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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.

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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
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111
guilib/src/ui/exportBundlerDialog.ui
View File

@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>524</width>
<height>363</height>
<width>557</width>
<height>466</height>
</rect>
</property>
<property name="windowTitle">
@@ -119,21 +119,116 @@
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_43">
</layout>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_export_points">
<property name="title">
<string>Export 3D Points</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
<item row="1" column="0">
<widget class="QSpinBox" name="sba_iterations">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="value">
<number>100</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_8">
<property name="text">
<string>Export 3D points. RTAB-Map must be built with g2o.</string>
<string>SBA Iterations</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_variance">
<property name="text">
<string>SBA Pixel variance used by g2o.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="sba_variance">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="maximum">
<double>999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_10">
<property name="text">
<string>SBA Type</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_sbaType">
<item>
<property name="text">
<string>g2o</string>
</property>
</item>
<item>
<property name="text">
<string>cvsba</string>
</property>
</item>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_variance_2">
<property name="text">
<string>Rematch features.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_export_points">
<widget class="QCheckBox" name="sba_rematchFeatures">
<property name="text">
<string/>
</property>

27
guilib/src/ui/postProcessingDialog.ui
View File

@@ -260,6 +260,23 @@
</item>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_variance_2">
<property name="text">
<string>Rematch features.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="sba_rematchFeatures">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
</layout>
@@ -278,6 +295,16 @@
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="label_4">
<property name="text">
<string>Note: Post-processing only affects visualization in the GUI and the export actions. To actually push those optimizations to the database, use Database Viewer tool (Tools-&gt;Edit database...).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QDialogButtonBox" name="buttonBox">
<property name="orientation">