i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 17:17:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

0.17.0: saving optimized poses and last localization pose to database (https://github.com/introlab/rtabmap_ros/issues/220). Parameters: fixed Icp default parameters when not built with libpointmatcher, added RGBD/SavedLocalizationIgnored (default false). DbViewer: added Export/Import 2D map (https://github.com/introlab/rtabmap_ros/issues/213).

Browse Source
This commit is contained in:
matlabbe
2018-04-04 19:14:13 -04:00
parent 34b32f53f6
commit 592b7c66c5
25 changed files with 756 additions and 183 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/DBDriver.cpp
+31 -4
View File
@@ -1061,9 +1061,37 @@ cv::Mat DBDriver::loadPreviewImage() const
return image;
}
void DBDriver::saveOptimizedPoses(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const
{
_dbSafeAccessMutex.lock();
saveOptimizedPosesQuery(optimizedPoses, lastlocalizationPose);
_dbSafeAccessMutex.unlock();
}
std::map<int, Transform> DBDriver::loadOptimizedPoses(Transform * lastlocalizationPose) const
{
_dbSafeAccessMutex.lock();
std::map<int, Transform> poses = loadOptimizedPosesQuery(lastlocalizationPose);
_dbSafeAccessMutex.unlock();
return poses;
}
void DBDriver::save2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize) const
{
_dbSafeAccessMutex.lock();
save2DMapQuery(map, xMin, yMin, cellSize);
_dbSafeAccessMutex.unlock();
}
cv::Mat DBDriver::load2DMap(float & xMin, float & yMin, float & cellSize) const
{
_dbSafeAccessMutex.lock();
cv::Mat map = load2DMapQuery(xMin, yMin, cellSize);
_dbSafeAccessMutex.unlock();
return map;
}
void DBDriver::saveOptimizedMesh(
const cv::Mat & cloud,
const std::map<int, Transform> & poses,
const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
@@ -1073,12 +1101,11 @@ void DBDriver::saveOptimizedMesh(
const cv::Mat & textures) const
{
_dbSafeAccessMutex.lock();
saveOptimizedMeshQuery(cloud, poses, polygons, texCoords, textures);
saveOptimizedMeshQuery(cloud, polygons, texCoords, textures);
_dbSafeAccessMutex.unlock();
}
cv::Mat DBDriver::loadOptimizedMesh(
std::map<int, Transform> * poses,
std::vector<std::vector<std::vector<unsigned int> > > * polygons,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,
@@ -1088,7 +1115,7 @@ cv::Mat DBDriver::loadOptimizedMesh(
cv::Mat * textures) const
{
_dbSafeAccessMutex.lock();
cv::Mat cloud = loadOptimizedMeshQuery(poses, polygons, texCoords, textures);
cv::Mat cloud = loadOptimizedMeshQuery(polygons, texCoords, textures);
_dbSafeAccessMutex.unlock();
return cloud;
}