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

fixed runtime errors for single depth camera and stereo

Browse Source
This commit is contained in:
Mathieu Labbe
2015-05-30 20:05:35 -04:00
parent c5046df226
commit 9e13642a47
20 changed files with 232 additions and 275 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
examples/WifiMapping/MapBuilderWifi.h
View File

@@ -78,26 +78,25 @@ protected slots:
std::map<double, int> nodeStamps; // <stamp, id>
std::map<int, std::pair<int, double> > wifiLevels;
UASSERT(stats.getStamps().size() == stats.getUserDatas().size());
std::map<int, double>::const_iterator iterStamps = stats.getStamps().begin();
std::map<int, std::vector<unsigned char> >::const_iterator iterUserDatas = stats.getUserDatas().begin();
for(; iterStamps!=stats.getStamps().end() && iterUserDatas!=stats.getUserDatas().end(); ++iterStamps, ++iterUserDatas)
for(std::map<int, Signature>::const_iterator iter=stats.getSignatures().begin();
iter!=stats.getSignatures().end();
++iter)
{
// Sort stamps by stamps
nodeStamps.insert(std::make_pair(iterStamps->second, iterStamps->first));
// Sort stamps by stamps->id
nodeStamps.insert(std::make_pair(iter->second.getStamp(), iter->first));
// convert userData to wifi levels
if(iterUserDatas->second.size())
if(iter->second.getUserData().size())
{
UASSERT(iterUserDatas->second.size() == sizeof(int)+sizeof(double));
UASSERT(iter->second.getUserData().size() == sizeof(int)+sizeof(double));
// format [int level, double stamp]
int level;
double stamp;
memcpy(&level, iterUserDatas->second.data(), sizeof(int));
memcpy(&stamp, iterUserDatas->second.data()+sizeof(int), sizeof(double));
memcpy(&level, iter->second.getUserData().data(), sizeof(int));
memcpy(&stamp, iter->second.getUserData().data()+sizeof(int), sizeof(double));
wifiLevels.insert(std::make_pair(iterUserDatas->first, std::make_pair(level, stamp)));
wifiLevels.insert(std::make_pair(iter->first, std::make_pair(level, stamp)));
}
}