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Refactoring: removed some code duplication about transformation estimation and features (2D-3D) extraction.

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Added Feature2D::generateKeypoints3D() for convenience.
Added parameter "Vis/PnPOpenCV2".
Added parameter "Vis/ForwardEstOnly".
Removed OdometryOpticalFlow class, replaced by OdometryF2F (frame-to-frame). To get the same previous OpticalFLow approach, parameter "Vis/CorType" should be set to 1.
Some parameters under group "OdomFlow/..." are now under "Vis/CorFlow...".
In Registration class, add computeTransformationMod() method to modify input signatures.
Added constructor Signature(SensorData) for convenience.
Modified words multimap used with cv::Point3f instead of pcl::PointXYZ to limit the use of PCL headers where they are not really required.
Added Stereo::create() for convenience.
Transform: fixed quaternion constructor where data_ was not initialized. Added parentheses operator for convenience.
DatabaseViewer: loading .rtabmap/rtabmap.ini instead of .rtabmap/dbViewer.ini when used from rtabmap application. Added vertical layout option for convenience.
MainWindow: fixed wrong Odometry speed values
ParametersToolBox: using QStackedWidget instead of a QToolBox for space, added "Restore Defaults" button.
This commit is contained in:
matlabbe
2015-12-21 17:27:05 -05:00
parent 3292fb1146
commit 2e9634cf65
54 changed files with 2838 additions and 2725 deletions
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guilib/src/MainWindow.cpp
+14 -14
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@@ -1038,6 +1038,11 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
_ui->statsToolBox->updateStat("Odometry/TFpitch/deg", (float)odom.data().id(), pitch*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/TFyaw/deg", (float)odom.data().id(), yaw*180.0/CV_PI);
}
if(odom.info().interval > 0)
{
_ui->statsToolBox->updateStat("Odometry/Interval/ms", (float)odom.data().id(), odom.info().interval*1000.f);
_ui->statsToolBox->updateStat("Odometry/Speed/kph", (float)odom.data().id(), x/odom.info().interval*3.6f);
}
if(!odom.info().transformGroundTruth.isNull())
{
@@ -1072,11 +1077,6 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
_ui->statsToolBox->updateStat("Odometry/PGyaw/deg", (float)odom.data().id(), yaw*180.0/CV_PI);
}
if(odom.info().interval > 0)
{
_ui->statsToolBox->updateStat("Odometry/Interval/ms", (float)odom.data().id(), odom.info().interval*1000.f);
_ui->statsToolBox->updateStat("Odometry/Speed/kph", (float)odom.data().id(), x/odom.info().interval*3.6f);
}
if(odom.info().distanceTravelled > 0)
{
_ui->statsToolBox->updateStat("Odometry/Distance/m", (float)odom.data().id(), odom.info().distanceTravelled);
@@ -1916,7 +1916,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
int oi=0;
UASSERT(iter->getWords().size() == iter->getWords3().size());
std::multimap<int, cv::KeyPoint>::const_iterator kter=iter->getWords().begin();
for(std::multimap<int, pcl::PointXYZ>::const_iterator jter=iter->getWords3().begin();
for(std::multimap<int, cv::Point3f>::const_iterator jter=iter->getWords3().begin();
jter!=iter->getWords3().end(); ++jter, ++kter, ++oi)
{
(*cloud)[oi].x = jter->second.x;
@@ -2870,7 +2870,7 @@ void MainWindow::editDatabase()
QString path = QFileDialog::getOpenFileName(this, tr("Edit database..."), _preferencesDialog->getWorkingDirectory(), tr("RTAB-Map database files (*.db)"));
if(!path.isEmpty())
{
DatabaseViewer * viewer = new DatabaseViewer(this);
DatabaseViewer * viewer = new DatabaseViewer(_preferencesDialog->getIniFilePath(), this);
viewer->setWindowModality(Qt::WindowModal);
viewer->setAttribute(Qt::WA_DeleteOnClose, true);
viewer->showCloseButton();
@@ -3026,7 +3026,7 @@ void MainWindow::startDetection()
Odometry * odom;
if(_preferencesDialog->getOdomStrategy() == 1)
{
odom = new OdometryOpticalFlow(parameters);
odom = new OdometryF2F(parameters);
}
else if(_preferencesDialog->getOdomStrategy() == 2)
{
@@ -3065,7 +3065,7 @@ void MainWindow::startDetection()
Odometry * odom;
if(_preferencesDialog->getOdomStrategy() == 1)
{
odom = new OdometryOpticalFlow(parameters);
odom = new OdometryF2F(parameters);
}
else if(_preferencesDialog->getOdomStrategy() == 2)
{
@@ -3524,16 +3524,16 @@ void MainWindow::postProcessing()
if(reextractFeatures)
{
signatureFrom.setWords(std::multimap<int, cv::KeyPoint>());
signatureFrom.setWords3(std::multimap<int, pcl::PointXYZ>());
signatureFrom.setWords3(std::multimap<int, cv::Point3f>());
signatureTo.setWords(std::multimap<int, cv::KeyPoint>());
signatureTo.setWords3(std::multimap<int, pcl::PointXYZ>());
signatureTo.setWords3(std::multimap<int, cv::Point3f>());
}
Transform transform;
std::string rejectedMsg;
int inliers = -1;
float variance = -1.0f;
RegistrationVis registration(parameters);
std::vector<int> inliers;
transform = registration.computeTransformation(signatureFrom, signatureTo, Transform(), &rejectedMsg, &inliers, &variance);
if(!transform.isNull())
@@ -3623,7 +3623,7 @@ void MainWindow::postProcessing()
{
std::string rejectedMsg;
float variance = -1.0f;
Transform transform = regIcp.computeTransformation(signatureFrom, signatureTo, iter->second.transform(), &rejectedMsg, 0, &variance);
Transform transform = regIcp.computeTransformation(signatureFrom.sensorData(), signatureTo.sensorData(), iter->second.transform(), &rejectedMsg, 0, &variance);
if(!transform.isNull())
{
@@ -5844,7 +5844,7 @@ std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::getClouds(
{
cloud->resize(s.getWords3().size());
int oi=0;
for(std::multimap<int, pcl::PointXYZ>::const_iterator jter=s.getWords3().begin(); jter!=s.getWords3().end(); ++jter)
for(std::multimap<int, cv::Point3f>::const_iterator jter=s.getWords3().begin(); jter!=s.getWords3().end(); ++jter)
{
(*cloud)[oi].x = jter->second.x;
(*cloud)[oi].y = jter->second.y;