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0.18.2: Added Odom/GuessSmoothingDelay parameter

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This commit is contained in:
matlabbe
2018-11-21 11:57:04 -05:00
parent 5ae2f487b4
commit b862d6bc48
11 changed files with 184 additions and 63 deletions
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6
guilib/src/GraphViewer.cpp
View File

@@ -272,13 +272,14 @@ GraphViewer::GraphViewer(QWidget * parent) :
_originReferential = new QGraphicsItemGroup();
this->scene()->addItem(_originReferential); // ownership transfered
QGraphicsLineItem * item = this->scene()->addLine(0,0,0,-100, QPen(QBrush(Qt::red), _linkWidth));
item->setZValue(100);
item->setZValue(1);
item->setParentItem(_root);
_originReferential->addToGroup(item);
item = this->scene()->addLine(0,0,-100,0, QPen(QBrush(Qt::green), _linkWidth));
item->setZValue(100);
item->setZValue(1);
item->setParentItem(_root);
_originReferential->addToGroup(item);
_originReferential->setZValue(1);
_originReferential->setParentItem(_root);
// current pose
@@ -292,6 +293,7 @@ GraphViewer::GraphViewer(QWidget * parent) :
item->setZValue(100);
item->setParentItem(_root);
_referential->addToGroup(item);
_referential->setZValue(100);
_referential->setParentItem(_root);
_localRadius = this->scene()->addEllipse(-0.0001,-0.0001,0.0001,0.0001);

14
guilib/src/MainWindow.cpp
View File

@@ -599,6 +599,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
_ui->statsToolBox->updateStat("Odometry/KeyFrameAdded/", false);
_ui->statsToolBox->updateStat("Odometry/Interval/ms", false);
_ui->statsToolBox->updateStat("Odometry/Speed/kph", false);
_ui->statsToolBox->updateStat("Odometry/Speed/mps", false);
_ui->statsToolBox->updateStat("Odometry/SpeedGuess/kph", false);
_ui->statsToolBox->updateStat("Odometry/SpeedGuess/mps", false);
_ui->statsToolBox->updateStat("Odometry/Distance/m", false);
_ui->statsToolBox->updateStat("Odometry/Tx/m", false);
_ui->statsToolBox->updateStat("Odometry/Ty/m", false);
@@ -1484,6 +1487,14 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
{
_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(), x/odom.info().interval*3.6f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Speed/mps", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x/odom.info().interval, _preferencesDialog->isCacheSavedInFigures());
}
if(!odom.info().guessVelocity.isNull())
{
odom.info().guessVelocity.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
_ui->statsToolBox->updateStat("Odometry/SpeedGuess/kph", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x*3.6f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/SpeedGuess/mps", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x, _preferencesDialog->isCacheSavedInFigures());
}
if(!odom.info().transformGroundTruth.isNull())
@@ -1498,6 +1509,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
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());
_ui->statsToolBox->updateStat("Odometry/SpeedG/mps", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x/odom.info().interval, _preferencesDialog->isCacheSavedInFigures());
}
}
@@ -4068,7 +4080,7 @@ void MainWindow::applyPrefSettings(const rtabmap::ParametersMap & parameters)
void MainWindow::applyPrefSettings(const rtabmap::ParametersMap & parameters, bool postParamEvent)
{
ULOGGER_DEBUG("");
_occupancyGrid->parseParameters(parameters);
_occupancyGrid->parseParameters(_preferencesDialog->getAllParameters());
if(parameters.size())
{
for(rtabmap::ParametersMap::const_iterator iter = parameters.begin(); iter!=parameters.end(); ++iter)

1
guilib/src/PreferencesDialog.cpp
View File

@@ -1026,6 +1026,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->odom_VisKeyFrameThr->setObjectName(Parameters::kOdomVisKeyFrameThr().c_str());
_ui->odom_flow_scanKeyframeThr->setObjectName(Parameters::kOdomScanKeyFrameThr().c_str());
_ui->odom_flow_guessMotion->setObjectName(Parameters::kOdomGuessMotion().c_str());
_ui->odom_guess_smoothing_delay->setObjectName(Parameters::kOdomGuessSmoothingDelay().c_str());
_ui->odom_imageDecimation->setObjectName(Parameters::kOdomImageDecimation().c_str());
_ui->odom_alignWithGround->setObjectName(Parameters::kOdomAlignWithGround().c_str());

