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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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18
guilib/src/ui/preferencesDialog.ui
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@@ -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">