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DbViewer: manual constraints can now be added (http://official-rtab-map-forum.67519.x6.nabble.com/Manually-adding-modifying-node-constraints-td6983.html)

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This commit is contained in:
matlabbe
2020-10-07 15:41:13 -04:00
parent 168c87b5ba
commit 2cb509c825
6 changed files with 229 additions and 14 deletions
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67
guilib/src/EditConstraintDialog.cpp
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@@ -30,7 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
EditConstraintDialog::EditConstraintDialog(const Transform & constraint, QWidget * parent) :
EditConstraintDialog::EditConstraintDialog(const Transform & constraint, double linearSigma, double angularSigma, QWidget * parent) :
QDialog(parent)
{
_ui = new Ui_EditConstraintDialog();
@@ -44,6 +44,11 @@ EditConstraintDialog::EditConstraintDialog(const Transform & constraint, QWidget
_ui->roll->setValue(roll);
_ui->pitch->setValue(pitch);
_ui->yaw->setValue(yaw);
_ui->linear_sigma->setValue(linearSigma);
_ui->angular_sigma->setValue(angularSigma);
connect(_ui->checkBox_radians, SIGNAL(stateChanged(int)), this, SLOT(switchUnits()));
_ui->checkBox_radians->setChecked(false);
}
EditConstraintDialog::~EditConstraintDialog()
@@ -51,9 +56,67 @@ EditConstraintDialog::~EditConstraintDialog()
delete _ui;
}
void EditConstraintDialog::switchUnits()
{
double conversion = 180.0/M_PI;
if(_ui->checkBox_radians->isChecked())
{
conversion = M_PI/180.0;
}
QVector<QDoubleSpinBox*> boxes;
boxes.push_back(_ui->roll);
boxes.push_back(_ui->pitch);
boxes.push_back(_ui->yaw);
boxes.push_back(_ui->angular_sigma);
for(int i=0; i<boxes.size(); ++i)
{
double value = boxes[i]->value()*conversion;
if(_ui->checkBox_radians->isChecked())
{
if(boxes[i]!=_ui->angular_sigma)
{
boxes[i]->setMinimum(-M_PI);
}
boxes[i]->setMaximum(M_PI);
boxes[i]->setSuffix(" rad");
boxes[i]->setSingleStep(0.01);
}
else
{
if(boxes[i]!=_ui->angular_sigma)
{
boxes[i]->setMinimum(-180);
}
boxes[i]->setMaximum(180);
boxes[i]->setSuffix(" deg");
boxes[i]->setSingleStep(1);
}
boxes[i]->setValue(value);
}
}
Transform EditConstraintDialog::getTransform() const
{
return Transform(_ui->x->value(), _ui->y->value(), _ui->z->value(), _ui->roll->value(), _ui->pitch->value(), _ui->yaw->value());
double conversion = 1.0f;
if(!_ui->checkBox_radians->isChecked())
{
conversion = M_PI/180.0;
}
return Transform(_ui->x->value(), _ui->y->value(), _ui->z->value(), _ui->roll->value()*conversion, _ui->pitch->value()*conversion, _ui->yaw->value()*conversion);
}
double EditConstraintDialog::getLinearVariance() const
{
return _ui->linear_sigma->value();
}
double EditConstraintDialog::getAngularVariance() const
{
double conversion = 1.0f;
if(!_ui->checkBox_radians->isChecked())
{
conversion = M_PI/180.0;
}
return _ui->angular_sigma->value()*conversion;
}
}