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exportGraph: added RGBD-SLAM format (10) without motion capture coordinate transformation (#332)

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matlabbe
2018-11-08 12:26:37 -05:00
parent 433e20869c
commit c5057eb6b3
10 changed files with 120 additions and 55 deletions
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4
corelib/include/rtabmap/core/Graph.h
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@@ -47,7 +47,7 @@ namespace graph {
bool RTABMAP_EXP exportPoses(
const std::string & filePath,
int format, // 0=Raw (*.txt), 1=RGBD-SLAM (*.txt), 2=KITTI (*.txt), 3=TORO (*.graph), 4=g2o (*.g2o)
int format, // 0=Raw (*.txt), 1=RGBD-SLAM motion capture (*.txt) (10=without change of coordinate frame), 2=KITTI (*.txt), 3=TORO (*.graph), 4=g2o (*.g2o)
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & constraints = std::multimap<int, Link>(), // required for formats 3 and 4
const std::map<int, double> & stamps = std::map<int, double>(), // required for format 1
@@ -55,7 +55,7 @@ namespace graph {
bool RTABMAP_EXP importPoses(
const std::string & filePath,
int format, // 0=Raw, 1=RGBD-SLAM, 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe
int format, // 0=Raw, 1=RGBD-SLAM motion capture (10=without change of coordinate frame), 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe
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