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DatabaseViewer: Added ground truth statistics

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This commit is contained in:
matlabbe
2017-04-24 13:04:31 -04:00
parent 1b71a96a3d
commit 51c353e504
4 changed files with 203 additions and 24 deletions
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2
guilib/include/rtabmap/gui/DatabaseViewer.h
View File

@@ -118,7 +118,7 @@ private slots:
void updateLoggerLevel(); void updateLoggerLevel();
void updateStereo(); void updateStereo();
void notifyParametersChanged(const QStringList &); void notifyParametersChanged(const QStringList &);
void setupMainLayout(int vertical); void setupMainLayout(bool vertical);
private: private:
QString getIniFilePath() const; QString getIniFilePath() const;

169
guilib/src/DatabaseViewer.cpp
View File

@@ -113,7 +113,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
ui_->comboBox_logger_level->setVisible(parent==0); ui_->comboBox_logger_level->setVisible(parent==0);
ui_->label_logger_level->setVisible(parent==0); ui_->label_logger_level->setVisible(parent==0);
connect(ui_->comboBox_logger_level, SIGNAL(currentIndexChanged(int)), this, SLOT(updateLoggerLevel())); connect(ui_->comboBox_logger_level, SIGNAL(currentIndexChanged(int)), this, SLOT(updateLoggerLevel()));
connect(ui_->checkBox_verticalLayout, SIGNAL(stateChanged(int)), this, SLOT(setupMainLayout(int))); connect(ui_->actionVertical_Layout, SIGNAL(toggled(bool)), this, SLOT(setupMainLayout(bool)));
editDepthDialog_->resize(640, 480); editDepthDialog_->resize(640, 480);
QVBoxLayout * vLayout = new QVBoxLayout(editDepthDialog_); QVBoxLayout * vLayout = new QVBoxLayout(editDepthDialog_);
@@ -193,6 +193,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
exportDialog_->setObjectName("ExportCloudsDialog"); exportDialog_->setObjectName("ExportCloudsDialog");
this->readSettings(); this->readSettings();
setupMainLayout(ui_->actionVertical_Layout->isChecked());
ui_->checkBox_grid_cubes->setVisible(ui_->checkBox_octomap->isChecked()); ui_->checkBox_grid_cubes->setVisible(ui_->checkBox_octomap->isChecked());
ui_->spinBox_grid_depth->setVisible(ui_->checkBox_octomap->isChecked()); ui_->spinBox_grid_depth->setVisible(ui_->checkBox_octomap->isChecked());
ui_->checkBox_grid_empty->setVisible(ui_->checkBox_octomap->isChecked()); ui_->checkBox_grid_empty->setVisible(ui_->checkBox_octomap->isChecked());
@@ -325,7 +326,9 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
//connect(ui_->graphicsView_A, SIGNAL(configChanged()), this, SLOT(configModified())); //connect(ui_->graphicsView_A, SIGNAL(configChanged()), this, SLOT(configModified()));
//connect(ui_->graphicsView_B, SIGNAL(configChanged()), this, SLOT(configModified())); //connect(ui_->graphicsView_B, SIGNAL(configChanged()), this, SLOT(configModified()));
connect(ui_->comboBox_logger_level, SIGNAL(currentIndexChanged(int)), this, SLOT(configModified())); connect(ui_->comboBox_logger_level, SIGNAL(currentIndexChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_verticalLayout, SIGNAL(stateChanged(int)), this, SLOT(configModified())); connect(ui_->actionVertical_Layout, SIGNAL(toggled(bool)), this, SLOT(configModified()));
connect(ui_->checkBox_alignPosesWithGroundTruth, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_alignPosesWithGroundTruth, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
// Graph view // Graph view
connect(ui_->checkBox_spanAllMaps, SIGNAL(stateChanged(int)), this, SLOT(configModified())); connect(ui_->checkBox_spanAllMaps, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_ignorePoseCorrection, SIGNAL(stateChanged(int)), this, SLOT(configModified())); connect(ui_->checkBox_ignorePoseCorrection, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
@@ -386,7 +389,7 @@ DatabaseViewer::~DatabaseViewer()
#endif #endif
} }
void DatabaseViewer::setupMainLayout(int vertical) void DatabaseViewer::setupMainLayout(bool vertical)
{ {
if(vertical) if(vertical)
{ {
@@ -398,6 +401,10 @@ void DatabaseViewer::setupMainLayout(int vertical)
