mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 10:00:23 +08:00
fixed multi scans matching with normals, removed some debug logs
This commit is contained in:
matlabbe
@@ -3309,35 +3309,35 @@ Transform MainWindow::alignPosesToGroundTruth(
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if((_preferencesDialog->isTimeUsedInFigures() && stamp > 0.0) || (refId && refId>=0))
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{
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_ui->statsToolBox->updateStat("GT/translational_rmse/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, translational_rmse, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational_mean/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, translational_mean, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational_median/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, translational_median, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational_std/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, translational_std, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational_min/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, translational_min, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational_max/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, translational_max, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational rmse/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, translational_rmse, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational mean/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, translational_mean, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational median/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, translational_median, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational std/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, translational_std, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational min/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, translational_min, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational max/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, translational_max, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational_rmse/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, rotational_rmse, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational_mean/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, rotational_mean, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational_median/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, rotational_median, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational_std/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, rotational_std, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational_min/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, rotational_min, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational_max/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, rotational_max, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational rmse/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, rotational_rmse, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational mean/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, rotational_mean, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational median/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, rotational_median, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational std/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, rotational_std, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational min/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, rotational_min, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational max/", _preferencesDialog->isTimeUsedInFigures()?stamp-_firstStamp:refId, rotational_max, _preferencesDialog->isCacheSavedInFigures());
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}
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else
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{
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_ui->statsToolBox->updateStat("GT/translational_rmse/", translational_rmse, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational_mean/", translational_mean, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational_median/", translational_median, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational_std/", translational_std, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational_min/", translational_min, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational_max/", translational_max, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational rmse/", translational_rmse, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational mean/", translational_mean, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational median/", translational_median, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational std/", translational_std, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational min/", translational_min, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/translational max/", translational_max, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational_rmse/", rotational_rmse, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational_mean/", rotational_mean, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational_median/", rotational_median, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational_std/", rotational_std, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational_min/", rotational_min, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational_max/", rotational_max, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational rmse/", rotational_rmse, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational mean/", rotational_mean, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational median/", rotational_median, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational std/", rotational_std, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational min/", rotational_min, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("GT/rotational max/", rotational_max, _preferencesDialog->isCacheSavedInFigures());
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}
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}
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}
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@@ -3348,43 +3348,58 @@ void MainWindow::updateNodeVisibility(int nodeId, bool visible)
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{
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UINFO("Update visibility %d", nodeId);
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QMap<std::string, Transform> viewerClouds = _cloudViewer->getAddedClouds();
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if(_preferencesDialog->isCloudsShown(0))
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Transform pose;
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if(_currentGTPosesMap.size() &&
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_ui->actionAnchor_clouds_to_ground_truth->isChecked() &&
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_currentGTPosesMap.find(nodeId)!=_currentGTPosesMap.end())
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{
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std::string cloudName = uFormat("cloud%d", nodeId);
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if(visible && !viewerClouds.contains(cloudName) && _cachedSignatures.contains(nodeId) && _currentPosesMap.find(nodeId) != _currentPosesMap.end())
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{
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createAndAddCloudToMap(nodeId, _currentPosesMap.find(nodeId)->second, uValue(_currentMapIds, nodeId, -1));
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}
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else if(viewerClouds.contains(cloudName))
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{
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if(visible && _currentPosesMap.find(nodeId) != _currentPosesMap.end())
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{
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//make sure the transformation was done
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_cloudViewer->updateCloudPose(cloudName, _currentPosesMap.find(nodeId)->second);
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}
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_cloudViewer->setCloudVisibility(cloudName, visible);
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}
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pose = _currentGTPosesMap.at(nodeId);
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}
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else if(_currentPosesMap.find(nodeId) != _currentPosesMap.end())
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{
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pose = _currentPosesMap.at(nodeId);
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}
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if(_preferencesDialog->isScansShown(0))
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if(!pose.isNull() || !visible)
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{
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std::string scanName = uFormat("scan%d", nodeId);
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if(visible && !viewerClouds.contains(scanName) && _cachedSignatures.contains(nodeId) && _currentPosesMap.find(nodeId) != _currentPosesMap.end())
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if(_preferencesDialog->isCloudsShown(0))
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{
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createAndAddScanToMap(nodeId, _currentPosesMap.find(nodeId)->second, uValue(_currentMapIds, nodeId, -1));
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}
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else if(viewerClouds.contains(scanName))
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{
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if(visible && _currentPosesMap.find(nodeId) != _currentPosesMap.end())
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std::string cloudName = uFormat("cloud%d", nodeId);
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if(visible && !viewerClouds.contains(cloudName) && _cachedSignatures.contains(nodeId))
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{
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//make sure the transformation was done
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_cloudViewer->updateCloudPose(scanName, _currentPosesMap.find(nodeId)->second);
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createAndAddCloudToMap(nodeId, pose, uValue(_currentMapIds, nodeId, -1));
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}
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else if(viewerClouds.contains(cloudName))
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{
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if(visible)
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{
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//make sure the transformation was done
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_cloudViewer->updateCloudPose(cloudName, pose);
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}
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_cloudViewer->setCloudVisibility(cloudName, visible);
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}
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_cloudViewer->setCloudVisibility(scanName, visible);
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}
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}
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_cloudViewer->update();
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if(_preferencesDialog->isScansShown(0))
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{
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std::string scanName = uFormat("scan%d", nodeId);
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if(visible && !viewerClouds.contains(scanName) && _cachedSignatures.contains(nodeId))
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{
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createAndAddScanToMap(nodeId, pose, uValue(_currentMapIds, nodeId, -1));
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}
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else if(viewerClouds.contains(scanName))
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{
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if(visible)
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{
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//make sure the transformation was done
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_cloudViewer->updateCloudPose(scanName, pose);
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}
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_cloudViewer->setCloudVisibility(scanName, visible);
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}
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}
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_cloudViewer->update();
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}
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}
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void MainWindow::updateGraphView()
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