mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 16:57:46 +08:00
Updated default x-axis units of the figures with time stamps instead of IDs (#48).
This commit is contained in:
matlabbe
@@ -272,6 +272,7 @@ private:
|
||||
|
||||
QSet<int> _lastIds;
|
||||
int _lastId;
|
||||
double _firstStamp;
|
||||
bool _processingStatistics;
|
||||
bool _processingDownloadedMap;
|
||||
bool _odometryReceived;
|
||||
|
||||
@@ -142,6 +142,7 @@ public:
|
||||
bool imageRejectedShown() const;
|
||||
bool imageHighestHypShown() const;
|
||||
bool beepOnPause() const;
|
||||
bool isTimeUsedInFigures() const;
|
||||
bool notifyWhenNewGlobalPathIsReceived() const;
|
||||
int getOdomQualityWarnThr() const;
|
||||
bool isPosteriorGraphView() const;
|
||||
|
||||
+87
-70
@@ -137,6 +137,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
|
||||
_exportScansDialog(0),
|
||||
_dataRecorder(0),
|
||||
_lastId(0),
|
||||
_firstStamp(0.0f),
|
||||
_processingStatistics(false),
|
||||
_processingDownloadedMap(false),
|
||||
_odometryReceived(false),
|
||||
@@ -828,15 +829,25 @@ void MainWindow::handleEvent(UEvent* anEvent)
|
||||
|
||||
void MainWindow::processCameraInfo(const rtabmap::CameraInfo & info)
|
||||
{
|
||||
_ui->statsToolBox->updateStat("Camera/Time capturing/ms", (float)info.id, info.timeCapture*1000.0f);
|
||||
_ui->statsToolBox->updateStat("Camera/Time decimation/ms", (float)info.id, info.timeImageDecimation*1000.0f);
|
||||
_ui->statsToolBox->updateStat("Camera/Time disparity/ms", (float)info.id, info.timeDisparity*1000.0f);
|
||||
_ui->statsToolBox->updateStat("Camera/Time mirroring/ms", (float)info.id, info.timeMirroring*1000.0f);
|
||||
_ui->statsToolBox->updateStat("Camera/Time scan_from_depth/ms", (float)info.id, info.timeScanFromDepth*1000.0f);
|
||||
if(_firstStamp == 0.0)
|
||||
{
|
||||
_firstStamp = info.stamp;
|
||||
}
|
||||
|
||||
_ui->statsToolBox->updateStat("Camera/Time capturing/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeCapture*1000.0f);
|
||||
_ui->statsToolBox->updateStat("Camera/Time decimation/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeImageDecimation*1000.0f);
|
||||
_ui->statsToolBox->updateStat("Camera/Time disparity/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeDisparity*1000.0f);
|
||||
_ui->statsToolBox->updateStat("Camera/Time mirroring/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeMirroring*1000.0f);
|
||||
_ui->statsToolBox->updateStat("Camera/Time scan_from_depth/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeScanFromDepth*1000.0f);
|
||||
}
|
||||
|
||||
void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataIgnored)
|
||||
{
|
||||
if(_firstStamp == 0.0)
|
||||
{
|
||||
_firstStamp = odom.data().stamp();
|
||||
}
|
||||
|
||||
UDEBUG("");
|
||||
_processingOdometry = true;
|
||||
UTimer time;
|
||||
@@ -1219,85 +1230,85 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
|
||||
}
|
||||
|
||||
//Process info
|
||||
_ui->statsToolBox->updateStat("Odometry/Inliers/", (float)odom.data().id(), (float)odom.info().inliers);
|
||||
_ui->statsToolBox->updateStat("Odometry/ICPInliersRatio/", (float)odom.data().id(), (float)odom.info().icpInliersRatio);
|
||||
_ui->statsToolBox->updateStat("Odometry/Matches/", (float)odom.data().id(), (float)odom.info().matches);
|
||||
_ui->statsToolBox->updateStat("Odometry/StdDev/", (float)odom.data().id(), sqrt((float)odom.info().variance));
|
||||
_ui->statsToolBox->updateStat("Odometry/Variance/", (float)odom.data().id(), (float)odom.info().variance);
|
||||
_ui->statsToolBox->updateStat("Odometry/TimeEstimation/ms", (float)odom.data().id(), (float)odom.info().timeEstimation*1000.0f);
|
||||
_ui->statsToolBox->updateStat("Odometry/TimeFiltering/ms", (float)odom.data().id(), (float)odom.info().timeParticleFiltering*1000.0f);
|
||||
_ui->statsToolBox->updateStat("Odometry/Features/", (float)odom.data().id(), (float)odom.info().features);
|
||||
_ui->statsToolBox->updateStat("Odometry/LocalMapSize/", (float)odom.data().id(), (float)odom.info().localMapSize);
|
||||
_ui->statsToolBox->updateStat("Odometry/LocalScanMapSize/", (float)odom.data().id(), (float)odom.info().localScanMapSize);
|
||||
