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0.16.1: Added LaserScan class with new "format" field to distinguish easier between all kind of laser scans (XYZ, XYZRGB, XYZI, XYZNormal...)

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This commit is contained in:
matlabbe
2018-02-16 19:20:54 -05:00
parent bfb3a58c01
commit d24097f73d
49 changed files with 2097 additions and 998 deletions
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corelib/src/DBDriver.cpp
+3 -3
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@@ -642,7 +642,7 @@ void DBDriver::getNodeData(
{
const Signature * s = _trashSignatures.at(signatureId);
if(!s->sensorData().imageCompressed().empty() ||
!s->sensorData().laserScanCompressed().empty() ||
!s->sensorData().laserScanCompressed().isEmpty() ||
!s->sensorData().userDataCompressed().empty() ||
s->sensorData().gridCellSize() != 0.0f ||
!s->isSaved())
@@ -693,7 +693,7 @@ bool DBDriver::getCalibration(
bool DBDriver::getLaserScanInfo(
int signatureId,
LaserScanInfo & info) const
LaserScan & info) const
{
UDEBUG("");
bool found = false;
@@ -701,7 +701,7 @@ bool DBDriver::getLaserScanInfo(
_trashesMutex.lock();
if(uContains(_trashSignatures, signatureId))
{
info = _trashSignatures.at(signatureId)->sensorData().laserScanInfo();
info = _trashSignatures.at(signatureId)->sensorData().laserScanCompressed();
found = true;
}
_trashesMutex.unlock();