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DBViewer: fixed calibration not found on refining without re-extracting features, fixed visualized ids switched on refine in some cases, fixed clouds not shown in constraints view after refine without re-extracting features

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matlabbe
2020-04-30 14:17:46 -04:00
parent ace93b0356
commit 5d16ae8cfe
5 changed files with 138 additions and 47 deletions
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8
corelib/include/rtabmap/core/DBDriver.h
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@@ -157,11 +157,13 @@ public:
// Load objects
void load(VWDictionary * dictionary, bool lastStateOnly = true) const;
void loadLastNodes(std::list<Signature *> & signatures) const;
void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0);
void loadWords(const std::set<int> & wordIds, std::list<VisualWord *> & vws);
void loadLastNodes(std::list<Signature *> & signatures) const; // returned signatures must be freed after usage
Signature * loadSignature(int id, bool * loadedFromTrash = 0); // returned signature must be freed after usage, call loadSignatures() instead if more than one signature should be loaded
void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0); // returned signatures must be freed after usage
void loadWords(const std::set<int> & wordIds, std::list<VisualWord *> & vws); // returned words must be freed after usage
// Specific queries...
void loadNodeData(Signature * signature, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
void loadNodeData(std::list<Signature *> & signatures, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
void getNodeData(int signatureId, SensorData & data, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
bool getCalibration(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const;