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0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes.

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This commit is contained in:
matlabbe
2016-08-31 12:43:53 -04:00
parent af02e02978
commit 013eba1d58
49 changed files with 3376 additions and 1259 deletions
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corelib/src/DBDriver.cpp
+10 -5
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@@ -514,7 +514,7 @@ void DBDriver::loadWords(const std::set<int> & wordIds, std::list<VisualWord *>
}
}
void DBDriver::loadNodeData(std::list<Signature *> & signatures) const
void DBDriver::loadNodeData(std::list<Signature *> & signatures, bool images, bool scan, bool userData, bool occupancyGrid) const
{
// Don't look in the trash, we assume that if we want to load
// data of a signature, it is not in thrash! Print an error if so.
@@ -530,13 +530,14 @@ void DBDriver::loadNodeData(std::list<Signature *> & signatures) const
_trashesMutex.unlock();
_dbSafeAccessMutex.lock();
this->loadNodeDataQuery(signatures);
this->loadNodeDataQuery(signatures, images, scan, userData, occupancyGrid);
_dbSafeAccessMutex.unlock();
}
void DBDriver::getNodeData(
int signatureId,
SensorData & data) const
SensorData & data,
bool images, bool scan, bool userData, bool occupancyGrid) const
{
bool found = false;
// look in the trash
@@ -544,7 +545,11 @@ void DBDriver::getNodeData(
if(uContains(_trashSignatures, signatureId))
{
const Signature * s = _trashSignatures.at(signatureId);
if(!s->sensorData().imageCompressed().empty() || !s->isSaved())
if(!s->sensorData().imageCompressed().empty() ||
!s->sensorData().laserScanCompressed().empty() ||
!s->sensorData().userDataCompressed().empty() ||
s->sensorData().gridCellSize() != 0.0f ||
!s->isSaved())
{
data = (SensorData)s->sensorData();
found = true;
@@ -558,7 +563,7 @@ void DBDriver::getNodeData(
std::list<Signature *> signatures;
Signature tmp(signatureId);
signatures.push_back(&tmp);
loadNodeDataQuery(signatures);
loadNodeDataQuery(signatures, images, scan, userData, occupancyGrid);
data = signatures.front()->sensorData();
_dbSafeAccessMutex.unlock();
}