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0.18.2: Added Odom/GuessSmoothingDelay parameter

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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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guilib/src/MainWindow.cpp
+13 -1
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@@ -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)