qobject_cast<QHBoxLayout *>(ui_->horizontalLayout_imageViews->layout())->setDirection(QBoxLayout::LeftToRight); qobject_cast<QHBoxLayout *>(ui_->horizontalLayout_imageViews->layout())->setDirection(QBoxLayout::LeftToRight);
qobject_cast<QHBoxLayout *>(ui_->horizontalLayout_3dviews->layout())->setDirection(QBoxLayout::LeftToRight); qobject_cast<QHBoxLayout *>(ui_->horizontalLayout_3dviews->layout())->setDirection(QBoxLayout::LeftToRight);
} }
if(ids_.size())
{
sliderAValueChanged(ui_->horizontalSlider_A->value()); // update matching lines
}
} }
void DatabaseViewer::showCloseButton(bool visible) void DatabaseViewer::showCloseButton(bool visible)
@@ -445,7 +452,8 @@ void DatabaseViewer::readSettings()
savedMaximized_ = settings.value("maximized", false).toBool(); savedMaximized_ = settings.value("maximized", false).toBool();
ui_->comboBox_logger_level->setCurrentIndex(settings.value("loggerLevel", ui_->comboBox_logger_level->currentIndex()).toInt()); ui_->comboBox_logger_level->setCurrentIndex(settings.value("loggerLevel", ui_->comboBox_logger_level->currentIndex()).toInt());
ui_->checkBox_verticalLayout->setChecked(settings.value("verticalLayout", ui_->checkBox_verticalLayout->isChecked()).toBool()); ui_->actionVertical_Layout->setChecked(settings.value("verticalLayout", ui_->actionVertical_Layout->isChecked()).toBool());
ui_->checkBox_alignPosesWithGroundTruth->setChecked(settings.value("alignGroundTruth", ui_->checkBox_alignPosesWithGroundTruth->isChecked()).toBool());
// GraphViewer settings // GraphViewer settings
ui_->graphViewer->loadSettings(settings, "GraphView"); ui_->graphViewer->loadSettings(settings, "GraphView");
@@ -531,7 +539,8 @@ void DatabaseViewer::writeSettings()
savedMaximized_ = this->isMaximized(); savedMaximized_ = this->isMaximized();
settings.setValue("loggerLevel", ui_->comboBox_logger_level->currentIndex()); settings.setValue("loggerLevel", ui_->comboBox_logger_level->currentIndex());
settings.setValue("verticalLayout", ui_->checkBox_verticalLayout->isChecked()); settings.setValue("verticalLayout", ui_->actionVertical_Layout->isChecked());
settings.setValue("alignGroundTruth", ui_->checkBox_alignPosesWithGroundTruth->isChecked());
// save GraphViewer settings // save GraphViewer settings
ui_->graphViewer->saveSettings(settings, "GraphView"); ui_->graphViewer->saveSettings(settings, "GraphView");
@@ -3131,7 +3140,7 @@ void DatabaseViewer::updateWordsMatching()
float deltaX = 0; float deltaX = 0;
float deltaY = 0; float deltaY = 0;
if(ui_->checkBox_verticalLayout->isChecked()) if(ui_->actionVertical_Layout->isChecked())
{ {
deltaY = ui_->graphicsView_A->height()/scaleX; deltaY = ui_->graphicsView_A->height()/scaleX;
} }
@@ -3783,6 +3792,154 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
if(dbDriver_ && value >=0 && value < (int)graphes_.size()) if(dbDriver_ && value >=0 && value < (int)graphes_.size())
{ {
std::map<int, rtabmap::Transform> & graph = uValueAt(graphes_, value); std::map<int, rtabmap::Transform> & graph = uValueAt(graphes_, value);
// Log ground truth statistics (in TUM's RGBD-SLAM format)
if(groundTruthPoses_.size())
{
if(ui_->checkBox_alignPosesWithGroundTruth->isChecked())
{
//align with ground truth for more meaningful results
pcl::PointCloud<pcl::PointXYZ> cloud1, cloud2;
cloud1.resize(graph.size());
cloud2.resize(graph.size());
int oi = 0;
int idFirst = 0;
for(std::map<int, Transform>::const_iterator iter=groundTruthPoses_.begin(); iter!=groundTruthPoses_.end(); ++iter)
{
std::map<int, Transform>::iterator iter2 = graph.find(iter->first);
if(iter2!=graph.end())
{
if(oi==0)
{
idFirst = iter->first;
}
cloud1[oi] = pcl::PointXYZ(iter->second.x(), iter->second.y(), iter->second.z());
cloud2[oi++] = pcl::PointXYZ(iter2->second.x(), iter2->second.y(), iter2->second.z());
}
}
Transform t = Transform::getIdentity();
if(oi>5)
{
cloud1.resize(oi);
cloud2.resize(oi);
t = util3d::transformFromXYZCorrespondencesSVD(cloud2, cloud1);
}
else if(idFirst)
{
t = groundTruthPoses_.at(idFirst) * graph.at(idFirst).inverse();
}
if(!t.isIdentity())
{
for(std::map<int, Transform>::iterator iter=graph.begin(); iter!=graph.end(); ++iter)
{
iter->second = t * iter->second;
}
}
}
std::vector<float> translationalErrors(graph.size());
