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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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corelib/src/Memory.cpp
+58 -28
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@@ -1648,41 +1648,38 @@ int Memory::getSignatureIdByLabel(const std::string & label, bool lookInDatabase
bool Memory::labelSignature(int id, const std::string & label)
{
if(!label.empty())
// verify that this label is not used
int idFound=getSignatureIdByLabel(label);
if(idFound == 0 || idFound == id)
{
// verify that this label is not used
int idFound=getSignatureIdByLabel(label);
if(idFound == 0 || idFound == id)
Signature * s = this->_getSignature(id);
if(s)
{
Signature * s = this->_getSignature(id);
if(s)
s->setLabel(label);
return true;
}
else if(_dbDriver)
{
std::list<int> ids;
ids.push_back(id);
std::list<Signature *> signatures;
_dbDriver->loadSignatures(ids,signatures);
if(signatures.size())
{
s->setLabel(label);
signatures.front()->setLabel(label);
_dbDriver->asyncSave(signatures.front()); // move it again to trash
return true;
}
else if(_dbDriver)
{
std::list<int> ids;
ids.push_back(id);
std::list<Signature *> signatures;
_dbDriver->loadSignatures(ids,signatures);
if(signatures.size())
{
signatures.front()->setLabel(label);
_dbDriver->asyncSave(signatures.front()); // move it again to trash
return true;
}
}
else
{
UERROR("Node %d not found, failed to set label \"%s\"!", id, label.c_str());
}
}
else if(idFound)
else
{
UWARN("Node %d has already label \"%s\"", idFound, label.c_str());
UERROR("Node %d not found, failed to set label \"%s\"!", id, label.c_str());
}
}
else if(idFound)
{
UWARN("Node %d has already label \"%s\"", idFound, label.c_str());
}
return false;
}
@@ -1703,6 +1700,34 @@ std::map<int, std::string> Memory::getAllLabels() const
return labels;
}
bool Memory::setUserData(int id, const std::vector<unsigned char> & data)
{
Signature * s = this->_getSignature(id);
if(s)
{
s->setUserData(data);
return true;
}
else if(_dbDriver)
{
std::list<int> ids;
ids.push_back(id);
std::list<Signature *> signatures;
_dbDriver->loadSignatures(ids,signatures);
if(signatures.size())
{
signatures.front()->setUserData(data);
_dbDriver->asyncSave(signatures.front()); // move it again to trash
return true;
}
}
else
{
UERROR("Node %d not found, failed to set user data (size=%d)!", id, data.size());
}
return false;
}
void Memory::deleteLocation(int locationId, std::list<int> * deletedWords)
{
UDEBUG("Deleting location %d", locationId);
@@ -2711,7 +2736,8 @@ Transform Memory::getOdomPose(int signatureId, bool lookInDatabase) const
int mapId, weight;
std::string label;
double stamp;
getNodeInfo(signatureId, pose, mapId, weight, label, stamp, lookInDatabase);
std::vector<unsigned char> userData;
getNodeInfo(signatureId, pose, mapId, weight, label, stamp, userData, lookInDatabase);
return pose;
}
@@ -2721,6 +2747,7 @@ bool Memory::getNodeInfo(int signatureId,
int & weight,
std::string & label,
double & stamp,
std::vector<unsigned char> & userData,
bool lookInDatabase) const
{
const Signature * s = this->getSignature(signatureId);
@@ -2731,11 +2758,12 @@ bool Memory::getNodeInfo(int signatureId,
weight = s->getWeight();
label = s->getLabel();
stamp = s->getStamp();
userData = s->getUserData();
return true;
}
else if(lookInDatabase && _dbDriver)
{
return _dbDriver->getNodeInfo(signatureId, odomPose, mapId, weight, label, stamp);
return _dbDriver->getNodeInfo(signatureId, odomPose, mapId, weight, label, stamp, userData);
}
return false;
}
@@ -3658,6 +3686,7 @@ Signature * Memory::createSignature(const SensorData & data, Statistics * stats)
words,
words3D,
data.pose(),
data.userData(),
ctDepth2d.getCompressedData(),
ctImage.getCompressedData(),
ctDepth.getCompressedData(),
@@ -3677,6 +3706,7 @@ Signature * Memory::createSignature(const SensorData & data, Statistics * stats)
words,
words3D,
data.pose(),
data.userData(),
rtabmap::compressData2(data.laserScan()));
}
if(this->isRawDataKept())