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

corelib/src/resources/DatabaseSchema.sql.in

@@ -20,26 +20,28 @@ CREATE TABLE Node (
 	stamp FLOAT,
 	pose BLOB,
 	label TEXT,
+	user_data BLOB,
 	time_enter DATE,
 	PRIMARY KEY (id)
 );
 
 CREATE TABLE Image (
 	id INTEGER NOT NULL,
-	data BLOB,
+	data BLOB,       -- compressed image (RGB)
 	time_enter DATE,
 	PRIMARY KEY (id)
 );
 
+-- TODO: Merge "Image" and "Depth" tables to "Data" table.
 CREATE TABLE Depth (
 	id INTEGER NOT NULL,
-	data BLOB,   -- CV_32FC1, width = Image/raw_width, height=Image/raw_height
+	data BLOB,       -- compressed image (Depth or Right image)
 	fx FLOAT,
-	fy FLOAT,
+	fy FLOAT,        -- baseline if stereo
 	cx FLOAT,
 	cy FLOAT,
 	local_transform BLOB,
-	data2d BLOB,   -- CV_32FC2, Example: Laser scan
+	data2d BLOB,     -- compressed data (Laser scan)
 	time_enter DATE,
 	PRIMARY KEY (id)
 );