i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-10 03:29:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

Parameters: Added "Reg/VarianceNormalized". Registration: Transforms are now only normalized in Registration. Added rgbd_dataset tool. MainWindow: odom inliers-only shown option. ExportCloudsDialog: ignoring intermediate nodes for texturing (if they don't have data). DatabaseViewer: "optimized" checkbox enabled in Constraints view for non-neighbor links too.

Browse Source
This commit is contained in:
matlabbe
2017-05-22 11:48:01 -04:00
parent 58e6424bf7
commit 385b7e3389
20 changed files with 758 additions and 155 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/DatabaseViewer.cpp
+21 -20
View File
@@ -2206,6 +2206,10 @@ void DatabaseViewer::detectMoreLoopClosures()
}
}
progressDialog->incrementStep();
if(i%100)
{
QApplication::processEvents();
}
}
UINFO("Iteration %d/%d: added %d loop closures.", n+1, iterations, (int)addedLinks.size()/2);
progressDialog->appendText(tr("Iteration %1/%2: Detected %3 loop closures!").arg(n+1).arg(iterations).arg(addedLinks.size()/2));
@@ -3321,30 +3325,27 @@ void DatabaseViewer::updateConstraintView(
.arg(sqrt(link.rotVariance()))
.arg(sqrt(link.transVariance())));
ui_->label_constraint->setText(QString("%1").arg(t.prettyPrint().c_str()).replace(" ", "\n"));
if((link.type() == Link::kNeighbor || link.type() == Link::kNeighborMerged) &&
graphes_.size() &&
if(graphes_.size() &&
(int)graphes_.size()-1 == ui_->horizontalSlider_iterations->maximum())
{
std::map<int, rtabmap::Transform> & graph = uValueAt(graphes_, ui_->horizontalSlider_iterations->value());
if(link.type() == Link::kNeighbor || link.type() == Link::kNeighborMerged)
{
std::map<int, rtabmap::Transform>::iterator iterFrom = graph.find(link.from());
std::map<int, rtabmap::Transform>::iterator iterTo = graph.find(link.to());
if(iterFrom != graph.end() && iterTo != graph.end())
{
ui_->checkBox_showOptimized->setEnabled(true);
Transform topt = iterFrom->second.inverse()*iterTo->second;
float diff = topt.getDistance(t);
Transform v1 = t.rotation()*Transform(1,0,0,0,0,0);
Transform v2 = topt.rotation()*Transform(1,0,0,0,0,0);
float a = pcl::getAngle3D(Eigen::Vector4f(v1.x(), v1.y(), v1.z(), 0), Eigen::Vector4f(v2.x(), v2.y(), v2.z(), 0));
a = (a *180.0f) / CV_PI;
ui_->label_constraint_opt->setText(QString("%1\n(error=%2% a=%3)").arg(QString(topt.prettyPrint().c_str()).replace(" ", "\n")).arg((diff/t.getNorm())*100.0f).arg(a));
if(ui_->checkBox_showOptimized->isChecked())
{
t = topt;
}
std::map<int, rtabmap::Transform>::iterator iterFrom = graph.find(link.from());
std::map<int, rtabmap::Transform>::iterator iterTo = graph.find(link.to());
if(iterFrom != graph.end() && iterTo != graph.end())
{
ui_->checkBox_showOptimized->setEnabled(true);
Transform topt = iterFrom->second.inverse()*iterTo->second;
float diff = topt.getDistance(t);
Transform v1 = t.rotation()*Transform(1,0,0,0,0,0);
Transform v2 = topt.rotation()*Transform(1,0,0,0,0,0);
float a = pcl::getAngle3D(Eigen::Vector4f(v1.x(), v1.y(), v1.z(), 0), Eigen::Vector4f(v2.x(), v2.y(), v2.z(), 0));
a = (a *180.0f) / CV_PI;
ui_->label_constraint_opt->setText(QString("%1\n(error=%2% a=%3)").arg(QString(topt.prettyPrint().c_str()).replace(" ", "\n")).arg((diff/t.getNorm())*100.0f).arg(a));
if(ui_->checkBox_showOptimized->isChecked())
{
t = topt;
}
}
}