0.18: Camera calibration and LaserScan Info refactoring (#324)

* Saving full camera calibration in database, added angle min/max/inc to LaserScan.

* Updated laserscan info save/load in db

* Database: added Tag table, added env_sensors field to Node

* fixed serialization/deserialization of stereo camera model

* fixed multi-calibration db saving

* fixed rebase errors

* Tango: Added saving environmental sensors option

* Memory: Save env sensors

* Tango: fixed env sensor ids

* DBViewer: show env sensors values

* DBViewer: added calibration details on tooltip

* increased package version to 0.18.0

* Fixed LaserScan copies when angleIncrement is valid

* fixed build error without OctoMap dependency

corelib/include/rtabmap/core/GPS.h

@@ -0,0 +1,78 @@
+/*
+Copyright (c) 2010-2018, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef CORELIB_INCLUDE_RTABMAP_CORE_GPS_H_
+#define CORELIB_INCLUDE_RTABMAP_CORE_GPS_H_
+
+#include <rtabmap/core/GeodeticCoords.h>
+
+namespace rtabmap {
+
+class GPS
+{
+public:
+	GPS():
+		stamp_(0.0),
+		longitude_(0.0),
+		latitude_(0.0),
+		altitude_(0.0),
+		error_(0.0),
+		bearing_(0.0)
+	{}
+	GPS(const double & stamp,
+		const double & longitude,
+		const double & latitude,
+		const double & altitude,
+		const double & error,
+		const double & bearing):
+			stamp_(stamp),
+			longitude_(longitude),
+			latitude_(latitude),
+			altitude_(altitude),
+			error_(error),
+			bearing_(bearing)
+	{}
+	const double & stamp() const {return stamp_;}
+	const double & longitude() const {return longitude_;}
+	const double & latitude() const {return latitude_;}
+	const double & altitude() const {return altitude_;}
+	const double & error() const {return error_;}
+	const double & bearing() const {return bearing_;}
+
+	GeodeticCoords toGeodeticCoords() const {return GeodeticCoords(latitude_, longitude_, altitude_);}
+private:
+	double stamp_;     // in sec
+	double longitude_; // DD
+	double latitude_;  // DD
+	double altitude_;  // m
+	double error_;     // m
+	double bearing_;   // deg (North 0->360 clockwise)
+};
+
+}
+
+#endif /* CORELIB_INCLUDE_RTABMAP_CORE_GPS_H_ */