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0.11.1: Added "ground_truth_pose" field to database in Node table. MainWindow: alignment of the map to ground truth (if ground truth is present).

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This commit is contained in:
matlabbe
2016-01-07 19:39:21 -05:00
parent b8c9f32fd8
commit e7565db5d0
22 changed files with 283 additions and 132 deletions
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23
guilib/src/GraphViewer.cpp
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@@ -104,13 +104,13 @@ class LinkItem: public QGraphicsLineItem
{
public:
// in meter
LinkItem(int from, int to, const Transform & poseA, const Transform & poseB, Link::Type type, bool interSessionClosure) :
LinkItem(int from, int to, const Transform & poseA, const Transform & poseB, const Link & link, bool interSessionClosure) :
QGraphicsLineItem(-poseA.y(), -poseA.x(), -poseB.y(), -poseB.x()),
_from(from),
_to(to),
_poseA(poseA),
_poseB(poseB),
_type(type),
_link(link),
_interSession(interSessionClosure)
{
this->setAcceptHoverEvents(true);
@@ -140,7 +140,7 @@ public:
return _poseB;
}
Link::Type linkType() const {return _type;}
Link::Type linkType() const {return _link.type();}
bool isInterSession() const {return _interSession;}
int from() const {return _from;}
int to() const {return _to;}
@@ -148,7 +148,12 @@ public:
protected:
virtual void hoverEnterEvent ( QGraphicsSceneHoverEvent * event )
{
this->setToolTip(QString("%1->%2 %3 m").arg(_from).arg(_to).arg(_poseA.getDistance(_poseB)));
QString str = QString("%1->%2 (%3 m)").arg(_from).arg(_to).arg(_poseA.getDistance(_poseB));
if(!_link.transform().isNull())
{
str.append(QString("\n%1\n%2 %3").arg(_link.transform().prettyPrint().c_str()).arg(_link.transVariance()).arg(_link.rotVariance()));
}
this->setToolTip(str);
QPen pen = this->pen();
pen.setWidthF(pen.widthF()+0.02);
this->setPen(pen);
@@ -168,7 +173,7 @@ private:
int _to;
Transform _poseA;
Transform _poseB;
Link::Type _type;
Link _link;
bool _interSession;
};
@@ -333,7 +338,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
if(linkItem == 0)
{
//create a link item
linkItem = new LinkItem(idFrom, idTo, poseA, poseB, iter->second.type(), interSessionClosure);
linkItem = new LinkItem(idFrom, idTo, poseA, poseB, iter->second, interSessionClosure);
QPen p = linkItem->pen();
p.setWidthF(_linkWidth);
linkItem->setPen(p);
@@ -526,7 +531,7 @@ void GraphViewer::updateGTGraph(const std::map<int, Transform> & poses)
if(linkItem == 0)
{
//create a link item
linkItem = new LinkItem(iterPrevious->first, iter->first, previousPose, currentPose, Link::kUndef, 1);
linkItem = new LinkItem(iterPrevious->first, iter->first, previousPose, currentPose, Link(), 1);
QPen p = linkItem->pen();
p.setWidthF(_linkWidth);
linkItem->setPen(p);
@@ -655,7 +660,7 @@ void GraphViewer::setGlobalPath(const std::vector<std::pair<int, Transform> > &
//create a link item
int idFrom = globalPath[i].first;
int idTo = globalPath[i+1].first;
LinkItem * item = new LinkItem(idFrom, idTo, globalPath[i].second, globalPath[i+1].second, Link::kUndef, false);
LinkItem * item = new LinkItem(idFrom, idTo, globalPath[i].second, globalPath[i+1].second, Link(), false);
QPen p = item->pen();
p.setWidthF(_linkWidth);
item->setPen(p);
@@ -731,7 +736,7 @@ void GraphViewer::updateLocalPath(const std::vector<int> & localPath)
if(!updated)
{
//create a link item
LinkItem * item = new LinkItem(idFrom, idTo, _nodeItems.value(idFrom)->pose(), _nodeItems.value(idTo)->pose(), Link::kUndef, false);
LinkItem * item = new LinkItem(idFrom, idTo, _nodeItems.value(idFrom)->pose(), _nodeItems.value(idTo)->pose(), Link(), false);
QPen p = item->pen();
p.setWidthF(_linkWidth);
item->setPen(p);