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MainWindow::processOdometry() rectify images if Rtabmap/ImagesAlreadyRectified is false.

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This commit is contained in:
matlabbe
2021-04-02 19:06:03 -04:00
parent 54267b1b33
commit a8f0abf892
4 changed files with 228 additions and 131 deletions
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1
guilib/include/rtabmap/gui/MainWindow.h
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@@ -341,6 +341,7 @@ private:
QStringList _waypoints;
int _waypointsIndex;
std::vector<CameraModel> _rectCameraModels;
std::vector<CameraModel> _rectCameraModelsOdom;
QMap<int, Signature> _cachedSignatures;
long _cachedMemoryUsage;

345
guilib/src/MainWindow.cpp
View File

@@ -1038,6 +1038,95 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
_lastOdomPose = pose;
}
const SensorData * data = &odom.data();
SensorData rectifiedData;
if(!data->imageRaw().empty() &&
((_ui->dockWidget_cloudViewer->isVisible() && _preferencesDialog->isCloudsShown(1)) ||
(_ui->dockWidget_odometry->isVisible() && (_ui->imageView_odometry->isImageShown() || _ui->imageView_odometry->isImageDepthShown()))))
{
// Do we need to rectify images?
ParametersMap allParameters = _preferencesDialog->getAllParameters();
bool imagesAlreadyRectified = Parameters::defaultRtabmapImagesAlreadyRectified();
Parameters::parse(allParameters, Parameters::kRtabmapImagesAlreadyRectified(), imagesAlreadyRectified);
if(!imagesAlreadyRectified)
{
rectifiedData = odom.data();
UTimer time;
if(data->cameraModels().size())
{
// Note that only RGB image is rectified, the depth image is assumed to be already registered to rectified RGB camera.
UASSERT(int((data->imageRaw().cols/data->cameraModels().size())*data->cameraModels().size()) == data->imageRaw().cols);
int subImageWidth = data->imageRaw().cols/data->cameraModels().size();
cv::Mat rectifiedImages = data->imageRaw().clone();
bool initRectMaps = _rectCameraModelsOdom.empty() || _rectCameraModelsOdom.size()!=data->cameraModels().size();
if(initRectMaps)
{
_rectCameraModelsOdom.resize(data->cameraModels().size());
}
for(unsigned int i=0; i<data->cameraModels().size(); ++i)
{
if(data->cameraModels()[i].isValidForRectification())
{
if(initRectMaps)
{
_rectCameraModelsOdom[i] = data->cameraModels()[i];
if(!_rectCameraModelsOdom[i].isRectificationMapInitialized())
{
UWARN("Initializing rectification maps for camera %d (only done for the first image received)...", i);
_rectCameraModelsOdom[i].initRectificationMap();
UWARN("Initializing rectification maps for camera %d (only done for the first image received)... done!", i);
}
}
UASSERT(_rectCameraModelsOdom[i].imageWidth() == data->cameraModels()[i].imageWidth() &&
_rectCameraModelsOdom[i].imageHeight() == data->cameraModels()[i].imageHeight());
cv::Mat rectifiedImage = _rectCameraModelsOdom[i].rectifyImage(cv::Mat(data->imageRaw(), cv::Rect(subImageWidth*i, 0, subImageWidth, data->imageRaw().rows)));
rectifiedImage.copyTo(cv::Mat(rectifiedImages, cv::Rect(subImageWidth*i, 0, subImageWidth, data->imageRaw().rows)));
}
else
{
UWARN("Camera %d of data %d is not valid for rectification (%dx%d).",
i, data->id(),
data->cameraModels()[i].imageWidth(),
data->cameraModels()[i].imageHeight());
}
}
rectifiedData.setRGBDImage(rectifiedImages, data->depthOrRightRaw(), data->cameraModels());
}
else if(!data->rightRaw().empty())
{
if(data->stereoCameraModel().isValidForRectification())
{
bool initRectMaps = _rectCameraModelsOdom.size()!=2;
if(initRectMaps)
{
_rectCameraModelsOdom.resize(2);
_rectCameraModelsOdom[0] = data->stereoCameraModel().left();
_rectCameraModelsOdom[1] = data->stereoCameraModel().right();
if(!_rectCameraModelsOdom[0].isRectificationMapInitialized())
{
UWARN("Initializing rectification maps for stereo camera (only done for the first image received)...");
_rectCameraModelsOdom[0].initRectificationMap();
_rectCameraModelsOdom[1].initRectificationMap();
UWARN("Initializing rectification maps for stereo camera (only done for the first image received)... done!");
}
}
UASSERT(_rectCameraModelsOdom[0].imageWidth() == data->stereoCameraModel().left().imageWidth() &&
_rectCameraModelsOdom[1].imageHeight() == data->stereoCameraModel().right().imageHeight());
cv::Mat rectifiedLeft = _rectCameraModelsOdom[0].rectifyImage(data->imageRaw());
cv::Mat rectifiedRight = _rectCameraModelsOdom[1].rectifyImage(data->rightRaw());
rectifiedData.setStereoImage(rectifiedLeft, rectifiedRight, data->stereoCameraModel());
}
else
{
UWARN("Stereo camera model of data %d is not valid for rectification.", data->id());
}
}
UINFO("Time rectification: %fs", time.ticks());
data = &rectifiedData;
}
}
if(_ui->dockWidget_cloudViewer->isVisible())
{
bool cloudUpdated = false;
@@ -1048,15 +1137,16 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
if(!pose.isNull())
{
// 3d cloud
if(odom.data().depthOrRightRaw().cols == odom.data().imageRaw().cols &&
odom.data().depthOrRightRaw().rows == odom.data().imageRaw().rows &&
!odom.data().depthOrRightRaw().empty() &&
(odom.data().cameraModels().size() || odom.data().stereoCameraModel().isValidForProjection()) &&
if(data->depthOrRightRaw().cols == data->imageRaw().cols &&
data->depthOrRightRaw().rows == data->imageRaw().rows &&
!data->depthOrRightRaw().empty() &&
(data->cameraModels().size() || data->stereoCameraModel().isValidForProjection()) &&
_preferencesDialog->isCloudsShown(1))
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::IndicesPtr indices(new std::vector<int>);
cloud = util3d::cloudRGBFromSensorData(odom.data(),
cloud = util3d::cloudRGBFromSensorData(*data,
_preferencesDialog->getCloudDecimation(1),
_preferencesDialog->getCloudMaxDepth(1),
_preferencesDialog->getCloudMinDepth(1),
