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DBReader: set calibrated true when only scans in db. RegIcp: added intensity matching option when complexity is low. OdomF2M: accept first key frame on low complexity if a guess is provided. DbViewer: added gravity visualization in 3D view.

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This commit is contained in:
matlabbe
2021-02-01 11:31:45 -05:00
parent 6b119c1f90
commit b759b1b4d1
5 changed files with 75 additions and 19 deletions
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33
guilib/src/DatabaseViewer.cpp
View File

@@ -345,6 +345,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->checkBox_showMap, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
connect(ui_->checkBox_showGrid, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
connect(ui_->checkBox_odomFrame_3dview, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
connect(ui_->checkBox_gravity_3dview, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
ui_->horizontalSlider_neighbors->setTracking(false);
ui_->horizontalSlider_loops->setTracking(false);
@@ -4449,14 +4450,7 @@ void DatabaseViewer::update(int value,
}
// 3d view
if(cloudViewer_->isVisible())
{
Transform pose = Transform::getIdentity();
if(signatures.size() && ui_->checkBox_odomFrame_3dview->isChecked())
{
float x, y, z, roll, pitch, yaw;
(*signatures.begin())->getPose().getTranslationAndEulerAngles(x, y, z, roll, pitch, yaw);
pose = Transform(0,0,z,roll,pitch,0);
if(cloudViewer_->isVisible())
{
cloudViewer_->removeAllLines();
cloudViewer_->removeAllFrustums();
@@ -4467,6 +4461,27 @@ void DatabaseViewer::update(int value,
cloudViewer_->removeCloud("ground");
cloudViewer_->removeCloud("obstacles");
cloudViewer_->removeCloud("empty_cells");
cloudViewer_->removeCloud("words");
cloudViewer_->removeOctomap();
Transform pose = Transform::getIdentity();
if(signatures.size() && ui_->checkBox_odomFrame_3dview->isChecked())
{
float x, y, z, roll, pitch, yaw;
(*signatures.begin())->getPose().getTranslationAndEulerAngles(x, y, z, roll, pitch, yaw);
pose = Transform(0,0,z,roll,pitch,0);
}
if(!gravityLink.empty() && ui_->checkBox_gravity_3dview->isChecked())
{
Transform gravityT = gravityLink.begin()->second.transform();
Eigen::Vector3f gravity(0,0,-1);
if(pose.isIdentity())
{
gravityT = gravityT.inverse();
}
gravity = (gravityT.rotation()*(pose).rotation().inverse()).toEigen3f()*gravity;
cloudViewer_->addOrUpdateLine("gravity", pose, (pose).translation()*Transform(gravity[0], gravity[1], gravity[2], 0, 0, 0)*pose.rotation().inverse(), Qt::yellow, true, false);
}
if(ui_->checkBox_showCloud->isChecked() || ui_->checkBox_showMesh->isChecked())
@@ -4811,6 +4826,8 @@ void DatabaseViewer::update(int value,
delete octomap;
}
#endif
}
}
cloudViewer_->updateCameraTargetPosition(pose);
cloudViewer_->clearTrajectory();
cloudViewer_->update();

28
guilib/src/ui/DatabaseViewer.ui
View File

@@ -61,7 +61,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>414</width>
<width>419</width>
<height>311</height>
</rect>
</property>
@@ -304,7 +304,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>413</width>
<width>418</width>
<height>311</height>
</rect>
</property>
@@ -1387,7 +1387,7 @@
<x>0</x>
<y>0</y>
<width>318</width>
<height>226</height>
<height>188</height>
</rect>
</property>
<attribute name="label">
@@ -1542,8 +1542,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>519</width>
<height>831</height>
<width>280</width>
<height>949</height>
</rect>
</property>
<attribute name="label">
@@ -2096,8 +2096,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>312</width>
<height>226</height>
<width>226</width>
<height>160</height>
</rect>
</property>
<attribute name="label">
@@ -2224,8 +2224,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>446</width>
<height>226</height>
<width>185</width>
<height>485</height>
</rect>
</property>
<attribute name="label">
@@ -2540,6 +2540,16 @@
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="checkBox_gravity_3dview">
<property name="text">
<string>Gravity</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_4">
<property name="orientation">