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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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17
guilib/src/MainWindow.cpp
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@@ -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]));