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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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227
utilite/src/UVariant.cpp
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@@ -93,6 +93,54 @@ UVariant::UVariant(const std::string & value) :
{
memcpy(data_.data(), value.data(), value.size()+1);
}
UVariant::UVariant(const std::vector<char> & value) :
type_(kCharArray),
data_(sizeof(char)*value.size())
{
memcpy(data_.data(), value.data(), sizeof(char)*value.size());
}
UVariant::UVariant(const std::vector<unsigned char> & value) :
type_(kUCharArray),
data_(sizeof(unsigned char)*value.size())
{
memcpy(data_.data(), value.data(), sizeof(unsigned char)*value.size());
}
UVariant::UVariant(const std::vector<short> & value) :
type_(kShortArray),
data_(sizeof(short)*value.size())
{
memcpy(data_.data(), value.data(), sizeof(short)*value.size());
}
UVariant::UVariant(const std::vector<unsigned short> & value) :
type_(kUShortArray),
data_(sizeof(unsigned short)*value.size())
{
memcpy(data_.data(), value.data(), sizeof(unsigned short)*value.size());
}
UVariant::UVariant(const std::vector<int> & value) :
type_(kIntArray),
data_(sizeof(int)*value.size())
{
memcpy(data_.data(), value.data(), sizeof(int)*value.size());
}
UVariant::UVariant(const std::vector<unsigned int> & value) :
type_(kUIntArray),
data_(sizeof(unsigned int)*value.size())
{
memcpy(data_.data(), value.data(), sizeof(unsigned int)*value.size());
}
UVariant::UVariant(const std::vector<float> & value) :
type_(kFloatArray),
data_(sizeof(float)*value.size())
{
memcpy(data_.data(), value.data(), sizeof(float)*value.size());
}
UVariant::UVariant(const std::vector<double> & value) :
type_(kDoubleArray),
data_(sizeof(double)*value.size())
{
memcpy(data_.data(), value.data(), sizeof(double)*value.size());
}
bool UVariant::toBool() const
{
@@ -641,3 +689,182 @@ std::string UVariant::toStr(bool * ok) const
}
return v;
}
std::vector<char> UVariant::toCharArray(bool * ok) const
{
if(ok)
{
*ok = false;
}
std::vector<char> v;
if(type_ == kCharArray)
{
if(ok)
{
*ok = true;
}
if(data_.size())
{
v.resize(data_.size() / sizeof(char));
memcpy(v.data(), data_.data(), data_.size());
}
}
return v;
}
std::vector<unsigned char> UVariant::toUCharArray(bool * ok) const
{
if(ok)
{
*ok = false;
}
std::vector<unsigned char> v;
if(type_ == kUCharArray)
{
if(ok)
{
*ok = true;
}
if(data_.size())
{
v.resize(data_.size() / sizeof(unsigned char));
memcpy(v.data(), data_.data(), data_.size());
}
}
return v;
}
std::vector<short> UVariant::toShortArray(bool * ok) const
{
if(ok)
{
*ok = false;
}
std::vector<short> v;
if(type_ == kShortArray)
{
if(ok)
{
*ok = true;
}
if(data_.size())
{
v.resize(data_.size() / sizeof(short));
memcpy(v.data(), data_.data(), data_.size());
}
}
return v;
}
std::vector<unsigned short> UVariant::toUShortArray(bool * ok) const
{
if(ok)
{
*ok = false;
}
std::vector<unsigned short> v;
if(type_ == kUShortArray)
{
if(ok)
{
*ok = true;
}
if(data_.size())
{
v.resize(data_.size() / sizeof(unsigned short));
memcpy(v.data(), data_.data(), data_.size());
}
}
return v;
}
std::vector<int> UVariant::toIntArray(bool * ok) const
{
if(ok)
{
*ok = false;
}
std::vector<int> v;
if(type_ == kIntArray)
{
if(ok)
{
*ok = true;
}
if(data_.size())
{
v.resize(data_.size() / sizeof(int));
memcpy(v.data(), data_.data(), data_.size());
}
}
return v;
}
std::vector<unsigned int> UVariant::toUIntArray(bool * ok) const
{
if(ok)
{
*ok = false;
}
std::vector<unsigned int> v;
if(type_ == kUIntArray)
{
if(ok)
{
*ok = true;
}
if(data_.size())
{
v.resize(data_.size() / sizeof(unsigned int));
memcpy(v.data(), data_.data(), data_.size());
}
}
return v;
}
std::vector<float> UVariant::toFloatArray(bool * ok) const
{
if(ok)
{
*ok = false;
}
std::vector<float> v;
if(type_ == kFloatArray)
{
if(ok)
{
*ok = true;
}
if(data_.size())
{
v.resize(data_.size() / sizeof(float));
memcpy(v.data(), data_.data(), data_.size());
}
}
return v;
}
std::vector<double> UVariant::toDoubleArray(bool * ok) const
{
if(ok)
{
*ok = false;
}
std::vector<double> v;
if(type_ == kDoubleArray)
{
if(ok)
{
*ok = true;
}
if(data_.size())
{
v.resize(data_.size() / sizeof(double));
memcpy(v.data(), data_.data(), data_.size());
}
}
return v;
}