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DbViewer: Added GroundTruth pose in node info labels

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This commit is contained in:
matlabbe
2022-03-31 12:00:52 -04:00
parent 6cefc6d00a
commit e46af2c3cd
3 changed files with 348 additions and 303 deletions
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10
guilib/src/DatabaseViewer.cpp
View File

@@ -4349,6 +4349,7 @@ void DatabaseViewer::sliderAValueChanged(int value)
ui_->label_scanA,
ui_->label_gravityA,
ui_->label_gpsA,
ui_->label_gtA,
ui_->label_sensorsA,
true);
}
@@ -4371,6 +4372,7 @@ void DatabaseViewer::sliderBValueChanged(int value)
ui_->label_scanB,
ui_->label_gravityB,
ui_->label_gpsB,
ui_->label_gtB,
ui_->label_sensorsB,
true);
}
@@ -4391,6 +4393,7 @@ void DatabaseViewer::update(int value,
QLabel * labelScan,
QLabel * labelGravity,
QLabel * labelGps,
QLabel * labelGt,
QLabel * labelSensors,
bool updateConstraintView)
{
@@ -4410,6 +4413,7 @@ void DatabaseViewer::update(int value,
labelScan ->clear();
labelGravity->clear();
labelGps->clear();
labelGt->clear();
labelSensors->clear();
if(value >= 0 && value < ids_.size())
{
@@ -4541,6 +4545,10 @@ void DatabaseViewer::update(int value,
labelGps->setText(QString("stamp=%1 longitude=%2 latitude=%3 altitude=%4m error=%5m bearing=%6deg").arg(QString::number(gps.stamp(), 'f')).arg(gps.longitude()).arg(gps.latitude()).arg(gps.altitude()).arg(gps.error()).arg(gps.bearing()));
labelGps->setToolTip(QDateTime::fromMSecsSinceEpoch(gps.stamp()*1000.0).toString("dd.MM.yyyy hh:mm:ss.zzz"));
}
if(!g.isNull())
{
labelGt->setText(QString("%1").arg(g.prettyPrint().c_str()));
}
if(sensors.size())
{
QString sensorsStr;
@@ -5933,6 +5941,7 @@ void DatabaseViewer::updateConstraintView(
ui_->label_scanA,
ui_->label_gravityA,
ui_->label_gpsA,
ui_->label_gtA,
ui_->label_sensorsA,
false); // don't update constraints view!
if(link.to()>0)
@@ -5953,6 +5962,7 @@ void DatabaseViewer::updateConstraintView(
ui_->label_scanB,
ui_->label_gravityB,
ui_->label_gpsB,
ui_->label_gtB,
ui_->label_sensorsB,
false); // don't update constraints view!
}