_ui->statsToolBox->updateStat("Odometry/ID/", (float)odom.data().id(), (float)odom.data().id());
|
||||
_ui->statsToolBox->updateStat("Odometry/Inliers/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().inliers);
|
||||
_ui->statsToolBox->updateStat("Odometry/ICPInliersRatio/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().icpInliersRatio);
|
||||
_ui->statsToolBox->updateStat("Odometry/Matches/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().matches);
|
||||
_ui->statsToolBox->updateStat("Odometry/StdDev/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), sqrt((float)odom.info().variance));
|
||||
_ui->statsToolBox->updateStat("Odometry/Variance/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().variance);
|
||||
_ui->statsToolBox->updateStat("Odometry/TimeEstimation/ms", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().timeEstimation*1000.0f);
|
||||
_ui->statsToolBox->updateStat("Odometry/TimeFiltering/ms", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().timeParticleFiltering*1000.0f);
|
||||
_ui->statsToolBox->updateStat("Odometry/Features/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().features);
|
||||
_ui->statsToolBox->updateStat("Odometry/LocalMapSize/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().localMapSize);
|
||||
_ui->statsToolBox->updateStat("Odometry/LocalScanMapSize/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().localScanMapSize);
|
||||
_ui->statsToolBox->updateStat("Odometry/ID/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.data().id());
|
||||
|
||||
float x=0.0f,y,z, roll,pitch,yaw;
|
||||
if(!odom.info().transform.isNull())
|
||||
{
|
||||
odom.info().transform.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
|
||||
_ui->statsToolBox->updateStat("Odometry/Tx/m", (float)odom.data().id(), x);
|
||||
_ui->statsToolBox->updateStat("Odometry/Ty/m", (float)odom.data().id(), y);
|
||||
_ui->statsToolBox->updateStat("Odometry/Tz/m", (float)odom.data().id(), z);
|
||||
_ui->statsToolBox->updateStat("Odometry/Troll/deg", (float)odom.data().id(), roll*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/Tpitch/deg", (float)odom.data().id(), pitch*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/Tyaw/deg", (float)odom.data().id(), yaw*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/Tx/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x);
|
||||
_ui->statsToolBox->updateStat("Odometry/Ty/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), y);
|
||||
_ui->statsToolBox->updateStat("Odometry/Tz/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), z);
|
||||
_ui->statsToolBox->updateStat("Odometry/Troll/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), roll*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/Tpitch/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), pitch*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/Tyaw/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), yaw*180.0/CV_PI);
|
||||
}
|
||||
|
||||
if(!odom.info().transformFiltered.isNull())
|
||||
{
|
||||
odom.info().transformFiltered.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
|
||||
_ui->statsToolBox->updateStat("Odometry/TFx/m", (float)odom.data().id(), x);
|
||||
_ui->statsToolBox->updateStat("Odometry/TFy/m", (float)odom.data().id(), y);
|
||||
_ui->statsToolBox->updateStat("Odometry/TFz/m", (float)odom.data().id(), z);
|
||||
_ui->statsToolBox->updateStat("Odometry/TFroll/deg", (float)odom.data().id(), roll*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/TFpitch/deg", (float)odom.data().id(), pitch*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/TFyaw/deg", (float)odom.data().id(), yaw*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/TFx/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x);
|
||||
_ui->statsToolBox->updateStat("Odometry/TFy/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), y);
|
||||
_ui->statsToolBox->updateStat("Odometry/TFz/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), z);
|
||||
