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Export: added --poses_format option (default 10=RGBD-SLAM format). Added new pose format 11=RGBD-SLAM + ID.

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This commit is contained in:
matlabbe
2021-04-13 15:49:04 -04:00
parent f4207979ad
commit 2fcef88016
10 changed files with 105 additions and 36 deletions
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1
guilib/include/rtabmap/gui/DatabaseViewer.h
View File

@@ -107,6 +107,7 @@ private Q_SLOTS:
void exportPosesRaw();
void exportPosesRGBDSLAMMotionCapture();
void exportPosesRGBDSLAM();
void exportPosesRGBDSLAMID();
void exportPosesKITTI();
void exportPosesTORO();
void exportPosesG2O();

1
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -155,6 +155,7 @@ protected Q_SLOTS:
void exportPosesRaw();
void exportPosesRGBDSLAM();
void exportPosesRGBDSLAMMotionCapture();
void exportPosesRGBDSLAMID();
void exportPosesKITTI();
void exportPosesTORO();
void exportPosesG2O();

7
guilib/src/DatabaseViewer.cpp
View File

@@ -272,6 +272,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->actionGenerate_local_graph_dot, SIGNAL(triggered()), this, SLOT(generateLocalGraph()));
connect(ui_->actionRaw_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesRaw()));
connect(ui_->actionRGBD_SLAM_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesRGBDSLAM()));
connect(ui_->actionRGBD_SLAM_ID_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesRGBDSLAMID()));
connect(ui_->actionRGBD_SLAM_motion_capture_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesRGBDSLAMMotionCapture()));
connect(ui_->actionKITTI_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesKITTI()));
connect(ui_->actionTORO_graph, SIGNAL(triggered()), this , SLOT(exportPosesTORO()));
@@ -2276,6 +2277,10 @@ void DatabaseViewer::exportPosesRGBDSLAM()
{
exportPoses(10);
}
void DatabaseViewer::exportPosesRGBDSLAMID()
{
exportPoses(11);
}
void DatabaseViewer::exportPosesKITTI()
{
exportPoses(2);
@@ -2603,7 +2608,7 @@ void DatabaseViewer::exportPoses(int format)
}
std::map<int, double> stamps;
if(format == 1 || format == 10)
if(format == 1 || format == 10 || format == 11)
{
for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{

7
guilib/src/MainWindow.cpp
View File

@@ -363,6 +363,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
connect(_ui->actionRaw_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesRaw()));
connect(_ui->actionRGBD_SLAM_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesRGBDSLAM()));
connect(_ui->actionRGBD_SLAM_motion_capture_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesRGBDSLAMMotionCapture()));
connect(_ui->actionRGBD_SLAM_ID_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesRGBDSLAMID()));
connect(_ui->actionKITTI_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesKITTI()));
connect(_ui->actionTORO_graph, SIGNAL(triggered()), this , SLOT(exportPosesTORO()));
connect(_ui->actionG2o_g2o, SIGNAL(triggered()), this , SLOT(exportPosesG2O()));
@@ -5765,6 +5766,10 @@ void MainWindow::exportPosesRGBDSLAM()
{
exportPoses(10);
}
void MainWindow::exportPosesRGBDSLAMID()
{
exportPoses(11);
}
void MainWindow::exportPosesKITTI()
{
exportPoses(2);
@@ -5886,7 +5891,7 @@ void MainWindow::exportPoses(int format)
}
std::map<int, double> stamps;
if(format == 1 || format == 10)
if(format == 1 || format == 10 || format == 11)
{
for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{

18
guilib/src/ui/DatabaseViewer.ui
View File

@@ -61,7 +61,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>422</width>
<width>417</width>
<height>311</height>
</rect>
</property>
@@ -304,7 +304,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>421</width>
<width>416</width>
<height>311</height>
</rect>
</property>
@@ -694,6 +694,7 @@
</property>
<addaction name="actionRaw_format_txt"/>
<addaction name="actionRGBD_SLAM_format_txt"/>
<addaction name="actionRGBD_SLAM_ID_format_txt"/>
<addaction name="actionRGBD_SLAM_motion_capture_format_txt"/>
<addaction name="actionKITTI_format_txt"/>
<addaction name="actionTORO_graph"/>
@@ -1542,8 +1543,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>519</width>
<height>871</height>
<width>280</width>
<height>1006</height>
</rect>
</property>
<attribute name="label">
@@ -2116,8 +2117,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>312</width>
<height>243</height>
<width>298</width>
<height>192</height>
</rect>
</property>
<attribute name="label">
@@ -2989,6 +2990,11 @@
<string>Regenerate optimized 2D map...</string>
</property>
</action>
<action name="actionRGBD_SLAM_ID_format_txt">
<property name="text">
<string>RGBD-SLAM ID format (*.txt)</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>

