i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-06 01:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Tango #57: Global optimization / Post-processing on pause

Browse Source
This commit is contained in:
matlabbe
2016-04-03 21:35:30 -04:00
parent 30e52b785a
commit 5d9522c901
15 changed files with 621 additions and 166 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/DBDriver.cpp
+25
View File
@@ -546,6 +546,31 @@ void DBDriver::getNodeData(
}
}
bool DBDriver::getCalibration(
int signatureId,
std::vector<CameraModel> & models,
StereoCameraModel & stereoModel) const
{
bool found = false;
// look in the trash
_trashesMutex.lock();
if(uContains(_trashSignatures, signatureId))
{
models = _trashSignatures.at(signatureId)->sensorData().cameraModels();
stereoModel = _trashSignatures.at(signatureId)->sensorData().stereoCameraModel();
found = true;
}
_trashesMutex.unlock();
if(!found)
{
_dbSafeAccessMutex.lock();
found = this->getCalibrationQuery(signatureId, models, stereoModel);
_dbSafeAccessMutex.unlock();
}
return found;
}
bool DBDriver::getNodeInfo(
int signatureId,
Transform & pose,