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0.11.13. OdometryF2M: fixed/improved bundle adjustment option. OptimizerG2O: now doing stereo BA instead of mono BA (interface of Optimizer::optimzeBA() has slightly changed to include depth in word references). Registration and Odometry set angular and linear variances separately. RegistrationVis set x100 smaller variance for rotation. Added keypoints3D member to SensorData. Added Transform::getAngle() for convenience. Odometry normalizes variances. RtabmapThread does variance summation when frames are discarded. Updated how variance is computed by util3d::estimateMotion3Dto2D(), ignoring very large variance from the computation (stereo issue with very far matched features). MainWindow: added option to align with ground truth or not (default true as before), added for odometry statistics (including bundle stuff), update ground truth statistics every time a graph is loaded/optimized. CameraRGB can now load odometry files (to fake an input odometry). PreferencesDialog: Added option to Odometry so it can use a different registration approach than the default one (the one used for loop closure). Parameters: added new g2o/Solver option 3 (Eigen), added g2o/RobustKernelDelta, g2o/Baseline and Odom/VisKeyFrameThr. Database: from 0.11.13, ignoring patch version when comparing is database version is newer than app version used.

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This commit is contained in:
matlabbe
2017-01-03 21:05:00 -05:00
parent 6550a52cee
commit 6abed48af6
48 changed files with 2202 additions and 1329 deletions
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341
guilib/src/MainWindow.cpp
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@@ -553,14 +553,23 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->statsToolBox->updateStat("Odometry/ID/", false);
_ui->statsToolBox->updateStat("Odometry/Features/", false);
_ui->statsToolBox->updateStat("Odometry/Matches/", false);
_ui->statsToolBox->updateStat("Odometry/MatchesRatio/", false);
_ui->statsToolBox->updateStat("Odometry/Inliers/", false);
_ui->statsToolBox->updateStat("Odometry/InliersRatio/", false);
_ui->statsToolBox->updateStat("Odometry/ICPInliersRatio/", false);
_ui->statsToolBox->updateStat("Odometry/StdDev/", false);
_ui->statsToolBox->updateStat("Odometry/Variance/", false);
_ui->statsToolBox->updateStat("Odometry/StdDevLin/", false);
_ui->statsToolBox->updateStat("Odometry/StdDevAng/", false);
_ui->statsToolBox->updateStat("Odometry/VarianceLin/", false);
_ui->statsToolBox->updateStat("Odometry/VarianceAng/", false);
_ui->statsToolBox->updateStat("Odometry/TimeEstimation/ms", false);
_ui->statsToolBox->updateStat("Odometry/TimeFiltering/ms", false);
_ui->statsToolBox->updateStat("Odometry/LocalMapSize/", false);
_ui->statsToolBox->updateStat("Odometry/LocalScanMapSize/", false);
_ui->statsToolBox->updateStat("Odometry/LocalKeyFrames/", false);
_ui->statsToolBox->updateStat("Odometry/localBundleOutliers/", false);
_ui->statsToolBox->updateStat("Odometry/localBundleConstraints/", false);
_ui->statsToolBox->updateStat("Odometry/localBundleTime/ms", false);
_ui->statsToolBox->updateStat("Odometry/KeyFrameAdded/", false);
_ui->statsToolBox->updateStat("Odometry/Interval/ms", false);
_ui->statsToolBox->updateStat("Odometry/Speed/kph", false);
_ui->statsToolBox->updateStat("Odometry/Distance/m", false);
@@ -1293,15 +1302,24 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
//Process info
_ui->statsToolBox->updateStat("Odometry/Inliers/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().inliers, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/InliersRatio/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), odom.info().features<=0?0.0f:float(odom.info().inliers)/float(odom.info().features), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ICPInliersRatio/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().icpInliersRatio, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Matches/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().matches, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/StdDev/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), sqrt((float)odom.info().variance), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Variance/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().variance, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/MatchesRatio/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), odom.info().features<=0?0.0f:float(odom.info().matches)/float(odom.info().features), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/StdDevLin/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), sqrt((float)odom.info().varianceLin), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/VarianceLin/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().varianceLin, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/StdDevAng/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), sqrt((float)odom.info().varianceAng), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/VarianceAng/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().varianceAng, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TimeEstimation/ms", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().timeEstimation*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TimeFiltering/ms", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().timeParticleFiltering*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Features/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().features, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/LocalMapSize/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().localMapSize, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/LocalScanMapSize/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().localScanMapSize, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/LocalKeyFrames/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().localKeyFrames, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/localBundleOutliers/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().localBundleOutliers, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/localBundleConstraints/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().localBundleConstraints, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/localBundleTime/ms", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().localBundleTime*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/KeyFrameAdded/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().keyFrameAdded?1.0f:0.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ID/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.data().id(), _preferencesDialog->isCacheSavedInFigures());
