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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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17
corelib/src/Signature.cpp
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@@ -61,6 +61,7 @@ Signature::Signature(
const std::multimap<int, cv::KeyPoint> & words,
const std::multimap<int, pcl::PointXYZ> & words3, // in base_link frame (localTransform applied)
const Transform & pose,
const std::vector<unsigned char> & userData,
const cv::Mat & laserScanCompressed, // in base_link frame
const cv::Mat & imageCompressed, // in camera_link frame
const cv::Mat & depthCompressed, // in camera_link frame
@@ -74,6 +75,7 @@ Signature::Signature(
_stamp(stamp),
_weight(weight),
_label(label),
_userData(userData),
_saved(false),
_modified(true),
_linksModified(true),
@@ -97,6 +99,18 @@ Signature::~Signature()
//UDEBUG("id=%d", _id);
}
void Signature::setUserData(const std::vector<unsigned char> & data)
{
if(!_userData.empty() && !data.empty())
{
UWARN("Node %d: Current user data (%d bytes) overwritten by new data (%d bytes)",
_id, (int)_userData.size(), (int)data.size());
}
_modified = true;
_userData = data;
}
void Signature::addLinks(const std::list<Link> & links)
{
for(std::list<Link>::const_iterator iter = links.begin(); iter!=links.end(); ++iter)
@@ -265,7 +279,8 @@ SensorData Signature::toSensorData()
rotVariance,
transVariance,
_id,
_stamp);
_stamp,
_userData);
}
void Signature::uncompressData()