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DatabaseViewer: added regeneration of occupancy grids action and saving back to database on close

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matlabbe
2016-08-25 23:47:01 -04:00
parent 4d8200fef3
commit 797f1f0f1c
8 changed files with 309 additions and 297 deletions
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13
corelib/include/rtabmap/core/DBDriver.h
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@@ -86,6 +86,12 @@ public:
void addLink(const Link & link);
void removeLink(int from, int to);
void updateLink(const Link & link);
void updateOccupancyGrid(
int nodeId,
const cv::Mat & ground,
const cv::Mat & obstacles,
float cellSize,
const cv::Point3f & viewpoint);
public:
void addStatisticsAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap & parameters) const;
@@ -164,6 +170,13 @@ private:
virtual void addLinkQuery(const Link & link) const = 0;
virtual void updateLinkQuery(const Link & link) const = 0;
virtual void updateOccupancyGridQuery(
int nodeId,
const cv::Mat & ground,
const cv::Mat & obstacles,
float cellSize,
const cv::Point3f & viewpoint) const = 0;
// Load objects
virtual void loadQuery(VWDictionary * dictionary) const = 0;
virtual void loadLastNodesQuery(std::list<Signature *> & signatures) const = 0;