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Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.

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This commit is contained in:
Mathieu Labbe
2015-05-03 18:16:55 -04:00
parent abb7eb15ac
commit d7030e0e38
28 changed files with 927 additions and 366 deletions
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corelib/src/DBReader.cpp
+41 -7
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@@ -46,14 +46,26 @@ DBReader::DBReader(const std::string & databasePath,
float frameRate,
bool odometryIgnored,
bool ignoreGoalDelay) :
_path(databasePath),
_paths(uSplit(databasePath, ';')),
_frameRate(frameRate),
_odometryIgnored(odometryIgnored),
_ignoreGoalDelay(ignoreGoalDelay),
_dbDriver(0),
_currentId(_ids.end())
{
}
DBReader::DBReader(const std::list<std::string> & databasePaths,
float frameRate,
bool odometryIgnored,
bool ignoreGoalDelay) :
_paths(databasePaths),
_frameRate(frameRate),
_odometryIgnored(odometryIgnored),
_ignoreGoalDelay(ignoreGoalDelay),
_dbDriver(0),
_currentId(_ids.end())
{
}
DBReader::~DBReader()
@@ -77,9 +89,16 @@ bool DBReader::init(int startIndex)
_currentId=_ids.end();
_previousStamp = 0;
if(!UFile::exists(_path))
if(_paths.size() == 0)
{
UERROR("Database path does not exist (%s)", _path.c_str());
UERROR("No database path set...");
return false;
}
std::string path = _paths.front();
if(!UFile::exists(path))
{
UERROR("Database path does not exist (%s)", path.c_str());
return false;
}
@@ -91,9 +110,9 @@ bool DBReader::init(int startIndex)
UERROR("Driver doesn't exist.");
return false;
}
if(!_dbDriver->openConnection(_path))
if(!_dbDriver->openConnection(path))
{
UERROR("Can't open database %s", _path.c_str());
UERROR("Can't open database %s", path.c_str());
delete _dbDriver;
_dbDriver = 0;
return false;
@@ -197,8 +216,23 @@ void DBReader::mainLoop()
else if(!this->isKilled())
{
UINFO("no more images...");
this->kill();
this->post(new CameraEvent());
if(_paths.size() > 1)
{
_paths.pop_front();
UWARN("Loading next database \"%s\"...", _paths.front().c_str());
if(!this->init())
{
UERROR("Failed to initialize the next database \"%s\"", _paths.front().c_str());
this->kill();
this->post(new CameraEvent());
}
}
else
{
this->kill();
this->post(new CameraEvent());
}
}
}