std::vector<float> rotationalErrors(graph.size());
float sumTranslationalErrors = 0.0f;
float sumRotationalErrors = 0.0f;
float sumSqrdTranslationalErrors = 0.0f;
float sumSqrdRotationalErrors = 0.0f;
float radToDegree = 180.0f / M_PI;
float translational_min = 0.0f;
float translational_max = 0.0f;
float rotational_min = 0.0f;
float rotational_max = 0.0f;
int oi=0;
for(std::map<int, Transform>::iterator iter=graph.begin(); iter!=graph.end(); ++iter)
{
std::map<int, Transform>::const_iterator jter = groundTruthPoses_.find(iter->first);
if(jter!=groundTruthPoses_.end())
{
Eigen::Vector3f vA = iter->second.toEigen3f().rotation()*Eigen::Vector3f(1,0,0);
Eigen::Vector3f vB = jter->second.toEigen3f().rotation()*Eigen::Vector3f(1,0,0);
double a = pcl::getAngle3D(Eigen::Vector4f(vA[0], vA[1], vA[2], 0), Eigen::Vector4f(vB[0], vB[1], vB[2], 0));
rotationalErrors[oi] = a*radToDegree;
translationalErrors[oi] = iter->second.getDistance(jter->second);
sumTranslationalErrors+=translationalErrors[oi];
sumSqrdTranslationalErrors+=translationalErrors[oi]*translationalErrors[oi];
sumRotationalErrors+=rotationalErrors[oi];
sumSqrdRotationalErrors+=rotationalErrors[oi]*rotationalErrors[oi];
if(oi == 0)
{
translational_min = translational_max = translationalErrors[oi];
rotational_min = rotational_max = rotationalErrors[oi];
}
else
{
if(translationalErrors[oi] < translational_min)
{
translational_min = translationalErrors[oi];
}
else if(translationalErrors[oi] > translational_max)
{
translational_max = translationalErrors[oi];
}
if(rotationalErrors[oi] < rotational_min)
{
rotational_min = rotationalErrors[oi];
}
else if(rotationalErrors[oi] > rotational_max)
{
rotational_max = rotationalErrors[oi];
}
}
++oi;
}
}
translationalErrors.resize(oi);
rotationalErrors.resize(oi);
if(oi)
{
float total = float(oi);
float translational_rmse = std::sqrt(sumSqrdTranslationalErrors/total);
float translational_mean = sumTranslationalErrors/total;
float translational_median = translationalErrors[oi/2];
float translational_std = std::sqrt(uVariance(translationalErrors, translational_mean));
float rotational_rmse = std::sqrt(sumSqrdRotationalErrors/total);
float rotational_mean = sumRotationalErrors/total;
float rotational_median = rotationalErrors[oi/2];
float rotational_std = std::sqrt(uVariance(rotationalErrors, rotational_mean));
UINFO("translational_rmse=%f", translational_rmse);
UINFO("translational_mean=%f", translational_mean);
UINFO("translational_median=%f", translational_median);
UINFO("translational_std=%f", translational_std);
UINFO("translational_min=%f", translational_min);
UINFO("translational_max=%f", translational_max);
UINFO("rotational_rmse=%f", rotational_rmse);
UINFO("rotational_mean=%f", rotational_mean);
UINFO("rotational_median=%f", rotational_median);
UINFO("rotational_std=%f", rotational_std);
UINFO("rotational_min=%f", rotational_min);
UINFO("rotational_max=%f", rotational_max);
ui_->toolBox_statistics->updateStat("GT/translational_rmse/", translational_rmse, false);
ui_->toolBox_statistics->updateStat("GT/translational_mean/", translational_mean, false);
ui_->toolBox_statistics->updateStat("GT/translational_median/", translational_median, false);
ui_->toolBox_statistics->updateStat("GT/translational_std/", translational_std, false);
ui_->toolBox_statistics->updateStat("GT/translational_min/", translational_min, false);
ui_->toolBox_statistics->updateStat("GT/translational_max/", translational_max, false);
ui_->toolBox_statistics->updateStat("GT/rotational_rmse/", rotational_rmse, false);
ui_->toolBox_statistics->updateStat("GT/rotational_mean/", rotational_mean, false);
ui_->toolBox_statistics->updateStat("GT/rotational_median/", rotational_median, false);
ui_->toolBox_statistics->updateStat("GT/rotational_std/", rotational_std, false);
ui_->toolBox_statistics->updateStat("GT/rotational_min/", rotational_min, false);
ui_->toolBox_statistics->updateStat("GT/rotational_max/", rotational_max, false);
}
}
std::map<int, rtabmap::Transform> graphFiltered = graph; std::map<int, rtabmap::Transform> graphFiltered = graph;
if(ui_->groupBox_posefiltering->isChecked()) if(ui_->groupBox_posefiltering->isChecked())
{ {

