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Added Ground truth import GPS format. Alignement between estimated and ground truth poses is done with SVD.

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matlabbe
2016-01-15 17:05:55 -05:00
parent 2d6965aa4b
commit 35b722ba08
9 changed files with 175 additions and 63 deletions
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2
corelib/include/rtabmap/core/Graph.h
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@@ -53,7 +53,7 @@ bool RTABMAP_EXP exportPoses(
bool RTABMAP_EXP importPoses(
const std::string & filePath,
int format, // 0=Raw, 1=RGBD-SLAM, 2=KITTI, 3=TORO, 4=g2o
int format, // 0=Raw, 1=RGBD-SLAM, 2=KITTI, 3=TORO, 4=g2o, GPS (t,x,y)
std::map<int, Transform> & poses,
std::multimap<int, Link> * constraints = 0, // optional for formats 3 and 4
std::map<int, double> * stamps = 0); // optional for format 1

4
corelib/include/rtabmap/core/util3d_registration.h
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@@ -45,6 +45,10 @@ int RTABMAP_EXP getCorrespondencesCount(const pcl::PointCloud<pcl::PointXYZ>::Co
const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
float maxDistance);
Transform RTABMAP_EXP transformFromXYZCorrespondencesSVD(
const pcl::PointCloud<pcl::PointXYZ> & cloud1,
const pcl::PointCloud<pcl::PointXYZ> & cloud2);
Transform RTABMAP_EXP transformFromXYZCorrespondences(
const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud1,
const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud2,