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Updated default Vis/EstimationType=1 (PnP). Added all fovis and viso2 parameters.

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This commit is contained in:
matlabbe
2017-05-30 18:29:49 -04:00
parent f6e21bd6c8
commit 21e716b08a
12 changed files with 1633 additions and 85 deletions
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2
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -298,8 +298,8 @@ private slots:
void addParameter(double value);
void addParameter(const QString & value);
void updatePredictionPlot();
void updateKpROI();
void updateOdometryVisibility();
void updateKpROI();
void updateStereoDisparityVisibility();
void useOdomFeatures();
void useGridProjRayTracing();

11
guilib/src/AboutDialog.cpp
View File

@@ -78,6 +78,17 @@ AboutDialog::AboutDialog(QWidget * parent) :
_ui->label_gtsam->setText(Optimizer::isAvailable(Optimizer::kTypeGTSAM)?"Yes":"No");
_ui->label_cvsba->setText(Optimizer::isAvailable(Optimizer::kTypeCVSBA)?"Yes":"No");
#ifdef RTABMAP_FOVIS
_ui->label_fovis->setText("Yes");
#else
_ui->label_fovis->setText("No");
#endif
#ifdef RTABMAP_VISO2
_ui->label_viso2->setText("Yes");
#else
_ui->label_viso2->setText("No");
#endif
}
AboutDialog::~AboutDialog()

22
guilib/src/MainWindow.cpp
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@@ -1210,10 +1210,12 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
Qt::yellow);
}
}
else if(odom.info().type == (int)Odometry::kTypeF2F || odom.info().type == (int)Odometry::kTypeViso2)
else if(odom.info().type == (int)Odometry::kTypeF2F ||
odom.info().type == (int)Odometry::kTypeViso2 ||
odom.info().type == (int)Odometry::kTypeFovis)
{
std::vector<cv::KeyPoint> kpts;
cv::KeyPoint::convert(odom.info().refCorners, kpts, 7);
cv::KeyPoint::convert(odom.info().newCorners, kpts, 7);
_ui->imageView_odometry->setFeatures(
kpts,
odom.data().depthRaw(),
@@ -1223,10 +1225,10 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
//detect if it is OdometryMono intitialization
bool monoInitialization = false;
//if(_preferencesDialog->getOdomStrategy() == ?? && odom.info().type == (int)Odometry::kTypeF2F)
//{
// monoInitialization = true;
//}
if(_preferencesDialog->getOdomStrategy() == 4 && odom.info().type == (int)Odometry::kTypeF2F)
{
monoInitialization = true;
}
_ui->imageView_odometry->clearLines();
if(lost && !monoInitialization)
@@ -1270,7 +1272,9 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
}
}
}
if((odom.info().type == (int)Odometry::kTypeF2F || odom.info().type == (int)Odometry::kTypeViso2) && odom.info().refCorners.size())
if((odom.info().type == (int)Odometry::kTypeF2F ||
odom.info().type == (int)Odometry::kTypeViso2 ||
odom.info().type == (int)Odometry::kTypeFovis) && odom.info().refCorners.size())
{
if(_ui->imageView_odometry->isFeaturesShown() || _ui->imageView_odometry->isLinesShown())
{
@@ -1286,10 +1290,10 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
if(_ui->imageView_odometry->isLinesShown())
{
_ui->imageView_odometry->addLine(
odom.info().refCorners[i].x,
odom.info().refCorners[i].y,
odom.info().newCorners[i].x,
odom.info().newCorners[i].y,
odom.info().refCorners[i].x,
odom.info().refCorners[i].y,
inliers.find(i) != inliers.end()?Qt::blue:Qt::yellow);
}
}

