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Memory::getNodeData() removing not wanted data if the node with all its data has been found in working memory.

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This commit is contained in:
matlabbe
2020-06-22 22:29:26 -04:00
parent 846bd59d0b
commit c19f81ac12
2 changed files with 32 additions and 0 deletions
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corelib/src/Memory.cpp
+16
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@@ -3847,6 +3847,22 @@ SensorData Memory::getNodeData(int locationId, bool images, bool scan, bool user
(!occupancyGrid || s->sensorData().gridCellSize() != 0.0f))))
{
r = s->sensorData();
if(!images)
{
r.setRGBDImage(cv::Mat(), cv::Mat(), std::vector<CameraModel>());
}
if(!scan)
{
r.setLaserScan(LaserScan());
}
if(!userData)
{
r.setUserData(cv::Mat());
}
if(!occupancyGrid)
{
r.setOccupancyGrid(cv::Mat(), cv::Mat(), cv::Mat(), 0, cv::Point3f());
}
}
else if(_dbDriver)
{