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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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This commit is contained in:
matlabbe
2017-05-11 15:02:18 -04:00
parent 414e3555a5
commit 104c1e6945
45 changed files with 1539 additions and 1148 deletions
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corelib/src/resources/DatabaseSchema.sql.in
+9 -9
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@@ -18,8 +18,9 @@ CREATE TABLE Node (
map_id INTEGER NOT NULL,
weight INTEGER,
stamp FLOAT,
pose BLOB,
ground_truth_pose BLOB,
pose BLOB, -- 3x4 float
ground_truth_pose BLOB, -- 3x4 float
velocity BLOB, -- 6 float (vx,vy,vz,vroll,vpitch,vyaw) m/s and rad/s
label TEXT,
time_enter DATE,
@@ -51,9 +52,8 @@ CREATE TABLE Link (
from_id INTEGER NOT NULL,
to_id INTEGER NOT NULL,
type INTEGER NOT NULL, -- neighbor=0, loop=1, child=2
rot_variance FLOAT NOT NULL,
trans_variance FLOAT NOT NULL,
transform BLOB,
information_matrix BLOB NOT NULL, -- 6x6 double (inverse covariance)
transform BLOB, -- 3x4 float
user_data BLOB, -- compressed data (User data)
FOREIGN KEY (from_id) REFERENCES Node(id),
FOREIGN KEY (to_id) REFERENCES Node(id)
@@ -68,7 +68,7 @@ CREATE TABLE Word (
PRIMARY KEY (id)
);
CREATE TABLE Map_Node_Word (
CREATE TABLE Feature (
node_id INTEGER NOT NULL,
word_id INTEGER NOT NULL,
pos_x FLOAT NOT NULL,
@@ -111,10 +111,10 @@ CREATE TABLE Admin (
-- *******************************************************************
-- TRIGGERS
-- *******************************************************************
CREATE TRIGGER insert_Map_Node_Word BEFORE INSERT ON Map_Node_Word
CREATE TRIGGER insert_Feature BEFORE INSERT ON Feature
WHEN NOT EXISTS (SELECT Node.id FROM Node WHERE Node.id = NEW.node_id)
BEGIN
SELECT RAISE(ABORT, 'Foreign key constraint failed in Map_Node_Word table');
SELECT RAISE(ABORT, 'Foreign key constraint failed in Feature table');
END;
-- Creating a trigger for time_enter
@@ -137,7 +137,7 @@ END;
-- INDEXES
-- *******************************************************************
CREATE UNIQUE INDEX IDX_Node_id on Node (id);
CREATE INDEX IDX_Map_Node_Word_node_id on Map_Node_Word (node_id);
CREATE INDEX IDX_Feature_node_id on Feature (node_id);
CREATE INDEX IDX_Link_from_id on Link (from_id);
CREATE UNIQUE INDEX IDX_node_label on Node (label);
CREATE UNIQUE INDEX IDX_Statistics_id on Statistics (id);