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

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* 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
This commit is contained in:
matlabbe
2018-10-23 14:35:14 -04:00
committed by GitHub
parent 8701ae6de0
commit 8e99291e13
51 changed files with 2063 additions and 491 deletions
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corelib/src/DBDriver.cpp
+31 -2
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@@ -733,7 +733,8 @@ bool DBDriver::getNodeInfo(
double & stamp,
Transform & groundTruthPose,
std::vector<float> & velocity,
GPS & gps) const
GPS & gps,
EnvSensors & sensors) const
{
bool found = false;
// look in the trash
@@ -747,6 +748,7 @@ bool DBDriver::getNodeInfo(
stamp = _trashSignatures.at(signatureId)->getStamp();
groundTruthPose = _trashSignatures.at(signatureId)->getGroundTruthPose();
gps = _trashSignatures.at(signatureId)->sensorData().gps();
sensors = _trashSignatures.at(signatureId)->sensorData().envSensors();
found = true;
}
_trashesMutex.unlock();
@@ -754,7 +756,7 @@ bool DBDriver::getNodeInfo(
if(!found)
{
_dbSafeAccessMutex.lock();
found = this->getNodeInfoQuery(signatureId, pose, mapId, weight, label, stamp, groundTruthPose, velocity, gps);
found = this->getNodeInfoQuery(signatureId, pose, mapId, weight, label, stamp, groundTruthPose, velocity, gps, sensors);
_dbSafeAccessMutex.unlock();
}
return found;
@@ -790,6 +792,33 @@ void DBDriver::loadLinks(int signatureId, std::map<int, Link> & links, Link::Typ
}
}
void DBDriver::loadTags(int signatureId, std::map<int, TransformStamped> & tags) const
{
bool found = false;
// look in the trash
_trashesMutex.lock();
if(uContains(_trashSignatures, signatureId))
{
const Signature * s = _trashSignatures.at(signatureId);
UASSERT(s != 0);
for(std::map<int, TransformStamped>::const_iterator nIter = s->getTags().begin();
nIter!=s->getTags().end();
++nIter)
{
tags.insert(*nIter);
}
found = true;
}
_trashesMutex.unlock();
if(!found)
{
_dbSafeAccessMutex.lock();
this->loadTagsQuery(signatureId, tags);
_dbSafeAccessMutex.unlock();
}
}
void DBDriver::getWeight(int signatureId, int & weight) const
{
bool found = false;