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Export GPS poses: set 8 decimals (1 mm accuracy) https://github.com/introlab/rtabmap_ros/issues/833

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matlabbe
2022-11-02 11:35:54 -07:00
parent 2889cf8048
commit c9d50ef445
3 changed files with 17 additions and 16 deletions
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20
corelib/src/Graph.cpp
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@@ -524,9 +524,9 @@ bool exportGPS(
for(std::map<int, GPS>::const_iterator iter=gpsValues.begin(); iter!=gpsValues.end(); ++iter)
{
values += uFormat("%s,%s,%s ",
uReplaceChar(uNumber2Str(iter->second.longitude()), ',', '.').c_str(),
uReplaceChar(uNumber2Str(iter->second.latitude()), ',', '.').c_str(),
uReplaceChar(uNumber2Str(iter->second.altitude()), ',', '.').c_str());
uReplaceChar(uNumber2Str(iter->second.longitude(), 8), ',', '.').c_str(),
uReplaceChar(uNumber2Str(iter->second.latitude(), 8), ',', '.').c_str(),
uReplaceChar(uNumber2Str(iter->second.altitude(), 8), ',', '.').c_str());
}
// switch argb (Qt format) -> abgr
@@ -580,13 +580,13 @@ bool exportGPS(
fprintf(fout, "# stamp longitude latitude altitude error bearing\n");
for(std::map<int, GPS>::const_iterator iter=gpsValues.begin(); iter!=gpsValues.end(); ++iter)
{
fprintf(fout, "%f %f %f %f %f %f\n",
iter->second.stamp(),
iter->second.longitude(),
iter->second.latitude(),
iter->second.altitude(),
iter->second.error(),
iter->second.bearing());
fprintf(fout, "%f %.*f %.*f %.*f %.*f %.*f\n",
iter->second.stamp(),
8, iter->second.longitude(),
8, iter->second.latitude(),
8, iter->second.altitude(),
8, iter->second.error(),
8, iter->second.bearing());
}
}