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DbViewer: show full covariance in Constraints View

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This commit is contained in:
matlabbe
2018-08-09 15:20:19 -04:00
parent f281db8dd0
commit 5e60a2596c
2 changed files with 36 additions and 21 deletions
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8
guilib/src/DatabaseViewer.cpp
View File

@@ -978,6 +978,7 @@ bool DatabaseViewer::closeDatabase()
ui_->label_constraint->clear(); ui_->label_constraint->clear();
ui_->label_constraint_opt->clear(); ui_->label_constraint_opt->clear();
ui_->label_variance->clear(); ui_->label_variance->clear();
ui_->lineEdit_covariance->clear();
ui_->horizontalSlider_A->setEnabled(false); ui_->horizontalSlider_A->setEnabled(false);
ui_->horizontalSlider_A->setMaximum(0); ui_->horizontalSlider_A->setMaximum(0);
@@ -4447,8 +4448,11 @@ void DatabaseViewer::updateConstraintView(
link.type()==Link::kUserClosure?"User link": link.type()==Link::kUserClosure?"User link":
link.type()==Link::kVirtualClosure?"Virtual link":"Undefined")); link.type()==Link::kVirtualClosure?"Virtual link":"Undefined"));
ui_->label_variance->setText(QString("%1, %2") ui_->label_variance->setText(QString("%1, %2")
.arg(sqrt(link.rotVariance())) .arg(sqrt(link.transVariance()))
.arg(sqrt(link.transVariance()))); .arg(sqrt(link.rotVariance())));
std::stringstream out;
out << link.infMatrix().inv();
ui_->lineEdit_covariance->setText(out.str().c_str());
ui_->label_constraint->setText(QString("%1").arg(t.prettyPrint().c_str()).replace(" ", "\n")); ui_->label_constraint->setText(QString("%1").arg(t.prettyPrint().c_str()).replace(" ", "\n"));
if(graphes_.size() && if(graphes_.size() &&
(int)graphes_.size()-1 == ui_->horizontalSlider_iterations->maximum()) (int)graphes_.size()-1 == ui_->horizontalSlider_iterations->maximum())

49
guilib/src/ui/DatabaseViewer.ui
View File

@@ -729,6 +729,27 @@
</item> </item>
<item> <item>
<layout class="QGridLayout" name="gridLayout_6" columnstretch="0,0"> <layout class="QGridLayout" name="gridLayout_6" columnstretch="0,0">
<item row="4" column="1">
<layout class="QHBoxLayout" name="horizontalLayout_13">
<item>
<widget class="QLabel" name="label_variance">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_covariance">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="0"> <item row="0" column="0">
<widget class="QLabel" name="label"> <widget class="QLabel" name="label">
<property name="text"> <property name="text">
@@ -803,31 +824,14 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="4" column="0"> <item row="6" column="0">
<widget class="QLabel" name="label_18">
<property name="text">
<string>σ (rot, trans)</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_variance">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_showOptimized"> <widget class="QCheckBox" name="checkBox_showOptimized">
<property name="text"> <property name="text">
<string>Optimized</string> <string>Optimized</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="1"> <item row="6" column="1">
<widget class="QLabel" name="label_constraint_opt"> <widget class="QLabel" name="label_constraint_opt">
<property name="text"> <property name="text">
<string/> <string/>
@@ -837,6 +841,13 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="4" column="0">
<widget class="QLabel" name="label_18">
<property name="text">
<string>σ (lin, ang), cov</string>
</property>
</widget>
</item>
</layout> </layout>
</item> </item>
<item> <item>