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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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8
corelib/src/DBReader.cpp
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@@ -211,8 +211,8 @@ void DBReader::mainLoop()
std::string label;
double stamp;
int mapId;
Transform localTransform, pose;
_dbDriver->getNodeInfo(*_currentId, pose, mapId, weight, label, stamp);
Transform localTransform, pose, groundTruth;
_dbDriver->getNodeInfo(*_currentId, pose, mapId, weight, label, stamp, groundTruth);
if(previousStamp && stamp && stamp > previousStamp)
{
delay = stamp - previousStamp;
@@ -285,7 +285,8 @@ OdometryEvent DBReader::getNextData()
int weight;
std::string label;
double stamp;
_dbDriver->getNodeInfo(*_currentId, pose, mapId, weight, label, stamp);
Transform groundTruth;
_dbDriver->getNodeInfo(*_currentId, pose, mapId, weight, label, stamp, groundTruth);
cv::Mat infMatrix = cv::Mat::eye(6,6,CV_64FC1);
if(!_odometryIgnored)
@@ -369,6 +370,7 @@ OdometryEvent DBReader::getNextData()
data.uncompressData();
data.setId(seq);
data.setStamp(stamp);
data.setGroundTruth(groundTruth);
UDEBUG("Laser=%d RGB/Left=%d Depth/Right=%d, UserData=%d",
data.laserScanRaw().empty()?0:1,
data.imageRaw().empty()?0:1,