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Rtabmap::detectorMoreLoopClosures() added intraSession and interSession parameters

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matlabbe
2018-11-05 18:40:08 -05:00
parent 4f1deef971
commit 09a63bbc5b
9 changed files with 529 additions and 323 deletions
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66
guilib/src/PostProcessingDialog.cpp
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@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "ui_postProcessingDialog.h"
#include <QPushButton>
#include <QMessageBox>
#include <rtabmap/core/Optimizer.h>
namespace rtabmap {
@@ -57,6 +58,8 @@ PostProcessingDialog::PostProcessingDialog(QWidget * parent) :
restoreDefaults();
connect(_ui->buttonBox, SIGNAL(clicked(QAbstractButton *)), this, SLOT(closeDialog(QAbstractButton *)));
connect(_ui->detectMoreLoopClosures, SIGNAL(clicked(bool)), this, SLOT(updateButtonBox()));
connect(_ui->refineNeighborLinks, SIGNAL(stateChanged(int)), this, SLOT(updateButtonBox()));
connect(_ui->refineLoopClosureLinks, SIGNAL(stateChanged(int)), this, SLOT(updateButtonBox()));
@@ -67,6 +70,8 @@ PostProcessingDialog::PostProcessingDialog(QWidget * parent) :
connect(_ui->clusterRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->clusterAngle, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->iterations, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->intraSession, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->interSession, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->refineNeighborLinks, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->refineLoopClosureLinks, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
@@ -84,6 +89,43 @@ PostProcessingDialog::~PostProcessingDialog()
delete _ui;
}
void PostProcessingDialog::closeDialog ( QAbstractButton * button )
{
UDEBUG("");
QDialogButtonBox::ButtonRole role = _ui->buttonBox->buttonRole(button);
switch(role)
{
case QDialogButtonBox::RejectRole:
this->reject();
break;
case QDialogButtonBox::AcceptRole:
if(validateForm())
{
this->accept();
}
else
{
this->reject();
}
break;
default:
break;
}
}
bool PostProcessingDialog::validateForm()
{
if(!this->intraSession() && !this->interSession())
{
QMessageBox::warning(this, tr("Configuration error"), tr("Intra-session and inter-session parameters cannot be both disabled at the same time. Please select one (or both)."));
return false;
}
return true;
}
void PostProcessingDialog::updateVisibility()
{
_ui->sba_variance->setVisible(_ui->comboBox_sbaType->currentIndex() == 0);
@@ -100,6 +142,8 @@ void PostProcessingDialog::saveSettings(QSettings & settings, const QString & gr
settings.setValue("cluster_radius", this->clusterRadius());
settings.setValue("cluster_angle", this->clusterAngle());
settings.setValue("iterations", this->iterations());
settings.setValue("intra_session", this->intraSession());
settings.setValue("inter_session", this->interSession());
settings.setValue("refine_neigbors", this->isRefineNeighborLinks());
settings.setValue("refine_lc", this->isRefineLoopClosureLinks());
settings.setValue("sba", this->isSBA());
@@ -123,6 +167,8 @@ void PostProcessingDialog::loadSettings(QSettings & settings, const QString & gr
this->setClusterRadius(settings.value("cluster_radius", this->clusterRadius()).toDouble());
this->setClusterAngle(settings.value("cluster_angle", this->clusterAngle()).toDouble());
this->setIterations(settings.value("iterations", this->iterations()).toInt());
this->setIntraSession(settings.value("intra_session", this->intraSession()).toBool());
this->setInterSession(settings.value("inter_session", this->interSession()).toBool());
this->setRefineNeighborLinks(settings.value("refine_neigbors", this->isRefineNeighborLinks()).toBool());
this->setRefineLoopClosureLinks(settings.value("refine_lc", this->isRefineLoopClosureLinks()).toBool());
this->setSBA(settings.value("sba", this->isSBA()).toBool());
@@ -143,6 +189,8 @@ void PostProcessingDialog::restoreDefaults()
setClusterRadius(1);
setClusterAngle(30);
setIterations(5);
setIntraSession(true);
setInterSession(true);
setRefineNeighborLinks(false);
setRefineLoopClosureLinks(false);
setSBA(false);
@@ -178,6 +226,16 @@ int PostProcessingDialog::iterations() const
return _ui->iterations->value();
}
bool PostProcessingDialog::intraSession() const
{
return _ui->intraSession->isChecked();
}
bool PostProcessingDialog::interSession() const
{
return _ui->interSession->isChecked();
}
bool PostProcessingDialog::isRefineNeighborLinks() const
{
return _ui->refineNeighborLinks->isChecked();
@@ -227,6 +285,14 @@ void PostProcessingDialog::setIterations(int iterations)
{
_ui->iterations->setValue(iterations);
}
void PostProcessingDialog::setIntraSession(bool enabled)
{
_ui->intraSession->setChecked(enabled);
}
void PostProcessingDialog::setInterSession(bool enabled)
{
_ui->interSession->setChecked(enabled);
}
void PostProcessingDialog::setRefineNeighborLinks(bool on)
{
_ui->refineNeighborLinks->setChecked(on);