19
guilib/src/OdometryViewer.cpp
View File

@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/OdometryEvent.h"
#include "rtabmap/core/Odometry.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap/utilite/UCv2Qt.h"
@@ -379,14 +380,16 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
if(!odom.data().imageRaw().empty())
{
if(odom.info().type == 0)
if(odom.info().type == (int)Odometry::kTypeF2M)
{
imageView_->setFeatures(odom.info().words, odom.data().depthRaw(), Qt::yellow);
}
else if(odom.info().type == 1)
else if(odom.info().type == (int)Odometry::kTypeF2F ||
odom.info().type == (int)Odometry::kTypeViso2 ||
odom.info().type == (int)Odometry::kTypeFovis)
{
std::vector<cv::KeyPoint> kpts;
cv::KeyPoint::convert(odom.info().refCorners, kpts);
cv::KeyPoint::convert(odom.info().newCorners, kpts, 7);
imageView_->setFeatures(kpts, odom.data().depthRaw(), Qt::red);
}
@@ -418,7 +421,7 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
imageView_->setImageDepth(uCvMat2QImage(odom.data().depthOrRightRaw()));
}
if(odom.info().type == 0)
if(odom.info().type == Odometry::kTypeF2M)
{
if(imageView_->isFeaturesShown())
{
@@ -433,7 +436,9 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
}
}
}
if(odom.info().type == 1 && odom.info().cornerInliers.size())
if((odom.info().type == (int)Odometry::kTypeF2F ||
odom.info().type == (int)Odometry::kTypeViso2 ||
odom.info().type == (int)Odometry::kTypeFovis) && odom.info().cornerInliers.size())
{
if(imageView_->isFeaturesShown() || imageView_->isLinesShown())
{
@@ -448,10 +453,10 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
if(imageView_->isLinesShown())
{
imageView_->addLine(
odom.info().refCorners[odom.info().cornerInliers[i]].x,
odom.info().refCorners[odom.info().cornerInliers[i]].y,
odom.info().newCorners[odom.info().cornerInliers[i]].x,
odom.info().newCorners[odom.info().cornerInliers[i]].y,
odom.info().refCorners[odom.info().cornerInliers[i]].x,
odom.info().refCorners[odom.info().cornerInliers[i]].y,
Qt::blue);
}
}

