i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

14
corelib/src/DBDriverSqlite3.h
View File

@@ -76,6 +76,13 @@ private:
virtual void addLinkQuery(const Link & link) const;
virtual void updateLinkQuery(const Link & link) const;
virtual void updateOccupancyGridQuery(
int nodeId,
const cv::Mat & ground,
const cv::Mat & obstacles,
float cellSize,
const cv::Point3f & viewpoint) const;
// Load objects
virtual void loadQuery(VWDictionary * dictionary) const;
virtual void loadLastNodesQuery(std::list<Signature *> & signatures) const;
@@ -102,6 +109,7 @@ private:
std::string queryStepLink() const;
std::string queryStepWordsChanged() const;
std::string queryStepKeypoint() const;
std::string queryStepOccupancyGridUpdate() const;
void stepNode(sqlite3_stmt * ppStmt, const Signature * s) const;
void stepImage(
sqlite3_stmt * ppStmt,
@@ -112,6 +120,12 @@ private:
void stepLink(sqlite3_stmt * ppStmt, const Link & link) const;
void stepWordsChanged(sqlite3_stmt * ppStmt, int signatureId, int oldWordId, int newWordId) const;
void stepKeypoint(sqlite3_stmt * ppStmt, int signatureId, int wordId, const cv::KeyPoint & kp, const cv::Point3f & pt, const cv::Mat & descriptor) const;
void stepOccupancyGrid(sqlite3_stmt * ppStmt,
int nodeId,
const cv::Mat & ground,
const cv::Mat & obstacles,
float cellSize,
const cv::Point3f & viewpoint) const;
private:
void loadLinksQuery(std::list<Signature *> & signatures) const;