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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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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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guilib/src/DatabaseViewer.cpp
+6 -1
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@@ -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)
{