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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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This commit is contained in:
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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20
corelib/src/DBReader.cpp
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@@ -195,13 +195,17 @@ SensorData DBReader::getNextData()
Transform localTransform, pose;
float rotVariance = 1.0f;
float transVariance = 1.0f;
std::vector<unsigned char> userData;
_dbDriver->getNodeData(*_currentId, imageBytes, depthBytes, laserScanBytes, fx, fy, cx, cy, localTransform);
// info
int weight;
std::string label;
double stamp;
_dbDriver->getNodeInfo(*_currentId, pose, mapId, weight, label, stamp, userData);
if(!_odometryIgnored)
{
int weight;
std::string label;
double stamp;
_dbDriver->getNodeInfo(*_currentId, pose, mapId, weight, label, stamp);
std::map<int, Link> links;
_dbDriver->loadLinks(*_currentId, links, Link::kNeighbor);
if(links.size())
@@ -211,6 +215,11 @@ SensorData DBReader::getNextData()
transVariance = links.begin()->second.transVariance();
}
}
else
{
pose.setNull();
}
int seq = *_currentId;
++_currentId;
if(imageBytes.empty())
@@ -237,7 +246,8 @@ SensorData DBReader::getNextData()
rotVariance,
transVariance,
seq,
UTimer::now());
UTimer::now(),
userData);
UDEBUG("Laser=%d RGB/Left=%d Depth=%d Right=%d",
data.laserScan().empty()?0:1,
data.image().empty()?0:1,