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Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label.

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This commit is contained in:
matlabbe
2015-10-13 12:50:25 -04:00
parent aaf0eba7ba
commit 988e83cf1c
27 changed files with 1010 additions and 298 deletions
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11
corelib/src/DBReader.cpp
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@@ -45,11 +45,13 @@ namespace rtabmap {
DBReader::DBReader(const std::string & databasePath,
float frameRate,
bool odometryIgnored,
bool ignoreGoalDelay) :
bool ignoreGoalDelay,
bool goalsIgnored) :
_paths(uSplit(databasePath, ';')),
_frameRate(frameRate),
_odometryIgnored(odometryIgnored),
_ignoreGoalDelay(ignoreGoalDelay),
_goalsIgnored(goalsIgnored),
_dbDriver(0),
_currentId(_ids.end()),
_previousStamp(0)
@@ -59,11 +61,13 @@ DBReader::DBReader(const std::string & databasePath,
DBReader::DBReader(const std::list<std::string> & databasePaths,
float frameRate,
bool odometryIgnored,
bool ignoreGoalDelay) :
bool ignoreGoalDelay,
bool goalsIgnored) :
_paths(databasePaths),
_frameRate(frameRate),
_odometryIgnored(odometryIgnored),
_ignoreGoalDelay(ignoreGoalDelay),
_goalsIgnored(goalsIgnored),
_dbDriver(0),
_currentId(_ids.end()),
_previousStamp(0)
@@ -159,7 +163,8 @@ void DBReader::mainLoop()
{
odom.data().setStamp(UTimer::now());
}
if(odom.data().userDataRaw().type() == CV_8SC1 &&
if(!_goalsIgnored &&
odom.data().userDataRaw().type() == CV_8SC1 &&
odom.data().userDataRaw().cols >= 7 && // including null str ending
odom.data().userDataRaw().rows == 1 &&
memcmp(odom.data().userDataRaw().data, "GOAL:", 5) == 0)