i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

DbViewer: added align gps checkbox

Browse Source
This commit is contained in:
matlabbe
2023-04-05 22:19:54 -07:00
parent 6dca8ab0f3
commit 141f2d3334
2 changed files with 173 additions and 141 deletions
Download Patch File Download Diff File Expand all files Collapse all files

60
guilib/src/DatabaseViewer.cpp
View File

@@ -412,6 +412,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->graphicsView_B, SIGNAL(configChanged()), this, SLOT(configModified())); connect(ui_->graphicsView_B, SIGNAL(configChanged()), this, SLOT(configModified()));
connect(ui_->comboBox_logger_level, SIGNAL(currentIndexChanged(int)), this, SLOT(configModified())); connect(ui_->comboBox_logger_level, SIGNAL(currentIndexChanged(int)), this, SLOT(configModified()));
connect(ui_->actionVertical_Layout, SIGNAL(toggled(bool)), this, SLOT(configModified())); connect(ui_->actionVertical_Layout, SIGNAL(toggled(bool)), this, SLOT(configModified()));
connect(ui_->checkBox_alignPosesWithGPS, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_alignPosesWithGroundTruth, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView())); connect(ui_->checkBox_alignPosesWithGroundTruth, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_alignScansCloudsWithGroundTruth, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView())); connect(ui_->checkBox_alignScansCloudsWithGroundTruth, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreIntermediateNodes, SIGNAL(stateChanged(int)), this, SLOT(configModified())); connect(ui_->checkBox_ignoreIntermediateNodes, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
@@ -717,6 +718,7 @@ void DatabaseViewer::restoreDefaultSettings()
{ {
// reset GUI parameters // reset GUI parameters
ui_->comboBox_logger_level->setCurrentIndex(1); ui_->comboBox_logger_level->setCurrentIndex(1);
ui_->checkBox_alignPosesWithGPS->setChecked(true);
ui_->checkBox_alignPosesWithGroundTruth->setChecked(true); ui_->checkBox_alignPosesWithGroundTruth->setChecked(true);
ui_->checkBox_alignScansCloudsWithGroundTruth->setChecked(false); ui_->checkBox_alignScansCloudsWithGroundTruth->setChecked(false);
ui_->checkBox_ignoreIntermediateNodes->setChecked(false); ui_->checkBox_ignoreIntermediateNodes->setChecked(false);
@@ -1070,6 +1072,7 @@ bool DatabaseViewer::closeDatabase()
ui_->checkBox_showOptimized->setEnabled(false); ui_->checkBox_showOptimized->setEnabled(false);
ui_->toolBox_statistics->clear(); ui_->toolBox_statistics->clear();
databaseFileName_.clear(); databaseFileName_.clear();
ui_->checkBox_alignPosesWithGPS->setVisible(false);
ui_->checkBox_alignPosesWithGroundTruth->setVisible(false); ui_->checkBox_alignPosesWithGroundTruth->setVisible(false);
ui_->checkBox_alignScansCloudsWithGroundTruth->setVisible(false); ui_->checkBox_alignScansCloudsWithGroundTruth->setVisible(false);
ui_->doubleSpinBox_optimizationScale->setVisible(false); ui_->doubleSpinBox_optimizationScale->setVisible(false);
@@ -1078,6 +1081,7 @@ bool DatabaseViewer::closeDatabase()
ui_->label_rmse_title->setVisible(false); ui_->label_rmse_title->setVisible(false);
ui_->checkBox_ignoreIntermediateNodes->setVisible(false); ui_->checkBox_ignoreIntermediateNodes->setVisible(false);
ui_->label_ignoreINtermediateNdoes->setVisible(false); ui_->label_ignoreINtermediateNdoes->setVisible(false);
ui_->label_alignPosesWithGPS->setVisible(false);
ui_->label_alignPosesWithGroundTruth->setVisible(false); ui_->label_alignPosesWithGroundTruth->setVisible(false);
ui_->label_alignScansCloudsWithGroundTruth->setVisible(false); ui_->label_alignScansCloudsWithGroundTruth->setVisible(false);
ui_->label_optimizeFrom->setText(tr("Root")); ui_->label_optimizeFrom->setText(tr("Root"));
@@ -1701,6 +1705,7 @@ void DatabaseViewer::updateIds()
gpsValues_.clear(); gpsValues_.clear();
lastSliderIndexBrowsed_ = 0; lastSliderIndexBrowsed_ = 0;
ui_->checkBox_wmState->setVisible(false); ui_->checkBox_wmState->setVisible(false);
ui_->checkBox_alignPosesWithGPS->setVisible(false);
