i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Updated default Graph Optimization parameters (iteration+epsilon). Added "Variance from Inliers" parameter to DatabaseViewer

Browse Source
This commit is contained in:
matlabbe
2015-10-17 14:00:27 -04:00
parent b565226ee5
commit 303e64e8d8
4 changed files with 33 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
guilib/src/DatabaseViewer.cpp
View File

@@ -297,6 +297,7 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
connect(ui_->comboBox_featureType, SIGNAL(currentIndexChanged(int)), this, SLOT(configModified()));
connect(ui_->comboBox_nnType, SIGNAL(currentIndexChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_visual_2d, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->checkBox_visual_var_inliers, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_visual_nndr, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->spinBox_visual_minCorrespondences, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_visual_maxCorrespDistance, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
@@ -435,6 +436,7 @@ void DatabaseViewer::readSettings()
ui_->comboBox_featureType->setCurrentIndex(settings.value("featureType", ui_->comboBox_featureType->currentIndex()).toInt());
ui_->comboBox_nnType->setCurrentIndex(settings.value("nnType", ui_->comboBox_nnType->currentIndex()).toInt());
ui_->checkBox_visual_2d->setChecked(settings.value("force2d", ui_->checkBox_visual_2d->isChecked()).toBool());
ui_->checkBox_visual_var_inliers->setChecked(settings.value("varianceInliers", ui_->checkBox_visual_var_inliers->isChecked()).toBool());
ui_->doubleSpinBox_visual_nndr->setValue(settings.value("nndr", ui_->doubleSpinBox_visual_nndr->value()).toDouble());
ui_->spinBox_visual_minCorrespondences->setValue(settings.value("minCorr", ui_->spinBox_visual_minCorrespondences->value()).toInt());
ui_->doubleSpinBox_visual_maxCorrespDistance->setValue(settings.value("maxCorrDist", ui_->doubleSpinBox_visual_maxCorrespDistance->value()).toDouble());
@@ -535,6 +537,7 @@ void DatabaseViewer::writeSettings()
settings.setValue("featureType", ui_->comboBox_featureType->currentIndex());
settings.setValue("nnType", ui_->comboBox_nnType->currentIndex());
settings.setValue("force2d", ui_->checkBox_visual_2d->isChecked());
settings.setValue("varianceInliers", ui_->checkBox_visual_var_inliers->isChecked());
settings.setValue("nndr", ui_->doubleSpinBox_visual_nndr->value());
settings.setValue("minCorr", ui_->spinBox_visual_minCorrespondences->value());
settings.setValue("maxCorrDist", ui_->doubleSpinBox_visual_maxCorrespDistance->value());
@@ -1091,10 +1094,9 @@ void DatabaseViewer::updateIds()
links_.clear();
}
int first = *ids.begin();
ui_->spinBox_optimizationsFrom->setRange(first, ids_.last());
ui_->spinBox_optimizationsFrom->setRange(ids_.first(), ids_.last());
ui_->spinBox_optimizationsFrom->setValue(ids_.first());
ui_->label_optimizeFrom->setText(tr("Optimize from [%1, %2]").arg(first).arg(ids_.first()));
ui_->label_optimizeFrom->setText(tr("Optimize from [%1, %2]").arg(ids_.first()).arg(ids_.last()));
}
}
@@ -3425,6 +3427,8 @@ void DatabaseViewer::refineConstraintVisually(int from, int to, bool silent, boo
parameters.insert(ParametersPair(Parameters::kLccBowMinInliers(), uNumber2Str(ui_->spinBox_visual_minCorrespondences->value())));
parameters.insert(ParametersPair(Parameters::kLccBowEstimationType(), uNumber2Str(ui_->comboBox_estimationType->currentIndex())));
parameters.insert(ParametersPair(Parameters::kLccBowPnPFlags(), uNumber2Str(ui_->comboBox_pnpFlags->currentIndex())));
parameters.insert(ParametersPair(Parameters::kLccBowForce2D(), uBool2Str(ui_->checkBox_visual_2d->isChecked())));
parameters.insert(ParametersPair(Parameters::kLccBowVarianceFromInliersCount(), uBool2Str(ui_->checkBox_visual_var_inliers->isChecked())));
parameters.insert(ParametersPair(Parameters::kMemGenerateIds(), "false"));
parameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0"));
parameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), "0"));
@@ -3479,14 +3483,6 @@ void DatabaseViewer::refineConstraintVisually(int from, int to, bool silent, boo
if(!t.isNull())
{
if(ui_->checkBox_visual_2d->isChecked())
{
// We are 2D here, make sure the guess has only YAW rotation
float x,y,z,r,p,yaw;
t.getTranslationAndEulerAngles(x,y,z, r,p,yaw);
t = Transform::fromEigen3f(pcl::getTransformation(x,y,0, 0, 0, yaw));
}
Link newLink(currentLink.from(), currentLink.to(), currentLink.type(), t, variance, variance);
bool updated = false;
@@ -3557,6 +3553,8 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
parameters.insert(ParametersPair(Parameters::kLccBowMinInliers(), uNumber2Str(ui_->spinBox_visual_minCorrespondences->value())));
parameters.insert(ParametersPair(Parameters::kLccBowEstimationType(), uNumber2Str(ui_->comboBox_estimationType->currentIndex())));
parameters.insert(ParametersPair(Parameters::kLccBowPnPFlags(), uNumber2Str(ui_->comboBox_pnpFlags->currentIndex())));
parameters.insert(ParametersPair(Parameters::kLccBowForce2D(), uBool2Str(ui_->checkBox_visual_2d->isChecked())));
parameters.insert(ParametersPair(Parameters::kLccBowVarianceFromInliersCount(), uBool2Str(ui_->checkBox_visual_var_inliers->isChecked())));
parameters.insert(ParametersPair(Parameters::kMemGenerateIds(), "false"));
parameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0"));
parameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), "0"));
@@ -3618,14 +3616,6 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
if(!t.isNull())
{
if(ui_->checkBox_visual_2d->isChecked())
{
// We are 2D here, make sure the guess has only YAW rotation
float x,y,z,r,p,yaw;
t.getTranslationAndEulerAngles(x,y,z, r,p,yaw);
t = Transform::fromEigen3f(pcl::getTransformation(x,y,0, 0, 0, yaw));
}
// transform is valid, make a link
if(from>to)
{

24
guilib/src/ui/DatabaseViewer.ui
View File

@@ -829,7 +829,7 @@
<item>
<widget class="QToolBox" name="toolBox">
<property name="currentIndex">
<number>3</number>
<number>1</number>
</property>
<widget class="QWidget" name="page">
<property name="geometry">
@@ -1055,9 +1055,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-129</y>
<width>351</width>
<height>380</height>
<height>407</height>
</rect>
</property>
<attribute name="label">
@@ -1225,6 +1225,20 @@
</item>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_32">
<property name="text">
<string>Variance from inliers count</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="checkBox_visual_var_inliers">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -1871,8 +1885,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>289</width>
<height>176</height>
<width>201</width>
<height>117</height>
</rect>
</property>
<attribute name="label">

6
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-315</y>
<y>-390</y>
<width>760</width>
<height>1705</height>
</rect>
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>3</number>
<number>19</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -6749,7 +6749,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="graphOptimization_stopEpsilon">
<property name="decimals">
<number>4</number>
<number>5</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>