i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-07 02:07:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

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.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/resources/DatabaseSchema.sql.in
+11 -5
View File
@@ -21,9 +21,7 @@ CREATE TABLE Node (
pose BLOB,
ground_truth_pose BLOB,
label TEXT,
obstacle_cells BLOB,
ground_cells BLOB,
cell_size FLOAT,
time_enter DATE,
PRIMARY KEY (id)
);
@@ -33,9 +31,17 @@ CREATE TABLE Data (
image BLOB, -- compressed image (Grayscale or RGB)
depth BLOB, -- compressed image (Depth or Right image)
calibration BLOB, -- fx, fy, cx, cy, [baseline,] width, height, local_transform
scan BLOB, -- compressed data (Laser scan)
scan_max_pts INTEGER, -- Laser scan max points
scan_max_range FLOAT, -- Laser max range
scan_info BLOB, -- scan_max_pts, scan_max_range, local_transform
ground_cells BLOB, -- compressed data (occupancy grid)
obstacle_cells BLOB, -- compressed data (occupancy grid)
cell_size FLOAT,
view_point_x FLOAT,
view_point_y FLOAT,
view_point_z FLOAT,
user_data BLOB, -- compressed data (User data)
time_enter DATE,
PRIMARY KEY (id)