mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
Added Vis/PnPSplitLinearCovComponents parameter (default false -> same as before)
This commit is contained in:
matlabbe
@@ -1775,6 +1775,8 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
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//Process info
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if(_preferencesDialog->isCacheSavedInFigures() || _ui->statsToolBox->isVisible())
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{
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double linVar = uMax3(odom.info().reg.covariance.at<double>(0,0), odom.info().reg.covariance.at<double>(1,1)>=9999?0:odom.info().reg.covariance.at<double>(1,1), odom.info().reg.covariance.at<double>(2,2)>=9999?0:odom.info().reg.covariance.at<double>(2,2));
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double angVar = uMax3(odom.info().reg.covariance.at<double>(3,3)>=9999?0:odom.info().reg.covariance.at<double>(3,3), odom.info().reg.covariance.at<double>(4,4)>=9999?0:odom.info().reg.covariance.at<double>(4,4), odom.info().reg.covariance.at<double>(5,5));
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_ui->statsToolBox->updateStat("Odometry/Inliers/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.inliers, _preferencesDialog->isCacheSavedInFigures());
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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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@@ -1788,10 +1790,10 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
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_ui->statsToolBox->updateStat("Odometry/ICPRMS/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.icpRMS, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/Matches/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.matches, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/MatchesRatio/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), odom.info().features<=0?0.0f:float(odom.info().reg.matches)/float(odom.info().features), _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/StdDevLin/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), sqrt((float)odom.info().reg.covariance.at<double>(0,0)), _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/VarianceLin/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.covariance.at<double>(0,0), _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/StdDevAng/rad", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), sqrt((float)odom.info().reg.covariance.at<double>(5,5)), _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/VarianceAng/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.covariance.at<double>(5,5), _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/StdDevLin/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), sqrt((float)linVar), _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/VarianceLin/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)linVar, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/StdDevAng/rad", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), sqrt((float)angVar), _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/VarianceAng/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)angVar, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/TimeEstimation/ms", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().timeEstimation*1000.0f, _preferencesDialog->isCacheSavedInFigures());
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if(odom.info().timeParticleFiltering>0.0f)
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{
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@@ -1190,6 +1190,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->loopClosure_pnpVarMedianRatio->setObjectName(Parameters::kVisPnPVarianceMedianRatio().c_str());
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_ui->loopClosure_pnpMaxVariance->setObjectName(Parameters::kVisPnPMaxVariance().c_str());
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_ui->loopClosure_pnpSamplingPolicy->setObjectName(Parameters::kVisPnPSamplingPolicy().c_str());
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_ui->loopClosure_pnpSplitLinearCovComponents->setObjectName(Parameters::kVisPnPSplitLinearCovComponents().c_str());
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_ui->reextract_nn->setObjectName(Parameters::kVisCorNNType().c_str());
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connect(_ui->reextract_nn, SIGNAL(currentIndexChanged(int)), this, SLOT(updateFeatureMatchingVisibility()));
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_ui->reextract_nndrRatio->setObjectName(Parameters::kVisCorNNDR().c_str());
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@@ -63,7 +63,7 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<y>-1092</y>
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<width>713</width>
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<height>3933</height>
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</rect>
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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>8</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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@@ -21292,10 +21292,10 @@ Lower the ratio -> higher the precision.</string>
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<string>Motion Estimation: 3D to 2D (PnP)</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_59" columnstretch="0,1">
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<item row="1" column="1">
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<widget class="QLabel" name="label_235">
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<item row="0" column="1">
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<widget class="QLabel" name="label_655">
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<property name="text">
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<string>Flags.</string>
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<string>Reprojection error.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -21305,25 +21305,6 @@ Lower the ratio -> higher the precision.</string>
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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_pnpSamplingPolicy">
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<item>
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<property name="text">
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<string>AUTO</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>ANY</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>HOMOGENEOUS</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="1" column="0">
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<widget class="QComboBox" name="loopClosure_pnpFlags">
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<item>
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@@ -21343,45 +21324,67 @@ Lower the ratio -> higher the precision.</string>
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</item>
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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_loopClosure_pnpOpenCV2">
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<property name="text">
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<string>Refine iterations.</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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<item row="5" column="0">
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<widget class="QComboBox" name="loopClosure_pnpSamplingPolicy">
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<item>
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<property name="text">
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<string>AUTO</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>ANY</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>HOMOGENEOUS</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="0" column="1">
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<widget class="QLabel" name="label_655">
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<property name="text">
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<string>Reprojection error.</string>
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<item row="0" column="0">
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<widget class="QDoubleSpinBox" name="loopClosure_pnpReprojError">
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<property name="suffix">
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<string> pix</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 name="decimals">
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<number>1</number>
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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="QSpinBox" name="loopClosure_pnpRefineIterations">
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<property name="minimum">
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<number>0</number>
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</property>
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<property name="maximum">
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<number>999999</number>
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<double>0.100000000000000</double>
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</property>
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<property name="singleStep">
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<number>1</number>
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<double>1.000000000000000</double>
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</property>
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<property name="value">
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<number>1</number>
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<double>8.000000000000000</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_235">
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<property name="text">
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<string>Flags.</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_loopClosure_pnpOpenCV2_4">
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<property name="text">
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<string>Ratio used to compute variance of the estimated transformation if 3D correspondences are provided (should be > 1). The higher it is, the smaller the covariance will be. With accurate depth estimation, this could be set to 2. For depth estimated by stereo, 4 or more maybe used to ignore large errors of very far points.</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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@@ -21407,25 +21410,6 @@ Lower the ratio -> higher the precision.</string>
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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="QDoubleSpinBox" name="loopClosure_pnpReprojError">
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<property name="suffix">
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<string> pix</string>
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</property>
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<property name="decimals">
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<number>1</number>
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</property>
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<property name="minimum">
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<double>0.100000000000000</double>
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</property>
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<property name="singleStep">
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<double>1.000000000000000</double>
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</property>
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<property name="value">
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<double>8.000000000000000</double>
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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_loopClosure_pnpOpenCV2_3">
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<property name="text">
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@@ -21439,19 +21423,6 @@ Lower the ratio -> higher the precision.</string>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_656">
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<property name="text">
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<string>Reprojection error.</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="4" column="1">
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<widget class="QLabel" name="label_loopClosure_pnpOpenCV2_2">
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<property name="text">
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@@ -21465,10 +21436,10 @@ Lower the ratio -> higher the precision.</string>
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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_loopClosure_pnpOpenCV2_4">
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<item row="0" column="1">
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<widget class="QLabel" name="label_656">
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<property name="text">
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<string>Ratio used to compute variance of the estimated transformation if 3D correspondences are provided (should be > 1). The higher it is, the smaller the covariance will be. With accurate depth estimation, this could be set to 2. For depth estimated by stereo, 4 or more maybe used to ignore large errors of very far points.</string>
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<string>Reprojection error.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -21491,6 +21462,55 @@ Lower the ratio -> higher the precision.</string>
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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_loopClosure_pnpOpenCV2">
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<property name="text">
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<string>Refine iterations.</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="QSpinBox" name="loopClosure_pnpRefineIterations">
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<property name="minimum">
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<number>0</number>
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</property>
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<property name="maximum">
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<number>999999</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>1</number>
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</property>
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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_loopClosure_pnpOpenCV2_5">
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<property name="text">
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<string>Compute variance for each linear component instead of using the combined XYZ variance for all linear components.</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="QCheckBox" name="loopClosure_pnpSplitLinearCovComponents">
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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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</layout>
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</widget>
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</item>
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