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Added GPS class for convenience, database viewer can view GPS values and export to KML format

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matlabbe
2017-09-26 14:13:06 -04:00
parent 8759fda632
commit 9691a4f361
35 changed files with 1150 additions and 381 deletions
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corelib/src/DBReader.cpp
+3 -2
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@@ -268,7 +268,7 @@ SensorData DBReader::captureImage(CameraInfo * info)
int mapId;
Transform localTransform, pose, groundTruth;
std::vector<float> velocity;
std::vector<double> gps;
GPS gps;
_dbDriver->getNodeInfo(*_currentId, pose, mapId, weight, label, stamp, groundTruth, velocity, gps);
if(previousStamp && stamp && stamp > previousStamp)
{
@@ -323,7 +323,7 @@ SensorData DBReader::getNextData(CameraInfo * info)
double stamp;
Transform groundTruth;
std::vector<float> velocity;
std::vector<double> gps;
GPS gps;
_dbDriver->getNodeInfo(*_currentId, pose, mapId, weight, label, stamp, groundTruth, velocity, gps);
cv::Mat infMatrix = cv::Mat::eye(6,6,CV_64FC1);
@@ -437,6 +437,7 @@ SensorData DBReader::getNextData(CameraInfo * info)
data.setId(seq);
data.setStamp(stamp);
data.setGroundTruth(groundTruth);
data.setGPS(gps);
UDEBUG("Laser=%d RGB/Left=%d Depth/Right=%d, UserData=%d",
data.laserScanRaw().empty()?0:1,
data.imageRaw().empty()?0:1,