ui_->checkBox_alignPosesWithGroundTruth->setVisible(false); ui_->checkBox_alignPosesWithGroundTruth->setVisible(false);
ui_->checkBox_alignScansCloudsWithGroundTruth->setVisible(false); ui_->checkBox_alignScansCloudsWithGroundTruth->setVisible(false);
ui_->doubleSpinBox_optimizationScale->setVisible(false); ui_->doubleSpinBox_optimizationScale->setVisible(false);
@@ -1709,6 +1714,7 @@ void DatabaseViewer::updateIds()
ui_->label_rmse_title->setVisible(false); ui_->label_rmse_title->setVisible(false);
ui_->checkBox_ignoreIntermediateNodes->setVisible(false); ui_->checkBox_ignoreIntermediateNodes->setVisible(false);
ui_->label_ignoreINtermediateNdoes->setVisible(false); ui_->label_ignoreINtermediateNdoes->setVisible(false);
ui_->label_alignPosesWithGPS->setVisible(false);
ui_->label_alignPosesWithGroundTruth->setVisible(false); ui_->label_alignPosesWithGroundTruth->setVisible(false);
ui_->label_alignScansCloudsWithGroundTruth->setVisible(false); ui_->label_alignScansCloudsWithGroundTruth->setVisible(false);
ui_->menuEdit->setEnabled(true); ui_->menuEdit->setEnabled(true);
@@ -1891,26 +1897,18 @@ void DatabaseViewer::updateIds()
uSleep(100); uSleep(100);
QApplication::processEvents(); QApplication::processEvents();
if(!groundTruthPoses_.empty() || !gpsPoses_.empty()) ui_->doubleSpinBox_optimizationScale->setVisible(!groundTruthPoses_.empty());
{ ui_->label_scale_title->setVisible(!groundTruthPoses_.empty());
ui_->checkBox_alignPosesWithGroundTruth->setVisible(true); ui_->label_rmse->setVisible(!groundTruthPoses_.empty());
ui_->doubleSpinBox_optimizationScale->setVisible(true); ui_->label_rmse_title->setVisible(!groundTruthPoses_.empty());
ui_->label_scale_title->setVisible(true);
ui_->label_rmse->setVisible(true); ui_->checkBox_alignPosesWithGPS->setVisible(!gpsPoses_.empty());
ui_->label_rmse_title->setVisible(true); ui_->label_alignPosesWithGPS->setVisible(!gpsPoses_.empty());
ui_->label_alignPosesWithGroundTruth->setVisible(true); ui_->checkBox_alignPosesWithGroundTruth->setVisible(!groundTruthPoses_.empty());
ui_->label_alignPosesWithGroundTruth->setVisible(!groundTruthPoses_.empty());
ui_->checkBox_alignScansCloudsWithGroundTruth->setVisible(!groundTruthPoses_.empty());
ui_->label_alignScansCloudsWithGroundTruth->setVisible(!groundTruthPoses_.empty());
if(!groundTruthPoses_.empty())
{
ui_->label_alignPosesWithGroundTruth->setText(tr("Align poses with ground truth"));
ui_->checkBox_alignScansCloudsWithGroundTruth->setVisible(true);
ui_->label_alignScansCloudsWithGroundTruth->setVisible(true);
}
else
{
ui_->label_alignPosesWithGroundTruth->setText(tr("Align poses with GPS"));
}
}
if(!gpsValues_.empty()) if(!gpsValues_.empty())
{ {
ui_->menuExport_GPS->setEnabled(true); ui_->menuExport_GPS->setEnabled(true);
@@ -2553,10 +2551,11 @@ void DatabaseViewer::exportPoses(int format)
optimizedPoses = uValueAt(graphes_, ui_->horizontalSlider_iterations->value()); optimizedPoses = uValueAt(graphes_, ui_->horizontalSlider_iterations->value());
} }
if(ui_->checkBox_alignPosesWithGroundTruth->isChecked()) if(ui_->checkBox_alignPosesWithGPS->isChecked() ||
ui_->checkBox_alignPosesWithGroundTruth->isChecked())
{ {
std::map<int, Transform> refPoses = groundTruthPoses_; std::map<int, Transform> refPoses = groundTruthPoses_;
if(refPoses.empty()) if(ui_->checkBox_alignPosesWithGPS->isChecked())
{ {
refPoses = gpsPoses_; refPoses = gpsPoses_;
} }
@@ -2593,7 +2592,7 @@ void DatabaseViewer::exportPoses(int format)
rotational_min, rotational_min,
rotational_max); rotational_max);
if(ui_->checkBox_alignPosesWithGroundTruth->isChecked() && !gtToMap.isIdentity()) if(!gtToMap.isIdentity())
{ {
for(std::map<int, Transform>::iterator iter=optimizedPoses.begin(); iter!=optimizedPoses.end(); ++iter) for(std::map<int, Transform>::iterator iter=optimizedPoses.begin(); iter!=optimizedPoses.end(); ++iter)
{ {
@@ -6666,7 +6665,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
std::map<int, rtabmap::Transform> graph = uValueAt(graphes_, value); std::map<int, rtabmap::Transform> graph = uValueAt(graphes_, value);
std::map<int, Transform> refPoses = groundTruthPoses_; std::map<int, Transform> refPoses = groundTruthPoses_;
