i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Version 0.10.1: user_data is now a cv::Mat to avoid a deep copy when SensorData is copied

Browse Source
This commit is contained in:
matlabbe
2015-06-28 19:22:18 -04:00
parent 7d3a3317b7
commit 4f96fd3530
22 changed files with 516 additions and 640 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Rtabmap.cpp
+7 -12
View File
@@ -666,7 +666,7 @@ bool Rtabmap::labelLocation(int id, const std::string & label)
return false;
}
bool Rtabmap::setUserData(int id, const std::vector<unsigned char> & data)
bool Rtabmap::setUserData(int id, const cv::Mat & data)
{
if(_memory)
{
@@ -2298,15 +2298,14 @@ bool Rtabmap::process(
std::string label;
double stamp = 0;
std::vector<unsigned char> userData;
_memory->getNodeInfo(iter->first, odomPose, mapId, weight, label, stamp, userData, false);
_memory->getNodeInfo(iter->first, odomPose, mapId, weight, label, stamp, false);
signatures.insert(std::make_pair(iter->first,
Signature(iter->first,
mapId,
weight,
stamp,
label,
odomPose,
userData)));
odomPose)));
}
statistics_.setPoses(poses);
statistics_.setConstraints(constraints);
@@ -2878,8 +2877,7 @@ void Rtabmap::get3DMap(
int mapId = -1;
std::string label;
double stamp = 0;
std::vector<unsigned char> userData;
_memory->getNodeInfo(*iter, odomPose, mapId, weight, label, stamp, userData, true);
_memory->getNodeInfo(*iter, odomPose, mapId, weight, label, stamp, true);
SensorData data = _memory->getNodeData(*iter);
data.setId(*iter);
signatures.insert(std::make_pair(*iter,
@@ -2889,7 +2887,6 @@ void Rtabmap::get3DMap(
stamp,
label,
odomPose,
userData,
data)));
}
}
@@ -2940,16 +2937,14 @@ void Rtabmap::getGraph(
int mapId = -1;
std::string label;
double stamp = 0;
std::vector<unsigned char> userData;
_memory->getNodeInfo(iter->first, odomPose, mapId, weight, label, stamp, userData, global);
_memory->getNodeInfo(iter->first, odomPose, mapId, weight, label, stamp, global);
signatures->insert(std::make_pair(iter->first,
Signature(iter->first,
mapId,
weight,
stamp,
label,
odomPose,
userData)));
odomPose)));
}
}
}
@@ -3058,7 +3053,7 @@ bool Rtabmap::computePath(int targetNode, bool global)
{
// set goal to latest signature
std::string goalStr = uFormat("GOAL:%d", targetNode);
setUserData(0, uStr2Bytes(goalStr));
setUserData(0, cv::Mat(1, goalStr.size()+1, CV_8SC1, (void *)goalStr.c_str()).clone());
}
updateGoalIndex();
}