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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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guilib/src/DatabaseViewer.cpp
+25 -8
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);
}
cloudViewer_->removeAllLines();
cloudViewer_->removeAllFrustums();
cloudViewer_->removeCloud("mesh");
cloudViewer_->removeCloud("cloud");
@@ -4467,6 +4461,27 @@ void DatabaseViewer::update(int value,
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())
{
if(!data.depthOrRightRaw().empty())
@@ -4811,6 +4826,8 @@ void DatabaseViewer::update(int value,
#endif
}
}
cloudViewer_->updateCameraTargetPosition(pose);
cloudViewer_->clearTrajectory();
cloudViewer_->update();
}