53
guilib/src/ui/DatabaseViewer.ui
View File

@@ -52,7 +52,7 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>339</width> <width>337</width>
<height>208</height> <height>208</height>
</rect> </rect>
</property> </property>
@@ -210,7 +210,7 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>339</width> <width>337</width>
<height>208</height> <height>208</height>
</rect> </rect>
</property> </property>
@@ -529,6 +529,7 @@
<property name="title"> <property name="title">
<string>View</string> <string>View</string>
</property> </property>
<addaction name="actionVertical_Layout"/>
</widget> </widget>
<addaction name="menuFile"/> <addaction name="menuFile"/>
<addaction name="menuEdit"/> <addaction name="menuEdit"/>
@@ -935,19 +936,15 @@
<widget class="QWidget" name="dockWidgetContents_3"> <widget class="QWidget" name="dockWidgetContents_3">
<layout class="QVBoxLayout" name="verticalLayout_10"> <layout class="QVBoxLayout" name="verticalLayout_10">
<item> <item>
<layout class="QGridLayout" name="gridLayout_4"> <layout class="QGridLayout" name="gridLayout_4" columnstretch="0,0,1">
<item row="1" column="2">
<widget class="QLabel" name="label_logger_level_2">
<property name="text">
<string>Vertical layout</string>
</property>
</widget>
</item>
<item row="0" column="2"> <item row="0" column="2">
<widget class="QLabel" name="label_logger_level"> <widget class="QLabel" name="label_logger_level">
<property name="text"> <property name="text">
<string>Logger level</string> <string>Logger level</string>
</property> </property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget> </widget>
</item> </item>
<item row="0" column="1"> <item row="0" column="1">
@@ -977,11 +974,24 @@
</item> </item>
</widget> </widget>
</item> </item>
<item row="1" column="2">
<widget class="QLabel" name="label_logger_level_2">
<property name="text">
<string>Align poses with ground truth</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1"> <item row="1" column="1">
<widget class="QCheckBox" name="checkBox_verticalLayout"> <widget class="QCheckBox" name="checkBox_alignPosesWithGroundTruth">
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>
<property name="checked">
<bool>true</bool>
</property>
</widget> </widget>
</item> </item>
</layout> </layout>
@@ -997,7 +1007,7 @@
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>324</width> <width>324</width>
<height>207</height> <height>188</height>
</rect> </rect>
</property> </property>
<attribute name="label"> <attribute name="label">
@@ -1463,8 +1473,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>283</width> <width>272</width>
<height>222</height> <height>126</height>
</rect> </rect>
</property> </property>
<attribute name="label"> <attribute name="label">
@@ -1563,8 +1573,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>268</width> <width>272</width>
<height>304</height> <height>288</height>
</rect> </rect>
</property> </property>
<attribute name="label"> <attribute name="label">
@@ -2141,6 +2151,17 @@
<string>Edit depth image...</string> <string>Edit depth image...</string>
</property> </property>
</action> </action>
<action name="actionVertical_Layout">
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>true</bool>
</property>
<property name="text">
<string>Vertical Layout</string>
</property>
</action>
</widget> </widget>
<customwidgets> <customwidgets>
<customwidget> <customwidget>

3
tools/KittiDataset/main.cpp
View File

@@ -39,6 +39,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/UStl.h" #include "rtabmap/utilite/UStl.h"
#include <pcl/common/common.h> #include <pcl/common/common.h>
#include <stdio.h> #include <stdio.h>
#include <signal.h>
using namespace rtabmap; using namespace rtabmap;
@@ -553,7 +554,7 @@ int main(int argc, char * argv[])
} }
else else
{ {
UWARN("Cannot compute ground truth statistics, the computed poses (%d) are not the same as the ground truth (%d). Make sure to use option \"--Rtabmap/CreateIntermediateNodes true\"."); UWARN("Cannot compute ground truth statistics, the computed poses (%d) are not the same size as the ground truth (%d). Make sure to use option \"--Rtabmap/CreateIntermediateNodes true\".");
} }
} }
} }