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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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6
corelib/src/DBDriver.cpp
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@@ -552,7 +552,8 @@ bool DBDriver::getNodeInfo(
int & mapId,
int & weight,
std::string & label,
double & stamp) const
double & stamp,
Transform & groundTruthPose) const
{
bool found = false;
// look in the trash
@@ -564,6 +565,7 @@ bool DBDriver::getNodeInfo(
weight = _trashSignatures.at(signatureId)->getWeight();
label = _trashSignatures.at(signatureId)->getLabel();
stamp = _trashSignatures.at(signatureId)->getStamp();
groundTruthPose = _trashSignatures.at(signatureId)->getGroundTruthPose();
found = true;
}
_trashesMutex.unlock();
@@ -571,7 +573,7 @@ bool DBDriver::getNodeInfo(
if(!found)
{
_dbSafeAccessMutex.lock();
found = this->getNodeInfoQuery(signatureId, pose, mapId, weight, label, stamp);
found = this->getNodeInfoQuery(signatureId, pose, mapId, weight, label, stamp, groundTruthPose);
_dbSafeAccessMutex.unlock();
}
return found;