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DbViewer: Added Gravity info (https://github.com/introlab/rtabmap_ros/issues/323)

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This commit is contained in:
matlabbe
2019-07-29 10:43:50 -04:00
parent 1a5220182c
commit 283274e056
3 changed files with 59 additions and 10 deletions
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1
guilib/include/rtabmap/gui/DatabaseViewer.h
View File

@@ -164,6 +164,7 @@ private:
QLabel * labelVelocity,
QLabel * labelCalib,
QLabel * labelScan,
QLabel * labelGravity,
QLabel * labelGps,
QLabel * labelSensors,
bool updateConstraintView);

14
guilib/src/DatabaseViewer.cpp
View File

@@ -3811,6 +3811,7 @@ void DatabaseViewer::sliderAValueChanged(int value)
ui_->label_velA,
ui_->label_calibA,
ui_->label_scanA,
ui_->label_gravityA,
ui_->label_gpsA,
ui_->label_sensorsA,
true);
@@ -3832,6 +3833,7 @@ void DatabaseViewer::sliderBValueChanged(int value)
ui_->label_velB,
ui_->label_calibB,
ui_->label_scanB,
ui_->label_gravityB,
ui_->label_gpsB,
ui_->label_sensorsB,
true);
@@ -3851,6 +3853,7 @@ void DatabaseViewer::update(int value,
QLabel * labelVelocity,
QLabel * labelCalib,
QLabel * labelScan,
QLabel * labelGravity,
QLabel * labelGps,
QLabel * labelSensors,
bool updateConstraintView)
@@ -3869,6 +3872,7 @@ void DatabaseViewer::update(int value,
stamp->clear();
labelCalib->clear();
labelScan ->clear();
labelGravity->clear();
labelGps->clear();
labelSensors->clear();
QRectF rect;
@@ -3942,6 +3946,14 @@ void DatabaseViewer::update(int value,
{
labelVelocity->setText(QString("vx=%1 vy=%2 vz=%3 vroll=%4 vpitch=%5 vyaw=%6").arg(v[0]).arg(v[1]).arg(v[2]).arg(v[3]).arg(v[4]).arg(v[5]));
}
std::multimap<int, Link>::const_iterator imuIter = graph::findLink(links_, id, id, false, Link::kGravity);
if(imuIter != links_.end())
{
float roll,pitch,yaw;
imuIter->second.transform().getEulerAngles(roll, pitch, yaw);
Eigen::Vector3d v = Transform(0,0,0,roll,pitch,0).toEigen3d() * -Eigen::Vector3d::UnitZ();
labelGravity->setText(QString("x=%1 y=%2 z=%3").arg(v[0]).arg(v[1]).arg(v[2]));
}
if(gps.stamp()>0.0)
{
labelGps->setText(QString("stamp=%1 longitude=%2 latitude=%3 altitude=%4m error=%5m bearing=%6deg").arg(QString::number(gps.stamp(), 'f')).arg(gps.longitude()).arg(gps.latitude()).arg(gps.altitude()).arg(gps.error()).arg(gps.bearing()));
@@ -5061,6 +5073,7 @@ void DatabaseViewer::updateConstraintView(
ui_->label_velA,
ui_->label_calibA,
ui_->label_scanA,
ui_->label_gravityA,
ui_->label_gpsA,
ui_->label_sensorsA,
false); // don't update constraints view!
@@ -5080,6 +5093,7 @@ void DatabaseViewer::updateConstraintView(
ui_->label_velB,
ui_->label_calibB,
ui_->label_scanB,
ui_->label_gravityB,
ui_->label_gpsB,
ui_->label_sensorsB,
false); // don't update constraints view!

54
guilib/src/ui/DatabaseViewer.ui
View File

@@ -62,7 +62,7 @@
<x>0</x>
<y>0</y>
<width>409</width>
<height>288</height>
<height>311</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
@@ -202,14 +202,14 @@
</property>
</widget>
</item>
<item row="10" column="0">
<item row="11" column="0">
<widget class="QLabel" name="label_childrenA_16">
<property name="text">
<string>GPS</string>
</property>
</widget>
</item>
<item row="10" column="1">
<item row="11" column="1">
<widget class="QLabel" name="label_gpsA">
<property name="text">
<string/>
@@ -236,14 +236,14 @@
</property>
</widget>
</item>
<item row="11" column="0">
<item row="12" column="0">
<widget class="QLabel" name="label_childrenA_20">
<property name="text">
<string>Sensors</string>
</property>
</widget>
</item>
<item row="11" column="1">
<item row="12" column="1">
<widget class="QLabel" name="label_sensorsA">
<property name="text">
<string/>
@@ -270,6 +270,23 @@
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QLabel" name="label_childrenA_24">
<property name="text">
<string>Gravity</string>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_gravityA">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
@@ -288,7 +305,7 @@
<x>0</x>
<y>0</y>
<width>408</width>
<height>288</height>
<height>311</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
@@ -336,14 +353,14 @@
</property>
</widget>
</item>
<item row="10" column="0">
<item row="11" column="0">
<widget class="QLabel" name="label_childrenA_17">
<property name="text">
<string>GPS</string>
</property>
</widget>
</item>
<item row="10" column="1">
<item row="11" column="1">
<widget class="QLabel" name="label_gpsB">
<property name="text">
<string/>
@@ -462,14 +479,14 @@
</property>
</widget>
</item>
<item row="11" column="0">
<item row="12" column="0">
<widget class="QLabel" name="label_childrenA_21">
<property name="text">
<string>Sensors</string>
</property>
</widget>
</item>
<item row="11" column="1">
<item row="12" column="1">
<widget class="QLabel" name="label_sensorsB">
<property name="text">
<string/>
@@ -496,6 +513,23 @@
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QLabel" name="label_childrenA_25">
<property name="text">
<string>Gravity</string>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_gravityB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</widget>
</widget>