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RegInfo: added icpStructuralDistribution info

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matlabbe
2020-04-14 17:06:53 -04:00
parent 607dc67135
commit de354b901d
3 changed files with 39 additions and 0 deletions
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2
guilib/src/MainWindow.cpp
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@@ -593,6 +593,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
_ui->statsToolBox->updateStat("Odometry/ICPRotation/rad", false);
_ui->statsToolBox->updateStat("Odometry/ICPTranslation/m", false);
_ui->statsToolBox->updateStat("Odometry/ICPStructuralComplexity/", false);
_ui->statsToolBox->updateStat("Odometry/ICPStructuralDistribution/", false);
_ui->statsToolBox->updateStat("Odometry/ICPCorrespondences/", false);
_ui->statsToolBox->updateStat("Odometry/StdDevLin/", false);
_ui->statsToolBox->updateStat("Odometry/StdDevAng/", false);
@@ -1511,6 +1512,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
_ui->statsToolBox->updateStat("Odometry/ICPRotation/rad", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().reg.icpRotation, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ICPTranslation/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().reg.icpTranslation, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ICPStructuralComplexity/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().reg.icpStructuralComplexity, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ICPStructuralDistribution/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().reg.icpStructuralDistribution, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ICPCorrespondences/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().reg.icpCorrespondences, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Matches/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().reg.matches, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/MatchesRatio/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), odom.info().features<=0?0.0f:float(odom.info().reg.matches)/float(odom.info().features), _preferencesDialog->isCacheSavedInFigures());