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CameraImages: timestamp file is optional for pose format containing stamp

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matlabbe
2021-01-25 13:21:39 -05:00
parent c9472962d7
commit 7e298e1999
1 changed files with 7 additions and 1 deletions
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8
corelib/src/camera/CameraImages.cpp
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@@ -475,7 +475,7 @@ bool CameraImages::readPoses(
(int)poses.size(), this->imagesCount(), filePath.c_str()); (int)poses.size(), this->imagesCount(), filePath.c_str());
return false; return false;
} }
else if((format == 1 || format == 10 || format == 5 || format == 6 || format == 7 || format == 9) && inOutStamps.size() == 0) else if((format == 1 || format == 10 || format == 5 || format == 6 || format == 7 || format == 9) && (inOutStamps.empty() && stamps.size()!=poses.size()))
{ {
UERROR("When using RGBD-SLAM, GPS, MALAGA, ST LUCIA and EuRoC MAV formats, images must have timestamps!"); UERROR("When using RGBD-SLAM, GPS, MALAGA, ST LUCIA and EuRoC MAV formats, images must have timestamps!");
return false; return false;
@@ -492,6 +492,11 @@ bool CameraImages::readPoses(
} }
std::vector<double> values = uValues(stamps); std::vector<double> values = uValues(stamps);
if(inOutStamps.empty())
{
inOutStamps = uValuesList(stamps);
}
int validPoses = 0; int validPoses = 0;
for(std::list<double>::iterator ster=inOutStamps.begin(); ster!=inOutStamps.end(); ++ster) for(std::list<double>::iterator ster=inOutStamps.begin(); ster!=inOutStamps.end(); ++ster)
{ {
@@ -503,6 +508,7 @@ bool CameraImages::readPoses(
if(endIter->first == *ster) if(endIter->first == *ster)
{ {
pose = poses.at(endIter->second); pose = poses.at(endIter->second);
++validPoses;
} }
else if(endIter != stampsToIds.begin()) else if(endIter != stampsToIds.begin())
{ {