_ui->statsToolBox->updateStat("Odometry/TFroll/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), roll*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/TFpitch/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), pitch*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/TFyaw/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), yaw*180.0/CV_PI);
|
||||
}
|
||||
if(odom.info().interval > 0)
|
||||
{
|
||||
_ui->statsToolBox->updateStat("Odometry/Interval/ms", (float)odom.data().id(), odom.info().interval*1000.f);
|
||||
_ui->statsToolBox->updateStat("Odometry/Speed/kph", (float)odom.data().id(), x/odom.info().interval*3.6f);
|
||||
_ui->statsToolBox->updateStat("Odometry/Interval/ms", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), odom.info().interval*1000.f);
|
||||
_ui->statsToolBox->updateStat("Odometry/Speed/kph", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x/odom.info().interval*3.6f);
|
||||
}
|
||||
|
||||
if(!odom.info().transformGroundTruth.isNull())
|
||||
{
|
||||
odom.info().transformGroundTruth.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
|
||||
_ui->statsToolBox->updateStat("Odometry/TGx/m", (float)odom.data().id(), x);
|
||||
_ui->statsToolBox->updateStat("Odometry/TGy/m", (float)odom.data().id(), y);
|
||||
_ui->statsToolBox->updateStat("Odometry/TGz/m", (float)odom.data().id(), z);
|
||||
_ui->statsToolBox->updateStat("Odometry/TGroll/deg", (float)odom.data().id(), roll*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/TGpitch/deg", (float)odom.data().id(), pitch*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/TGyaw/deg", (float)odom.data().id(), yaw*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/TGx/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x);
|
||||
_ui->statsToolBox->updateStat("Odometry/TGy/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), y);
|
||||
_ui->statsToolBox->updateStat("Odometry/TGz/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), z);
|
||||
_ui->statsToolBox->updateStat("Odometry/TGroll/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), roll*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/TGpitch/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), pitch*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/TGyaw/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), yaw*180.0/CV_PI);
|
||||
}
|
||||
|
||||
//cumulative pose
|
||||
if(!odom.pose().isNull())
|
||||
{
|
||||
odom.pose().getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
|
||||
_ui->statsToolBox->updateStat("Odometry/Px/m", (float)odom.data().id(), x);
|
||||
_ui->statsToolBox->updateStat("Odometry/Py/m", (float)odom.data().id(), y);
|
||||
_ui->statsToolBox->updateStat("Odometry/Pz/m", (float)odom.data().id(), z);
|
||||
_ui->statsToolBox->updateStat("Odometry/Proll/deg", (float)odom.data().id(), roll*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/Ppitch/deg", (float)odom.data().id(), pitch*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/Pyaw/deg", (float)odom.data().id(), yaw*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/Px/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x);
|
||||
_ui->statsToolBox->updateStat("Odometry/Py/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), y);
|
||||
_ui->statsToolBox->updateStat("Odometry/Pz/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), z);
|
||||
_ui->statsToolBox->updateStat("Odometry/Proll/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), roll*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/Ppitch/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), pitch*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/Pyaw/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), yaw*180.0/CV_PI);
|
||||
}
|
||||
if(!odom.data().groundTruth().isNull())
|
||||
{
|
||||
odom.data().groundTruth().getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
|
||||
_ui->statsToolBox->updateStat("Odometry/PGx/m", (float)odom.data().id(), x);
|
||||
_ui->statsToolBox->updateStat("Odometry/PGy/m", (float)odom.data().id(), y);
|
||||
_ui->statsToolBox->updateStat("Odometry/PGz/m", (float)odom.data().id(), z);
|
||||
_ui->statsToolBox->updateStat("Odometry/PGroll/deg", (float)odom.data().id(), roll*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/PGpitch/deg", (float)odom.data().id(), pitch*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/PGyaw/deg", (float)odom.data().id(), yaw*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/PGx/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x);