@@ -1075,17 +1165,17 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
// Fast organized mesh
Eigen::Vector3f viewpoint(0.0f,0.0f,0.0f);
if(odom.data().cameraModels().size() && !odom.data().cameraModels()[0].localTransform().isNull())
if(data->cameraModels().size() && !data->cameraModels()[0].localTransform().isNull())
{
viewpoint[0] = odom.data().cameraModels()[0].localTransform().x();
viewpoint[1] = odom.data().cameraModels()[0].localTransform().y();
viewpoint[2] = odom.data().cameraModels()[0].localTransform().z();
viewpoint[0] = data->cameraModels()[0].localTransform().x();
viewpoint[1] = data->cameraModels()[0].localTransform().y();
viewpoint[2] = data->cameraModels()[0].localTransform().z();
}
else if(!odom.data().stereoCameraModel().localTransform().isNull())
else if(!data->stereoCameraModel().localTransform().isNull())
{
viewpoint[0] = odom.data().stereoCameraModel().localTransform().x();
viewpoint[1] = odom.data().stereoCameraModel().localTransform().y();
viewpoint[2] = odom.data().stereoCameraModel().localTransform().z();
viewpoint[0] = data->stereoCameraModel().localTransform().x();
viewpoint[1] = data->stereoCameraModel().localTransform().y();
viewpoint[2] = data->stereoCameraModel().localTransform().z();
}
std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
output,
@@ -1095,7 +1185,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
Eigen::Vector3f(pose.x(), pose.y(), pose.z()) + viewpoint);
if(polygons.size())
{
if(_preferencesDialog->isCloudMeshingTexture() && !odom.data().imageRaw().empty())
if(_preferencesDialog->isCloudMeshingTexture() && !data->imageRaw().empty())
{
pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
pcl::toPCLPointCloud2(*cloud, textureMesh->cloud);
@@ -1123,7 +1213,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
mesh_material.tex_file = "";
textureMesh->tex_materials.push_back(mesh_material);
if(!_cloudViewer->addCloudTextureMesh("cloudOdom", textureMesh, odom.data().imageRaw(), _odometryCorrection))
if(!_cloudViewer->addCloudTextureMesh("cloudOdom", textureMesh, data->imageRaw(), _odometryCorrection))
{
UERROR("Adding cloudOdom to viewer failed!");
}
@@ -1200,9 +1290,9 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
scanUpdated = true;
}
// scan cloud
if(!odom.data().laserScanRaw().isEmpty())
if(!data->laserScanRaw().isEmpty())
{
LaserScan scan = odom.data().laserScanRaw();
LaserScan scan = data->laserScanRaw();
if(_preferencesDialog->getDownsamplingStepScan(1) > 1 ||
_preferencesDialog->getScanMaxRange(1) > 0.0f ||
@@ -1346,28 +1436,28 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
}
if( _preferencesDialog->isIMUGravityShown(1) &&
(odom.data().imu().orientation().val[0]!=0 ||
odom.data().imu().orientation().val[1]!=0 ||
odom.data().imu().orientation().val[2]!=0 ||
odom.data().imu().orientation().val[3]!=0))
(data->imu().orientation().val[0]!=0 ||
data->imu().orientation().val[1]!=0 ||
data->imu().orientation().val[2]!=0 ||
data->imu().orientation().val[3]!=0))
{
Eigen::Vector3f gravity(0,0,-_preferencesDialog->getIMUGravityLength(1));
Transform orientation(0,0,0, odom.data().imu().orientation()[0], odom.data().imu().orientation()[1], odom.data().imu().orientation()[2], odom.data().imu().orientation()[3]);
gravity = (orientation* odom.data().imu().localTransform().inverse()*(_odometryCorrection*pose).rotation().inverse()).toEigen3f()*gravity;
Transform orientation(0,0,0, data->imu().orientation()[0], data->imu().orientation()[1], data->imu().orientation()[2], data->imu().orientation()[3]);
gravity = (orientation* data->imu().localTransform().inverse()*(_odometryCorrection*pose).rotation().inverse()).toEigen3f()*gravity;
_cloudViewer->addOrUpdateLine("odom_imu_orientation", _odometryCorrection*pose, (_odometryCorrection*pose).translation()*Transform(gravity[0], gravity[1], gravity[2], 0, 0, 0)*pose.rotation().inverse(), Qt::yellow, true, true);
filteredGravityUpdated = true;
}
if( _preferencesDialog->isIMUAccShown() &&
(odom.data().imu().linearAcceleration().val[0]!=0 ||
odom.data().imu().linearAcceleration().val[1]!=0 ||
odom.data().imu().linearAcceleration().val[2]!=0))
(data->imu().linearAcceleration().val[0]!=0 ||
data->imu().linearAcceleration().val[1]!=0 ||
data->imu().linearAcceleration().val[2]!=0))
{
Eigen::Vector3f gravity(
-odom.data().imu().linearAcceleration().val[0],
-odom.data().imu().linearAcceleration().val[1],
-odom.data().imu().linearAcceleration().val[2]);
-data->imu().linearAcceleration().val[0],
-data->imu().linearAcceleration().val[1],
-data->imu().linearAcceleration().val[2]);
gravity = gravity.normalized() * _preferencesDialog->getIMUGravityLength(1);
gravity = odom.data().imu().localTransform().toEigen3f()*gravity;
gravity = data->imu().localTransform().toEigen3f()*gravity;
_cloudViewer->addOrUpdateLine("odom_imu_acc", _odometryCorrection*pose, _odometryCorrection*pose*Transform(gravity[0], gravity[1], gravity[2], 0, 0, 0), Qt::red, true, true);
accelerationUpdated = true;
}
@@ -1406,25 +1496,25 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
{
_odometryReceived = true;
// update camera position
if(odom.data().cameraModels().size() && odom.data().cameraModels()[0].isValidForProjection())
if(data->cameraModels().size() && data->cameraModels()[0].isValidForProjection())
{
_cloudViewer->updateCameraFrustums(_odometryCorrection*odom.pose(), odom.data().cameraModels());
_cloudViewer->updateCameraFrustums(_odometryCorrection*odom.pose(), data->cameraModels());
}
else if(odom.data().stereoCameraModel().isValidForProjection())
else if(data->stereoCameraModel().isValidForProjection())
{
_cloudViewer->updateCameraFrustum(_odometryCorrection*odom.pose(), odom.data().stereoCameraModel());
_cloudViewer->updateCameraFrustum(_odometryCorrection*odom.pose(), data->stereoCameraModel());
