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fixed #401

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This commit is contained in:
matlabbe
2019-05-30 10:04:40 -04:00
parent 5b5b594f4a
commit cd6e51a968
3 changed files with 14 additions and 13 deletions
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11
corelib/src/DBDriver.cpp
View File

@@ -741,14 +741,15 @@ bool DBDriver::getNodeInfo(
_trashesMutex.lock();
if(uContains(_trashSignatures, signatureId))
{
pose = _trashSignatures.at(signatureId)->getPose();
pose = _trashSignatures.at(signatureId)->getPose().clone();
mapId = _trashSignatures.at(signatureId)->mapId();
weight = _trashSignatures.at(signatureId)->getWeight();
label = _trashSignatures.at(signatureId)->getLabel();
label = std::string(_trashSignatures.at(signatureId)->getLabel());
stamp = _trashSignatures.at(signatureId)->getStamp();
groundTruthPose = _trashSignatures.at(signatureId)->getGroundTruthPose();
gps = _trashSignatures.at(signatureId)->sensorData().gps();
sensors = _trashSignatures.at(signatureId)->sensorData().envSensors();
groundTruthPose = _trashSignatures.at(signatureId)->getGroundTruthPose().clone();
velocity = std::vector<float>(_trashSignatures.at(signatureId)->getVelocity());
gps = GPS(_trashSignatures.at(signatureId)->sensorData().gps());
sensors = EnvSensors(_trashSignatures.at(signatureId)->sensorData().envSensors());
found = true;
}
_trashesMutex.unlock();

12
corelib/src/Memory.cpp
View File

@@ -3761,15 +3761,15 @@ bool Memory::getNodeInfo(int signatureId,
const Signature * s = this->getSignature(signatureId);
if(s)
{
odomPose = s->getPose();
odomPose = s->getPose().clone();
mapId = s->mapId();
weight = s->getWeight();
label = s->getLabel();
label = std::string(s->getLabel());
stamp = s->getStamp();
groundTruth = s->getGroundTruthPose();
velocity = s->getVelocity();
gps = s->sensorData().gps();
sensors = s->sensorData().envSensors();
groundTruth = s->getGroundTruthPose().clone();
velocity = std::vector<float>(s->getVelocity());
gps = GPS(s->sensorData().gps());
sensors = EnvSensors(s->sensorData().envSensors());
return true;
}
else if(lookInDatabase && _dbDriver)

4
corelib/src/Rtabmap.cpp
View File

@@ -2708,7 +2708,7 @@ bool Rtabmap::process(
targetRotation = Transform(0,0,0,roll,pitch,targetRotation.theta());
Transform error = transform.rotation().inverse() * signature->getPose().rotation().inverse() * targetRotation;
transform *= error;
u = signature->getPose() * transform;
}
Transform up = u * oldPose.inverse();
@@ -4245,7 +4245,7 @@ void Rtabmap::get3DMap(
signatures.at(*iter).setWords(words);
signatures.at(*iter).setWords3(words3);
signatures.at(*iter).setWordsDescriptors(wordsDescriptors);
if(!velocity.empty())
if(velocity.size()==6)
{
signatures.at(*iter).setVelocity(velocity[0], velocity[1], velocity[2], velocity[3], velocity[4], velocity[5]);
}