|
||||
_ui->statsToolBox->updateStat("Odometry/PGy/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), y);
|
||||
_ui->statsToolBox->updateStat("Odometry/PGz/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), z);
|
||||
_ui->statsToolBox->updateStat("Odometry/PGroll/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), roll*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/PGpitch/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), pitch*180.0/CV_PI);
|
||||
_ui->statsToolBox->updateStat("Odometry/PGyaw/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), yaw*180.0/CV_PI);
|
||||
}
|
||||
|
||||
if(odom.info().distanceTravelled > 0)
|
||||
{
|
||||
_ui->statsToolBox->updateStat("Odometry/Distance/m", (float)odom.data().id(), odom.info().distanceTravelled);
|
||||
_ui->statsToolBox->updateStat("Odometry/Distance/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), odom.info().distanceTravelled);
|
||||
}
|
||||
|
||||
_ui->statsToolBox->updateStat("GUI/Refresh odom/ms", (float)odom.data().id(), time.elapsed()*1000.0);
|
||||
_ui->statsToolBox->updateStat("GUI/Refresh odom/ms", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), time.elapsed()*1000.0);
|
||||
_processingOdometry = false;
|
||||
}
|
||||
|
||||
@@ -1310,6 +1321,11 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
|
||||
totalTime.start();
|
||||
//Affichage des stats et images
|
||||
|
||||
if(_firstStamp == 0.0)
|
||||
{
|
||||
_firstStamp = stat.stamp();
|
||||
}
|
||||
|
||||
int refMapId = -1, loopMapId = -1;
|
||||
if(uContains(stat.getSignatures(), stat.refImageId()))
|
||||
{
|
||||
@@ -1535,8 +1551,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
|
||||
|
||||
UDEBUG("time= %d ms", time.restart());
|
||||
|
||||
_ui->statsToolBox->updateStat("Keypoint/Keypoints count in the last signature/", stat.refImageId(), signature.getWords().size());
|
||||
_ui->statsToolBox->updateStat("Keypoint/Keypoints count in the loop signature/", stat.refImageId(), loopSignature.getWords().size());
|
||||
_ui->statsToolBox->updateStat("Keypoint/Keypoints count in the last signature/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), signature.getWords().size());
|
||||
_ui->statsToolBox->updateStat("Keypoint/Keypoints count in the loop signature/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), loopSignature.getWords().size());
|
||||
|
||||
// PDF AND LIKELIHOOD
|
||||
if(!stat.posterior().empty() && _ui->dockWidget_posterior->isVisible())
|
||||
@@ -1564,7 +1580,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
|
||||
for(std::map<std::string, float>::const_iterator iter = statistics.begin(); iter != statistics.end(); ++iter)
|
||||
{
|
||||
//ULOGGER_DEBUG("Updating stat \"%s\"", (*iter).first.c_str());
|
||||
_ui->statsToolBox->updateStat(QString((*iter).first.c_str()).replace('_', ' '), stat.refImageId(), (*iter).second);
|
||||
_ui->statsToolBox->updateStat(QString((*iter).first.c_str()).replace('_', ' '), _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), (*iter).second);
|
||||
}
|
||||
|
||||
UDEBUG("time= %d ms", time.restart());
|
||||
@@ -1634,7 +1650,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
|
||||
_odometryCorrection = groundTruthOffset * stat.mapCorrection();
|
||||
|
||||
UDEBUG("time= %d ms", time.restart());
|
||||
_ui->statsToolBox->updateStat("GUI/RGB-D cloud/ms", stat.refImageId(), int(timerVis.elapsed()*1000.0f));
|
||||
_ui->statsToolBox->updateStat("GUI/RGB-D cloud/ms", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), int(timerVis.elapsed()*1000.0f));
|
||||
|
||||
// loop closure view
|
||||
if((stat.loopClosureId() > 0 || stat.proximityDetectionId() > 0) &&
|
||||
@@ -1650,7 +1666,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
|
||||
UTimer loopTimer;
|
||||
_loopClosureViewer->updateView(Transform(), _preferencesDialog->getAllParameters());
|
||||
UINFO("Updating loop closure cloud view time=%fs", loopTimer.elapsed());
|
||||
