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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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3
tools/EurocDataset/main.cpp
View File

@@ -607,7 +607,8 @@ int main(int argc, char * argv[])
double s;
std::vector<float> v;
GPS gps;
rtabmap.getMemory()->getNodeInfo(iter->first, o, m, w, l, s, gtPose, v, gps, true);
EnvSensors sensors;
rtabmap.getMemory()->getNodeInfo(iter->first, o, m, w, l, s, gtPose, v, gps, sensors, true);
if(!gtPose.isNull())
{
groundTruth.insert(std::make_pair(iter->first, gtPose));

3
tools/KittiDataset/main.cpp
View File

@@ -589,7 +589,8 @@ int main(int argc, char * argv[])
double s;
std::vector<float> v;
GPS gps;
rtabmap.getMemory()->getNodeInfo(iter->first, o, m, w, l, s, gtPose, v, gps, true);
EnvSensors sensors;
rtabmap.getMemory()->getNodeInfo(iter->first, o, m, w, l, s, gtPose, v, gps, sensors, true);
if(!gtPose.isNull())
{
groundTruth.insert(std::make_pair(iter->first, gtPose));

3
tools/Report/main.cpp
View File

@@ -202,7 +202,8 @@ int main(int argc, char * argv[])
std::string l;
double s;
std::vector<float> v;
if(driver->getNodeInfo(*iter, p, m, w, l, s, gt, v, gps))
EnvSensors sensors;
if(driver->getNodeInfo(*iter, p, m, w, l, s, gt, v, gps, sensors))
{
odomPoses.insert(std::make_pair(*iter, p));
if(!gt.isNull())

3
tools/RgbdDataset/main.cpp
View File

@@ -395,7 +395,8 @@ int main(int argc, char * argv[])
double s;
std::vector<float> v;
GPS gps;
rtabmap.getMemory()->getNodeInfo(iter->first, o, m, w, l, s, gtPose, v, gps, true);
EnvSensors sensors;
rtabmap.getMemory()->getNodeInfo(iter->first, o, m, w, l, s, gtPose, v, gps, sensors, true);
if(!gtPose.isNull())
{
groundTruth.insert(std::make_pair(iter->first, gtPose));