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0.14: added gps field to Node table in database (#226). Tango: saving gps if enabled, added Rename/Remove/Share on long click in Open dialog (fixed #233)

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matlabbe
2017-09-21 20:59:45 -04:00
parent 114490f01e
commit bfc393a090
22 changed files with 516 additions and 103 deletions
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corelib/include/rtabmap/core/DBDriver.h
+2 -2
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@@ -159,7 +159,7 @@ public:
void getNodeData(int signatureId, SensorData & data, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
bool getCalibration(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const;
bool getLaserScanInfo(int signatureId, LaserScanInfo & info) const;
bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity) const;
bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, std::vector<double> & gps) 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;
@@ -253,7 +253,7 @@ private:
virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const = 0;
virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const = 0;
virtual bool getLaserScanInfoQuery(int signatureId, LaserScanInfo & info) const = 0;
virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity) const = 0;
virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, std::vector<double> & gps) 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;
corelib/include/rtabmap/core/Memory.h
+1
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@@ -177,6 +177,7 @@ public:
double & stamp,
Transform & groundTruth,
std::vector<float> & velocity,
std::vector<double> & gps,
bool lookInDatabase = false) const;
cv::Mat getImageCompressed(int signatureId) const;
SensorData getNodeData(int nodeId, bool uncompressedData = false) const;
corelib/include/rtabmap/core/SensorData.h
+14
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@@ -225,6 +225,18 @@ public:
const Transform & globalPose() const {return globalPose_;}
const cv::Mat & globalPoseCovariance() const {return globalPoseCovariance_;}
void setGPS(double stamp, double longitude, double latitude, double altitude, double accuracy, double bearing)
{
gps_ = std::vector<double>(6,0.0);
gps_[0]=stamp;
gps_[1]=longitude;
gps_[2]=latitude;
gps_[3]=altitude;
gps_[4]=accuracy;
gps_[5]=bearing;
}
const std::vector<double> & gps() const {return gps_;}
long getMemoryUsed() const; // Return memory usage in Bytes
private:
@@ -265,6 +277,8 @@ private:
Transform globalPose_;
cv::Mat globalPoseCovariance_; // 6x6 double
std::vector<double> gps_;
};
}