_ui->statsToolBox->updateStat("GUI/RGB-D closure view/ms", stat.refImageId(), int(loopTimer.elapsed()*1000.0f));
|
||||
_ui->statsToolBox->updateStat("GUI/RGB-D closure view/ms", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), int(loopTimer.elapsed()*1000.0f));
|
||||
}
|
||||
|
||||
UDEBUG("time= %d ms", time.restart());
|
||||
@@ -1745,19 +1761,19 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
|
||||
UINFO("rotational_min=%f", rotational_min);
|
||||
UINFO("rotational_max=%f", rotational_max);
|
||||
|
||||
_ui->statsToolBox->updateStat("GT/translational_rmse/", stat.refImageId(), translational_rmse);
|
||||
_ui->statsToolBox->updateStat("GT/translational_mean/", stat.refImageId(), translational_mean);
|
||||
_ui->statsToolBox->updateStat("GT/translational_median/", stat.refImageId(), translational_median);
|
||||
_ui->statsToolBox->updateStat("GT/translational_std/", stat.refImageId(), translational_std);
|
||||
_ui->statsToolBox->updateStat("GT/translational_min/", stat.refImageId(), translational_min);
|
||||
_ui->statsToolBox->updateStat("GT/translational_max/", stat.refImageId(), translational_max);
|
||||
_ui->statsToolBox->updateStat("GT/translational_rmse/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_rmse);
|
||||
_ui->statsToolBox->updateStat("GT/translational_mean/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_mean);
|
||||
_ui->statsToolBox->updateStat("GT/translational_median/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_median);
|
||||
_ui->statsToolBox->updateStat("GT/translational_std/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_std);
|
||||
_ui->statsToolBox->updateStat("GT/translational_min/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_min);
|
||||
_ui->statsToolBox->updateStat("GT/translational_max/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_max);
|
||||
|
||||
_ui->statsToolBox->updateStat("GT/rotational_rmse/", stat.refImageId(), rotational_rmse);
|
||||
_ui->statsToolBox->updateStat("GT/rotational_mean/", stat.refImageId(), rotational_mean);
|
||||
_ui->statsToolBox->updateStat("GT/rotational_median/", stat.refImageId(), rotational_median);
|
||||
_ui->statsToolBox->updateStat("GT/rotational_std/", stat.refImageId(), rotational_std);
|
||||
_ui->statsToolBox->updateStat("GT/rotational_min/", stat.refImageId(), rotational_min);
|
||||
_ui->statsToolBox->updateStat("GT/rotational_max/", stat.refImageId(), rotational_max);
|
||||
_ui->statsToolBox->updateStat("GT/rotational_rmse/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_rmse);
|
||||
_ui->statsToolBox->updateStat("GT/rotational_mean/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_mean);
|
||||
_ui->statsToolBox->updateStat("GT/rotational_median/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_median);
|
||||
_ui->statsToolBox->updateStat("GT/rotational_std/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_std);
|
||||
_ui->statsToolBox->updateStat("GT/rotational_min/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_min);
|
||||
_ui->statsToolBox->updateStat("GT/rotational_max/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_max);
|
||||
}
|
||||
}
|
||||
UDEBUG("time= %d ms", time.restart());
|
||||
@@ -1798,7 +1814,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
|
||||
}
|
||||
float elapsedTime = static_cast<float>(totalTime.elapsed());
|
||||
UINFO("Updating GUI time = %fs", elapsedTime/1000.0f);
|
||||
_ui->statsToolBox->updateStat("GUI/Refresh stats/ms", stat.refImageId(), elapsedTime);
|
||||
_ui->statsToolBox->updateStat("GUI/Refresh stats/ms", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), elapsedTime);
|
||||
if(_ui->actionAuto_screen_capture->isChecked() && !_autoScreenCaptureOdomSync)
|
||||
{
|
||||
this->captureScreen(_autoScreenCaptureRAM);
|
||||
@@ -1809,8 +1825,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
|
||||
_cachedSignatures.clear();
|
||||
_cachedMemoryUsage = 0;
|
||||
}
|
||||
_ui->statsToolBox->updateStat("GUI/Cache Data Size/MB", stat.refImageId(), _cachedMemoryUsage/(1024*1024));
|
||||
_ui->statsToolBox->updateStat("GUI/Cache Clouds Size/MB", stat.refImageId(), _createdCloudsMemoryUsage/(1024*1024));
|
||||