}
else if(!odom.data().laserScanRaw().isEmpty() ||
!odom.data().laserScanCompressed().isEmpty())
else if(!data->laserScanRaw().isEmpty() ||
!data->laserScanCompressed().isEmpty())
{
Transform scanLocalTransform;
if(!odom.data().laserScanRaw().isEmpty())
if(!data->laserScanRaw().isEmpty())
{
scanLocalTransform = odom.data().laserScanRaw().localTransform();
scanLocalTransform = data->laserScanRaw().localTransform();
}
else
{
scanLocalTransform = odom.data().laserScanCompressed().localTransform();
scanLocalTransform = data->laserScanCompressed().localTransform();
}
//fake frustum
CameraModel model(
@@ -1462,7 +1552,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
}
if(_ui->dockWidget_odometry->isVisible() &&
!odom.data().imageRaw().empty())
!data->imageRaw().empty())
{
if(_ui->imageView_odometry->isFeaturesShown())
{
@@ -1477,14 +1567,14 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
}
_ui->imageView_odometry->setFeatures(
kpInliers,
odom.data().depthRaw(),
data->depthRaw(),
Qt::green);
}
else
{
_ui->imageView_odometry->setFeatures(
odom.info().words,
odom.data().depthRaw(),
data->depthRaw(),
Qt::yellow);
}
}
@@ -1499,7 +1589,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
cv::KeyPoint::convert(odom.info().newCorners, kpts, 7);
_ui->imageView_odometry->setFeatures(
kpts,
odom.data().depthRaw(),
data->depthRaw(),
Qt::red);
}
}
@@ -1520,7 +1610,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
_odomImageShow = _ui->imageView_odometry->isImageShown();
_odomImageDepthShow = _ui->imageView_odometry->isImageDepthShown();
}
_ui->imageView_odometry->setImageDepth(odom.data().imageRaw());
_ui->imageView_odometry->setImageDepth(data->imageRaw());
_ui->imageView_odometry->setImageShown(true);
_ui->imageView_odometry->setImageDepthShown(true);
}
@@ -1533,10 +1623,10 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
_ui->imageView_odometry->setImageDepthShown(_odomImageDepthShow);
}
_ui->imageView_odometry->setImage(uCvMat2QImage(odom.data().imageRaw()));
if(_ui->imageView_odometry->isImageDepthShown() && !odom.data().depthOrRightRaw().empty())
_ui->imageView_odometry->setImage(uCvMat2QImage(data->imageRaw()));
if(_ui->imageView_odometry->isImageDepthShown() && !data->depthOrRightRaw().empty())
{
_ui->imageView_odometry->setImageDepth(odom.data().depthOrRightRaw());
_ui->imageView_odometry->setImageDepth(data->depthOrRightRaw());
}
if( odom.info().type == (int)Odometry::kTypeF2M ||
@@ -1585,9 +1675,9 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
}
}
}
if(!odom.data().imageRaw().empty())
if(!data->imageRaw().empty())
{
_ui->imageView_odometry->setSceneRect(QRectF(0,0,(float)odom.data().imageRaw().cols, (float)odom.data().imageRaw().rows));
_ui->imageView_odometry->setSceneRect(QRectF(0,0,(float)data->imageRaw().cols, (float)data->imageRaw().rows));
}
_ui->imageView_odometry->update();
@@ -1599,44 +1689,44 @@ 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().reg.inliers, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/InliersMeanDistance/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().reg.inliersMeanDistance, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/InliersDistribution/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().reg.inliersDistribution, _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().reg.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().reg.icpInliersRatio, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ICPRotation/rad", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().reg.icpRotation, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ICPTranslation/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().reg.icpTranslation, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ICPStructuralComplexity/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().reg.icpStructuralComplexity, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ICPStructuralDistribution/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().reg.icpStructuralDistribution, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ICPCorrespondences/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().reg.icpCorrespondences, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Matches/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().reg.matches, _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().reg.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().reg.covariance.at<double>(0,0)), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/VarianceLin/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().reg.covariance.at<double>(0,0), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/StdDevAng/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), sqrt((float)odom.info().reg.covariance.at<double>(5,5)), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/VarianceAng/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().reg.covariance.at<double>(5,5), _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/Inliers/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.inliers, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/InliersMeanDistance/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.inliersMeanDistance, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/InliersDistribution/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.inliersDistribution, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/InliersRatio/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), odom.info().features<=0?0.0f:float(odom.info().reg.inliers)/float(odom.info().features), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ICPInliersRatio/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.icpInliersRatio, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ICPRotation/rad", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.icpRotation, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ICPTranslation/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.icpTranslation, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ICPStructuralComplexity/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.icpStructuralComplexity, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ICPStructuralDistribution/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.icpStructuralDistribution, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ICPCorrespondences/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.icpCorrespondences, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Matches/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.matches, _preferencesDialog->isCacheSavedInFigures());
