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0.14: added gps field to Node table in database (#226). Tango: saving gps if enabled, added Rename/Remove/Share on long click in Open dialog (fixed #233)

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matlabbe
2017-09-21 20:59:45 -04:00
parent 114490f01e
commit bfc393a090
22 changed files with 516 additions and 103 deletions
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corelib/src/Rtabmap.cpp
+20 -4
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@@ -761,7 +761,8 @@ void Rtabmap::exportPoses(const std::string & path, bool optimized, bool global,
std::string l;
double stamp = 0.0;
std::vector<float> v;
_memory->getNodeInfo(iter->first, o, m, w, l, stamp, g, v, true);
std::vector<double> gps;
_memory->getNodeInfo(iter->first, o, m, w, l, stamp, g, v, gps, true);
stamps.insert(std::make_pair(iter->first, stamp));
}
}
@@ -2650,7 +2651,8 @@ bool Rtabmap::process(
double stamp = 0;
Transform groundTruth;
std::vector<float> velocity;
_memory->getNodeInfo(iter->first, odomPoseLocal, mapId, weight, label, stamp, groundTruth, velocity, false);
std::vector<double> gps;
_memory->getNodeInfo(iter->first, odomPoseLocal, mapId, weight, label, stamp, groundTruth, velocity, gps, false);
signatures.insert(std::make_pair(iter->first,
Signature(iter->first,
mapId,
@@ -2663,6 +2665,10 @@ bool Rtabmap::process(
{
signatures.at(iter->first).setVelocity(velocity[0], velocity[1], velocity[2], velocity[3], velocity[4], velocity[5]);
}
if(!gps.empty())
{
signatures.at(iter->first).sensorData().setGPS(gps[0], gps[1], gps[2], gps[3], gps[4], gps[5]);
}
}
localGraphSize = (int)poses.size();
if(!lastSignatureLocalizedPose.isNull())
@@ -3340,7 +3346,8 @@ void Rtabmap::get3DMap(
double stamp = 0;
Transform groundTruth;
std::vector<float> velocity;
_memory->getNodeInfo(*iter, odomPoseLocal, mapId, weight, label, stamp, groundTruth, velocity, true);
std::vector<double> gps;
_memory->getNodeInfo(*iter, odomPoseLocal, mapId, weight, label, stamp, groundTruth, velocity, gps, true);
SensorData data = _memory->getNodeData(*iter);
data.setId(*iter);
std::multimap<int, cv::KeyPoint> words;
@@ -3363,6 +3370,10 @@ void Rtabmap::get3DMap(
{
signatures.at(*iter).setVelocity(velocity[0], velocity[1], velocity[2], velocity[3], velocity[4], velocity[5]);
}
if(!gps.empty())
{
signatures.at(*iter).sensorData().setGPS(gps[0], gps[1], gps[2], gps[3], gps[4], gps[5]);
}
}
}
else if(_memory && (_memory->getStMem().size() || _memory->getWorkingMem().size() > 1))
@@ -3415,7 +3426,8 @@ void Rtabmap::getGraph(
double stamp = 0;
Transform groundTruth;
std::vector<float> velocity;
_memory->getNodeInfo(iter->first, odomPoseLocal, mapId, weight, label, stamp, groundTruth, velocity, global);
std::vector<double> gps;
_memory->getNodeInfo(iter->first, odomPoseLocal, mapId, weight, label, stamp, groundTruth, velocity, gps, global);
signatures->insert(std::make_pair(iter->first,
Signature(iter->first,
mapId,
@@ -3443,6 +3455,10 @@ void Rtabmap::getGraph(
{
signatures->at(iter->first).setVelocity(velocity[0], velocity[1], velocity[2], velocity[3], velocity[4], velocity[5]);
}
if(!gps.empty())
{
signatures->at(iter->first).sensorData().setGPS(gps[0], gps[1], gps[2], gps[3], gps[4], gps[5]);
}
}
}
}