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Version 0.8.8: added "user_data" field in database. Added WifiMapping example. Fixed FATAL error when initializing rtabmap with no database.

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Mathieu Labbe
2015-03-25 13:31:12 -04:00
parent 2be511813e
commit 186dc60a49
32 changed files with 1064 additions and 141 deletions
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11
corelib/src/DBDriver.cpp
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@@ -474,7 +474,13 @@ void DBDriver::getNodeData(int signatureId, cv::Mat & imageCompressed) const
}
}
bool DBDriver::getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp) const
bool DBDriver::getNodeInfo(int signatureId,
Transform & pose,
int & mapId,
int & weight,
std::string & label,
double & stamp,
std::vector<unsigned char> & userData) const
{
bool found = false;
// look in the trash
@@ -486,6 +492,7 @@ bool DBDriver::getNodeInfo(int signatureId, Transform & pose, int & mapId, int &
weight = _trashSignatures.at(signatureId)->getWeight();
label = _trashSignatures.at(signatureId)->getLabel();
stamp = _trashSignatures.at(signatureId)->getStamp();
userData = _trashSignatures.at(signatureId)->getUserData();
found = true;
}
_trashesMutex.unlock();
@@ -493,7 +500,7 @@ bool DBDriver::getNodeInfo(int signatureId, Transform & pose, int & mapId, int &
if(!found)
{
_dbSafeAccessMutex.lock();
found = this->getNodeInfoQuery(signatureId, pose, mapId, weight, label, stamp);
found = this->getNodeInfoQuery(signatureId, pose, mapId, weight, label, stamp, userData);
_dbSafeAccessMutex.unlock();
}
return found;