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Merge branch 'master' of https://github.com/introlab/rtabmap into devel

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matlabbe
2018-02-01 22:19:34 -05:00
parent 977d21eed5 09e0d0b9d8
commit 3405e8b8e1
4 changed files with 15 additions and 12 deletions
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README.md
+1 -1
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@@ -1,7 +1,7 @@
rtabmap ![Analytics](https://ga-beacon.appspot.com/UA-56986679-3/github-main?pixel)
=======
<a href="http://introlab.github.io/rtabmap"><img src="https://raw.githubusercontent.com/introlab/rtabmap/master/guilib/src/images/RTAB-Map.png" align="center" height="100"></a>
[![RTAB-Map Logo](https://raw.githubusercontent.com/introlab/rtabmap/master/guilib/src/images/RTAB-Map100.png)](http://introlab.github.io/rtabmap)
[![Release][release-image]][releases]
[![License][license-image]][license]
cmake_modules/FindFlyCapture2.cmake
+5 -5
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@@ -19,13 +19,13 @@ set(Triclops_LIBDIR $ENV{Triclops_ROOT_DIR}/lib)
endif()
#FlyCapture2 SDK
find_path(FlyCapture2_INCLUDE_DIR NAMES FlyCapture2.h PATHS $ENV{FlyCapture2_ROOT_DIR}/include)
find_library(FlyCapture2_LIBRARY NAMES FlyCapture2_v100 FlyCapture2 flycapture2 NO_DEFAULT_PATH PATHS ${FlyCapture2_LIBDIR})
find_path(FlyCapture2_INCLUDE_DIR NAMES FlyCapture2.h PATHS $ENV{FlyCapture2_ROOT_DIR}/include $ENV{FlyCapture2_ROOT_DIR}/include/flycapture)
find_library(FlyCapture2_LIBRARY NAMES FlyCapture2_v100 FlyCapture2 flycapture2 flycapture NO_DEFAULT_PATH PATHS ${FlyCapture2_LIBDIR})
# Triclops SDK
find_path(Triclops_INCLUDE_DIR NAMES triclops.h PATHS $ENV{Triclops_ROOT_DIR}/include)
find_library(Triclops_LIBRARY NAMES triclops triclops_v100 NO_DEFAULT_PATH PATHS ${Triclops_LIBDIR})
find_library(FlyCaptureBridge_LIBRARY NAMES flycapture2bridge flycapture2bridge_v100 NO_DEFAULT_PATH PATHS ${Triclops_LIBDIR})
find_path(Triclops_INCLUDE_DIR NAMES triclops.h PATHS $ENV{Triclops_ROOT_DIR}/include $ENV{Triclops_ROOT_DIR}/include/triclops)
find_library(Triclops_LIBRARY NAMES triclops triclops_v100 libtriclops.so.3 NO_DEFAULT_PATH PATHS ${Triclops_LIBDIR})
find_library(FlyCaptureBridge_LIBRARY NAMES flycapture2bridge flycapture2bridge_v100 libflycapture2bridge.so.3 NO_DEFAULT_PATH PATHS ${Triclops_LIBDIR})
find_library(pnmutils_LIBRARY NAMES pnmutils pnmutils_v100 NO_DEFAULT_PATH PATHS ${Triclops_LIBDIR})
IF (FlyCapture2_INCLUDE_DIR AND Triclops_INCLUDE_DIR AND FlyCapture2_LIBRARY AND Triclops_LIBRARY AND FlyCaptureBridge_LIBRARY AND pnmutils_LIBRARY)
corelib/src/DBDriverSqlite3.cpp
+9 -6
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@@ -4619,7 +4619,7 @@ void DBDriverSqlite3::stepNode(sqlite3_stmt * ppStmt, const Signature * s) const
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
}
}
//step
rc=sqlite3_step(ppStmt);
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
@@ -4899,7 +4899,7 @@ void DBDriverSqlite3::stepSensorData(sqlite3_stmt * ppStmt,
// multi-cameras [fx,fy,cx,cy,width,height,local_transform, ... ,fx,fy,cx,cy,width,height,local_transform] (6+12)*float * numCameras
// stereo [fx, fy, cx, cy, baseline, local_transform] (5+12)*float
if(sensorData.cameraModels().size() && sensorData.cameraModels()[0].isValidForProjection())
{
{
if(uStrNumCmp(_version, "0.11.2") >= 0)
{
calibration.resize(sensorData.cameraModels().size() * (6+Transform().size()));
@@ -4928,7 +4928,7 @@ void DBDriverSqlite3::stepSensorData(sqlite3_stmt * ppStmt,
calibration[i*(4+localTransform.size())+2] = sensorData.cameraModels()[i].cx();
calibration[i*(4+localTransform.size())+3] = sensorData.cameraModels()[i].cy();
memcpy(calibration.data()+i*(4+localTransform.size())+4, localTransform.data(), localTransform.size()*sizeof(float));
}
}
}
}
else if(sensorData.stereoCameraModel().isValidForProjection())
@@ -5057,7 +5057,7 @@ void DBDriverSqlite3::stepSensorData(sqlite3_stmt * ppStmt,
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_bind_double(ppStmt, index++, sensorData.gridViewPoint().z);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
}
}
//step
rc=sqlite3_step(ppStmt);
@@ -5260,8 +5260,11 @@ void DBDriverSqlite3::stepKeypoint(sqlite3_stmt * ppStmt,
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_bind_double(ppStmt, index++, kp.response);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_bind_int(ppStmt, index++, kp.octave);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
if(uStrNumCmp(_version, "0.12.0") >= 0)
{
rc = sqlite3_bind_int(ppStmt, index++, kp.octave);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
}
rc = sqlite3_bind_double(ppStmt, index++, pt.x);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_bind_double(ppStmt, index++, pt.y);
guilib/src/images/RTAB-Map100.png
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