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rgbddatset tool: removed local covariance logic. DBViewer: fixed poses not aligned to groundtruth on start.

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matlabbe
2023-06-25 17:42:54 -07:00
parent 092f6abccc
commit c7e46c1431
2 changed files with 40 additions and 24 deletions
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46
guilib/src/DatabaseViewer.cpp
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@@ -1073,8 +1073,11 @@ bool DatabaseViewer::closeDatabase()
ui_->toolBox_statistics->clear();
databaseFileName_.clear();
ui_->checkBox_alignPosesWithGPS->setVisible(false);
ui_->checkBox_alignPosesWithGPS->setEnabled(false);
ui_->checkBox_alignPosesWithGroundTruth->setVisible(false);
ui_->checkBox_alignPosesWithGroundTruth->setEnabled(false);
ui_->checkBox_alignScansCloudsWithGroundTruth->setVisible(false);
ui_->checkBox_alignScansCloudsWithGroundTruth->setEnabled(false);
ui_->doubleSpinBox_optimizationScale->setVisible(false);
ui_->label_scale_title->setVisible(false);
ui_->label_rmse->setVisible(false);
@@ -1706,8 +1709,11 @@ void DatabaseViewer::updateIds()
lastSliderIndexBrowsed_ = 0;
ui_->checkBox_wmState->setVisible(false);
ui_->checkBox_alignPosesWithGPS->setVisible(false);
ui_->checkBox_alignPosesWithGPS->setEnabled(false);
ui_->checkBox_alignPosesWithGroundTruth->setVisible(false);
ui_->checkBox_alignPosesWithGroundTruth->setEnabled(false);
ui_->checkBox_alignScansCloudsWithGroundTruth->setVisible(false);
ui_->checkBox_alignScansCloudsWithGroundTruth->setEnabled(false);
ui_->doubleSpinBox_optimizationScale->setVisible(false);
ui_->label_scale_title->setVisible(false);
ui_->label_rmse->setVisible(false);
@@ -1903,10 +1909,13 @@ void DatabaseViewer::updateIds()
ui_->label_rmse_title->setVisible(!groundTruthPoses_.empty());
ui_->checkBox_alignPosesWithGPS->setVisible(!gpsPoses_.empty());
ui_->checkBox_alignPosesWithGPS->setEnabled(!gpsPoses_.empty());
ui_->label_alignPosesWithGPS->setVisible(!gpsPoses_.empty());
ui_->checkBox_alignPosesWithGroundTruth->setVisible(!groundTruthPoses_.empty());
ui_->checkBox_alignPosesWithGroundTruth->setEnabled(!groundTruthPoses_.empty());
ui_->label_alignPosesWithGroundTruth->setVisible(!groundTruthPoses_.empty());
ui_->checkBox_alignScansCloudsWithGroundTruth->setVisible(!groundTruthPoses_.empty());
ui_->checkBox_alignScansCloudsWithGroundTruth->setEnabled(!groundTruthPoses_.empty());
ui_->label_alignScansCloudsWithGroundTruth->setVisible(!groundTruthPoses_.empty());
if(!gpsValues_.empty())
@@ -2551,11 +2560,12 @@ void DatabaseViewer::exportPoses(int format)
optimizedPoses = uValueAt(graphes_, ui_->horizontalSlider_iterations->value());
}
if(ui_->checkBox_alignPosesWithGPS->isChecked() ||
ui_->checkBox_alignPosesWithGroundTruth->isChecked())
if((ui_->checkBox_alignPosesWithGPS->isEnabled() && ui_->checkBox_alignPosesWithGPS->isChecked()) ||
(ui_->checkBox_alignPosesWithGroundTruth->isEnabled() && ui_->checkBox_alignPosesWithGroundTruth->isChecked()))
{
std::map<int, Transform> refPoses = groundTruthPoses_;
if(ui_->checkBox_alignPosesWithGPS->isChecked())
if(ui_->checkBox_alignPosesWithGPS->isEnabled() &&
ui_->checkBox_alignPosesWithGPS->isChecked())
{
refPoses = gpsPoses_;
}
@@ -3162,7 +3172,7 @@ void DatabaseViewer::exportSaved2DMap()
file << "free_thresh: 0.196" << std::endl;
file << std::endl;
file.close();
