i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
matlabbe
2018-02-01 22:19:34 -05:00
parent 977d21eed5 09e0d0b9d8
commit 3405e8b8e1
4 changed files with 15 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
corelib/src/DBDriverSqlite3.cpp
View File

@@ -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);