add slam_gmapping

2025-06-06 16:15:07 +08:00
parent 9187b9fb85
commit a7b75c31cb
141 changed files with 15992 additions and 0 deletions
@@ -0,0 +1,33 @@
+#include "qpixmapdumper.h"
+#include <cstdio>
+#include <cstring>
+
+QPixmapDumper::QPixmapDumper(std::string p, int c){
+	format="PNG";
+	prefix=p;
+	reset();
+	cycles=c;
+}
+
+void QPixmapDumper::reset(){
+	cycles=0;
+	frame=0;
+	counter=0;
+}
+
+#define filename_bufsize 1024
+
+bool QPixmapDumper::dump(const QPixmap& pixmap){
+	bool processed=false;
+	if (!(counter%cycles)){
+		char buf[filename_bufsize];
+		sprintf(buf,"%s-%05d.%s",prefix.c_str(), frame, format.c_str());
+		QImage image=pixmap.convertToImage();
+		image.save(QString(buf), format.c_str(),0);
+		frame ++;
+	}
+	counter++;
+	return processed;
+}
+
+