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Added CalibrationDialog in Preferences->source for convenience. The database is also changed to handle new FX, FY, CX and CY intrinsic parameters instead of only depthConstant parameter. Added version of the database in a new table Admin. Updated to version 0.7.0.

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1613 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-26 04:36:00 +00:00
parent 1557b3d44d
commit f090c81aaf
44 changed files with 1389 additions and 715 deletions
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12
corelib/src/DBDriverSqlite3.h
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@@ -72,7 +72,10 @@ private:
std::vector<unsigned char> & image,
std::vector<unsigned char> & depth,
std::vector<unsigned char> & depth2d,
float & depthConstant,
float & fx,
float & fy,
float & cx,
float & cy,
Transform & localTransform) const;
virtual void getNodeDataQuery(int signatureId, std::vector<unsigned char> & image) const;
virtual void getPoseQuery(int signatureId, Transform & pose, int & mapId) const;
@@ -97,7 +100,10 @@ private:
int id,
const std::vector<unsigned char> & depth,
const std::vector<unsigned char> & depth2d,
float depthConstant,
float fx,
float fy,
float cx,
float cy,
const Transform & localTransform) const;
void stepLink(sqlite3_stmt * ppStmt, int fromId, int toId, int type, const Transform & transform) const;
void stepWordsChanged(sqlite3_stmt * ppStmt, int signatureId, int oldWordId, int newWordId) const;
@@ -106,9 +112,11 @@ private:
private:
void loadLinksQuery(std::list<Signature *> & signatures) const;
int loadOrSaveDb(sqlite3 *pInMemory, const std::string & fileName, int isSave) const;
bool getVersion(std::string &) const;
private:
sqlite3 * _ppDb;
std::string _version;
bool _dbInMemory;
unsigned int _cacheSize;
int _journalMode;