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Fix 6DoF graph angular check (#1511)

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* Fix 6DoF graph angular check

* Updated getAngle to use better version
This commit is contained in:
matlabbe
2025-05-24 13:25:26 -07:00
committed by GitHub
parent a02621ef30
commit 478e909742
10 changed files with 36 additions and 36 deletions
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3
guilib/src/DatabaseViewer.cpp
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@@ -6358,11 +6358,12 @@ void DatabaseViewer::updateConstraintView(
ui_->checkBox_showOptimized->setEnabled(true);
Transform topt = iterFrom->second.inverse()*iterTo->second;
float diff = topt.getDistance(t);
Transform v1 = t.rotation()*Transform(1,0,0,0,0,0);
Transform v2 = topt.rotation()*Transform(1,0,0,0,0,0);
float a = pcl::getAngle3D(Eigen::Vector4f(v1.x(), v1.y(), v1.z(), 0), Eigen::Vector4f(v2.x(), v2.y(), v2.z(), 0));
a = (a *180.0f) / CV_PI;
ui_->label_constraint_opt->setText(QString("%1\n(error=%2% a=%3)").arg(QString(topt.prettyPrint().c_str()).replace(" ", "\n")).arg((t.getNorm()>0?diff/t.getNorm():0)*100.0f).arg(a));
ui_->label_constraint_opt->setText(QString("%1\n(error=%2% a=%3 deg)").arg(QString(topt.prettyPrint().c_str()).replace(" ", "\n")).arg((t.getNorm()>0?diff/t.getNorm():0)*100.0f).arg(a));
if(ui_->checkBox_showOptimized->isChecked())
{

5
guilib/src/MainWindow.cpp
View File

@@ -1908,9 +1908,8 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
{
if(!odomT.isNull())
{
rtabmap::Transform diff = odom.info().transformGroundTruth.inverse()*odomT;
_ui->statsToolBox->updateStat("Odometry/TG_error_lin/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), diff.getNorm(), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TG_error_ang/deg", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), diff.getAngle()*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TG_error_lin/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), odom.info().transformGroundTruth.getDistance(odomT), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TG_error_ang/deg", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), odom.info().transformGroundTruth.getAngle(odomT)*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
}
odom.info().transformGroundTruth.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);