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Added SensorData tests

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matlabbe
2025-12-24 15:36:55 -08:00
parent c7544b9ee2
commit d0fb4ab810
5 changed files with 1194 additions and 13 deletions
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corelib/include/rtabmap/core/SensorData.h
+3 -3
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@@ -936,7 +936,7 @@ public:
/**
* @brief Sets landmarks
* @param landmarks Map of landmark IDs to landmark data
* @note Landmark IDs are typically negative.
* @note Landmark IDs should be positive and non-zero.
*/
void setLandmarks(const Landmarks & landmarks) {_landmarks = landmarks;}
@@ -973,9 +973,9 @@ public:
* within the image bounds.
*
* @param pt 3D point in robot frame (base_link)
* @return True if the point is visible from at least one camera, false otherwise
* @return Camera index (>=0) of the first camera found with the point visible, -1 if the point is not visible by any camera.
*/
bool isPointVisibleFromCameras(const cv::Point3f & pt) const;
int isPointVisibleFromCameras(const cv::Point3f & pt) const;
#ifdef HAVE_OPENCV_CUDEV
/**