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MainWindow: Detect more loop closures: uncompress images when reextract features on loop closure is enabled

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matlabbe
2017-07-24 12:18:19 -04:00
parent edc690973a
commit 0a1694dd78
1 changed files with 37 additions and 1 deletions
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38
guilib/src/MainWindow.cpp
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@@ -5008,9 +5008,11 @@ void MainWindow::postProcessing()
bool optimizeFromGraphEnd = Parameters::defaultRGBDOptimizeFromGraphEnd();
float optimizeMaxError = Parameters::defaultRGBDOptimizeMaxError();
int optimizeIterations = Parameters::defaultOptimizerIterations();
bool reextractFeatures = Parameters::defaultRGBDLoopClosureReextractFeatures();
Parameters::parse(parameters, Parameters::kRGBDOptimizeFromGraphEnd(), optimizeFromGraphEnd);
Parameters::parse(parameters, Parameters::kRGBDOptimizeMaxError(), optimizeMaxError);
Parameters::parse(parameters, Parameters::kOptimizerIterations(), optimizeIterations);
Parameters::parse(parameters, Parameters::kRGBDLoopClosureReextractFeatures(), reextractFeatures);
bool warn = false;
int loopClosuresAdded = 0;
@@ -5089,6 +5091,40 @@ void MainWindow::postProcessing()
uInsert(parameters, ParametersPair(Parameters::kRegStrategy(), "2"));
}
Registration * registration = Registration::create(parameters);
if(reextractFeatures)
{
signatureFrom.sensorData().uncompressData();
signatureTo.sensorData().uncompressData();
if(signatureFrom.sensorData().imageRaw().empty() &&
signatureTo.sensorData().imageRaw().empty())
{
UWARN("\"%s\" is false and signatures (%d and %d) don't have raw "
"images. Update the cache.",
Parameters::kRGBDLoopClosureReextractFeatures().c_str());
}
else
{
signatureFrom.setWords(std::multimap<int, cv::KeyPoint>());
signatureFrom.setWords3(std::multimap<int, cv::Point3f>());
signatureFrom.setWordsDescriptors(std::multimap<int, cv::Mat>());
signatureFrom.sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
signatureTo.setWords(std::multimap<int, cv::KeyPoint>());
signatureTo.setWords3(std::multimap<int, cv::Point3f>());
signatureTo.setWordsDescriptors(std::multimap<int, cv::Mat>());
signatureTo.sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
}
}
else if(!reextractFeatures && signatureFrom.getWords().empty() && signatureTo.getWords().empty())
{
UWARN("\"%s\" is false and signatures (%d and %d) don't have words, "
"registration will not be possible. Set \"%s\" to true.",
Parameters::kRGBDLoopClosureReextractFeatures().c_str(),
signatureFrom.id(),
signatureTo.id(),
Parameters::kRGBDLoopClosureReextractFeatures().c_str());
}
transform = registration->computeTransformation(signatureFrom, signatureTo, Transform(), &info);
delete registration;
if(!transform.isNull())
@@ -5218,13 +5254,13 @@ void MainWindow::postProcessing()
_currentLinksMap.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, info.covariance.inv())));
++loopClosuresAdded;
_initProgressDialog->appendText(tr("Detected loop closure %1->%2! (%3/%4)").arg(from).arg(to).arg(i+1).arg(clusters.size()));
QApplication::processEvents();
}
}
}
}
}
}
QApplication::processEvents();
_initProgressDialog->incrementStep();
}
_initProgressDialog->appendText(tr("Iteration %1/%2: Detected %3 loop closures!").arg(n+1).arg(detectLoopClosureIterations).arg(addedLinks.size()/2));