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Increased database version to 0.10.7: added scan_max_range column. Create2DMap: updated unknown cells filling depending on max laser scan range. Added util3d::frustumFiltering() to filter points in a specified frustum.

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This commit is contained in:
matlabbe
2015-09-17 22:55:45 -04:00
parent 007c192b6a
commit 55834644cf
14 changed files with 181 additions and 21 deletions
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corelib/src/DBDriverSqlite3.cpp
+28 -2
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@@ -457,7 +457,14 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures) con
sqlite3_stmt * ppStmt = 0;
std::stringstream query;
if(uStrNumCmp(_version, "0.10.1") >= 0)
if(uStrNumCmp(_version, "0.10.7") >= 0)
{
query << "SELECT image, depth, calibration, scan_max_pts, scan_max_range, scan, user_data "
<< "FROM Data "
<< "WHERE id = ?"
<<";";
}
else if(uStrNumCmp(_version, "0.10.1") >= 0)
{
query << "SELECT image, depth, calibration, scan_max_pts, scan, user_data "
<< "FROM Data "
@@ -653,6 +660,12 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures) con
laserScanMaxPts = sqlite3_column_int(ppStmt, index++);
}
float laserScanMaxRange = 0.0f;
if(uStrNumCmp(_version, "0.10.7") >= 0)
{
laserScanMaxRange = sqlite3_column_int(ppStmt, index++);
}
data = sqlite3_column_blob(ppStmt, index);
dataSize = sqlite3_column_bytes(ppStmt, index++);
//Create the laserScan
@@ -685,6 +698,7 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures) con
(*iter)->sensorData() = SensorData(
scanCompressed,
laserScanMaxPts,
laserScanMaxRange,
imageCompressed,
depthOrRightCompressed,
models,
@@ -697,6 +711,7 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures) con
(*iter)->sensorData() = SensorData(
scanCompressed,
laserScanMaxPts,
laserScanMaxRange,
imageCompressed,
depthOrRightCompressed,
stereoModel,
@@ -2360,7 +2375,11 @@ void DBDriverSqlite3::stepDepth(sqlite3_stmt * ppStmt, const SensorData & sensor
std::string DBDriverSqlite3::queryStepSensorData() const
{
UASSERT(uStrNumCmp(_version, "0.10.0") >= 0);
if(uStrNumCmp(_version, "0.10.1") >= 0)
if(uStrNumCmp(_version, "0.10.7") >= 0)
{
return "INSERT INTO Data(id, image, depth, calibration, scan_max_pts, scan_max_range, scan, user_data) VALUES(?,?,?,?,?,?,?,?);";
}
else if(uStrNumCmp(_version, "0.10.1") >= 0)
{
return "INSERT INTO Data(id, image, depth, calibration, scan_max_pts, scan, user_data) VALUES(?,?,?,?,?,?,?);";
}
@@ -2455,6 +2474,13 @@ void DBDriverSqlite3::stepSensorData(sqlite3_stmt * ppStmt,
rc = sqlite3_bind_int(ppStmt, index++, sensorData.laserScanMaxPts());
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
// scan_max_range
if(uStrNumCmp(_version, "0.10.7") >= 0)
{
rc = sqlite3_bind_double(ppStmt, index++, sensorData.laserScanMaxRange());
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error: %s", sqlite3_errmsg(_ppDb)).c_str());
}
// scan
if(!sensorData.laserScanCompressed().empty())
{