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Preferences: fixed map opacity limited to 0.75 min. Making sure that normalized variances are set to epsilon if result is 0.

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This commit is contained in:
matlabbe
2017-01-05 18:08:20 -05:00
parent 4b12fb3a9a
commit f20cb6ff52
6 changed files with 21 additions and 6 deletions
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4
guilib/src/DatabaseViewer.cpp
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@@ -4199,6 +4199,8 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent, bool update
// normalize variance
info.varianceLin *= transform.getNorm();
info.varianceAng *= transform.getAngle();
info.varianceLin = info.varianceLin>0.0f?info.varianceLin:0.0001f; // epsilon if exact transform
info.varianceAng = info.varianceAng>0.0f?info.varianceAng:0.0001f; // epsilon if exact transform
}
Link newLink(currentLink.from(), currentLink.to(), currentLink.type(), transform, info.varianceAng, info.varianceLin);
@@ -4303,6 +4305,8 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
// normalize variance
info.varianceLin *= t.getNorm();
info.varianceAng *= t.getAngle();
info.varianceLin = info.varianceLin>0.0f?info.varianceLin:0.0001f; // epsilon if exact transform
info.varianceAng = info.varianceAng>0.0f?info.varianceAng:0.0001f; // epsilon if exact transform
}
newLink = Link(from, to, Link::kUserClosure, t, info.varianceAng, info.varianceLin);
}

2
guilib/src/MainWindow.cpp
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@@ -4740,6 +4740,8 @@ void MainWindow::postProcessing()
// normalize variance
info.varianceLin *= transform.getNorm();
info.varianceAng *= transform.getAngle();
info.varianceLin = info.varianceLin>0.0f?info.varianceLin:0.0001f; // epsilon if exact transform
info.varianceAng = info.varianceAng>0.0f?info.varianceAng:0.0001f; // epsilon if exact transform
}
_currentLinksMap.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, info.varianceAng, info.varianceLin)));
++loopClosuresAdded;

2
guilib/src/PreferencesDialog.cpp
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@@ -1282,7 +1282,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_map_erode->setChecked(false);
_ui->checkBox_map_incremental->setChecked(false);
_ui->doubleSpinBox_map_footprintRadius->setValue(0);
_ui->doubleSpinBox_map_opacity->setValue(1);
_ui->doubleSpinBox_map_opacity->setValue(0.75);
_ui->groupBox_octomap->setChecked(false);
_ui->spinBox_octomap_treeDepth->setValue(16);

13
guilib/src/ui/preferencesDialog.ui
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@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-1494</y>
<width>673</width>
<height>2649</height>
<y>0</y>
<width>678</width>
<height>2632</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>5</number>
<number>3</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -1632,11 +1632,14 @@ Show a yellow background when the number of odometry inliers goes under this thr
<string/>
</property>
<property name="minimum">
<double>0.750000000000000</double>
<double>0.010000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
<property name="value">
<double>0.750000000000000</double>
</property>