640
guilib/src/ui/DatabaseViewer.ui
View File

@@ -60,46 +60,12 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>307</width>
<height>311</height>
<y>-23</y>
<width>293</width>
<height>334</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
<item row="5" column="1">
<widget class="QLabel" name="label_poseA">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_childrenA_2">
<property name="text">
<string>Children</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_parentsA">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_parentsA_2">
<property name="text">
<string>Parents</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_childrenA_12">
<property name="text">
@@ -107,32 +73,8 @@
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_mapA">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_childrenA_10">
<property name="text">
<string>Map ID</string>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="label_childrenA_14">
<property name="text">
<string>Calib</string>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_calibA">
<item row="5" column="1">
<widget class="QLabel" name="label_poseA">
<property name="text">
<string/>
</property>
@@ -151,40 +93,6 @@
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_childrenA_4">
<property name="text">
<string>Label</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_labelA">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_childrenA_6">
<property name="text">
<string>Stamp</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_stampA">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_childrenA_8">
<property name="text">
@@ -192,40 +100,6 @@
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_weightA">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QLabel" name="label_childrenA_16">
<property name="text">
<string>GPS</string>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLabel" name="label_gpsA">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_childrenA_18">
<property name="text">
<string>Velocity</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_velA">
<property name="text">
@@ -236,14 +110,54 @@
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QLabel" name="label_childrenA_20">
<item row="3" column="1">
<widget class="QLabel" name="label_labelA">
<property name="text">
<string>Sensors</string>
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="12" column="1">
<item row="4" column="1">
<widget class="QLabel" name="label_mapA">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="label_childrenA_14">
<property name="text">
<string>Calib</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_parentsA">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_stampA">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QLabel" name="label_sensorsA">
<property name="text">
<string/>
@@ -260,6 +174,85 @@
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QLabel" name="label_childrenA_24">
<property name="text">
<string>Gravity</string>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLabel" name="label_gpsA">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_weightA">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QLabel" name="label_childrenA_20">
<property name="text">
<string>Sensors</string>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QLabel" name="label_childrenA_16">
<property name="text">
<string>GPS</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_childrenA_6">
<property name="text">
<string>Stamp</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_childrenA_18">
<property name="text">
<string>Velocity</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_parentsA_2">
<property name="text">
<string>Parents</string>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_gravityA">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_childrenA_10">
<property name="text">
<string>Map ID</string>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_scanA">
<property name="text">
@@ -270,15 +263,39 @@
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QLabel" name="label_childrenA_24">
<item row="3" column="0">
<widget class="QLabel" name="label_childrenA_4">
<property name="text">
<string>Gravity</string>
<string>Label</string>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_gravityA">
<item row="1" column="0">
<widget class="QLabel" name="label_childrenA_2">
<property name="text">
<string>Children</string>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_calibA">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QLabel" name="label_childrenA_27">
<property name="text">
<string>Ground Truth</string>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_gtA">
<property name="text">
<string/>
</property>
@@ -303,26 +320,16 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>306</width>
<height>311</height>
<y>-23</y>
<width>292</width>
<height>334</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
<item row="2" column="0">
<widget class="QLabel" name="label_childrenA_9">
<item row="11" column="0">
<widget class="QLabel" name="label_childrenA_17">
<property name="text">
<string>Weight</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_mapB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
<string>GPS</string>
</property>
</widget>
</item>
@@ -336,30 +343,6 @@
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="label_childrenA_15">
<property name="text">
<string>Calib</string>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_calibB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QLabel" name="label_childrenA_17">
<property name="text">
<string>GPS</string>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLabel" name="label_gpsB">
<property name="text">
@@ -370,81 +353,6 @@
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_childrenB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_childrenA_5">
<property name="text">
<string>Label</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_labelB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_weightB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_childrenA_11">
<property name="text">
<string>Map ID</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_childrenA_13">
<property name="text">
<string>Pose</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_parentsB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_parentsA_4">
<property name="text">
<string>Parents</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_childrenA_3">
<property name="text">
<string>Children</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_childrenA_7">
<property name="text">
@@ -452,59 +360,22 @@
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_stampB">
<item row="2" column="0">
<widget class="QLabel" name="label_childrenA_9">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
<string>Weight</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_childrenA_19">
<property name="text">
<string>Velocity</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_velB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="12" column="0">
<item row="13" column="0">
<widget class="QLabel" name="label_childrenA_21">
<property name="text">
<string>Sensors</string>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_sensorsB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="label_childrenA_23">
<property name="text">
<string>Scan</string>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_scanB">
<item row="4" column="1">
<widget class="QLabel" name="label_mapB">
<property name="text">
<string/>
</property>
@@ -520,6 +391,118 @@
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="label_childrenA_15">
<property name="text">
<string>Calib</string>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_scanB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_parentsB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_childrenA_3">
<property name="text">
<string>Children</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_childrenA_13">
<property name="text">
<string>Pose</string>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_calibB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_labelB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_childrenA_19">
<property name="text">
<string>Velocity</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_childrenA_11">
<property name="text">
<string>Map ID</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_weightB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_childrenA_5">
<property name="text">
<string>Label</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_childrenB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_stampB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_gravityB">
<property name="text">
@@ -530,6 +513,57 @@
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_parentsA_4">
<property name="text">
<string>Parents</string>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="label_childrenA_23">
<property name="text">
<string>Scan</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_velB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QLabel" name="label_sensorsB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QLabel" name="label_childrenA_26">
<property name="text">
<string>Ground Truth</string>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_gtB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
@@ -1543,9 +1577,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-344</y>
<y>0</y>
<width>518</width>
<height>934</height>
<height>951</height>
</rect>
</property>
<attribute name="label">
@@ -2158,7 +2192,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>298</width>
<width>226</width>
<height>192</height>
</rect>
</property>
@@ -2312,8 +2346,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>432</width>
<height>196</height>
<width>185</width>
<height>485</height>
</rect>
</property>
<attribute name="label">