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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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7
guilib/src/MainWindow.cpp
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@@ -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)
{