renamed align button

doc/Simulation.md

@@ -29,7 +29,7 @@ The buttons in the GUI have the following meaning:
 * `show_est_...` shows VIO estimates of the position, velocity and biases.
 * `next_step` proceeds to next frame.
 * `continue` plays the sequence.
-* `align_svd` performs SE(3) alignment with ground-truth trajectory and prints the RMS ATE to the console.
+* `align_se3` performs SE(3) alignment with ground-truth trajectory and prints the RMS ATE to the console.
 
 
 ### Visual-inertial mapping simulator
@@ -43,9 +43,9 @@ This opens the GUI where the map can be processed.
 
 The system processes the marginalization data and extracts the non-linear factors from them. Roll-pitch and relative-pose factors are initially added to the system. One way to verify that they result in gravity-aligned map is the following
 * `optimize` runs the optimization
-* `rand_inc` applies a random increment to all frames of the system. If you run the `optimize` until convergence afterwards, and press `align_svd` the alignment transformation should only contain the rotation around Z axis.
+* `rand_inc` applies a random increment to all frames of the system. If you run the `optimize` until convergence afterwards, and press `align_se3` the alignment transformation should only contain the rotation around Z axis.
 * `rand_yaw` applies an increment in yaw to all poses. This should not change the error of the optimization once is have converged.
 * `setup_points` triangulates the points and adds them to optimization. You should optimize the system again after adding the points.
-* `align_svd` performs SE(3) alignment with ground-truth trajectory and prints the RMS ATE to the console.
+* `align_se3` performs SE(3) alignment with ground-truth trajectory and prints the RMS ATE to the console.
 
 For comparison we also provide the `basalt_mapper_sim_naive` executable that has the same parameters. It runs a global bundle-adjustment on keyframe data and inserts pre-integrated IMU measurements between keyframes. This executable is included for comparison only.

doc/VioMapping.md

@@ -42,7 +42,7 @@ The buttons in the GUI have the following meaning:
 
 By default the system starts with `continue_fast` enabled. This option visualizes the latest processed frame until the end of the sequence. Alternatively, the `continue` visualizes every frame without skipping. If both options are disabled the system shows the frame that is selected with the `show_frame` slider and the user can move forward and backward with `next_step` and `prev_step` buttons. The `follow` button changes between the static camera and the camera attached to the current frame.
 
-For evaluation the button `align_svd` is used. It aligns the GT trajectory with the current estimate using an SE(3) transformation and prints the transformation and the root-mean-squared absolute trajectory error (RMS ATE).
+For evaluation the button `align_se3` is used. It aligns the GT trajectory with the current estimate using an SE(3) transformation and prints the transformation and the root-mean-squared absolute trajectory error (RMS ATE).
 
 ### Visual-inertial mapping
 To run the mapping tool execute the following command:
@@ -69,7 +69,7 @@ The workflow for the mapping is the following:
 * `match` run the geometric 2D to 2D matching between image frames.
 * `tracks` build tracks from 2D matches and triangulate the points.
 * `optimize` run the optimization.
-* `align_svd` align ground-truth trajectory in SE(3) and print the transformation and the error.
+* `align_se3` align ground-truth trajectory in SE(3) and print the transformation and the error.
 
 The `num_opt_iter` slider controls the maximum number of iterations executed when pressing `optimize`.
 

src/mapper_sim.cpp

@@ -132,7 +132,7 @@ Button optimize_btn("ui.optimize", &optimize);
 Button rand_inc_btn("ui.rand_inc", &randomInc);
 Button rand_yaw_inc_btn("ui.rand_yaw", &randomYawInc);
 Button setup_points_btn("ui.setup_points", &setup_points);
-Button align_svd_btn("ui.align_svd", &alignButton);
+Button align_se3_btn("ui.align_se3", &alignButton);
 
 std::string marg_data_path;
 

src/mapper_sim_naive.cpp

@@ -143,7 +143,7 @@ Button next_step_btn("ui.next_step", &next_step);
 
 pangolin::Var<bool> continue_btn("ui.continue", true, false, true);
 
-Button align_step_btn("ui.align_svd", &alignButton);
+Button align_step_btn("ui.align_se3", &alignButton);
 
 int main(int argc, char** argv) {
   srand(1);

src/vio.cpp

@@ -100,7 +100,7 @@ Button prev_step_btn("ui.prev_step", &prev_step);
 pangolin::Var<bool> continue_btn("ui.continue", false, false, true);
 pangolin::Var<bool> continue_fast("ui.continue_fast", true, false, true);
 
-Button align_svd_btn("ui.align_svd", &alignButton);
+Button align_se3_btn("ui.align_se3", &alignButton);
 
 pangolin::Var<bool> follow("ui.follow", true, false, true);
 

src/vio_sim.cpp

@@ -152,7 +152,7 @@ Button next_step_btn("ui.next_step", &next_step);
 
 pangolin::Var<bool> continue_btn("ui.continue", true, false, true);
 
-Button align_step_btn("ui.align_svd", &alignButton);
+Button align_step_btn("ui.align_se3", &alignButton);
 
 int main(int argc, char** argv) {
   srand(1);