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Added special export poses for the KITTI dataset

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This commit is contained in:
matlabbe
2015-08-25 19:36:48 -04:00
parent dbc03024ef
commit 12bd8a1720
5 changed files with 35 additions and 12 deletions
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3
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -128,8 +128,9 @@ private slots:
void notifyNoMoreImages();
void printLoopClosureIds();
void generateGraphDOT();
void exportPosesKITTI();
void exportPosesRaw();
void exportPosesRGBDSLAM();
void exportPosesKITTI();
void exportPosesTORO();
void postProcessing();
void deleteMemory();

17
guilib/src/MainWindow.cpp
View File

@@ -304,8 +304,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionAbout, SIGNAL(triggered()), _aboutDialog , SLOT(exec()));
connect(_ui->actionPrint_loop_closure_IDs_to_console, SIGNAL(triggered()), this, SLOT(printLoopClosureIds()));
connect(_ui->actionGenerate_map, SIGNAL(triggered()), this , SLOT(generateGraphDOT()));
connect(_ui->actionKITTI_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesKITTI()));
connect(_ui->actionRaw_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesRaw()));
connect(_ui->actionRGBD_SLAM_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesRGBDSLAM()));
connect(_ui->actionKITTI_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesKITTI()));
connect(_ui->actionTORO_graph, SIGNAL(triggered()), this , SLOT(exportPosesTORO()));
connect(_ui->actionDelete_memory, SIGNAL(triggered()), this , SLOT(deleteMemory()));
connect(_ui->actionDownload_all_clouds, SIGNAL(triggered()), this , SLOT(downloadAllClouds()));
@@ -3155,7 +3156,7 @@ void MainWindow::generateGraphDOT()
}
}
void MainWindow::exportPosesKITTI()
void MainWindow::exportPosesRaw()
{
exportPoses(0);
}
@@ -3163,10 +3164,14 @@ void MainWindow::exportPosesRGBDSLAM()
{
exportPoses(1);
}
void MainWindow::exportPosesTORO()
void MainWindow::exportPosesKITTI()
{
exportPoses(2);
}
void MainWindow::exportPosesTORO()
{
exportPoses(3);
}
void MainWindow::exportPoses(int format)
{
@@ -3204,14 +3209,14 @@ void MainWindow::exportPoses(int format)
if(_exportPosesFileName[format].isEmpty())
{
_exportPosesFileName[format] = _preferencesDialog->getWorkingDirectory() + QDir::separator() + (format==2?"toro.graph":"poses.txt");
_exportPosesFileName[format] = _preferencesDialog->getWorkingDirectory() + QDir::separator() + (format==3?"toro.graph":"poses.txt");
}
QString path = QFileDialog::getSaveFileName(
this,
tr("Save File"),
_exportPosesFileName[format],
format == 2?tr("TORO file (*.graph)"):tr("Text file (*.txt)"));
format == 3?tr("TORO file (*.graph)"):tr("Text file (*.txt)"));
if(!path.isEmpty())
{
@@ -3222,7 +3227,7 @@ void MainWindow::exportPoses(int format)
_ui->dockWidget_console->show();
_ui->widget_console->appendMsg(
QString("%1 saved (global=%2, optimized=%3)... %4")
.arg(format == 2?"TORO graph":"Poses")
.arg(format == 3?"TORO graph":"Poses")
.arg(global?"true":"false")
.arg(optimized?"true":"false")
.arg(_exportPosesFileName[format]));

8
guilib/src/ui/mainWindow.ui
View File

@@ -60,8 +60,9 @@
<property name="title">
<string>Export poses...</string>
</property>
<addaction name="actionKITTI_format_txt"/>
<addaction name="actionRaw_format_txt"/>
<addaction name="actionRGBD_SLAM_format_txt"/>
<addaction name="actionKITTI_format_txt"/>
<addaction name="actionTORO_graph"/>
</widget>
<addaction name="actionOpen_working_directory"/>
@@ -1253,6 +1254,11 @@
<string>Export cameras in Bundler format (*.out)...</string>
</property>
</action>
<action name="actionRaw_format_txt">
<property name="text">
<string>Raw format (*.txt)</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>