_ui->statsToolBox->updateStat("GUI/Cache Data Size/MB", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), _cachedMemoryUsage/(1024*1024));
|
||||
_ui->statsToolBox->updateStat("GUI/Cache Clouds Size/MB", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), _createdCloudsMemoryUsage/(1024*1024));
|
||||
|
||||
if(_state != kMonitoring && _state != kDetecting)
|
||||
{
|
||||
@@ -5029,6 +5045,7 @@ void MainWindow::clearTheCache()
|
||||
_posteriorCurve->clear();
|
||||
_lastId = 0;
|
||||
_lastIds.clear();
|
||||
_firstStamp = 0.0f;
|
||||
_ui->label_stats_loopClosuresDetected->setText("0");
|
||||
_ui->label_stats_loopClosuresReactivatedDetected->setText("0");
|
||||
_ui->label_stats_loopClosuresRejected->setText("0");
|
||||
|
||||
@@ -286,6 +286,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
|
||||
connect(_ui->checkBox_imageRejectedShown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
|
||||
connect(_ui->checkBox_imageHighestHypShown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
|
||||
connect(_ui->checkBox_beep, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
|
||||
connect(_ui->checkBox_stamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
|
||||
connect(_ui->checkBox_notifyWhenNewGlobalPathIsReceived, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
|
||||
connect(_ui->spinBox_odomQualityWarnThr, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
|
||||
connect(_ui->checkBox_posteriorGraphView, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
|
||||
@@ -381,7 +382,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
|
||||
connect(_ui->doubleSpinBox_map_resolution, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
|
||||
connect(_ui->doubleSpinBox_map_opacity, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
|
||||
connect(_ui->checkBox_map_erode, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
|
||||
connect(_ui->groupBox_map_occupancyFrom3DCloud, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
|
||||
connect(_ui->groupBox_map_occupancyFrom3DCloud, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
|
||||
connect(_ui->checkBox_projMapFrame, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
|
||||
connect(_ui->doubleSpinBox_projMaxGroundAngle, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
|
||||
connect(_ui->doubleSpinBox_projMaxGroundHeight, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
|
||||
@@ -389,11 +390,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
|
||||
connect(_ui->doubleSpinBox_projMaxObstaclesHeight, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
|
||||
connect(_ui->checkBox_projFlatObstaclesDetected, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
|
||||
|
||||
connect(_ui->groupBox_octomap, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
|
||||
connect(_ui->groupBox_octomap, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
|
||||
connect(_ui->spinBox_octomap_treeDepth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
|
||||
connect(_ui->checkBox_octomap_groundObstacle, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
|
||||
|
||||
connect(_ui->groupBox_organized, SIGNAL(clicked(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
|
||||
connect(_ui->groupBox_organized, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
|
||||
connect(_ui->doubleSpinBox_mesh_angleTolerance, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
|
||||
connect(_ui->checkBox_mesh_quad, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
|
||||
connect(_ui->spinBox_mesh_triangleSize, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
|
||||
@@ -538,7 +539,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
|
||||
connect(_ui->general_doubleSpinBox_detectionRate_2, SIGNAL(editingFinished()), this, SLOT(updateBasicParameter()));
|
||||
connect(_ui->general_spinBox_imagesBufferSize_2, SIGNAL(editingFinished()), this, SLOT(updateBasicParameter()));
|
||||
connect(_ui->general_spinBox_maxStMemSize_2, SIGNAL(editingFinished()), this, SLOT(updateBasicParameter()));
|
||||
connect(_ui->groupBox_publishing, SIGNAL(clicked(bool)), this, SLOT(updateBasicParameter()));
|
||||