57
guilib/src/PreferencesDialog.cpp
View File

@@ -920,6 +920,55 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->doubleSpinBox_kalmanProcessNoise->setObjectName(Parameters::kOdomKalmanProcessNoise().c_str());
_ui->doubleSpinBox_kalmanMeasurementNoise->setObjectName(Parameters::kOdomKalmanMeasurementNoise().c_str());
//Odometry Fovis
_ui->spinBox_OdomFovisFeatureWindowSize->setObjectName(Parameters::kOdomFovisFeatureWindowSize().c_str());
_ui->spinBox_OdomFovisMaxPyramidLevel->setObjectName(Parameters::kOdomFovisMaxPyramidLevel().c_str());
_ui->spinBox_OdomFovisMinPyramidLevel->setObjectName(Parameters::kOdomFovisMinPyramidLevel().c_str());
_ui->spinBox_OdomFovisTargetPixelsPerFeature->setObjectName(Parameters::kOdomFovisTargetPixelsPerFeature().c_str());
_ui->spinBox_OdomFovisFastThreshold->setObjectName(Parameters::kOdomFovisFastThreshold().c_str());
_ui->checkBox_OdomFovisUseAdaptiveThreshold->setObjectName(Parameters::kOdomFovisUseAdaptiveThreshold().c_str());
_ui->doubleSpinBox_OdomFovisFastThresholdAdaptiveGain->setObjectName(Parameters::kOdomFovisFastThresholdAdaptiveGain().c_str());
_ui->checkBox_OdomFovisUseHomographyInitialization->setObjectName(Parameters::kOdomFovisUseHomographyInitialization().c_str());
_ui->checkBox_OdomFovisUseBucketing->setObjectName(Parameters::kOdomFovisUseBucketing().c_str());
_ui->spinBox_OdomFovisBucketWidth->setObjectName(Parameters::kOdomFovisBucketWidth().c_str());
_ui->spinBox_OdomFovisBucketHeight->setObjectName(Parameters::kOdomFovisBucketHeight().c_str());
_ui->spinBox_OdomFovisMaxKeypointsPerBucket->setObjectName(Parameters::kOdomFovisMaxKeypointsPerBucket().c_str());
_ui->checkBox_OdomFovisUseImageNormalization->setObjectName(Parameters::kOdomFovisUseImageNormalization().c_str());
_ui->doubleSpinBox_OdomFovisInlierMaxReprojectionError->setObjectName(Parameters::kOdomFovisInlierMaxReprojectionError().c_str());
_ui->doubleSpinBox_OdomFovisCliqueInlierThreshold->setObjectName(Parameters::kOdomFovisCliqueInlierThreshold().c_str());
_ui->spinBox_OdomFovisMinFeaturesForEstimate->setObjectName(Parameters::kOdomFovisMinFeaturesForEstimate().c_str());
_ui->doubleSpinBox_OdomFovisMaxMeanReprojectionError->setObjectName(Parameters::kOdomFovisMaxMeanReprojectionError().c_str());
_ui->checkBox_OdomFovisUseSubpixelRefinement->setObjectName(Parameters::kOdomFovisUseSubpixelRefinement().c_str());
_ui->spinBox_OdomFovisFeatureSearchWindow->setObjectName(Parameters::kOdomFovisFeatureSearchWindow().c_str());
_ui->checkBox_OdomFovisUpdateTargetFeaturesWithRefined->setObjectName(Parameters::kOdomFovisUpdateTargetFeaturesWithRefined().c_str());
_ui->checkBox_OdomFovisStereoRequireMutualMatch->setObjectName(Parameters::kOdomFovisStereoRequireMutualMatch().c_str());
_ui->doubleSpinBox_OdomFovisStereoMaxDistEpipolarLine->setObjectName(Parameters::kOdomFovisStereoMaxDistEpipolarLine().c_str());
_ui->doubleSpinBox_OdomFovisStereoMaxRefinementDisplacement->setObjectName(Parameters::kOdomFovisStereoMaxRefinementDisplacement().c_str());
_ui->spinBox_OdomFovisStereoMaxDisparity->setObjectName(Parameters::kOdomFovisStereoMaxDisparity().c_str());
// Odometry viso2
_ui->spinBox_OdomViso2RansacIters->setObjectName(Parameters::kOdomViso2RansacIters().c_str());
_ui->doubleSpinBox_OdomViso2InlierThreshold->setObjectName(Parameters::kOdomViso2InlierThreshold().c_str());
_ui->checkBox_OdomViso2Reweighting->setObjectName(Parameters::kOdomViso2Reweighting().c_str());
_ui->spinBox_OdomViso2MatchNmsN->setObjectName(Parameters::kOdomViso2MatchNmsN().c_str());
_ui->spinBox_OdomViso2MatchNmsTau->setObjectName(Parameters::kOdomViso2MatchNmsTau().c_str());
_ui->spinBox_OdomViso2MatchBinsize->setObjectName(Parameters::kOdomViso2MatchBinsize().c_str());
_ui->spinBox_OdomViso2MatchRadius->setObjectName(Parameters::kOdomViso2MatchRadius().c_str());
_ui->spinBox_OdomViso2MatchDispTolerance->setObjectName(Parameters::kOdomViso2MatchDispTolerance().c_str());
_ui->spinBox_OdomViso2MatchOutlierDispTolerance->setObjectName(Parameters::kOdomViso2MatchOutlierDispTolerance().c_str());
_ui->spinBox_OdomViso2MatchOutlierFlowTolerance->setObjectName(Parameters::kOdomViso2MatchOutlierFlowTolerance().c_str());
_ui->checkBox_OdomViso2MatchMultiStage->setObjectName(Parameters::kOdomViso2MatchMultiStage().c_str());
_ui->checkBox_OdomViso2MatchHalfResolution->setObjectName(Parameters::kOdomViso2MatchHalfResolution().c_str());
_ui->spinBox_OdomViso2MatchRefinement->setObjectName(Parameters::kOdomViso2MatchRefinement().c_str());
_ui->spinBox_OdomViso2BucketMaxFeatures->setObjectName(Parameters::kOdomViso2BucketMaxFeatures().c_str());
_ui->doubleSpinBox_OdomViso2BucketWidth->setObjectName(Parameters::kOdomViso2BucketWidth().c_str());
_ui->doubleSpinBox_OdomViso2BucketHeight->setObjectName(Parameters::kOdomViso2BucketHeight().c_str());
//Stereo
_ui->stereo_winWidth->setObjectName(Parameters::kStereoWinWidth().c_str());
_ui->stereo_winHeight->setObjectName(Parameters::kStereoWinHeight().c_str());
@@ -3833,9 +3882,11 @@ void PreferencesDialog::setupKpRoiPanel()
void PreferencesDialog::updateOdometryVisibility()
{
_ui->stackedWidget_odometryType->setVisible(
_ui->odom_strategy->currentIndex() == 2 || // fovis
_ui->odom_strategy->currentIndex() == 3); // viso2
_ui->groupBox_odomF2M->setVisible(_ui->odom_strategy->currentIndex()==0);
_ui->groupBox_odomF2F->setVisible(_ui->odom_strategy->currentIndex()==1);
_ui->groupBox_odomFovis->setVisible(_ui->odom_strategy->currentIndex()==2);
_ui->groupBox_odomViso2->setVisible(_ui->odom_strategy->currentIndex()==3);
_ui->groupBox_odomMono->setVisible(_ui->odom_strategy->currentIndex()==4);
}
void PreferencesDialog::updateKpROI()

