i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

DBViewer: updated refine constraints menu action with more options, DBDriver: added updateCalibration for convenience

Browse Source
This commit is contained in:
matlabbe
2023-12-20 14:39:49 -08:00
parent ee09e92496
commit d135ef02e2
11 changed files with 703 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
corelib/include/rtabmap/core/DBDriver.h
View File

@@ -96,6 +96,10 @@ public:
const cv::Mat & empty,
float cellSize,
const cv::Point3f & viewpoint);
void updateCalibration(
int nodeId,
const std::vector<CameraModel> & models,
const std::vector<StereoCameraModel> & stereoModels);
void updateDepthImage(int nodeId, const cv::Mat & image);
void updateLaserScan(int nodeId, const LaserScan & scan);
@@ -231,6 +235,11 @@ protected:
float cellSize,
const cv::Point3f & viewpoint) const = 0;
virtual void updateCalibrationQuery(
int nodeId,
const std::vector<CameraModel> & models,
const std::vector<StereoCameraModel> & stereoModels) const = 0;
virtual void updateDepthImageQuery(
int nodeId,
const cv::Mat & image) const = 0;

7
corelib/include/rtabmap/core/DBDriverSqlite3.h
View File

@@ -96,6 +96,11 @@ protected:
float cellSize,
const cv::Point3f & viewpoint) const;
virtual void updateCalibrationQuery(
int nodeId,
const std::vector<CameraModel> & models,
const std::vector<StereoCameraModel> & stereoModels) const;
virtual void updateDepthImageQuery(
int nodeId,
const cv::Mat & image) const;
@@ -153,6 +158,7 @@ private:
std::string queryStepNode() const;
std::string queryStepImage() const;
std::string queryStepDepth() const;
std::string queryStepCalibrationUpdate() const;
std::string queryStepDepthUpdate() const;
std::string queryStepScanUpdate() const;
std::string queryStepSensorData() const;
@@ -165,6 +171,7 @@ private:
void stepNode(sqlite3_stmt * ppStmt, const Signature * s) const;
void stepImage(sqlite3_stmt * ppStmt, int id, const cv::Mat & imageBytes) const;
void stepDepth(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;
void stepCalibrationUpdate(sqlite3_stmt * ppStmt, int nodeId, const std::vector<CameraModel> & models, const std::vector<StereoCameraModel> & stereoModels) const;
void stepDepthUpdate(sqlite3_stmt * ppStmt, int nodeId, const cv::Mat & imageCompressed) const;
void stepScanUpdate(sqlite3_stmt * ppStmt, int nodeId, const LaserScan & image) const;
void stepSensorData(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;