i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

Removed Optimizer:computeBACorrespondences() duplicated 3d points (more than 2 frames can reference a 3D point), added option to rematch features. Bundler: added more options to export dialog, fixed inverted colors.

Browse Source
This commit is contained in:
matlabbe
2018-10-25 16:31:13 -04:00
parent 1ef61db73b
commit 12a7349165
12 changed files with 355 additions and 67 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
guilib/src/PostProcessingDialog.cpp
View File

@@ -74,6 +74,7 @@ PostProcessingDialog::PostProcessingDialog(QWidget * parent) :
connect(_ui->sba_iterations, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->comboBox_sbaType, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->comboBox_sbaType, SIGNAL(currentIndexChanged(int)), this, SLOT(updateVisibility()));
connect(_ui->sba_rematchFeatures, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
updateVisibility();
}
@@ -105,6 +106,7 @@ void PostProcessingDialog::saveSettings(QSettings & settings, const QString & gr
settings.setValue("sba_iterations", this->sbaIterations());
settings.setValue("sba_type", this->sbaType());
settings.setValue("sba_variance", this->sbaVariance());
settings.setValue("sba_rematch_features", this->sbaRematchFeatures());
if(!group.isEmpty())
{
settings.endGroup();
@@ -127,6 +129,8 @@ void PostProcessingDialog::loadSettings(QSettings & settings, const QString & gr
this->setSBAIterations(settings.value("sba_iterations", this->sbaIterations()).toInt());
this->setSBAType((Optimizer::Type)settings.value("sba_type", this->sbaType()).toInt());
this->setSBAVariance(settings.value("sba_variance", this->sbaVariance()).toDouble());
this->setSBARematchFeatures(settings.value("sba_rematch_features", this->sbaRematchFeatures()).toBool());
if(!group.isEmpty())
{
settings.endGroup();
@@ -145,6 +149,7 @@ void PostProcessingDialog::restoreDefaults()
setSBAIterations(20);
setSBAType(!Optimizer::isAvailable(Optimizer::kTypeG2O)&&Optimizer::isAvailable(Optimizer::kTypeCVSBA)?Optimizer::kTypeCVSBA:Optimizer::kTypeG2O);
setSBAVariance(1.0);
setSBARematchFeatures(true);
}
void PostProcessingDialog::updateButtonBox()
@@ -200,6 +205,10 @@ Optimizer::Type PostProcessingDialog::sbaType() const
{
return _ui->comboBox_sbaType->currentIndex()==0?Optimizer::kTypeG2O:Optimizer::kTypeCVSBA;
}
bool PostProcessingDialog::sbaRematchFeatures() const
{
return _ui->sba_rematchFeatures->isChecked();
}
//setters
void PostProcessingDialog::setDetectMoreLoopClosures(bool on)
@@ -228,7 +237,7 @@ void PostProcessingDialog::setRefineLoopClosureLinks(bool on)
}
void PostProcessingDialog::setSBA(bool on)
{
_ui->sba->setChecked(Optimizer::isAvailable(Optimizer::kTypeCVSBA) && on);
_ui->sba->setChecked((Optimizer::isAvailable(Optimizer::kTypeCVSBA) || Optimizer::isAvailable(Optimizer::kTypeG2O)) && on);
}
void PostProcessingDialog::setSBAIterations(int iterations)
{
@@ -249,6 +258,10 @@ void PostProcessingDialog::setSBAType(Optimizer::Type type)
_ui->comboBox_sbaType->setCurrentIndex(0);
}
}
void PostProcessingDialog::setSBARematchFeatures(bool value)
{
_ui->sba_rematchFeatures->setChecked(value);
}
}