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Integrated GPS into likelihood computation

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This commit is contained in:
matlabbe
2018-10-22 12:31:07 -04:00
parent 93a3a667c8
commit 3bc8fc4c11
10 changed files with 215 additions and 13 deletions
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4
corelib/include/rtabmap/core/GeodeticCoords.h
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@@ -70,6 +70,10 @@ public:
void fromENU_WGS84(const cv::Point3d & enu, const GeodeticCoords & origin);
static cv::Point3d ENU_WGS84ToGeocentric_WGS84(const cv::Point3d & enu, const GeodeticCoords & origin);
static cv::Point3d Geocentric_WGS84ToENU_WGS84(
const cv::Point3d & geocentric_WGS84,
const cv::Point3d & origin_geocentric_WGS84,
const GeodeticCoords & origin);
private:
double latitude_; // deg

2
corelib/include/rtabmap/core/Memory.h
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@@ -161,6 +161,7 @@ public:
int getSignatureIdByLabel(const std::string & label, bool lookInDatabase = true) const;
bool labelSignature(int id, const std::string & label);
std::map<int, std::string> getAllLabels() const;
/**
* Set user data. Detect automatically if raw or compressed. If raw, the data is
* compressed too. A matrix of type CV_8UC1 with 1 row is considered as compressed.
@@ -175,6 +176,7 @@ public:
double getDbSavingTime() const;
Transform getOdomPose(int signatureId, bool lookInDatabase = false) const;
Transform getGroundTruthPose(int signatureId, bool lookInDatabase = false) const;
void getGPS(int id, GPS & gps, Transform & offsetENU, bool lookInDatabase, int maxGraphDepth = 0) const;
bool getNodeInfo(int signatureId,
Transform & odomPose,
int & mapId,

2
corelib/include/rtabmap/core/Rtabmap.h
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@@ -292,6 +292,8 @@ private:
Transform _mapCorrectionBackup; // used in localization mode when odom is lost
Transform _lastLocalizationPose; // Corrected odometry pose. In mapping mode, this corresponds to last pose return by getLocalOptimizedPoses().
int _lastLocalizationNodeId; // for localization mode
std::map<int, std::pair<cv::Point3d, Transform> > _gpsGeocentricCache;
bool _currentSessionHasGPS;
// Planning stuff
int _pathStatus;