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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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This commit is contained in:
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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corelib/src/Memory.cpp
+18 -3
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@@ -2727,20 +2727,31 @@ bool Memory::rehearsalMerge(int oldId, int newId)
Transform Memory::getOdomPose(int signatureId, bool lookInDatabase) const
{
Transform pose;
Transform pose, groundTruth;
int mapId, weight;
std::string label;
double stamp;
getNodeInfo(signatureId, pose, mapId, weight, label, stamp, lookInDatabase);
getNodeInfo(signatureId, pose, mapId, weight, label, stamp, groundTruth, lookInDatabase);
return pose;
}
Transform Memory::getGroundTruthPose(int signatureId, bool lookInDatabase) const
{
Transform pose, groundTruth;
int mapId, weight;
std::string label;
double stamp;
getNodeInfo(signatureId, pose, mapId, weight, label, stamp, groundTruth, lookInDatabase);
return groundTruth;
}
bool Memory::getNodeInfo(int signatureId,
Transform & odomPose,
int & mapId,
int & weight,
std::string & label,
double & stamp,
Transform & groundTruth,
bool lookInDatabase) const
{
const Signature * s = this->getSignature(signatureId);
@@ -2751,11 +2762,12 @@ bool Memory::getNodeInfo(int signatureId,
weight = s->getWeight();
label = s->getLabel();
stamp = s->getStamp();
groundTruth = s->getGroundTruthPose();
return true;
}
else if(lookInDatabase && _dbDriver)
{
return _dbDriver->getNodeInfo(signatureId, odomPose, mapId, weight, label, stamp);
return _dbDriver->getNodeInfo(signatureId, odomPose, mapId, weight, label, stamp, groundTruth);
}
return false;
}
@@ -3289,6 +3301,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
data.stamp(),
"",
pose,
data.groundTruth(),
stereoCameraModel.isValid()?
SensorData(
ctDepth2d.getCompressedData(),
@@ -3319,6 +3332,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
data.stamp(),
"",
pose,
data.groundTruth(),
stereoCameraModel.isValid()?
SensorData(
cv::Mat(),
@@ -3339,6 +3353,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
id,
0));
}
s->setWords(words);
s->setWords3(words3D);
if(this->isRawDataKept())