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Memory: Added parameter Mem/UseOdomGravity, adding kGravity links when creating a node if IMU is present or Mem/UseOdomGravity is set. Fixed OpenCV4 related build errors on stereo fisheye rectification code. Signature: changed links from map to multimap to support having multiple self references (prior, gravity constraints...). DBReader: publish IMU orientation if a gravity link is detected.

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This commit is contained in:
matlabbe
2019-05-31 15:36:35 -04:00
parent 71f7515775
commit e887d462ce
28 changed files with 1264 additions and 344 deletions
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corelib/src/DBDriver.cpp
+6 -6
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@@ -762,7 +762,7 @@ bool DBDriver::getNodeInfo(
return found;
}
void DBDriver::loadLinks(int signatureId, std::map<int, Link> & links, Link::Type type) const
void DBDriver::loadLinks(int signatureId, std::multimap<int, Link> & links, Link::Type type) const
{
bool found = false;
// look in the trash
@@ -782,7 +782,7 @@ void DBDriver::loadLinks(int signatureId, std::map<int, Link> & links, Link::Typ
}
if(type == Link::kLandmark || type == Link::kAllWithLandmarks)
{
uInsert(links, s->getLandmarks());
links.insert(s->getLandmarks().begin(), s->getLandmarks().end());
}
found = true;
}
@@ -1219,11 +1219,11 @@ void DBDriver::generateGraph(
if(otherSignatures.find(*i) == otherSignatures.end())
{
int id = *i;
std::map<int, Link> links;
std::multimap<int, Link> links;
this->loadLinks(id, links);
int weight = 0;
this->getWeight(id, weight);
for(std::map<int, Link>::iterator iter = links.begin(); iter!=links.end(); ++iter)
for(std::multimap<int, Link>::iterator iter = links.begin(); iter!=links.end(); ++iter)
{
int weightNeighbor = 0;
if(otherSignatures.find(iter->first) == otherSignatures.end())
@@ -1281,9 +1281,9 @@ void DBDriver::generateGraph(
if(ids.find(i->first) != ids.end())
{
int id = i->second->id();
const std::map<int, Link> & links = i->second->getLinks();
const std::multimap<int, Link> & links = i->second->getLinks();
int weight = i->second->getWeight();
for(std::map<int, Link>::const_iterator iter = links.begin(); iter!=links.end(); ++iter)
for(std::multimap<int, Link>::const_iterator iter = links.begin(); iter!=links.end(); ++iter)
{
int weightNeighbor = 0;
const Signature * s = uValue(otherSignatures, iter->first, (Signature*)0);