float x=0.0f,y,z, roll,pitch,yaw;
@@ -1341,6 +1359,10 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
_ui->statsToolBox->updateStat("Odometry/TGroll/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), roll*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TGpitch/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), pitch*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TGyaw/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), yaw*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
if(odom.info().interval > 0)
{
_ui->statsToolBox->updateStat("Odometry/SpeedG/kph", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x/odom.info().interval*3.6f, _preferencesDialog->isCacheSavedInFigures());
}
}
//cumulative pose
@@ -1689,7 +1711,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
std::map<int, Transform> poses = stat.poses();
Transform groundTruthOffset = alignPosesToGroundTruth(poses, groundTruth);
Transform groundTruthOffset = alignPosesToGroundTruth(poses, groundTruth, stat.stamp(), stat.refImageId());
UDEBUG("time= %d ms", time.restart());
if(!_odometryReceived && poses.size())
@@ -1749,112 +1771,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
UDEBUG("time= %d ms", time.restart());
}
// ground truth live statistics
if(poses.size() && groundTruth.size())
{
std::vector<float> translationalErrors(poses.size());
std::vector<float> rotationalErrors(poses.size());
int oi=0;
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;
for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{
std::map<int, Transform>::iterator jter = groundTruth.find(iter->first);
if(jter!=groundTruth.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->statsToolBox->updateStat("GT/translational_rmse/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_rmse, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/translational_mean/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_mean, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/translational_median/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_median, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/translational_std/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_std, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/translational_min/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_min, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/translational_max/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_max, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_rmse/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_rmse, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_mean/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_mean, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_median/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_median, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_std/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_std, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_min/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_min, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_max/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_max, _preferencesDialog->isCacheSavedInFigures());
}
}
UDEBUG("time= %d ms", time.restart());
}
if( _ui->graphicsView_graphView->isVisible())
@@ -2990,50 +2906,176 @@ void MainWindow::createAndAddFeaturesToMap(int nodeId, const Transform & pose, i
Transform MainWindow::alignPosesToGroundTruth(
std::map<int, Transform> & poses,
const std::map<int, Transform> & groundTruth)
const std::map<int, Transform> & groundTruth,
double stamp,
int refId)
{
Transform t = Transform::getIdentity();
if(groundTruth.size() && poses.size() && _preferencesDialog->isGroundTruthAligned())
if(groundTruth.size() && poses.size())
{
unsigned int maxSize = poses.size()>groundTruth.size()? (unsigned int)poses.size(): (unsigned int)groundTruth.size();
pcl::PointCloud<pcl::PointXYZ> cloud1, cloud2;
cloud1.resize(maxSize);
cloud2.resize(maxSize);
int oi = 0;
int idFirst = 0;
for(std::map<int, Transform>::const_iterator iter=groundTruth.begin(); iter!=groundTruth.end(); ++iter)
if(_preferencesDialog->isGroundTruthAligned())
{
std::map<int, Transform>::iterator iter2 = poses.find(iter->first);
if(iter2!=poses.end())
unsigned int maxSize = poses.size()>groundTruth.size()? (unsigned int)poses.size(): (unsigned int)groundTruth.size();
pcl::PointCloud<pcl::PointXYZ> cloud1, cloud2;
cloud1.resize(maxSize);
cloud2.resize(maxSize);
int oi = 0;
int idFirst = 0;
for(std::map<int, Transform>::const_iterator iter=groundTruth.begin(); iter!=groundTruth.end(); ++iter)
{
if(oi==0)
std::map<int, Transform>::iterator iter2 = poses.find(iter->first);
if(iter2!=poses.end())
{
idFirst = iter->first;
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());
}
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());
}
if(oi>5)
{
cloud1.resize(oi);
cloud2.resize(oi);
t = util3d::transformFromXYZCorrespondencesSVD(cloud2, cloud1);
}
else if(idFirst)
{
t = groundTruth.at(idFirst) * poses.at(idFirst).inverse();
}
if(!t.isIdentity())
{
for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{
iter->second = t * iter->second;
}
}
UDEBUG("t=%s", t.prettyPrint().c_str());
}
if(oi>5)
// ground truth live statistics
std::vector<float> translationalErrors(poses.size());
std::vector<float> rotationalErrors(poses.size());
int oi=0;
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;
for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{
cloud1.resize(oi);
cloud2.resize(oi);
t = util3d::transformFromXYZCorrespondencesSVD(cloud2, cloud1);
}
else if(idFirst)
{
t = groundTruth.at(idFirst) * poses.at(idFirst).inverse();
}
if(!t.isIdentity())
{
for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
std::map<int, Transform>::const_iterator jter = groundTruth.find(iter->first);
if(jter!=groundTruth.end())
{
iter->second = t * iter->second;
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);
