From 5221cf801a86e2d62ba1f97570ed728eb6ca85a7 Mon Sep 17 00:00:00 2001 From: Vladyslav Usenko Date: Sun, 4 Aug 2019 16:42:38 +0200 Subject: [PATCH] renamed align button --- doc/Simulation.md | 6 +++--- doc/VioMapping.md | 4 ++-- src/mapper_sim.cpp | 2 +- src/mapper_sim_naive.cpp | 2 +- src/vio.cpp | 2 +- src/vio_sim.cpp | 2 +- 6 files changed, 9 insertions(+), 9 deletions(-) diff --git a/doc/Simulation.md b/doc/Simulation.md index 0ca1a26..b3ad171 100644 --- a/doc/Simulation.md +++ b/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. \ No newline at end of file diff --git a/doc/VioMapping.md b/doc/VioMapping.md index 3d99edd..d12adfd 100644 --- a/doc/VioMapping.md +++ b/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`. diff --git a/src/mapper_sim.cpp b/src/mapper_sim.cpp index 859904c..79190d6 100644 --- a/src/mapper_sim.cpp +++ b/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; diff --git a/src/mapper_sim_naive.cpp b/src/mapper_sim_naive.cpp index 998e618..22b9d73 100644 --- a/src/mapper_sim_naive.cpp +++ b/src/mapper_sim_naive.cpp @@ -143,7 +143,7 @@ Button next_step_btn("ui.next_step", &next_step); pangolin::Var 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); diff --git a/src/vio.cpp b/src/vio.cpp index d95e91c..ef39d3d 100644 --- a/src/vio.cpp +++ b/src/vio.cpp @@ -100,7 +100,7 @@ Button prev_step_btn("ui.prev_step", &prev_step); pangolin::Var continue_btn("ui.continue", false, false, true); pangolin::Var 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 follow("ui.follow", true, false, true); diff --git a/src/vio_sim.cpp b/src/vio_sim.cpp index e0efeef..c57cc5c 100644 --- a/src/vio_sim.cpp +++ b/src/vio_sim.cpp @@ -152,7 +152,7 @@ Button next_step_btn("ui.next_step", &next_step); pangolin::Var 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);