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added new statistics (features extracted current image, local map size) shown in GUI for Odometry

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1719 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-09-25 15:04:35 +00:00
parent c5eedd9a9d
commit ebeb116c0d
11 changed files with 135 additions and 37 deletions
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4
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -137,7 +137,7 @@ private slots:
void selectScreenCaptureFormat(bool checked);
void takeScreenshot();
void updateElapsedTime();
void processOdometry(const rtabmap::SensorData & data, int quality, float time);
void processOdometry(const rtabmap::SensorData & data, int quality, float time, int features, int localMapSize);
void applyAllPrefSettings();
void applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags);
void applyPrefSettings(const rtabmap::ParametersMap & parameters);
@@ -169,7 +169,7 @@ private slots:
signals:
void statsReceived(const rtabmap::Statistics &);
void odometryReceived(const rtabmap::SensorData &, int, float);
void odometryReceived(const rtabmap::SensorData &, int, float, int, int);
void thresholdsChanged(int, int);
void stateChanged(MainWindow::State);
void rtabmapEventInitReceived(int status, const QString & info);

5
guilib/src/DatabaseViewer.cpp
View File

@@ -907,7 +907,10 @@ void DatabaseViewer::detectMoreLoopClosures()
std::multimap<int, rtabmap::Link> links = updateLinksWithModifications(links_);
optimizedPoses = optimizeGraph(ids, poses_, links);
std::multimap<int, int> clusters = util3d::radiusPosesClustering(optimizedPoses, 0.1, 0.1);
std::multimap<int, int> clusters = util3d::radiusPosesClustering(
optimizedPoses,
ui_->doubleSpinBox_detectMore_radius->value(),
ui_->doubleSpinBox_detectMore_angle->value());
int added = 0;
for(std::multimap<int, int>::iterator iter=clusters.begin(); iter!= clusters.end(); ++iter)
{

14
guilib/src/MainWindow.cpp
View File

@@ -342,7 +342,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(this, SIGNAL(statsReceived(rtabmap::Statistics)), this, SLOT(processStats(rtabmap::Statistics)));
qRegisterMetaType<rtabmap::SensorData>("rtabmap::SensorData");
connect(this, SIGNAL(odometryReceived(rtabmap::SensorData, int, float)), this, SLOT(processOdometry(rtabmap::SensorData, int, float)));
connect(this, SIGNAL(odometryReceived(rtabmap::SensorData, int, float, int, int)), this, SLOT(processOdometry(rtabmap::SensorData, int, float, int, int)));
connect(this, SIGNAL(noMoreImagesReceived()), this, SLOT(stopDetection()));
@@ -531,7 +531,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
!_processingStatistics)
{
_lastOdometryProcessed = false; // if we receive too many odometry events!
emit odometryReceived(odomEvent->data(), odomEvent->quality(), odomEvent->time());
emit odometryReceived(odomEvent->data(), odomEvent->quality(), odomEvent->time(), odomEvent->features(), odomEvent->localMapSize());
}
}
else if(anEvent->getClassName().compare("ULogEvent") == 0)
@@ -554,7 +554,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
}
}
void MainWindow::processOdometry(const rtabmap::SensorData & data, int quality, float time)
void MainWindow::processOdometry(const rtabmap::SensorData & data, int quality, float time, int features, int localMapSize)
{
Transform pose = data.pose();
if(pose.isNull())
@@ -584,6 +584,14 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, int quality,
{
_ui->statsToolBox->updateStat("Odometry/Time/ms", (float)data.id(), (float)time*1000.0f);
}
if(features >=0)
{
_ui->statsToolBox->updateStat("Odometry/Features/", (float)data.id(), (float)features);
}
if(localMapSize >=0)
{
_ui->statsToolBox->updateStat("Odometry/LocalMapSize/", (float)data.id(), (float)localMapSize);
}
if(!pose.isNull())
{
_lastOdomPose = pose;

54
guilib/src/ui/DatabaseViewer.ui
View File

@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>1076</width>
<height>582</height>
<height>665</height>
</rect>
</property>
<property name="windowTitle">
@@ -912,6 +912,58 @@
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="label_29">
<property name="text">
<string>Detect more LCs: radius</string>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="label_30">
<property name="text">
<string>Detect more LCs: angle</string>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radius">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.300000000000000</double>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_angle">
<property name="suffix">
<string> rad</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>3.140000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.300000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>