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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/Rtabmap.cpp
+11 -4
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@@ -824,7 +824,8 @@ void Rtabmap::exportPoses(const std::string & path, bool optimized, bool global,
double stamp = 0.0;
std::vector<float> v;
GPS gps;
_memory->getNodeInfo(iter->first, o, m, w, l, stamp, g, v, gps, true);
EnvSensors sensors;
_memory->getNodeInfo(iter->first, o, m, w, l, stamp, g, v, gps, sensors, true);
stamps.insert(std::make_pair(iter->first, stamp));
}
}
@@ -2928,7 +2929,8 @@ bool Rtabmap::process(
Transform groundTruth;
std::vector<float> velocity;
GPS gps;
_memory->getNodeInfo(iter->first, odomPoseLocal, mapId, weight, label, stamp, groundTruth, velocity, gps, false);
EnvSensors sensors;
_memory->getNodeInfo(iter->first, odomPoseLocal, mapId, weight, label, stamp, groundTruth, velocity, gps, sensors, false);
signatures.insert(std::make_pair(iter->first,
Signature(iter->first,
mapId,
@@ -2942,6 +2944,7 @@ bool Rtabmap::process(
signatures.at(iter->first).setVelocity(velocity[0], velocity[1], velocity[2], velocity[3], velocity[4], velocity[5]);
}
signatures.at(iter->first).sensorData().setGPS(gps);
signatures.at(iter->first).sensorData().setEnvSensors(sensors);
if(_computeRMSE && !groundTruth.isNull())
{
groundTruths.insert(std::make_pair(iter->first, groundTruth));
@@ -3801,7 +3804,8 @@ void Rtabmap::get3DMap(
Transform groundTruth;
std::vector<float> velocity;
GPS gps;
_memory->getNodeInfo(*iter, odomPoseLocal, mapId, weight, label, stamp, groundTruth, velocity, gps, true);
EnvSensors sensors;
_memory->getNodeInfo(*iter, odomPoseLocal, mapId, weight, label, stamp, groundTruth, velocity, gps, sensors, true);
SensorData data = _memory->getNodeData(*iter);
data.setId(*iter);
std::multimap<int, cv::KeyPoint> words;
@@ -3825,6 +3829,7 @@ void Rtabmap::get3DMap(
signatures.at(*iter).setVelocity(velocity[0], velocity[1], velocity[2], velocity[3], velocity[4], velocity[5]);
}
signatures.at(*iter).sensorData().setGPS(gps);
signatures.at(*iter).sensorData().setEnvSensors(sensors);
}
}
else if(_memory && (_memory->getStMem().size() || _memory->getWorkingMem().size() > 1))
@@ -3879,7 +3884,8 @@ void Rtabmap::getGraph(
Transform groundTruth;
std::vector<float> velocity;
GPS gps;
_memory->getNodeInfo(iter->first, odomPoseLocal, mapId, weight, label, stamp, groundTruth, velocity, gps, global);
EnvSensors sensors;
_memory->getNodeInfo(iter->first, odomPoseLocal, mapId, weight, label, stamp, groundTruth, velocity, gps, sensors, global);
signatures->insert(std::make_pair(iter->first,
Signature(iter->first,
mapId,
@@ -3908,6 +3914,7 @@ void Rtabmap::getGraph(
signatures->at(iter->first).setVelocity(velocity[0], velocity[1], velocity[2], velocity[3], velocity[4], velocity[5]);
}
signatures->at(iter->first).sensorData().setGPS(gps);
signatures->at(iter->first).sensorData().setEnvSensors(sensors);
}
}
}