mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
Removed parameter Vis/ForwardEstOnly. Added odometry statistics (matches,inliers,inliersRatio) per camera. Added OdometryInfo::statistics() function for convenience.
This commit is contained in:
matlabbe
@@ -1629,7 +1629,8 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
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_cloudViewer->updateCameraTargetPosition(_odometryCorrection*odom.pose());
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UDEBUG("Time Update Pose: %fs", time.ticks());
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}
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_cloudViewer->refreshView();
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// Use update instead of refreshView to avoid high CPU usage and lag
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_cloudViewer->update();
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if(_ui->graphicsView_graphView->isVisible())
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{
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@@ -1798,6 +1799,22 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
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_ui->statsToolBox->updateStat("Odometry/InliersMeanDistance/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.inliersMeanDistance, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/InliersDistribution/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.inliersDistribution, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/InliersRatio/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), odom.info().features<=0?0.0f:float(odom.info().reg.inliers)/float(odom.info().features), _preferencesDialog->isCacheSavedInFigures());
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for(size_t i=0; i<odom.info().reg.matchesPerCam.size(); ++i)
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{
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_ui->statsToolBox->updateStat(QString("Odometry/matchesCam%1/").arg(i), _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.matchesPerCam[i], _preferencesDialog->isCacheSavedInFigures());
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}
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for(size_t i=0; i<odom.info().reg.inliersPerCam.size(); ++i)
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{
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_ui->statsToolBox->updateStat(QString("Odometry/inliersCam%1/").arg(i), _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.inliersPerCam[i], _preferencesDialog->isCacheSavedInFigures());
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}
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if(odom.info().reg.matchesPerCam.size() == odom.info().reg.inliersPerCam.size())
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{
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for(size_t i=0; i<odom.info().reg.matchesPerCam.size(); ++i)
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{
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_ui->statsToolBox->updateStat(QString("Odometry/inliersRatioCam%1/").arg(i), _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), odom.info().reg.matchesPerCam[i]>0 ? (float)odom.info().reg.inliersPerCam[i] / (float)odom.info().reg.matchesPerCam[i] : 0.0f, _preferencesDialog->isCacheSavedInFigures());
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}
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}
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_ui->statsToolBox->updateStat("Odometry/ICPInliersRatio/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.icpInliersRatio, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/ICPRotation/rad", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.icpRotation, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/ICPTranslation/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.icpTranslation, _preferencesDialog->isCacheSavedInFigures());
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@@ -1833,6 +1850,10 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
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_ui->statsToolBox->updateStat("Odometry/localBundleTime/ms", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().localBundleTime*1000.0f, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/localBundleAvgInlierDistance/pix", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().localBundleAvgInlierDistance, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/localBundleMaxKeyFramesForInlier/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().localBundleMaxKeyFramesForInlier, _preferencesDialog->isCacheSavedInFigures());
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for(size_t i=0; i<odom.info().localBundleOutliersPerCam.size(); ++i)
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{
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_ui->statsToolBox->updateStat(QString("Odometry/localBundleOutliersCam%1/").arg(i), _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().localBundleOutliersPerCam[i], _preferencesDialog->isCacheSavedInFigures());
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}
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}
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_ui->statsToolBox->updateStat("Odometry/KeyFrameAdded/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().keyFrameAdded?1.0f:0.0f, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/ID/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)data->id(), _preferencesDialog->isCacheSavedInFigures());
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@@ -1272,7 +1272,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->loopClosure_estimationType->setObjectName(Parameters::kVisEstimationType().c_str());
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connect(_ui->loopClosure_estimationType, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_loopClosureEstimation, SLOT(setCurrentIndex(int)));
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_ui->stackedWidget_loopClosureEstimation->setCurrentIndex(Parameters::defaultVisEstimationType());
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_ui->loopClosure_forwardEst->setObjectName(Parameters::kVisForwardEstOnly().c_str());
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_ui->loopClosure_bowEpipolarGeometryVar->setObjectName(Parameters::kVisEpipolarGeometryVar().c_str());
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_ui->loopClosure_pnpReprojError->setObjectName(Parameters::kVisPnPReprojError().c_str());
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_ui->loopClosure_pnpFlags->setObjectName(Parameters::kVisPnPFlags().c_str());
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@@ -95,7 +95,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>18</number>
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<number>21</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
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@@ -21712,6 +21712,95 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<layout class="QVBoxLayout" name="verticalLayout_41" stretch="0,0,0,1,0">
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<item>
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<layout class="QGridLayout" name="gridLayout_23" columnstretch="0,1">
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<item row="2" column="1">
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<widget class="QLabel" name="label_554">
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<property name="text">
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<string>Maximum distance (m) of the mean distance of inliers from the camera to accept the transformation. 0 means disabled.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<widget class="QComboBox" name="loopClosure_bundle">
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<property name="sizeAdjustPolicy">
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<enum>QComboBox::AdjustToContentsOnFirstShow</enum>
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</property>
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<item>
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<property name="text">
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<string>Disabled</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>g2o</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>cvsba</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Ceres</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="5" column="1">
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<widget class="QLabel" name="label_346">
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<property name="text">
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<string>Refine transformation with bundle adjustment. See Optimizer panel.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="visMeanDistance">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="maximum">
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<double>9999.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_2">
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<property name="text">
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<string>Minimum correspondences to accept the estimated transformation.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QDoubleSpinBox" name="visMinDistribution">
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<property name="decimals">
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<number>4</number>
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</property>
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<property name="maximum">
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<double>0.500000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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</widget>
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</item>
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<item row="0" column="0">
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<widget class="QComboBox" name="loopClosure_estimationType">
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<property name="sizeAdjustPolicy">
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@@ -21734,22 +21823,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</item>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QSpinBox" name="loopClosure_bowIterations">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>10000</number>
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</property>
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<property name="singleStep">
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<number>1</number>
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</property>
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<property name="value">
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<number>100</number>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_15">
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<property name="text">
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@@ -21760,26 +21833,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<widget class="QLabel" name="label_298">
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<property name="text">
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<string>Forward estimation only (A->B). If false, a transformation is also computed in backward direction (B->A), then the two resulting transforms are merged (middle interpolation between the transforms).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<widget class="QCheckBox" name="loopClosure_forwardEst">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QSpinBox" name="loopClosure_bowMinInliers">
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<property name="minimum">
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@@ -21806,72 +21859,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_2">
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<property name="text">
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<string>Minimum correspondences to accept the estimated transformation.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<widget class="QComboBox" name="loopClosure_bundle">
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<property name="sizeAdjustPolicy">
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<enum>QComboBox::AdjustToContentsOnFirstShow</enum>
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</property>
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<item>
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<property name="text">
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<string>Disabled</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>g2o</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>cvsba</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Ceres</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="6" column="1">
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<widget class="QLabel" name="label_346">
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<property name="text">
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<string>Refine transformation with bundle adjustment. See Optimizer panel.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_554">
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<property name="text">
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<string>Maximum distance (m) of the mean distance of inliers from the camera to accept the transformation. 0 means disabled.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_555">
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<property name="text">
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@@ -21885,26 +21872,19 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QDoubleSpinBox" name="visMinDistribution">
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<property name="decimals">
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<number>4</number>
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<item row="4" column="0">
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<widget class="QSpinBox" name="loopClosure_bowIterations">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<double>0.500000000000000</double>
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<number>10000</number>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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<number>1</number>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="visMeanDistance">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="maximum">
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<double>9999.000000000000000</double>
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<property name="value">
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<number>100</number>
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</property>
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</widget>
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</item>
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