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rgbd_dataset: added support for rgbd_bonn ground truth format

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matlabbe
2025-09-20 18:08:38 -07:00
parent cb0cc9ed18
commit c774ef641a
6 changed files with 70 additions and 15 deletions
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18
corelib/src/Graph.cpp
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@@ -196,7 +196,7 @@ bool exportPoses(
bool importPoses(
const std::string & filePath,
int format, // 0=Raw, 1=RGBD-SLAM motion capture (10=without change of coordinate frame, 11=10+ID), 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe, 9=EuRoC MAV
int format, // 0=Raw, 1=RGBD-SLAM motion capture (10=without change of coordinate frame, 11=10+ID), 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe, 9=EuRoC MAV, 12=rgbd_bonn
std::map<int, Transform> & poses,
std::multimap<int, Link> * constraints, // optional for formats 3 and 4
std::map<int, double> * stamps) // optional for format 1 and 9
@@ -440,7 +440,7 @@ bool importPoses(
UERROR("Error parsing \"%s\" with NewCollege format (should have 3 values: stamp x y, found %d)", str.c_str(), (int)strList.size());
}
}
else if(format == 1 || format==10 || format==11) // rgbd-slam format
else if(format == 1 || format==10 || format==11 || format==12) // rgbd-slam format
{
std::list<std::string> strList = uSplit(str);
if((strList.size() >= 8 && format!=11) || (strList.size() == 9 && format==11))
@@ -481,6 +481,20 @@ bool importPoses(
1, 0, 0, 0);
pose = t*pose;
}
else if(format == 12)
{
// See https://www.ipb.uni-bonn.de/data/rgbd-dynamic-dataset/index.html
Transform T_ros(-1, 0, 0, 0,
0, 0, 1, 0,
0, 1, 0, 0);
Transform T_m(
1.0157, 0.1828, -0.2389, 0.0113,
0.0009, -0.8431, -0.6413, -0.00980,
-0.3009, 0.6147, -0.8085, 0.0111);
// we remove the optical rotation
pose = T_ros*pose*T_ros*T_m*CameraModel::opticalRotation().inverse();
}
poses.insert(std::make_pair(id, pose));
}
}

6
corelib/src/camera/CameraImages.cpp
View File

@@ -523,19 +523,19 @@ bool CameraImages::readPoses(
UERROR("Cannot read pose file \"%s\".", filePath.c_str());
return false;
}
else if((format != 1 && format != 10 && format != 5 && format != 6 && format != 7 && format != 9) && poses.size() != this->imagesCount())
else if((format != 1 && format != 10 && format != 12 && format != 5 && format != 6 && format != 7 && format != 9) && poses.size() != this->imagesCount())
{
UERROR("The pose count is not the same as the images (%d vs %d)! Please remove "
"the pose file path if you don't want to use it (current file path=%s).",
(int)poses.size(), this->imagesCount(), filePath.c_str());
return false;
}
else if((format == 1 || format == 10 || format == 5 || format == 6 || format == 7 || format == 9) && (inOutStamps.empty() && stamps.size()!=poses.size()))
else if((format == 1 || format == 10 || format == 12 || 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!");
return false;
}
else if(format == 1 || format == 10 || format == 5 || format == 6 || format == 7 || format == 9)
else if(format == 1 || format == 10 || format == 12 || format == 5 || format == 6 || format == 7 || format == 9)
{
UDEBUG("");
//Match ground truth values with images