world_db_model: tf_recorder_plugin | world_db_bag_player | world_db_core | world_db_detector_lib | world_db_pcl_detectors | world_db_table_highlevel
Stack Summary
world_db_model is a framework for creating and maintaining a consistent and persistent state of the world. The idea is to record raw sensor data in bags and provide the results an interface to spatially query detector results. The results of detector plug-ins are calculated on demand and cached in an sqlite3 database. world_db_model provides a core node that contains the basic functionality to load plug-ins, record data into bags and play them back and store detection results. Further, it provides a plug-in for recording the tf-tree which is essential for spatial indexing in the bags, and a library for the easy creation of detector plug-ins.
- Author: Maintained by Lorenz Moesenlechner
- License: BSD
- Repository: wg-ros-pkg
- Source: svn https://code.ros.org/svn/wg-ros-pkg/branches/trunk_cturtle/stacks/world_db_model
Documentation
The world_db_model stack currently consists of:
world_db_core: core functionality for recording and playing back raw sensor data, storing data in the database by using model_database and for loading and unloading plug-ins using pluginlib.
tf_recorder_plugin: a plug-in for creating a persistent long-term storage of tf transformations. It is an important dependency of all detector plug-ins since it provides the core functionality for resolving spatial requests to time intervals at which data at a specific location has be recorded at.
world_db_detector_lib: a C++ template library that provides generic implementations of the most important code patterns used when implementing detector plug-ins.
Various plug-ins that demonstrate common use patterns of world_db_model
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