i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 10:00:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added parameters Vis/MeanInliersDistance and Vis/MinInliersDistribution

Browse Source
This commit is contained in:
matlabbe
2019-06-16 18:54:39 -04:00
parent 85edc57ba5
commit d205683eb5
13 changed files with 206 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
guilib/src/MainWindow.cpp
View File

@@ -584,6 +584,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
_ui->statsToolBox->updateStat("Odometry/Matches/", false);
_ui->statsToolBox->updateStat("Odometry/MatchesRatio/", false);
_ui->statsToolBox->updateStat("Odometry/Inliers/", false);
_ui->statsToolBox->updateStat("Odometry/InliersMeanDistance/m", false);
_ui->statsToolBox->updateStat("Odometry/InliersDistribution/", false);
_ui->statsToolBox->updateStat("Odometry/InliersRatio/", false);
_ui->statsToolBox->updateStat("Odometry/ICPInliersRatio/", false);
_ui->statsToolBox->updateStat("Odometry/ICPRotation/rad", false);
@@ -1442,6 +1444,8 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
//Process info
_ui->statsToolBox->updateStat("Odometry/Inliers/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().reg.inliers, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/InliersMeanDistance/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().reg.inliersMeanDistance, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/InliersDistribution/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().reg.inliersDistribution, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/InliersRatio/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), odom.info().features<=0?0.0f:float(odom.info().reg.inliers)/float(odom.info().features), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ICPInliersRatio/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().reg.icpInliersRatio, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ICPRotation/rad", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().reg.icpRotation, _preferencesDialog->isCacheSavedInFigures());