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

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This commit is contained in:
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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19
corelib/src/DBDriver.cpp
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@@ -405,6 +405,25 @@ void DBDriver::updateLink(const Link & link)
this->updateLinkQuery(link);
_dbSafeAccessMutex.unlock();
}
void DBDriver::updateOccupancyGrid(
int nodeId,
const cv::Mat & ground,
const cv::Mat & obstacles,
float cellSize,
const cv::Point3f & viewpoint)
{
_dbSafeAccessMutex.lock();
//just to make sure the occupancy grids are compressed for convenience
SensorData data;
data.setOccupancyGrid(ground, obstacles, cellSize, viewpoint);
this->updateOccupancyGridQuery(
nodeId,
data.gridGroundCellsCompressed(),
data.gridObstacleCellsCompressed(),
cellSize,
viewpoint);
_dbSafeAccessMutex.unlock();
}
void DBDriver::load(VWDictionary * dictionary) const
{