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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/SensorData.cpp
+16 -3
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@@ -632,7 +632,14 @@ void SensorData::uncompressData(
_laserScanRaw = *laserScanRaw;
if(_laserScanCompressed.format() == LaserScan::kUnknown)
{
_laserScanCompressed = LaserScan(_laserScanCompressed.data(), _laserScanCompressed.maxPoints(), _laserScanCompressed.maxRange(), _laserScanRaw.format(), _laserScanCompressed.localTransform());
if(_laserScanCompressed.angleIncrement() > 0.0f)
{
_laserScanCompressed = LaserScan(_laserScanCompressed.data(), _laserScanRaw.format(), _laserScanCompressed.rangeMin(), _laserScanCompressed.rangeMax(), _laserScanCompressed.angleMin(), _laserScanCompressed.angleMax(), _laserScanCompressed.angleIncrement(), _laserScanCompressed.localTransform());
}
else
{
_laserScanCompressed = LaserScan(_laserScanCompressed.data(), _laserScanCompressed.maxPoints(), _laserScanCompressed.rangeMax(), _laserScanRaw.format(), _laserScanCompressed.localTransform());
}
}
}
if(userDataRaw && !userDataRaw->empty() && _userDataRaw.empty())
@@ -780,8 +787,14 @@ void SensorData::uncompressDataConst(
}
if(laserScanRaw && laserScanRaw->isEmpty())
{
*laserScanRaw = LaserScan(ctLaserScan.getUncompressedData(), _laserScanCompressed.maxPoints(), _laserScanCompressed.maxRange(), _laserScanCompressed.format(), _laserScanCompressed.localTransform());
if(_laserScanCompressed.angleIncrement() > 0.0f)
{
*laserScanRaw = LaserScan(ctLaserScan.getUncompressedData(), _laserScanCompressed.format(), _laserScanCompressed.rangeMin(), _laserScanCompressed.rangeMax(), _laserScanCompressed.angleMin(), _laserScanCompressed.angleMax(), _laserScanCompressed.angleIncrement(), _laserScanCompressed.localTransform());
}
else
{
*laserScanRaw = LaserScan(ctLaserScan.getUncompressedData(), _laserScanCompressed.maxPoints(), _laserScanCompressed.rangeMax(), _laserScanCompressed.format(), _laserScanCompressed.localTransform());
}
if(laserScanRaw->isEmpty())
{
if(_laserScanCompressed.isEmpty())