i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

DBViewer: export poses: added explicit otion for ground truth if available

Browse Source
This commit is contained in:
matlabbe
2021-12-03 13:43:53 -05:00
parent baae713471
commit 12906f4490
1 changed files with 17 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
guilib/src/DatabaseViewer.cpp
View File

@@ -1910,7 +1910,6 @@ void DatabaseViewer::updateIds()
if(!gpsValues_.empty())
{
ui_->menuExport_GPS->setEnabled(true);
ui_->actionPoses_KML->setEnabled(groundTruthPoses_.empty());
}
float xMin, yMin, cellSize;
@@ -2385,6 +2384,10 @@ void DatabaseViewer::exportPoses(int format)
QStringList types;
types.push_back("Map's graph (see Graph View)");
types.push_back("Odometry");
if(!groundTruthPoses_.empty())
{
types.push_back("Ground Truth");
}
bool ok;
QString type = QInputDialog::getItem(this, tr("Which poses?"), tr("Poses:"), types, 0, false, &ok);
if(!ok)
@@ -2392,8 +2395,14 @@ void DatabaseViewer::exportPoses(int format)
return;
}
bool odometry = type.compare("Odometry") == 0;
bool groundTruth = type.compare("Ground Truth") == 0;
if(!odometry && graphes_.empty())
if(groundTruth && groundTruthPoses_.empty())
{
QMessageBox::warning(this, tr("Cannot export poses"), tr("No ground truth poses in database?!"));
return;
}
else if(!odometry && graphes_.empty())
{
this->updateGraphView();
if(graphes_.empty() || ui_->horizontalSlider_iterations->maximum() != (int)graphes_.size()-1)
@@ -2417,7 +2426,11 @@ void DatabaseViewer::exportPoses(int format)
else
{
std::map<int, rtabmap::Transform> graph;
if(odometry)
if(groundTruth)
{
graph = groundTruthPoses_;
}
else if(odometry)
{
graph = odomPoses_;
}
@@ -2517,7 +2530,7 @@ void DatabaseViewer::exportPoses(int format)
}
std::map<int, Transform> optimizedPoses;
if(ui_->checkBox_alignScansCloudsWithGroundTruth->isChecked() && !groundTruthPoses_.empty())
if(groundTruth)
{
optimizedPoses = groundTruthPoses_;
}