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Added multi-camera feature

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This commit is contained in:
Mathieu Labbe
2015-05-29 14:46:48 -04:00
parent e6923daf1c
commit c6d0d47b1c
51 changed files with 2833 additions and 2297 deletions
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29
corelib/src/DBDriverSqlite3.h
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@@ -71,18 +71,7 @@ private:
virtual void loadLinksQuery(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const;
virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool loadMetricData) const;
virtual void getNodeDataQuery(
int signatureId,
cv::Mat & imageCompressed,
cv::Mat & depthCompressed,
cv::Mat & laserScanCompressed,
float & fx,
float & fy,
float & cx,
float & cy,
Transform & localTransform,
int & laserScanMaxPts) const;
virtual void getNodeDataQuery(int signatureId, cv::Mat & imageCompressed) const;
virtual void getNodeDataQuery(int signatureId, SensorData & data) const;
virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, std::vector<unsigned char> & userData) const;
virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren) const;
virtual void getLastIdQuery(const std::string & tableName, int & id) const;
@@ -94,6 +83,7 @@ private:
std::string queryStepNode() const;
std::string queryStepImage() const;
std::string queryStepDepth() const;
std::string queryStepSensorData() const;
std::string queryStepLink() const;
std::string queryStepWordsChanged() const;
std::string queryStepKeypoint() const;
@@ -102,18 +92,9 @@ private:
sqlite3_stmt * ppStmt,
int id,
const cv::Mat & imageBytes) const;
void stepDepth(
sqlite3_stmt * ppStmt,
int id,
const cv::Mat & depthBytes,
const cv::Mat & depth2dBytes,
float fx,
float fy,
float cx,
float cy,
const Transform & localTransform,
int depth2dMaxPts) const;
void stepLink(sqlite3_stmt * ppStmt, int fromId, int toId, Link::Type type, float rotVariance, float transVariance, const Transform & transform) const;
void stepDepth(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;
void stepSensorData(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;
void stepLink(sqlite3_stmt * ppStmt, const Link & link) const;
void stepWordsChanged(sqlite3_stmt * ppStmt, int signatureId, int oldWordId, int newWordId) const;
void stepKeypoint(sqlite3_stmt * ppStmt, int signatureId, int wordId, const cv::KeyPoint & kp, const pcl::PointXYZ & pt) const;