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Added Ground truth import GPS format. Alignement between estimated and ground truth poses is done with SVD.

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matlabbe
2016-01-15 17:05:55 -05:00
parent 2d6965aa4b
commit 35b722ba08
9 changed files with 175 additions and 63 deletions
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utilite/include/rtabmap/utilite/UStl.h
+22 -2
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@@ -625,7 +625,7 @@ inline bool uIsDigit(const char c)
}
/**
* Check if a string is a interger number.
* Check if a string is a integer number.
* @param str the string
* @return true if the string is a integer number
*/
@@ -634,11 +634,31 @@ inline bool uIsInteger(const std::string & str)
bool isInteger = str.size()!=0;
for(unsigned int i=0; i<str.size() && isInteger; ++i)
{
isInteger = uIsDigit(str[i]);
isInteger = i==0&&str[i]=='-'||uIsDigit(str[i]);
}
return isInteger;
}
/**
* Check if a string is a number (integer or float).
* @param str the string
* @return true if the string is a number
*/
inline bool uIsNumber(const std::string & str)
{
std::list<std::string> list = uSplit(str, '.');
if(list.size() == 1)
{
return uIsInteger(str);
}
else if(list.size() == 2)
{
return uIsInteger(list.front()) && uIsInteger(list.back());
}
return false;
}
/**
* Split a string into number and character strings.
* Example: