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fixed #401

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This commit is contained in:
matlabbe
2019-05-30 10:04:40 -04:00
parent 5b5b594f4a
commit cd6e51a968
3 changed files with 14 additions and 13 deletions
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corelib/src/DBDriver.cpp
+6 -5
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@@ -741,14 +741,15 @@ bool DBDriver::getNodeInfo(
_trashesMutex.lock(); _trashesMutex.lock();
if(uContains(_trashSignatures, signatureId)) if(uContains(_trashSignatures, signatureId))
{ {
pose = _trashSignatures.at(signatureId)->getPose(); pose = _trashSignatures.at(signatureId)->getPose().clone();
mapId = _trashSignatures.at(signatureId)->mapId(); mapId = _trashSignatures.at(signatureId)->mapId();
weight = _trashSignatures.at(signatureId)->getWeight(); weight = _trashSignatures.at(signatureId)->getWeight();
label = _trashSignatures.at(signatureId)->getLabel(); label = std::string(_trashSignatures.at(signatureId)->getLabel());
stamp = _trashSignatures.at(signatureId)->getStamp(); stamp = _trashSignatures.at(signatureId)->getStamp();
groundTruthPose = _trashSignatures.at(signatureId)->getGroundTruthPose(); groundTruthPose = _trashSignatures.at(signatureId)->getGroundTruthPose().clone();
gps = _trashSignatures.at(signatureId)->sensorData().gps(); velocity = std::vector<float>(_trashSignatures.at(signatureId)->getVelocity());
sensors = _trashSignatures.at(signatureId)->sensorData().envSensors(); gps = GPS(_trashSignatures.at(signatureId)->sensorData().gps());
sensors = EnvSensors(_trashSignatures.at(signatureId)->sensorData().envSensors());
found = true; found = true;
} }
_trashesMutex.unlock(); _trashesMutex.unlock();
corelib/src/Memory.cpp
+6 -6
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@@ -3761,15 +3761,15 @@ bool Memory::getNodeInfo(int signatureId,
const Signature * s = this->getSignature(signatureId); const Signature * s = this->getSignature(signatureId);
if(s) if(s)
{ {
odomPose = s->getPose(); odomPose = s->getPose().clone();
mapId = s->mapId(); mapId = s->mapId();
weight = s->getWeight(); weight = s->getWeight();
label = s->getLabel(); label = std::string(s->getLabel());
stamp = s->getStamp(); stamp = s->getStamp();
groundTruth = s->getGroundTruthPose(); groundTruth = s->getGroundTruthPose().clone();
velocity = s->getVelocity(); velocity = std::vector<float>(s->getVelocity());
gps = s->sensorData().gps(); gps = GPS(s->sensorData().gps());
sensors = s->sensorData().envSensors(); sensors = EnvSensors(s->sensorData().envSensors());
return true; return true;
} }
else if(lookInDatabase && _dbDriver) else if(lookInDatabase && _dbDriver)
corelib/src/Rtabmap.cpp
+1 -1
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@@ -4245,7 +4245,7 @@ void Rtabmap::get3DMap(
signatures.at(*iter).setWords(words); signatures.at(*iter).setWords(words);
signatures.at(*iter).setWords3(words3); signatures.at(*iter).setWords3(words3);
signatures.at(*iter).setWordsDescriptors(wordsDescriptors); signatures.at(*iter).setWordsDescriptors(wordsDescriptors);
if(!velocity.empty()) if(velocity.size()==6)
{ {
signatures.at(*iter).setVelocity(velocity[0], velocity[1], velocity[2], velocity[3], velocity[4], velocity[5]); signatures.at(*iter).setVelocity(velocity[0], velocity[1], velocity[2], velocity[3], velocity[4], velocity[5]);
} }