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0.13.0 Database: Added velocity field to Node table, renamed Map_Node_Word table to Feature, added information_matrix field to Link table (replacing rot_variance and trans_variance). Added graph::calcKittiSequenceErrors().Added "Mem/IntermediateNodeDataKept" parameter (default false). Updated all interfaces using rotVariance and transVariance values with covariance matrix instead. g2o SBA: always use covariance in links. kitti-dataset tool: added --disp option and kitti statistics are shown at the end. StatsToolBox: units can have "/".

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matlabbe
2017-05-04 16:13:45 -04:00
parent 414e3555a5
commit 104c1e6945
45 changed files with 1539 additions and 1148 deletions
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5
corelib/src/DBDriver.cpp
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@@ -639,7 +639,8 @@ bool DBDriver::getNodeInfo(
int & weight,
std::string & label,
double & stamp,
Transform & groundTruthPose) const
Transform & groundTruthPose,
std::vector<float> & velocity) const
{
bool found = false;
// look in the trash
@@ -659,7 +660,7 @@ bool DBDriver::getNodeInfo(
if(!found)
{
_dbSafeAccessMutex.lock();
found = this->getNodeInfoQuery(signatureId, pose, mapId, weight, label, stamp, groundTruthPose);
found = this->getNodeInfoQuery(signatureId, pose, mapId, weight, label, stamp, groundTruthPose, velocity);
_dbSafeAccessMutex.unlock();
}
return found;