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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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42
tools/Export/main.cpp
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@@ -66,9 +66,17 @@ void showUsage()
" --texture_range # Maximum camera range for texturing a polygon (default 0 meters: no limit).\n"
" --texture_d2c Distance to camera policy.\n"
" --cam_projection Camera projection on assembled cloud and export node ID on each point (in PointSourceId field).\n"
" --poses Export optimized poses of the robot frame (e.g., base_link) in RGB-D SLAM dataset format (stamp x y z qx qy qz qw).\n"
" --poses_camera Export optimized poses of the camera frame (e.g., optical frame) in RGB-D SLAM dataset format (stamp x y z qx qy qz qw).\n"
" --poses_scan Export optimized poses of the scan frame in RGB-D SLAM dataset format (stamp x y z qx qy qz qw).\n"
" --poses Export optimized poses of the robot frame (e.g., base_link).\n"
" --poses_camera Export optimized poses of the camera frame (e.g., optical frame).\n"
" --poses_scan Export optimized poses of the scan frame.\n"
" --poses_format # Format used for exported poses (default is 10):\n"
" 0=Raw 3x4 transformation matrix (r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz)\n"
" 1=RGBD-SLAM (in motion capture coordinate frame)\n"
" 2=KITTI (same as raw but in optical frame)\n"
" 3=TORO\n"
" 4=g2o\n"
" 10=RGBD-SLAM in ROS coordinate frame (stamp x y z qx qy qz qw)\n"
" 11=RGBD-SLAM in ROS coordinate frame + ID (stamp x y z qx qy qz qw id)\n"
" --images Export images with stamp as file name.\n"
" --images_id Export images with node id as file name.\n"
" --ba Do global bundle adjustment before assembling the clouds.\n"
@@ -138,6 +146,7 @@ int main(int argc, char * argv[])
bool exportPoses = false;
bool exportPosesCamera = false;
bool exportPosesScan = false;
int exportPosesFormat = 10;
bool exportImages = false;
bool exportImagesId = false;
std::string outputName;
@@ -238,6 +247,18 @@ int main(int argc, char * argv[])
{
exportPosesScan = true;
}
else if(std::strcmp(argv[i], "--poses_format") == 0)
{
++i;
if(i<argc-1)
{
exportPosesFormat = uStr2Int(argv[i]);
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "--images") == 0)
{
exportImages = true;
@@ -824,10 +845,11 @@ int main(int argc, char * argv[])
}
else
{
std::string posesExt = (exportPosesFormat==3?"toro":exportPosesFormat==4?"g2o":"txt");
if(exportPoses)
{
std::string outputPath=outputDirectory+"/"+baseName+"_poses.txt";
rtabmap::graph::exportPoses(outputPath, 10, robotPoses, std::multimap<int, Link>(), cameraStamps);
std::string outputPath=outputDirectory+"/"+baseName+"_poses." + posesExt;
rtabmap::graph::exportPoses(outputPath, exportPosesFormat, robotPoses, links, cameraStamps);
printf("Poses exported to \"%s\".\n", outputPath.c_str());
}
if(exportPosesCamera)
@@ -836,17 +858,17 @@ int main(int argc, char * argv[])
{
std::string outputPath;
if(cameraPoses.size()==1)
outputPath = outputDirectory+"/"+baseName+"_camera_poses.txt";
outputPath = outputDirectory+"/"+baseName+"_camera_poses." + posesExt;
else
outputPath = outputDirectory+"/"+baseName+"_camera_poses_"+uNumber2Str((int)i)+".txt";
rtabmap::graph::exportPoses(outputPath, 10, cameraPoses[i], std::multimap<int, Link>(), cameraStamps);
outputPath = outputDirectory+"/"+baseName+"_camera_poses_"+uNumber2Str((int)i)+"." + posesExt;
rtabmap::graph::exportPoses(outputPath, exportPosesFormat, cameraPoses[i], std::multimap<int, Link>(), cameraStamps);
printf("Camera poses exported to \"%s\".\n", outputPath.c_str());
}
}
if(exportPosesScan)
{
std::string outputPath=outputDirectory+"/"+baseName+"_scan_poses.txt";
rtabmap::graph::exportPoses(outputPath, 10, scanPoses, std::multimap<int, Link>(), cameraStamps);
std::string outputPath=outputDirectory+"/"+baseName+"_scan_poses." + posesExt;
rtabmap::graph::exportPoses(outputPath, exportPosesFormat, scanPoses, std::multimap<int, Link>(), cameraStamps);
printf("Scan poses exported to \"%s\".\n", outputPath.c_str());
}
}