QMessageBox::information(this, tr("Export 2D map"), tr("Exported %1 and %2!").arg(path).arg(yaml));
}
@@ -3519,7 +3529,9 @@ void DatabaseViewer::updateOptimizedMesh()
}
std::map<int, Transform> optimizedPoses;
if(ui_->checkBox_alignScansCloudsWithGroundTruth->isChecked() && !groundTruthPoses_.empty())
if(ui_->checkBox_alignScansCloudsWithGroundTruth->isEnabled() &&
ui_->checkBox_alignScansCloudsWithGroundTruth->isChecked()
&& !groundTruthPoses_.empty())
{
optimizedPoses = groundTruthPoses_;
}
@@ -4036,7 +4048,9 @@ void DatabaseViewer::view3DMap()
}
std::map<int, Transform> optimizedPoses;
if(ui_->checkBox_alignScansCloudsWithGroundTruth->isChecked() && !groundTruthPoses_.empty())
if(ui_->checkBox_alignScansCloudsWithGroundTruth->isEnabled() &&
ui_->checkBox_alignScansCloudsWithGroundTruth->isChecked() &&
!groundTruthPoses_.empty())
{
optimizedPoses = groundTruthPoses_;
}
@@ -4087,7 +4101,9 @@ void DatabaseViewer::generate3DMap()
}
std::map<int, Transform> optimizedPoses;
if(ui_->checkBox_alignScansCloudsWithGroundTruth->isChecked() && !groundTruthPoses_.empty())
if(ui_->checkBox_alignScansCloudsWithGroundTruth->isEnabled() &&
ui_->checkBox_alignScansCloudsWithGroundTruth->isChecked() &&
!groundTruthPoses_.empty())
{
optimizedPoses = groundTruthPoses_;
}
@@ -6665,7 +6681,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
std::map<int, rtabmap::Transform> graph = uValueAt(graphes_, value);
std::map<int, Transform> refPoses = groundTruthPoses_;
if(ui_->checkBox_alignPosesWithGPS->isChecked())
if(ui_->checkBox_alignPosesWithGPS->isEnabled() && ui_->checkBox_alignPosesWithGPS->isChecked())
{
refPoses = gpsPoses_;
}
@@ -6729,8 +6745,8 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
UINFO("rotational_min=%f", rotational_min);
UINFO("rotational_max=%f", rotational_max);
if((ui_->checkBox_alignPosesWithGPS->isChecked() ||
ui_->checkBox_alignPosesWithGroundTruth->isChecked()) &&
if(((ui_->checkBox_alignPosesWithGPS->isEnabled() && ui_->checkBox_alignPosesWithGPS->isChecked()) ||
(ui_->checkBox_alignPosesWithGroundTruth->isEnabled() && ui_->checkBox_alignPosesWithGroundTruth->isChecked())) &&
!gtToMap.isIdentity())
{
for(std::map<int, Transform>::iterator iter=graph.begin(); iter!=graph.end(); ++iter)
@@ -6741,7 +6757,9 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
}
std::map<int, rtabmap::Transform> graphFiltered;
if(ui_->checkBox_alignScansCloudsWithGroundTruth->isChecked() && !groundTruthPoses_.empty())
if(ui_->checkBox_alignScansCloudsWithGroundTruth->isEnabled() &&
ui_->checkBox_alignScansCloudsWithGroundTruth->isChecked() &&
!groundTruthPoses_.empty())
{
graphFiltered = groundTruthPoses_;
}
@@ -7623,9 +7641,9 @@ void DatabaseViewer::updateGraphView()
ui_->spinBox_optimizationsFrom->setEnabled(true);
ui_->checkBox_spanAllMaps->setEnabled(true);
ui_->checkBox_wmState->setEnabled(true);
ui_->checkBox_alignPosesWithGPS->setEnabled(true);
ui_->checkBox_alignPosesWithGroundTruth->setEnabled(true);
ui_->checkBox_alignScansCloudsWithGroundTruth->setEnabled(true);
ui_->checkBox_alignPosesWithGPS->setEnabled(ui_->checkBox_alignPosesWithGPS->isVisible());
ui_->checkBox_alignPosesWithGroundTruth->setEnabled(ui_->checkBox_alignPosesWithGroundTruth->isVisible());
ui_->checkBox_alignScansCloudsWithGroundTruth->setEnabled(ui_->checkBox_alignScansCloudsWithGroundTruth->isVisible());
ui_->checkBox_ignoreIntermediateNodes->setEnabled(true);
}
updateGraphRotation();