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Updated for issue #36: Moved "Export Poses..." to File menu, added "Export images..." action too, updated when some export actions are enabled or disabled

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matlabbe
2015-10-16 20:11:24 -04:00
parent eaff524e30
commit 1f33c39f3c
8 changed files with 421 additions and 160 deletions
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7
corelib/include/rtabmap/core/Graph.h
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@@ -231,6 +231,13 @@ private:
float minInliers_;
};
bool RTABMAP_EXP exportPoses(
const std::string & filePath,
int format, // 0=Raw (*.txt), 1=RGBD-SLAM (*.txt), 2=KITTI (*.txt), 3=TORO (*.graph), 4=g2o (*.g2o)
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints, // required for formats 3 and 4
const std::map<int, double> & stamps); // required for format 1
////////////////////////////////////////////
// Graph utilities
////////////////////////////////////////////

2
corelib/include/rtabmap/core/Rtabmap.h
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@@ -112,7 +112,7 @@ public:
const std::string & path,
bool optimized,
bool global,
int type // 0=raw/KITTI format, 1=rgbd-slam format, 2=TORO
int format // 0=raw, 1=rgbd-slam format, 2=KITTI format, 3=TORO, 4=g2o
);
void resetMemory();
void dumpPrediction() const;