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Tango #57: Increased version to 0.11.3, updated Post-Processing actions, added mesh rendering actions, fixed point cloud rendering

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This commit is contained in:
matlabbe
2016-04-04 13:03:43 -04:00
parent ff32f54aa8
commit af405e69b1
22 changed files with 424 additions and 193 deletions
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corelib/src/Memory.cpp
+23 -5
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@@ -313,7 +313,7 @@ void Memory::close(bool databaseSaved, bool postInitClosingEvents)
if(_dbDriver)
{
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(uFormat("Closing database \"%s\"...", _dbDriver->getUrl().c_str())));
_dbDriver->closeConnection();
_dbDriver->closeConnection(false);
delete _dbDriver;
_dbDriver = 0;
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Closing database, done!"));
@@ -2327,7 +2327,7 @@ Transform Memory::computeIcpTransformMulti(
return t;
}
bool Memory::addLink(const Link & link)
bool Memory::addLink(const Link & link, bool addInDatabase)
{
UASSERT(link.type() > Link::kNeighbor && link.type() != Link::kUndef);
@@ -2378,9 +2378,8 @@ bool Memory::addLink(const Link & link)
}
}
}
return true;
}
else
else if(!addInDatabase)
{
if(!fromS)
{
@@ -2390,8 +2389,27 @@ bool Memory::addLink(const Link & link)
{
UERROR("from=%d, to=%d, Signature %d not found in working/st memories", link.from(), link.to(), link.to());
}
return false;
}
return false;
else if(fromS)
{
UDEBUG("Add link between %d and %d (db)", link.from(), link.to());
fromS->addLink(link);
_dbDriver->addLink(link.inverse());
}
else if(toS)
{
UDEBUG("Add link between %d (db) and %d", link.from(), link.to());
_dbDriver->addLink(link);
toS->addLink(link.inverse());
}
else
{
UDEBUG("Add link between %d (db) and %d (db)", link.from(), link.to());
_dbDriver->addLink(link);
_dbDriver->addLink(link.inverse());
}
return true;
}
void Memory::updateLink(int fromId, int toId, const Transform & transform, float rotVariance, float transVariance)