Merge branch 'vlad_devel' into 'master'

Make names of the buttons consistent.

See merge request VladyslavUsenko/basalt!4

doc/Simulation.md

@@ -28,8 +28,8 @@ The buttons in the GUI have the following meaning:
 * `show_gt_...` shows ground truth position, velocity and biases.
 * `show_est_...` shows VIO estimates of the position, velocity and biases.
 * `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
@@ -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_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.
 
 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

@@ -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_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).
 
@@ -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`.
 
 
-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.**
 

src/mapper_sim_naive.cpp

@@ -154,9 +154,9 @@ using Button = pangolin::Var<std::function<void(void)>>;
 
 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) {
   srand(1);

src/opt_flow.cpp

@@ -74,7 +74,7 @@ pangolin::Var<bool> show_ids("ui.show_ids", false, false, true);
 
 using Button = pangolin::Var<std::function<void(void)>>;
 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
 basalt::VioDatasetPtr vio_dataset;

src/vio.cpp

@@ -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 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);
 
 Button align_svd_btn("ui.align_svd", &alignButton);

src/vio_sim.cpp

@@ -162,9 +162,9 @@ using Button = pangolin::Var<std::function<void(void)>>;
 
 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) {
   srand(1);