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Odom sensor option (#726)

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* Added Odom Sensor option

* Odom Sensor: Added pose time offset parameter

* Gui: fixed odom cloud not shown when rgb/depth doesn't have same size. Odom sensor: fixed rawImages set on non-stereo camera (because stereoRectify wrongly set to all cameras)

* Calibration: fixed rgb and depth suffixes not correctly set. OpenNI2: horizontal and vertical shifts can be also set for default calib.

* Fixed a warning

* OdomSensor: added option to use odom sensor output as ground truth (for comparison between odom sensor and rtabmap odom). Added scale factor option.

* FindG2O.cmake: updated path suffixes to find EXTERNAL csparse

* Pose3GravityFactor: fixed dllimport error on windows

* UI: Statistics panel not updated if not visible and keep stats in cache is unchecked. Added description to some timing debug logs in processStatistics().

* Removed vtkOutputWindow on Windows

* Odom Sensor: added zed sdk support

* bump version 0.20.11
This commit is contained in:
matlabbe
2021-05-23 17:21:12 -04:00
committed by GitHub
parent fe896260c5
commit 21dbeed4b7
25 changed files with 1532 additions and 728 deletions
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corelib/src/Memory.cpp
+4
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@@ -5260,6 +5260,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
s->sensorData().setLaserScan(laserScan, false);
s->sensorData().setUserData(data.userDataRaw(), false);
UDEBUG("data.groundTruth() =%s", data.groundTruth().prettyPrint().c_str());
UDEBUG("data.gps() =%s", data.gps().stamp()?"true":"false");
UDEBUG("data.envSensors() =%d", (int)data.envSensors().size());
UDEBUG("data.globalDescriptors()=%d", (int)data.globalDescriptors().size());
s->sensorData().setGroundTruth(data.groundTruth());
s->sensorData().setGPS(data.gps());
s->sensorData().setEnvSensors(data.envSensors());