6
guilib/src/ui/mainWindow.ui
View File

@@ -40,6 +40,7 @@
</property>
<addaction name="actionRaw_format_txt"/>
<addaction name="actionRGBD_SLAM_format_txt"/>
<addaction name="actionRGBD_SLAM_ID_format_txt"/>
<addaction name="actionRGBD_SLAM_motion_capture_format_txt"/>
<addaction name="actionKITTI_format_txt"/>
<addaction name="actionTORO_graph"/>
@@ -1645,6 +1646,11 @@
<string>DepthAI</string>
</property>
</action>
<action name="actionRGBD_SLAM_ID_format_txt">
<property name="text">
<string>RGBD-SLAM + ID format (*.txt)</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>

18
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-120</y>
<y>-1483</y>
<width>686</width>
<height>3414</height>
</rect>
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>19</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -6643,7 +6643,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item row="9" column="1">
<widget class="QComboBox" name="comboBox_cameraImages_gtFormat">
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Raw Format (3 values): x y z&lt;br/&gt;Raw Format (6 values): x y z roll pitch yaw&lt;br/&gt;Raw Format (7 values): x y z qx qy qz qw&lt;br/&gt;Raw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33&lt;br/&gt;Raw Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz&lt;/p&gt;&lt;p&gt;RGBD-SLAM (stamp tx ty tz qx qy qz qw)&lt;br/&gt;KITTI (stamp + 12 values transform)&lt;br/&gt;TORO&lt;br/&gt;g2o&lt;br/&gt;NewCollege (stamp x y)&lt;br/&gt;Malaga Urban (GPS)&lt;br/&gt;St Lucia Stereo (INS)&lt;br/&gt;EuRoC MAV (stamp,tx,ty,tz,qw,qx,qy,qz...)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Raw Format (3 values): x y z&lt;br/&gt;Raw Format (6 values): x y z roll pitch yaw&lt;br/&gt;Raw Format (7 values): x y z qx qy qz qw&lt;br/&gt;Raw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33&lt;br/&gt;Raw Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz&lt;/p&gt;&lt;p&gt;RGBD-SLAM (stamp tx ty tz qx qy qz qw)&lt;br/&gt;RGBD-SLAM + ID (stamp id tx ty tz qx qy qz qw)&lt;br/&gt;KITTI (stamp + 12 values transform)&lt;br/&gt;TORO&lt;br/&gt;g2o&lt;br/&gt;NewCollege (stamp x y)&lt;br/&gt;Malaga Urban (GPS)&lt;br/&gt;St Lucia Stereo (INS)&lt;br/&gt;EuRoC MAV (stamp,tx,ty,tz,qw,qx,qy,qz...)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
@@ -6703,6 +6703,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>RGBD-SLAM</string>
</property>
</item>
<item>
<property name="text">
<string>RGBD-SLAM + ID</string>
</property>
</item>
</widget>
</item>
<item row="11" column="0">
@@ -6783,7 +6788,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item row="7" column="1">
<widget class="QComboBox" name="comboBox_cameraImages_odomFormat">
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Raw Format (3 values): x y z&lt;br/&gt;Raw Format (6 values): x y z roll pitch yaw&lt;br/&gt;Raw Format (7 values): x y z qx qy qz qw&lt;br/&gt;Raw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33&lt;br/&gt;Raw Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz&lt;/p&gt;&lt;p&gt;RGBD-SLAM (stamp tx ty tz qx qy qz qw)&lt;br/&gt;KITTI (stamp + 12 values transform)&lt;br/&gt;TORO&lt;br/&gt;g2o&lt;br/&gt;NewCollege (stamp x y)&lt;br/&gt;Malaga Urban (GPS)&lt;br/&gt;St Lucia Stereo (INS)&lt;br/&gt;EuRoC MAV (stamp,tx,ty,tz,qw,qx,qy,qz...)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Raw Format (3 values): x y z&lt;br/&gt;Raw Format (6 values): x y z roll pitch yaw&lt;br/&gt;Raw Format (7 values): x y z qx qy qz qw&lt;br/&gt;Raw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33&lt;br/&gt;Raw Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz&lt;/p&gt;&lt;p&gt;RGBD-SLAM (stamp tx ty tz qx qy qz qw)&lt;br/&gt;RGBD-SLAM + ID (stamp id tx ty tz qx qy qz qw)&lt;br/&gt;KITTI (stamp + 12 values transform)&lt;br/&gt;TORO&lt;br/&gt;g2o&lt;br/&gt;NewCollege (stamp x y)&lt;br/&gt;Malaga Urban (GPS)&lt;br/&gt;St Lucia Stereo (INS)&lt;br/&gt;EuRoC MAV (stamp,tx,ty,tz,qw,qx,qy,qz...)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
@@ -6843,6 +6848,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>RGBD-SLAM</string>
</property>
</item>
<item>
<property name="text">
<string>RGBD-SLAM + ID</string>
</property>
</item>
</widget>
</item>
<item row="6" column="0">