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0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).

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matlabbe
2016-01-07 19:39:21 -05:00
parent b8c9f32fd8
commit e7565db5d0
22 changed files with 283 additions and 132 deletions
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4
corelib/include/rtabmap/core/DBDriver.h
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@@ -119,7 +119,7 @@ public:
// Specific queries...
void loadNodeData(std::list<Signature *> & signatures) const;
void getNodeData(int signatureId, SensorData & data) const;
bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp) const;
bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose) const;
void loadLinks(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const;
void getWeight(int signatureId, int & weight) const;
void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false, bool ignoreBadSignatures = false) const;
@@ -169,7 +169,7 @@ private:
virtual void loadLinksQuery(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const = 0;
virtual void loadNodeDataQuery(std::list<Signature *> & signatures) const = 0;
virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp) const = 0;
virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose) const = 0;
virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const = 0;
virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks) const = 0;
virtual void getLastIdQuery(const std::string & tableName, int & id) const = 0;

2
corelib/include/rtabmap/core/Memory.h
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@@ -137,12 +137,14 @@ public:
std::string getDatabaseVersion() const;
double getDbSavingTime() const;
Transform getOdomPose(int signatureId, bool lookInDatabase = false) const;
Transform getGroundTruthPose(int signatureId, bool lookInDatabase = false) const;
bool getNodeInfo(int signatureId,
Transform & odomPose,
int & mapId,
int & weight,
std::string & label,
double & stamp,
Transform & groundTruth,
bool lookInDatabase = false) const;
cv::Mat getImageCompressed(int signatureId) const;
SensorData getNodeData(int nodeId, bool uncompressedData = false, bool keepLoadedDataInMemory = true);

4
corelib/include/rtabmap/core/Signature.h
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@@ -56,6 +56,7 @@ public:
double stamp = 0.0,
const std::string & label = std::string(),
const Transform & pose = Transform(),
const Transform & groundTruthPose = Transform(),
const SensorData & sensorData = SensorData());
Signature(const SensorData & data);
virtual ~Signature();
@@ -110,10 +111,12 @@ public:
//metric stuff
void setWords3(const std::multimap<int, cv::Point3f> & words3) {_words3 = words3;}
void setPose(const Transform & pose) {_pose = pose;}
void setGroundTruthPose(const Transform & pose) {_groundTruthPose = pose;}
const std::multimap<int, cv::Point3f> & getWords3() const {return _words3;}
const Transform & getPose() const {return _pose;}
cv::Mat getPoseCovariance() const;
const Transform & getGroundTruthPose() const {return _groundTruthPose;}
SensorData & sensorData() {return _sensorData;}
const SensorData & sensorData() const {return _sensorData;}
@@ -138,6 +141,7 @@ private:
bool _enabled;
Transform _pose;
Transform _groundTruthPose;
SensorData _sensorData;
};