116
guilib/src/ui/preferencesDialog.ui
View File

@@ -94,9 +94,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-812</y>
<width>681</width>
<height>2983</height>
<y>0</y>
<width>680</width>
<height>2986</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -126,7 +126,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>5</number>
<number>18</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -11101,7 +11101,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="10" column="1">
<item row="11" column="1">
<widget class="QLabel" name="label_196">
<property name="text">
<string>[Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame.</string>
@@ -11114,7 +11114,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="11" column="1">
<item row="12" column="1">
<widget class="QLabel" name="label_246">
<property name="text">
<string>[Geometry] Create a new keyframe when the number of inliers drops under this threshold. Setting value to 0 means that a keyframe is created for each processed frame.</string>
@@ -11232,14 +11232,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="12" column="0">
<item row="13" column="0">
<widget class="QSpinBox" name="odom_dataBufferSize">
<property name="maximum">
<number>999999</number>
</property>
</widget>
</item>
<item row="13" column="0">
<item row="14" column="0">
<widget class="QPushButton" name="pushButton_testOdometry">
<property name="text">
<string>Test odometry</string>
@@ -11259,7 +11259,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="12" column="1">
<item row="13" column="1">
<widget class="QLabel" name="label_232">
<property name="text">
<string>Data buffer size (0 means inf).</string>
@@ -11272,6 +11272,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QSpinBox" name="odom_imageDecimation">
<property name="minimum">
<number>-32</number>
</property>
<property name="maximum">
<number>32</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_47">
<property name="text">
@@ -11285,7 +11295,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" column="1">
<item row="9" column="1">
<widget class="QLabel" name="label_248">
<property name="text">
<string>Decimation of images before features extraction. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).</string>
@@ -11298,16 +11308,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QSpinBox" name="odom_imageDecimation">
<property name="minimum">
<number>-32</number>
</property>
<property name="maximum">
<number>32</number>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QComboBox" name="odom_filteringStrategy">
<property name="sizeAdjustPolicy">
@@ -11330,7 +11330,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</item>
</widget>
</item>
<item row="10" column="0">
<item row="6" column="0">
<widget class="QCheckBox" name="odom_fillInfoData">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QDoubleSpinBox" name="odom_flow_keyframeThr">
<property name="maximum">
<double>1.000000000000000</double>
@@ -11343,6 +11350,13 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="odom_holonomic">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_233">
<property name="text">
@@ -11356,21 +11370,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="odom_fillInfoData">
<property name="text">
<string/>
<item row="3" column="0">
<widget class="QSpinBox" name="odom_countdown">
<property name="maximum">
<number>999999</number>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="odom_holonomic">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="11" column="0">
<item row="12" column="0">
<widget class="QDoubleSpinBox" name="odom_flow_scanKeyframeThr">
<property name="maximum">
<double>1.000000000000000</double>
@@ -11383,13 +11390,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="odom_countdown">
<property name="maximum">
<number>999999</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_351">
<property name="text">
@@ -11433,7 +11433,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</item>
</widget>
</item>
<item row="9" column="1">
<item row="10" column="1">
<widget class="QLabel" name="label_354">
<property name="text">
<string>[Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting the value to 0 means that a keyframe is created for each processed frame.</string>
@@ -11446,7 +11446,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="9" column="0">
<item row="10" column="0">
<widget class="QSpinBox" name="odom_VisKeyFrameThr">
<property name="maximum">
<number>9999</number>
@@ -11456,6 +11456,38 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_520">
<property name="text">
<string>Guess smoothing delay (s). Estimated velocity is averaged based on last transforms up to this maximum delay. This can help to get smoother velocity prediction. Last velocity computed is used directly if a filtering strategy is set or the delay is below the odometry rate.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QDoubleSpinBox" name="odom_guess_smoothing_delay">
<property name="suffix">
<string> s</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>