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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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57
guilib/src/PreferencesDialog.cpp
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@@ -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()