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Added Rtabmap::getSignatureCopy()

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This commit is contained in:
matlabbe
2020-05-05 13:26:40 -04:00
parent 7041d5fd34
commit 7d377d26df
6 changed files with 90 additions and 124 deletions
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corelib/src/DBDriver.cpp
+5 -5
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@@ -683,11 +683,11 @@ void DBDriver::getNodeData(
if(uContains(_trashSignatures, signatureId))
{
const Signature * s = _trashSignatures.at(signatureId);
if(!s->sensorData().imageCompressed().empty() ||
!s->sensorData().laserScanCompressed().isEmpty() ||
!s->sensorData().userDataCompressed().empty() ||
s->sensorData().gridCellSize() != 0.0f ||
!s->isSaved())
if((!s->isSaved() ||
((!images || !s->sensorData().imageCompressed().empty()) &&
(!scan || !s->sensorData().laserScanCompressed().isEmpty()) &&
(!userData || !s->sensorData().userDataCompressed().empty()) &&
(!occupancyGrid || s->sensorData().gridCellSize() != 0.0f))))
{
data = (SensorData)s->sensorData();
found = true;