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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/src/Memory.cpp
+11 -3
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@@ -3051,7 +3051,8 @@ Transform Memory::getOdomPose(int signatureId, bool lookInDatabase) const
std::string label;
double stamp;
std::vector<float> velocity;
getNodeInfo(signatureId, pose, mapId, weight, label, stamp, groundTruth, velocity, lookInDatabase);
std::vector<double> gps;
getNodeInfo(signatureId, pose, mapId, weight, label, stamp, groundTruth, velocity, gps, lookInDatabase);
return pose;
}
@@ -3062,7 +3063,8 @@ Transform Memory::getGroundTruthPose(int signatureId, bool lookInDatabase) const
std::string label;
double stamp;
std::vector<float> velocity;
getNodeInfo(signatureId, pose, mapId, weight, label, stamp, groundTruth, velocity, lookInDatabase);
std::vector<double> gps;
getNodeInfo(signatureId, pose, mapId, weight, label, stamp, groundTruth, velocity, gps, lookInDatabase);
return groundTruth;
}
@@ -3074,6 +3076,7 @@ bool Memory::getNodeInfo(int signatureId,
double & stamp,
Transform & groundTruth,
std::vector<float> & velocity,
std::vector<double> & gps,
bool lookInDatabase) const
{
const Signature * s = this->getSignature(signatureId);
@@ -3086,11 +3089,12 @@ bool Memory::getNodeInfo(int signatureId,
stamp = s->getStamp();
groundTruth = s->getGroundTruthPose();
velocity = s->getVelocity();
gps = s->sensorData().gps();
return true;
}
else if(lookInDatabase && _dbDriver)
{
return _dbDriver->getNodeInfo(signatureId, odomPose, mapId, weight, label, stamp, groundTruth, velocity);
return _dbDriver->getNodeInfo(signatureId, odomPose, mapId, weight, label, stamp, groundTruth, velocity, gps);
}
return false;
}
@@ -3963,6 +3967,10 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
s->sensorData().setUserDataRaw(data.userDataRaw());
s->sensorData().setGroundTruth(data.groundTruth());
if(!data.gps().empty())
{
s->sensorData().setGPS(data.gps()[0], data.gps()[1], data.gps()[2], data.gps()[3], data.gps()[4], data.gps()[5]);
}
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemCompressing_data(), t*1000.0f);