Make names of the buttons consistent.

This commit is contained in:
Vladyslav Usenko 2019-04-16 12:48:08 +00:00
parent d583c03111
commit 5e26307a51
10 changed files with 11 additions and 10 deletions

View File

@ -28,8 +28,8 @@ The buttons in the GUI have the following meaning:
* `show_gt_...` shows ground truth position, velocity and biases. * `show_gt_...` shows ground truth position, velocity and biases.
* `show_est_...` shows VIO estimates of the position, velocity and biases. * `show_est_...` shows VIO estimates of the position, velocity and biases.
* `next_step` proceeds to next frame. * `next_step` proceeds to next frame.
* `continue_btn` plays the sequence. * `continue` plays the sequence.
* `align_button` performs SE(3) alignment with ground-truth trajectory and prints the RMS ATE to the console. * `align_svd` performs SE(3) alignment with ground-truth trajectory and prints the RMS ATE to the console.
### Visual-inertial mapping simulator ### Visual-inertial mapping simulator
@ -46,5 +46,6 @@ The system processes the marginalization data and extracts the non-linear factor
* `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_svd` 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. * `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. * `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.
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. 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.

View File

@ -40,7 +40,7 @@ The buttons in the GUI have the following meaning:
* `show_est_ba` shows the plot of the estimated accel bias. * `show_est_ba` shows the plot of the estimated accel bias.
* `show_gt` shows ground-truth trajectory in the 3D view. * `show_gt` shows ground-truth trajectory in the 3D view.
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_btn` 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. 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_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).
@ -74,7 +74,7 @@ The workflow for the mapping is the following:
The `num_opt_iter` slider controls the maximum number of iterations executed when pressing `optimize`. The `num_opt_iter` slider controls the maximum number of iterations executed when pressing `optimize`.
For more systematic evaluation see the evaluation scripts in the `scripts/eval_full` folder. For more systematic evaluation see the evaluation scripts in the [scripts/eval_full](scripts/eval_full) folder.
**NOTE: It appears that only the datasets in ASL Dataset Format (`euroc` dataset type in our notation) contain ground truth that is time-aligned to the IMU and camera images. It is located in the `state_groundtruth_estimate0` folder. Bag files have raw Mocap measurements that are not time aligned and should not be used for evaluations.** **NOTE: It appears that only the datasets in ASL Dataset Format (`euroc` dataset type in our notation) contain ground truth that is time-aligned to the IMU and camera images. It is located in the `state_groundtruth_estimate0` folder. Bag files have raw Mocap measurements that are not time aligned and should not be used for evaluations.**

Binary file not shown.

Before

Width:  |  Height:  |  Size: 543 KiB

After

Width:  |  Height:  |  Size: 542 KiB

Binary file not shown.

Before

Width:  |  Height:  |  Size: 334 KiB

After

Width:  |  Height:  |  Size: 333 KiB

Binary file not shown.

Before

Width:  |  Height:  |  Size: 140 KiB

After

Width:  |  Height:  |  Size: 139 KiB

Binary file not shown.

Before

Width:  |  Height:  |  Size: 188 KiB

After

Width:  |  Height:  |  Size: 187 KiB

View File

@ -154,9 +154,9 @@ using Button = pangolin::Var<std::function<void(void)>>;
Button next_step_btn("ui.next_step", &next_step); Button next_step_btn("ui.next_step", &next_step);
pangolin::Var<bool> continue_btn("ui.continue_btn", true, false, true); pangolin::Var<bool> continue_btn("ui.continue", true, false, true);
Button align_step_btn("ui.align_button", &alignButton); Button align_step_btn("ui.align_svd", &alignButton);
int main(int argc, char** argv) { int main(int argc, char** argv) {
srand(1); srand(1);

View File

@ -74,7 +74,7 @@ pangolin::Var<bool> show_ids("ui.show_ids", false, false, true);
using Button = pangolin::Var<std::function<void(void)>>; using Button = pangolin::Var<std::function<void(void)>>;
Button next_step_btn("ui.next_step", &next_step); Button next_step_btn("ui.next_step", &next_step);
pangolin::Var<bool> continue_btn("ui.continue_btn", true, false, true); pangolin::Var<bool> continue_btn("ui.continue", true, false, true);
// Opt flow variables // Opt flow variables
basalt::VioDatasetPtr vio_dataset; basalt::VioDatasetPtr vio_dataset;

View File

@ -95,7 +95,7 @@ pangolin::Var<bool> show_gt("ui.show_gt", true, false, true);
Button next_step_btn("ui.next_step", &next_step); Button next_step_btn("ui.next_step", &next_step);
Button prev_step_btn("ui.prev_step", &prev_step); Button prev_step_btn("ui.prev_step", &prev_step);
pangolin::Var<bool> continue_btn("ui.continue_btn", false, false, true); pangolin::Var<bool> continue_btn("ui.continue", false, false, true);
pangolin::Var<bool> continue_fast("ui.continue_fast", true, false, true); pangolin::Var<bool> continue_fast("ui.continue_fast", true, false, true);
Button align_svd_btn("ui.align_svd", &alignButton); Button align_svd_btn("ui.align_svd", &alignButton);

View File

@ -162,9 +162,9 @@ using Button = pangolin::Var<std::function<void(void)>>;
Button next_step_btn("ui.next_step", &next_step); Button next_step_btn("ui.next_step", &next_step);
pangolin::Var<bool> continue_btn("ui.continue_btn", true, false, true); pangolin::Var<bool> continue_btn("ui.continue", true, false, true);
Button align_step_btn("ui.align_button", &alignButton); Button align_step_btn("ui.align_svd", &alignButton);
int main(int argc, char** argv) { int main(int argc, char** argv) {
srand(1); srand(1);