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Added Map color overlay on 3D cloud (press key '2' on keyboard)

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Fixed loading all node ids from database, ignoring children

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1813 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-01 21:44:46 +00:00
parent 317d382a24
commit c441cc1d0f
10 changed files with 101 additions and 27 deletions
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4
corelib/include/rtabmap/core/DBDriver.h
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@@ -102,7 +102,7 @@ public:
void loadNeighbors(int signatureId, std::map<int, Transform> & neighbors) const;
void loadLoopClosures(int signatureId, std::map<int, Transform> & loopIds, std::map<int, Transform> & childIds) const;
void getWeight(int signatureId, int & weight) const;
void getAllNodeIds(std::set<int> & ids) const;
void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false) const;
void getLastNodeId(int & id) const;
void getLastWordId(int & id) const;
void getInvertedIndexNi(int signatureId, int & ni) const;
@@ -138,7 +138,7 @@ private:
virtual void getNodeDataQuery(int signatureId, std::vector<unsigned char> & image, std::vector<unsigned char> & depth, std::vector<unsigned char> & depth2d, float & fx, float & fy, float & cx, float & cy, Transform & localTransform) const = 0;
virtual void getNodeDataQuery(int signatureId, std::vector<unsigned char> & image) const = 0;
virtual void getPoseQuery(int signatureId, Transform & pose, int & mapId) const = 0;
virtual void getAllNodeIdsQuery(std::set<int> & ids) const = 0;
virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren) const = 0;
virtual void getLastIdQuery(const std::string & tableName, int & id) const = 0;
virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const = 0;