i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-07 02:07:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

DbViewer: added frame selection when exporting poses. DBDriver: added getLaserScanInfo().

Browse Source
This commit is contained in:
matlabbe
2017-05-11 15:02:18 -04:00
parent 104c1e6945
commit 7f8ca64f64
6 changed files with 231 additions and 28 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/DBDriver.cpp
+24
View File
@@ -632,6 +632,30 @@ bool DBDriver::getCalibration(
return found;
}
bool DBDriver::getLaserScanInfo(
int signatureId,
LaserScanInfo & info) const
{
UDEBUG("");
bool found = false;
// look in the trash
_trashesMutex.lock();
if(uContains(_trashSignatures, signatureId))
{
info = _trashSignatures.at(signatureId)->sensorData().laserScanInfo();
found = true;
}
_trashesMutex.unlock();
if(!found)
{
_dbSafeAccessMutex.lock();
found = this->getLaserScanInfoQuery(signatureId, info);
_dbSafeAccessMutex.unlock();
}
return found;
}
bool DBDriver::getNodeInfo(
int signatureId,
Transform & pose,