_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());
_ui->statsToolBox->updateStat("Odometry/StdDevLin/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), sqrt((float)odom.info().reg.covariance.at<double>(0,0)), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/VarianceLin/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.covariance.at<double>(0,0), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/StdDevAng/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), sqrt((float)odom.info().reg.covariance.at<double>(5,5)), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/VarianceAng/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.covariance.at<double>(5,5), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TimeEstimation/ms", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().timeEstimation*1000.0f, _preferencesDialog->isCacheSavedInFigures());
if(odom.info().timeParticleFiltering>0.0f)
{
_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/TimeFiltering/ms", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().timeParticleFiltering*1000.0f, _preferencesDialog->isCacheSavedInFigures());
}
if(odom.info().gravityRollError>0.0f || odom.info().gravityPitchError > 0.0f)
{
_ui->statsToolBox->updateStat("Odometry/GravityRollError/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().gravityRollError*180/M_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/GravityPitchError/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().gravityPitchError*180/M_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/GravityRollError/deg", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().gravityRollError*180/M_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/GravityPitchError/deg", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().gravityPitchError*180/M_PI, _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/Features/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().features, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/LocalMapSize/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().localMapSize, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/LocalScanMapSize/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().localScanMapSize, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/LocalKeyFrames/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().localKeyFrames, _preferencesDialog->isCacheSavedInFigures());
if(odom.info().localBundleTime > 0.0f)
{
_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/localBundleOutliers/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().localBundleOutliers, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/localBundleConstraints/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().localBundleConstraints, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/localBundleTime/ms", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)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());
_ui->statsToolBox->updateStat("Odometry/KeyFrameAdded/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().keyFrameAdded?1.0f:0.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ID/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)data->id(), _preferencesDialog->isCacheSavedInFigures());
Transform odomT;
float dist=0.0f, x,y,z, roll,pitch,yaw;
@@ -1645,13 +1735,13 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
odomT = odom.info().transform;
odom.info().transform.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
dist = odom.info().transform.getNorm();
_ui->statsToolBox->updateStat("Odometry/T/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), dist, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Tx/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Ty/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), y, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Tz/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), z, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Troll/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), roll*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Tpitch/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), pitch*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Tyaw/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), yaw*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/T/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), dist, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Tx/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), x, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Ty/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), y, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Tz/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), z, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Troll/deg", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), roll*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Tpitch/deg", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), pitch*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Tyaw/deg", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), yaw*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
