i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 10:00:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

0.19.2: Refactored SensorData interface. DBReader: Fixed GPS not published. #345: both g2o and gtsam working with GPS. g2o: added gravity edges.

Browse Source
This commit is contained in:
matlabbe
2019-04-09 20:05:24 -04:00
parent e7b3a7735d
commit 77ae8e108a
24 changed files with 878 additions and 480 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
guilib/src/MainWindow.cpp
View File

@@ -2047,16 +2047,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{
Signature & s = *_cachedSignatures.find(stat.refImageId());
_cachedMemoryUsage -= s.sensorData().getMemoryUsed();
s.sensorData().setImageRaw(cv::Mat());
s.sensorData().setDepthOrRightRaw(cv::Mat());
s.sensorData().setUserDataRaw(cv::Mat());
s.sensorData().setLaserScanRaw(
LaserScan(
cv::Mat(),
signature.sensorData().laserScanRaw().maxPoints(),
signature.sensorData().laserScanRaw().rangeMax(),
signature.sensorData().laserScanRaw().format(),
signature.sensorData().laserScanRaw().localTransform()));
s.sensorData().clearRawData();
s.sensorData().clearOccupancyGridRaw();
_cachedMemoryUsage += s.sensorData().getMemoryUsed();
}
@@ -2898,7 +2889,7 @@ std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> MainWindow::c
}
}
UINFO("Time rectification: %fs", time.ticks());
data.setImageRaw(rectifiedImages);
data.setRGBDImage(rectifiedImages, data.depthOrRightRaw(), data.cameraModels());
image = rectifiedImages;
}
}