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report: added --gt option to input external ground truth file. DBViewer: fixed crash when unchecking "Ignore intermediate nodes".

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matlabbe
2023-10-27 17:10:10 -07:00
parent 8da6ea1707
commit 08d0ef7408
5 changed files with 279 additions and 111 deletions
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2
corelib/src/Graph.cpp
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@@ -430,7 +430,7 @@ bool importPoses(
else if(format == 1 || format==10 || format==11) // rgbd-slam format
{
std::list<std::string> strList = uSplit(str);
if((strList.size() == 8 && format!=11) || (strList.size() == 9 && format==11))
if((strList.size() >= 8 && format!=11) || (strList.size() == 9 && format==11))
{
double stamp = uStr2Double(strList.front());
strList.pop_front();

2
corelib/src/Link.cpp
View File

@@ -163,7 +163,7 @@ cv::Mat Link::uncompressUserDataConst() const
Link Link::merge(const Link & link, Type outputType) const
{
UASSERT(to_ == link.from());
UASSERT_MSG(to_ == link.from(), uFormat("merging this=%d->%d to link=%d->%d", from_, to_, link.from(), link.to()).c_str());
UASSERT(outputType != Link::kUndef);
UASSERT((link.transform().isNull() && transform_.isNull()) || (!link.transform().isNull() && !transform_.isNull()));
UASSERT(infMatrix_.cols == 6 && infMatrix_.rows == 6 && infMatrix_.type() == CV_64FC1);

2
corelib/src/RegistrationVis.cpp
View File

@@ -552,7 +552,7 @@ Transform RegistrationVis::computeTransformationImpl(
}
}
UDEBUG("Pprojected %d/%ld points inside %d cameras (time=%fs)",
UDEBUG("Projected %d/%ld points inside %d cameras (time=%fs)",
inFrame, cornersTo.size(), nCameras, t.ticks());
}
}