}
if(!odom.info().transformFiltered.isNull())
@@ -1659,28 +1749,28 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
odomT = odom.info().transformFiltered;
odom.info().transformFiltered.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
dist = odom.info().transformFiltered.getNorm();
_ui->statsToolBox->updateStat("Odometry/TF/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), dist, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TFx/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TFy/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), y, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TFz/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), z, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TFroll/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), roll*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TFpitch/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), pitch*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TFyaw/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), yaw*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TF/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), dist, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TFx/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), x, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TFy/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), y, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TFz/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), z, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TFroll/deg", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), roll*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TFpitch/deg", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), pitch*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TFyaw/deg", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), yaw*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
}
if(odom.info().interval > 0)
{
_ui->statsToolBox->updateStat("Odometry/Interval/ms", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), odom.info().interval*1000.f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Speed/kph", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), dist/odom.info().interval*3.6f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Speed/mph", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), dist/odom.info().interval*2.237f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Speed/mps", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), dist/odom.info().interval, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Interval/ms", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), odom.info().interval*1000.f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Speed/kph", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), dist/odom.info().interval*3.6f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Speed/mph", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), dist/odom.info().interval*2.237f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Speed/mps", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), dist/odom.info().interval, _preferencesDialog->isCacheSavedInFigures());
if(!odom.info().guess.isNull())
{
odom.info().guess.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
dist = odom.info().guess.getNorm();
_ui->statsToolBox->updateStat("Odometry/SpeedGuess/kph", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), dist/odom.info().interval*3.6f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/SpeedGuess/mph", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), dist/odom.info().interval*2.237f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/SpeedGuess/mps", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), dist/odom.info().interval, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/SpeedGuess/kph", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), dist/odom.info().interval*3.6f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/SpeedGuess/mph", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), dist/odom.info().interval*2.237f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/SpeedGuess/mps", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), dist/odom.info().interval, _preferencesDialog->isCacheSavedInFigures());
}
}
@@ -1689,24 +1779,24 @@ 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()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), diff.getNorm(), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TG_error_ang/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.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(), 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());
}
odom.info().transformGroundTruth.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
dist = odom.info().transformGroundTruth.getNorm();
_ui->statsToolBox->updateStat("Odometry/TG/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), dist, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TGx/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TGy/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), y, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TGz/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), z, _preferencesDialog->isCacheSavedInFigures());
_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());