if((_preferencesDialog->isTimeUsedInFigures() && stamp > 0.0) || (refId && refId>=0))
{
_ui->statsToolBox->updateStat("GT/translational_rmse/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, translational_rmse, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/translational_mean/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, translational_mean, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/translational_median/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, translational_median, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/translational_std/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, translational_std, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/translational_min/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, translational_min, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/translational_max/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, translational_max, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_rmse/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, rotational_rmse, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_mean/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, rotational_mean, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_median/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, rotational_median, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_std/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, rotational_std, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_min/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, rotational_min, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_max/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, rotational_max, _preferencesDialog->isCacheSavedInFigures());
}
else
{
_ui->statsToolBox->updateStat("GT/translational_rmse/", translational_rmse, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/translational_mean/", translational_mean, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/translational_median/", translational_median, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/translational_std/", translational_std, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/translational_min/", translational_min, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/translational_max/", translational_max, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_rmse/", rotational_rmse, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_mean/", rotational_mean, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_median/", rotational_median, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_std/", rotational_std, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_min/", rotational_min, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_max/", rotational_max, _preferencesDialog->isCacheSavedInFigures());
}
}
UDEBUG("t=%s", t.prettyPrint().c_str());
}
return t;
}
@@ -4191,7 +4233,7 @@ void MainWindow::startDetection()
_preferencesDialog->getSourceScanFromDepthMaxDepth(),
_preferencesDialog->getSourceScanVoxelSize(),
_preferencesDialog->getSourceScanNormalsK());
if(_preferencesDialog->getSourceType() == PreferencesDialog::kSrcRGBD)
if(_preferencesDialog->isDepthFilteringAvailable())
{
if(_preferencesDialog->isBilateralFiltering())
{
@@ -4234,7 +4276,12 @@ void MainWindow::startDetection()
if(!camera->odomProvided() && !_preferencesDialog->isOdomDisabled())
{
Odometry * odom = Odometry::create(parameters);
ParametersMap odomParameters = parameters;
if(_preferencesDialog->getOdomRegistrationApproach() < 3)
{
uInsert(odomParameters, ParametersPair(Parameters::kRegStrategy(), uNumber2Str(_preferencesDialog->getOdomRegistrationApproach())));
}
Odometry * odom = Odometry::create(odomParameters);
_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize());
UEventsManager::addHandler(_odomThread);
@@ -4537,7 +4584,6 @@ void MainWindow::postProcessing()
int detectLoopClosureIterations = _postProcessingDialog->iterations();
bool sba = _postProcessingDialog->isSBA();
int sbaIterations = _postProcessingDialog->sbaIterations();
double sbaEpsilon = _postProcessingDialog->sbaEpsilon();
double sbaVariance = _postProcessingDialog->sbaVariance();
Optimizer::Type sbaType = _postProcessingDialog->sbaType();
@@ -4689,7 +4735,7 @@ void MainWindow::postProcessing()
UINFO("Added new loop closure between %d and %d.", from, to);
addedLinks.insert(from);
addedLinks.insert(to);
_currentLinksMap.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, info.variance, info.variance)));
_currentLinksMap.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, info.varianceAng, info.varianceLin)));
++loopClosuresAdded;
_initProgressDialog->appendText(tr("Detected loop closure %1->%2! (%3/%4)").arg(from).arg(to).arg(i+1).arg(clusters.size()));
QApplication::processEvents();
@@ -4785,7 +4831,7 @@ void MainWindow::postProcessing()
if(!transform.isNull())
{
Link newLink(from, to, iter->second.type(), transform, info.variance, info.variance);
Link newLink(from, to, iter->second.type(), transform, info.varianceAng, info.varianceLin);
iter->second = newLink;
}
else
@@ -4846,7 +4892,6 @@ void MainWindow::postProcessing()
ParametersMap parametersSBA = _preferencesDialog->getAllParameters();
uInsert(parametersSBA, std::make_pair(Parameters::kOptimizerIterations(), uNumber2Str(sbaIterations)));
uInsert(parametersSBA, std::make_pair(Parameters::kOptimizerEpsilon(), uNumber2Str(sbaEpsilon)));
uInsert(parametersSBA, std::make_pair(Parameters::kg2oPixelVariance(), uNumber2Str(sbaVariance)));
Optimizer * sba = Optimizer::create(sbaType, parametersSBA);
std::map<int, Transform> newPoses = sba->optimizeBA(optimizedPoses.begin()->first, optimizedPoses, linksOut, _cachedSignatures.toStdMap());
@@ -6272,7 +6317,7 @@ void MainWindow::changeState(MainWindow::State newState)
_ui->actionPause_when_a_loop_hypothesis_is_rejected->setEnabled(true);
_ui->actionDump_the_memory->setEnabled(true);
_ui->actionDump_the_prediction_matrix->setEnabled(true);
_ui->actionDelete_memory->setEnabled(true);
_ui->actionDelete_memory->setEnabled(_openedDatabasePath.isEmpty());
_ui->actionPost_processing->setEnabled(_cachedSignatures.size() >= 2 && _currentPosesMap.size() >= 2 && _currentLinksMap.size() >= 1);
_ui->actionExport_images_RGB_jpg_Depth_png->setEnabled(!_cachedSignatures.empty() && !_currentPosesMap.empty());
_ui->actionGenerate_map->setEnabled(true);