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increased version to 0.8.4: Database Link's "variance" field split into "rot_variance" and "trans_variance". Added Parameter LccIcp/HighTransitionalVariance

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This commit is contained in:
Mathieu Labbe
2015-02-24 16:06:02 -05:00
parent f514cfa5fe
commit eb96fe1249
24 changed files with 317 additions and 267 deletions
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guilib/src/DatabaseViewer.cpp
+24 -7
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@@ -244,11 +244,23 @@ void DatabaseViewer::closeEvent(QCloseEvent* event)
std::multimap<int, rtabmap::Link>::iterator refinedIter = rtabmap::graph::findLink(linksRefined_, iter->second.from(), iter->second.to());
if(refinedIter != linksRefined_.end())
{
memory_->addLink(refinedIter->second.to(), refinedIter->second.from(), refinedIter->second.transform(), refinedIter->second.type(), refinedIter->second.variance());
memory_->addLink(
refinedIter->second.to(),
refinedIter->second.from(),
refinedIter->second.transform(),
refinedIter->second.type(),
refinedIter->second.rotVariance(),
refinedIter->second.transVariance());
}
else
{
memory_->addLink(iter->second.to(), iter->second.from(), iter->second.transform(), iter->second.type(), iter->second.variance());
memory_->addLink(
iter->second.to(),
iter->second.from(),
iter->second.transform(),
iter->second.type(),
iter->second.rotVariance(),
iter->second.transVariance());
}
}
@@ -257,7 +269,12 @@ void DatabaseViewer::closeEvent(QCloseEvent* event)
{
if(!containsLink(linksAdded_, iter->second.from(), iter->second.to()))
{
memory_->updateLink(iter->second.from(), iter->second.to(), iter->second.transform(), iter->second.variance());
memory_->updateLink(
iter->second.from(),
iter->second.to(),
iter->second.transform(),
iter->second.rotVariance(),
iter->second.transVariance());
}
}
@@ -1431,7 +1448,7 @@ void DatabaseViewer::updateConstraintView(const rtabmap::Link & linkIn,
ui_->checkBox_showOptimized->setEnabled(false);
UASSERT(!t.isNull() && memory_);
ui_->label_constraint->setText(QString("%1 (%2=%3)").arg(t.prettyPrint().c_str()).arg(QChar(0xc3, 0x03)).arg(sqrt(link.variance())));
ui_->label_constraint->setText(QString("%1 (%2r=%3 %4t=%5)").arg(t.prettyPrint().c_str()).arg(QChar(0xc3, 0x03)).arg(sqrt(link.rotVariance())).arg(QChar(0xc3, 0x03)).arg(sqrt(link.transVariance())));
if(link.type() == Link::kNeighbor &&
graphes_.size() &&
(int)graphes_.size()-1 == ui_->horizontalSlider_iterations->maximum())
@@ -2042,7 +2059,7 @@ void DatabaseViewer::refineConstraint(int from, int to, bool updateGraph)
if(hasConverged && !transform.isNull())
{
Link newLink(currentLink.from(), currentLink.to(), currentLink.type(), transform*t, variance);
Link newLink(currentLink.from(), currentLink.to(), currentLink.type(), transform*t, variance, variance);
bool updated = false;
std::multimap<int, Link>::iterator iter = linksRefined_.find(currentLink.from());
@@ -2147,7 +2164,7 @@ void DatabaseViewer::refineConstraintVisually(int from, int to, bool updateGraph
if(!t.isNull())
{
Link newLink(currentLink.from(), currentLink.to(), currentLink.type(), t, variance);
Link newLink(currentLink.from(), currentLink.to(), currentLink.type(), t, variance, variance);
bool updated = false;
std::multimap<int, Link>::iterator iter = linksRefined_.find(currentLink.from());
@@ -2275,7 +2292,7 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
}
// transform is valid, make a link
linksAdded_.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, t, variance)));
linksAdded_.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, t, variance, variance)));
updateSlider = true;
}
}