i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-05 01:07:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

Version 0.8.8: added "user_data" field in database. Added WifiMapping example. Fixed FATAL error when initializing rtabmap with no database.

Browse Source
This commit is contained in:
Mathieu Labbe
2015-03-25 13:31:12 -04:00
parent 2be511813e
commit 186dc60a49
32 changed files with 1064 additions and 141 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/SensorData.cpp
+12 -7
View File
@@ -36,7 +36,6 @@ namespace rtabmap
* An id is automatically generated if id=0.
*/
SensorData::SensorData() :
_image(cv::Mat()),
_id(0),
_stamp(0.0),
_fx(0.0f),
@@ -51,7 +50,8 @@ SensorData::SensorData() :
SensorData::SensorData(const cv::Mat & image,
int id,
double stamp) :
double stamp,
const std::vector<unsigned char> & userData) :
_image(image),
_id(id),
_stamp(stamp),
@@ -61,7 +61,8 @@ SensorData::SensorData(const cv::Mat & image,
_cy(0.0f),
_localTransform(Transform::getIdentity()),
_poseRotVariance(1.0f),
_poseTransVariance(1.0f)
_poseTransVariance(1.0f),
_userData(userData)
{
UASSERT(image.type() == CV_8UC1 || // Mono
image.type() == CV_8UC3); // RGB
@@ -79,7 +80,8 @@ SensorData::SensorData(const cv::Mat & image,
float poseRotVariance,
float poseTransVariance,
int id,
double stamp) :
double stamp,
const std::vector<unsigned char> & userData) :
_image(image),
_id(id),
_stamp(stamp),
@@ -91,7 +93,8 @@ SensorData::SensorData(const cv::Mat & image,
_pose(pose),
_localTransform(localTransform),
_poseRotVariance(poseRotVariance),
_poseTransVariance(poseTransVariance)
_poseTransVariance(poseTransVariance),
_userData(userData)
{
UASSERT(image.type() == CV_8UC1 || // Mono
image.type() == CV_8UC3); // RGB
@@ -115,7 +118,8 @@ SensorData::SensorData(const cv::Mat & laserScan,
float poseRotVariance,
float poseTransVariance,
int id,
double stamp) :
double stamp,
const std::vector<unsigned char> & userData) :
_image(image),
_id(id),
_stamp(stamp),
@@ -128,7 +132,8 @@ SensorData::SensorData(const cv::Mat & laserScan,
_pose(pose),
_localTransform(localTransform),
_poseRotVariance(poseRotVariance),
_poseTransVariance(poseTransVariance)
_poseTransVariance(poseTransVariance),
_userData(userData)
{
UASSERT(_laserScan.empty() || _laserScan.type() == CV_32FC2);
UASSERT(image.type() == CV_8UC1 || // Mono