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rtabmap: fixed export poses in format 10 and 11 (#883)

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matlabbe
2022-11-26 12:42:04 -08:00
parent 85bc1ee27f
commit 860c14e0ec
2 changed files with 2 additions and 2 deletions
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2
corelib/src/Graph.cpp
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@@ -56,7 +56,7 @@ bool exportPoses(
int format, // 0=Raw, 1=RGBD-SLAM motion capture (10=without change of coordinate frame, 11=10+ID), 2=KITTI, 3=TORO, 4=g2o int format, // 0=Raw, 1=RGBD-SLAM motion capture (10=without change of coordinate frame, 11=10+ID), 2=KITTI, 3=TORO, 4=g2o
const std::map<int, Transform> & poses, const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints, // required for formats 3 and 4 const std::multimap<int, Link> & constraints, // required for formats 3 and 4
const std::map<int, double> & stamps, // required for format 1 const std::map<int, double> & stamps, // required for format 1, 10 and 11
const ParametersMap & parameters) // optional for formats 3 and 4 const ParametersMap & parameters) // optional for formats 3 and 4
{ {
UDEBUG("%s", filePath.c_str()); UDEBUG("%s", filePath.c_str());

2
corelib/src/Rtabmap.cpp
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@@ -1021,7 +1021,7 @@ void Rtabmap::exportPoses(const std::string & path, bool optimized, bool global,
} }
std::map<int, double> stamps; std::map<int, double> stamps;
if(format == 1) if(format == 1 || format == 10 || format == 11)
{ {
for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter) for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{ {