayImg.data, img.data, imageSeqNumber,false,imgTime.toSec());
	}
}