if(refPoses.empty()) if(ui_->checkBox_alignPosesWithGPS->isChecked())
{ {
refPoses = gpsPoses_; refPoses = gpsPoses_;
} }
@@ -6730,7 +6729,9 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
UINFO("rotational_min=%f", rotational_min); UINFO("rotational_min=%f", rotational_min);
UINFO("rotational_max=%f", rotational_max); UINFO("rotational_max=%f", rotational_max);
if(ui_->checkBox_alignPosesWithGroundTruth->isChecked() && !gtToMap.isIdentity()) if((ui_->checkBox_alignPosesWithGPS->isChecked() ||
ui_->checkBox_alignPosesWithGroundTruth->isChecked()) &&
!gtToMap.isIdentity())
{ {
for(std::map<int, Transform>::iterator iter=graph.begin(); iter!=graph.end(); ++iter) for(std::map<int, Transform>::iterator iter=graph.begin(); iter!=graph.end(); ++iter)
{ {
@@ -7174,6 +7175,15 @@ void DatabaseViewer::updateGraphView()
ui_->label_poses->clear(); ui_->label_poses->clear();
ui_->label_rmse->clear(); ui_->label_rmse->clear();
if(sender() == ui_->checkBox_alignPosesWithGPS && ui_->checkBox_alignPosesWithGPS->isChecked())
{
ui_->checkBox_alignPosesWithGroundTruth->setChecked(false);
}
else if(sender() == ui_->checkBox_alignPosesWithGroundTruth && ui_->checkBox_alignPosesWithGroundTruth->isChecked())
{
ui_->checkBox_alignPosesWithGPS->setChecked(false);
}
if(odomPoses_.size()) if(odomPoses_.size())
{ {
int fromId = ui_->spinBox_optimizationsFrom->value(); int fromId = ui_->spinBox_optimizationsFrom->value();
@@ -7600,6 +7610,7 @@ void DatabaseViewer::updateGraphView()
ui_->spinBox_optimizationsFrom->setEnabled(false); ui_->spinBox_optimizationsFrom->setEnabled(false);
ui_->checkBox_spanAllMaps->setEnabled(false); ui_->checkBox_spanAllMaps->setEnabled(false);
ui_->checkBox_wmState->setEnabled(false); ui_->checkBox_wmState->setEnabled(false);
ui_->checkBox_alignPosesWithGPS->setEnabled(false);
ui_->checkBox_alignPosesWithGroundTruth->setEnabled(false); ui_->checkBox_alignPosesWithGroundTruth->setEnabled(false);
ui_->checkBox_alignScansCloudsWithGroundTruth->setEnabled(false); ui_->checkBox_alignScansCloudsWithGroundTruth->setEnabled(false);
ui_->checkBox_ignoreIntermediateNodes->setEnabled(false); ui_->checkBox_ignoreIntermediateNodes->setEnabled(false);
@@ -7612,6 +7623,7 @@ void DatabaseViewer::updateGraphView()
ui_->spinBox_optimizationsFrom->setEnabled(true); ui_->spinBox_optimizationsFrom->setEnabled(true);
ui_->checkBox_spanAllMaps->setEnabled(true); ui_->checkBox_spanAllMaps->setEnabled(true);
ui_->checkBox_wmState->setEnabled(true); ui_->checkBox_wmState->setEnabled(true);
ui_->checkBox_alignPosesWithGPS->setEnabled(true);
ui_->checkBox_alignPosesWithGroundTruth->setEnabled(true); ui_->checkBox_alignPosesWithGroundTruth->setEnabled(true);
ui_->checkBox_alignScansCloudsWithGroundTruth->setEnabled(true); ui_->checkBox_alignScansCloudsWithGroundTruth->setEnabled(true);
ui_->checkBox_ignoreIntermediateNodes->setEnabled(true); ui_->checkBox_ignoreIntermediateNodes->setEnabled(true);

254
guilib/src/ui/DatabaseViewer.ui
View File

@@ -1269,81 +1269,23 @@
</item> </item>
<item> <item>
<layout class="QGridLayout" name="gridLayout_5" columnstretch="0,1"> <layout class="QGridLayout" name="gridLayout_5" columnstretch="0,1">
<item row="9" column="0"> <item row="2" column="1">
<widget class="QLabel" name="label_loopClosures"> <widget class="QLabel" name="label_alignPosesWithGroundTruth">
<property name="text"> <property name="text">
<string/> <string>Align poses with ground truth</string>
</property> </property>
<property name="textInteractionFlags"> <property name="wordWrap">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set> <bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_timeGrid">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_timeOptimization">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_optimizationsFrom"/>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_52">
<property name="text">
<string>Poses</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_39">
<property name="text">
<string>Time optimization (s)</string>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_41">