_ui->statsToolBox->updateStat("Odometry/TG/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), dist, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TGx/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), x, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TGy/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), y, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TGz/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), z, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TGroll/deg", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), roll*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TGpitch/deg", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), pitch*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TGyaw/deg", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)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(), dist/odom.info().interval*3.6f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/SpeedG/mph", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), dist/odom.info().interval*2.237f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/SpeedG/mps", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), dist/odom.info().interval, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/SpeedG/kph", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), dist/odom.info().interval*3.6f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/SpeedG/mph", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), dist/odom.info().interval*2.237f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/SpeedG/mps", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), dist/odom.info().interval, _preferencesDialog->isCacheSavedInFigures());
}
}
@@ -1714,30 +1804,30 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
if(!odom.pose().isNull())
{
odom.pose().getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
_ui->statsToolBox->updateStat("Odometry/Px/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Py/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), y, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Pz/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), z, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Proll/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), roll*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Ppitch/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), pitch*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Pyaw/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), yaw*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Px/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), x, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Py/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), y, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Pz/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), z, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Proll/deg", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), roll*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Ppitch/deg", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), pitch*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Pyaw/deg", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), yaw*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
}
if(!odom.data().groundTruth().isNull())
if(!data->groundTruth().isNull())
{
odom.data().groundTruth().getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
_ui->statsToolBox->updateStat("Odometry/PGx/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/PGy/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), y, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/PGz/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), z, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/PGroll/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), roll*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/PGpitch/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), pitch*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/PGyaw/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), yaw*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
data->groundTruth().getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
_ui->statsToolBox->updateStat("Odometry/PGx/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), x, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/PGy/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), y, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/PGz/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), z, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/PGroll/deg", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), roll*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/PGpitch/deg", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), pitch*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/PGyaw/deg", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), yaw*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
}
if(odom.info().distanceTravelled > 0)
{
_ui->statsToolBox->updateStat("Odometry/Distance/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), odom.info().distanceTravelled, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Distance/m", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), odom.info().distanceTravelled, _preferencesDialog->isCacheSavedInFigures());
}
_ui->statsToolBox->updateStat("GUI/Refresh odom/ms", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), time.elapsed()*1000.0, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GUI/Refresh odom/ms", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), time.elapsed()*1000.0, _preferencesDialog->isCacheSavedInFigures());
_processingOdometry = false;
Q_EMIT(odometryProcessed());
@@ -6907,6 +6997,7 @@ void MainWindow::clearTheCache()
#endif
_occupancyGrid->clear();
_rectCameraModels.clear();
_rectCameraModelsOdom.clear();
}
void MainWindow::openHelp()