94
guilib/src/ui/aboutDialog.ui
View File

@@ -82,6 +82,13 @@ p, li { white-space: pre-wrap; }
</item>
<item>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
<item row="23" column="0">
<widget class="QLabel" name="label_25">
<property name="text">
<string>With FOVIS :</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
@@ -265,6 +272,16 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_8">
<property name="text">
<string>Mathieu Labbé, matlabbe@gmail.com</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="14" column="0">
<widget class="QLabel" name="label_22">
<property name="text">
@@ -282,16 +299,6 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_8">
<property name="text">
<string>Mathieu Labbé, matlabbe@gmail.com</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_6">
<property name="text">
@@ -316,6 +323,13 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Author :</string>
</property>
</widget>
</item>
<item row="21" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
@@ -333,10 +347,10 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<item row="16" column="0">
<widget class="QLabel" name="label_17">
<property name="text">
<string>Author :</string>
<string>With stereo FlyCapture2 :</string>
</property>
</widget>
</item>
@@ -347,10 +361,10 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="16" column="0">
<widget class="QLabel" name="label_17">
<item row="19" column="0">
<widget class="QLabel" name="label_19">
<property name="text">
<string>With stereo FlyCapture2 :</string>
<string>With GTSAM :</string>
</property>
</widget>
</item>
@@ -371,6 +385,13 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="22" column="0">
<widget class="QLabel" name="label_24">
<property name="text">
<string>With CPU-TSDF :</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_HomePage_3">
<property name="text">
@@ -388,20 +409,6 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="19" column="0">
<widget class="QLabel" name="label_19">
<property name="text">
<string>With GTSAM :</string>
</property>
</widget>
</item>
<item row="22" column="0">
<widget class="QLabel" name="label_24">
<property name="text">
<string>With CPU-TSDF :</string>
</property>
</widget>
</item>
<item row="22" column="1">
<widget class="QLabel" name="label_cputsdf">
<property name="text">
@@ -412,6 +419,33 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="24" column="0">
<widget class="QLabel" name="label_26">
<property name="text">
<string>With Viso2 :</string>
</property>
</widget>
</item>
<item row="23" column="1">
<widget class="QLabel" name="label_fovis">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="24" column="1">
<widget class="QLabel" name="label_viso2">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>

1308
guilib/src/ui/preferencesDialog.ui
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