<property name="text">
<string>Links (N, NM, G, LS, LT, U, P, LM, GR)</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_10">
<property name="text">
<string>Path length (m)</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_45">
<property name="text">
<string>Time grid (s)</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="4" column="0"> <item row="4" column="0">
<widget class="QLabel" name="label_pathLength"> <widget class="QCheckBox" name="checkBox_ignoreIntermediateNodes">
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>
<property name="textInteractionFlags"> <property name="checked">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set> <bool>false</bool>
</property> </property>
</widget> </widget>
</item> </item>
@@ -1375,7 +1317,31 @@
</item> </item>
</layout> </layout>
</item> </item>
<item row="8" column="0"> <item row="7" column="1">
<widget class="QLabel" name="label_45">
<property name="text">
<string>Time grid (s)</string>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_rmse_title">
<property name="text">
<string>RMSE (m)</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_alignScansCloudsWithGroundTruth">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="label_poses"> <widget class="QLabel" name="label_poses">
<property name="text"> <property name="text">
<string/> <string/>
@@ -1385,38 +1351,8 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="1" column="1"> <item row="6" column="0">
<widget class="QLabel" name="label_alignPosesWithGroundTruth"> <widget class="QLabel" name="label_timeOptimization">
<property name="text">
<string>Align poses with ground truth</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_ignoreIntermediateNodes">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_alignPosesWithGroundTruth">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_rmse">
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>
@@ -1426,23 +1362,6 @@
</widget> </widget>
</item> </item>
<item row="3" column="1"> <item row="3" column="1">
<widget class="QLabel" name="label_ignoreINtermediateNdoes">
<property name="text">
<string>Ignore intermediate nodes</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_rmse_title">
<property name="text">
<string>RMSE (m)</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_alignScansCloudsWithGroundTruth"> <widget class="QLabel" name="label_alignScansCloudsWithGroundTruth">
<property name="text"> <property name="text">
<string>Align scans/clouds with ground truth</string> <string>Align scans/clouds with ground truth</string>
@@ -1452,8 +1371,109 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="8" column="0">
<widget class="QLabel" name="label_rmse">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_timeGrid">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_41">
<property name="text">
<string>Links (N, NM, G, LS, LT, U, P, LM, GR)</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_10">
<property name="text">
<string>Path length (m)</string>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_52">
<property name="text">
<string>Poses</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_pathLength">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_optimizationsFrom"/>
</item>
<item row="10" column="0">
<widget class="QLabel" name="label_loopClosures">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_ignoreINtermediateNdoes">
<property name="text">
<string>Ignore intermediate nodes</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_39">
<property name="text">
<string>Time optimization (s)</string>
</property>
</widget>
</item>
<item row="2" column="0"> <item row="2" column="0">
<widget class="QCheckBox" name="checkBox_alignScansCloudsWithGroundTruth"> <widget class="QCheckBox" name="checkBox_alignPosesWithGroundTruth">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_alignPosesWithGPS">
<property name="text">
<string>Align poses with GPS</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_alignPosesWithGPS">
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>