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

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matlabbe
2015-06-25 16:05:06 -04:00
parent 01f2f1348c ad23421c9b
commit 6f1df94b18
6 changed files with 67 additions and 13 deletions
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4
corelib/include/rtabmap/core/CameraModel.h
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@@ -87,7 +87,7 @@ public:
int imageWeight() const {return imageSize_.height;}
bool load(const std::string & filePath);
bool save(const std::string & filePath);
bool save(const std::string & filePath) const;
void scale(double scale);
@@ -146,7 +146,7 @@ public:
const std::string & name() const {return name_;}
bool load(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform = true);
bool save(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform = true);
bool save(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform = true) const;
double baseline() const {return -right_.Tx()/right_.fx();}

4
corelib/src/CameraModel.cpp
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@@ -170,7 +170,7 @@ bool CameraModel::load(const std::string & filePath)
return false;
}
bool CameraModel::save(const std::string & filePath)
bool CameraModel::save(const std::string & filePath) const
{
if(!filePath.empty() && !name_.empty() && !K_.empty() && !D_.empty() && !R_.empty() && !P_.empty())
{
@@ -368,7 +368,7 @@ bool StereoCameraModel::load(const std::string & directory, const std::string &
}
return false;
}
bool StereoCameraModel::save(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform)
bool StereoCameraModel::save(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform) const
{
if(left_.save(directory+"/"+cameraName+"_left.yaml") && right_.save(directory+"/"+cameraName+"_right.yaml"))
{

4
corelib/src/Graph.cpp
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@@ -1278,9 +1278,9 @@ std::list<std::pair<int, Transform> > computePath(
if(lookInDatabase)
{
// Faster to load all links in one query
//UTimer t;
UTimer t;
allLinks = memory->getAllLinks(lookInDatabase);
//UWARN("getting all %d links time = %f s", (int)allLinks.size(), t.ticks());
UINFO("getting all %d links time = %f s", (int)allLinks.size(), t.ticks());
}
//dijkstra

2
corelib/src/OdometryThread.cpp
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@@ -129,7 +129,7 @@ void OdometryThread::addData(const SensorData & data)
_dataBuffer.push_back(data);
while(_dataBufferMaxSize > 0 && _dataBuffer.size() > _dataBufferMaxSize)
{
ULOGGER_WARN("Data buffer is full, the oldest data is removed to add the new one.");
UDEBUG("Data buffer is full, the oldest data is removed to add the new one.");
_dataBuffer.pop_front();
notify = false;
}