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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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6
corelib/src/camera/CameraImages.cpp
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@@ -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