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Bump version 0.20.22. Refactored RtabmapThread commands handling. MainWindow/RtabmapThread/Statistics/UVariant: added new option to republish missing data on GUI side. MainWindow: fixed 1 sec lag when waypoints are used. Parameters: added Rtabmap/MaxRepublished (moved from rtabmap_ros). OccupancyGrid: fixed ground cells ignored if there are empty cells, also don't add pose in addedNodes if corresponding node was not in cache.

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This commit is contained in:
matlabbe
2022-10-28 12:25:48 -07:00
parent 8e30c1c812
commit 1297714271
18 changed files with 1021 additions and 610 deletions
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utilite/include/rtabmap/utilite/UVariant.h
+32
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@@ -41,6 +41,14 @@ public:
kFloat,
kDouble,
kStr,
kCharArray,
kUCharArray,
kShortArray,
kUShortArray,
kIntArray,
kUIntArray,
kFloatArray,
kDoubleArray,
kUndef
};
public:
@@ -56,6 +64,14 @@ public:
UVariant(const double & value);
UVariant(const char * value);
UVariant(const std::string & value);
UVariant(const std::vector<char> & value);
UVariant(const std::vector<unsigned char> & value);
UVariant(const std::vector<short> & value);
UVariant(const std::vector<unsigned short> & value);
UVariant(const std::vector<int> & value);
UVariant(const std::vector<unsigned int> & value);
UVariant(const std::vector<float> & value);
UVariant(const std::vector<double> & value);
Type type() const {return type_;}
@@ -70,6 +86,14 @@ public:
bool isFloat() const {return type_ == kFloat;}
bool isDouble() const {return type_ == kDouble;}
bool isStr() const {return type_ == kStr;}
bool isCharArray() const {return type_ == kCharArray;}
bool isUCharArray() const {return type_ == kUCharArray;}
bool isShortArray() const {return type_ == kShortArray;}
bool isUShortArray() const {return type_ == kUShortArray;}
bool isIntArray() const {return type_ == kIntArray;}
bool isUIntArray() const {return type_ == kUIntArray;}
bool isFloatArray() const {return type_ == kFloatArray;}
bool isDoubleArray() const {return type_ == kDoubleArray;}
bool toBool() const;
char toChar(bool * ok = 0) const;
@@ -81,6 +105,14 @@ public:
float toFloat(bool * ok = 0) const;
double toDouble(bool * ok = 0) const;
std::string toStr(bool * ok = 0) const;
std::vector<char> toCharArray(bool * ok = 0) const;
std::vector<unsigned char> toUCharArray(bool * ok = 0) const;
std::vector<short> toShortArray(bool * ok = 0) const;
std::vector<unsigned short> toUShortArray(bool * ok = 0) const;
std::vector<int> toIntArray(bool * ok = 0) const;
std::vector<unsigned int> toUIntArray(bool * ok = 0) const;
std::vector<float> toFloatArray(bool * ok = 0) const;
std::vector<double> toDoubleArray(bool * ok = 0) const;
virtual ~UVariant() {}