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0.19.2: Refactored SensorData interface. DBReader: Fixed GPS not published. #345: both g2o and gtsam working with GPS. g2o: added gravity edges.

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matlabbe
2019-04-09 20:05:24 -04:00
parent e7b3a7735d
commit 77ae8e108a
24 changed files with 878 additions and 480 deletions
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corelib/src/DBReader.cpp
+7 -8
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@@ -423,24 +423,23 @@ SensorData DBReader::getNextData(CameraInfo * info)
{
// select one camera
int subImageWidth = data.imageRaw().cols/data.cameraModels().size();
cv::Mat image;
UASSERT(!data.imageRaw().empty() &&
data.imageRaw().cols % data.cameraModels().size() == 0 &&
_cameraIndex*subImageWidth < data.imageRaw().cols);
data.setImageRaw(
cv::Mat(data.imageRaw(),
cv::Rect(_cameraIndex*subImageWidth, 0, subImageWidth, data.imageRaw().rows)).clone());
image= cv::Mat(data.imageRaw(),
cv::Rect(_cameraIndex*subImageWidth, 0, subImageWidth, data.imageRaw().rows)).clone();
cv::Mat depth;
if(!data.depthOrRightRaw().empty())
{
UASSERT(data.depthOrRightRaw().cols % data.cameraModels().size() == 0 &&
subImageWidth == data.depthOrRightRaw().cols/(int)data.cameraModels().size() &&
_cameraIndex*subImageWidth < data.depthOrRightRaw().cols);
data.setDepthOrRightRaw(
cv::Mat(data.depthOrRightRaw(),
cv::Rect(_cameraIndex*subImageWidth, 0, subImageWidth, data.depthOrRightRaw().rows)).clone());
depth = cv::Mat(data.depthOrRightRaw(),
cv::Rect(_cameraIndex*subImageWidth, 0, subImageWidth, data.depthOrRightRaw().rows)).clone();
}
CameraModel model = data.cameraModels().at(_cameraIndex);
data.setCameraModel(model);
data.setRGBDImage(image, depth, data.cameraModels().at(_cameraIndex));
}
else
{