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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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13
corelib/src/CameraRGB.cpp
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@@ -295,7 +295,6 @@ bool CameraImages::init(const std::string & calibrationFolder, const std::string
}
std::vector<double> values = uValues(stamps);
Transform firstPoseInv;
for(std::list<double>::iterator ster=stamps_.begin(); ster!=stamps_.end(); ++ster)
{
Transform pose; // null transform
@@ -323,17 +322,9 @@ bool CameraImages::init(const std::string & calibrationFolder, const std::string
}
}
}
if(!pose.isNull())
if(pose.isNull())
{
if(firstPoseInv.isNull())
{
firstPoseInv = pose.inverse();
pose.setIdentity();
}
else
{
pose = firstPoseInv * pose;
}
UWARN("Ground truth pose not found for stamp %f", *ster);
}
groundTruth_.push_back(pose);
}