connect(_ui->groupBox_publishing, SIGNAL(toggled(bool)), this, SLOT(updateBasicParameter()));
|
||||
connect(_ui->general_checkBox_publishStats_2, SIGNAL(stateChanged(int)), this, SLOT(updateBasicParameter()));
|
||||
connect(_ui->general_checkBox_activateRGBD, SIGNAL(stateChanged(int)), this, SLOT(updateBasicParameter()));
|
||||
connect(_ui->general_checkBox_activateRGBD_2, SIGNAL(stateChanged(int)), this, SLOT(updateBasicParameter()));
|
||||
@@ -1157,6 +1158,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
|
||||
_ui->general_checkBox_imagesKept->setChecked(true);
|
||||
_ui->general_checkBox_cloudsKept->setChecked(true);
|
||||
_ui->checkBox_beep->setChecked(false);
|
||||
_ui->checkBox_stamps->setChecked(true);
|
||||
_ui->checkBox_notifyWhenNewGlobalPathIsReceived->setChecked(false);
|
||||
_ui->checkBox_verticalLayoutUsed->setChecked(true);
|
||||
_ui->checkBox_imageRejectedShown->setChecked(true);
|
||||
@@ -1529,6 +1531,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
|
||||
_ui->checkBox_imageRejectedShown->setChecked(settings.value("imageRejectedShown", _ui->checkBox_imageRejectedShown->isChecked()).toBool());
|
||||
_ui->checkBox_imageHighestHypShown->setChecked(settings.value("imageHighestHypShown", _ui->checkBox_imageHighestHypShown->isChecked()).toBool());
|
||||
_ui->checkBox_beep->setChecked(settings.value("beep", _ui->checkBox_beep->isChecked()).toBool());
|
||||
_ui->checkBox_stamps->setChecked(settings.value("figure_time", _ui->checkBox_stamps->isChecked()).toBool());
|
||||
_ui->checkBox_notifyWhenNewGlobalPathIsReceived->setChecked(settings.value("notifyNewGlobalPath", _ui->checkBox_notifyWhenNewGlobalPathIsReceived->isChecked()).toBool());
|
||||
_ui->spinBox_odomQualityWarnThr->setValue(settings.value("odomQualityThr", _ui->spinBox_odomQualityWarnThr->value()).toInt());
|
||||
_ui->checkBox_posteriorGraphView->setChecked(settings.value("posteriorGraphView", _ui->checkBox_posteriorGraphView->isChecked()).toBool());
|
||||
@@ -1939,6 +1942,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
|
||||
settings.setValue("imageRejectedShown", _ui->checkBox_imageRejectedShown->isChecked());
|
||||
settings.setValue("imageHighestHypShown", _ui->checkBox_imageHighestHypShown->isChecked());
|
||||
settings.setValue("beep", _ui->checkBox_beep->isChecked());
|
||||
settings.setValue("figure_time", _ui->checkBox_stamps->isChecked());
|
||||
settings.setValue("notifyNewGlobalPath", _ui->checkBox_notifyWhenNewGlobalPathIsReceived->isChecked());
|
||||
settings.setValue("odomQualityThr", _ui->spinBox_odomQualityWarnThr->value());
|
||||
settings.setValue("posteriorGraphView", _ui->checkBox_posteriorGraphView->isChecked());
|
||||
@@ -3628,6 +3632,10 @@ bool PreferencesDialog::beepOnPause() const
|
||||
{
|
||||
return _ui->checkBox_beep->isChecked();
|
||||
}
|
||||
bool PreferencesDialog::isTimeUsedInFigures() const
|
||||
{
|
||||
return _ui->checkBox_stamps->isChecked();
|
||||
}
|
||||
bool PreferencesDialog::notifyWhenNewGlobalPathIsReceived() const
|
||||
{
|
||||
return _ui->checkBox_notifyWhenNewGlobalPathIsReceived->isChecked();
|
||||
|
||||
@@ -86,7 +86,7 @@
|
||||
<enum>QFrame::Raised</enum>
|
||||
</property>
|
||||
<property name="currentIndex">
|
||||
<number>1</number>
|
||||
<number>0</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_22">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
|
||||
@@ -141,7 +141,7 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_102">
|
||||
<property name="text">
|
||||
<string>Notify when a new global path is received.</string>
|
||||
@@ -154,7 +154,7 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<item row="4" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_notifyWhenNewGlobalPathIsReceived">
|
||||
<property name="text">
|
||||
<string/>
|
||||
@@ -187,6 +187,26 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_stamps">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_247">
|
||||
<property name="text">
|
||||
<string>Use time for figures' x-axis. Otherwise, sensor data IDs are used for camera/odometry info and for all mapping statistics, node IDs are used.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
|
||||
Reference in New Issue
Block a user