i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-07 10:37:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

CID-SIMS support (#1676)

Browse Source 
* cid-sims dataset support

* Added cli tool to test CID-SIMS dataset

* removed debug log
This commit is contained in:
matlabbe
2026-03-28 14:33:26 -07:00
committed by GitHub
parent 5b985f69be
commit f94a963463
13 changed files with 1115 additions and 301 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Transform.cpp
+25
View File
@@ -52,6 +52,26 @@ Transform::Transform(
r11, r12, r13, o14,
r21, r22, r23, o24,
r31, r32, r33, o34);
if( r11>0.0f || r12>0.0f || r13>0.0f ||
r21>0.0f || r22>0.0f || r23>0.0f ||
r31>0.0f || r32>0.0f || r33>0.0f)
{
Eigen::Matrix3f m;
m << r11, r12, r13,
r21, r22, r23,
r31, r32, r33;
float d = m.determinant();
if(fabs(d-1.0f) > 0.0001)
{
UWARN("Created transform doesn't have normalized rotation. Any transformation with this transform can cause unexpected results!"
" Determinant([%f %f %f;%f %f %f;%f %f %f])=%f",
r11, r12, r13,
r21, r22, r23,
r31, r32, r33,
d);
}
}
}
Transform::Transform(const cv::Mat & transformationMatrix)
@@ -509,6 +529,11 @@ Transform Transform::fromString(const std::string & string)
numbers[4], numbers[5], numbers[6], numbers[7],
numbers[8], numbers[9], numbers[10], numbers[11]);
}
// Always normalize
if(!t.isNull())
{
t.normalizeRotation();
}
return t;
}