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Added cvsba support for post-processing bundle adjustment (SBA)

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This commit is contained in:
matlabbe
2015-08-12 20:59:21 -04:00
parent a8a3566fed
commit 31d374e141
13 changed files with 543 additions and 18 deletions
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62
guilib/src/PostProcessingDialog.cpp
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@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "ui_postProcessingDialog.h"
#include <QPushButton>
#include <rtabmap/core/Graph.h>
namespace rtabmap {
@@ -38,6 +39,13 @@ PostProcessingDialog::PostProcessingDialog(QWidget * parent) :
_ui = new Ui_PostProcessingDialog();
_ui->setupUi(this);
if(!graph::CVSBAOptimizer::available())
{
_ui->sba->setEnabled(false);
}
restoreDefaults();
connect(_ui->detectMoreLoopClosures, SIGNAL(clicked(bool)), this, SLOT(updateButtonBox()));
connect(_ui->refineNeighborLinks, SIGNAL(stateChanged(int)), this, SLOT(updateButtonBox()));
connect(_ui->refineLoopClosureLinks, SIGNAL(stateChanged(int)), this, SLOT(updateButtonBox()));
@@ -50,6 +58,11 @@ PostProcessingDialog::PostProcessingDialog(QWidget * parent) :
connect(_ui->reextractFeatures, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->refineNeighborLinks, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->refineLoopClosureLinks, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->sba, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
connect(_ui->sba_iterations, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->sba_minInlierDistance, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->sba_minInliers, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
}
PostProcessingDialog::~PostProcessingDialog()
@@ -70,6 +83,10 @@ void PostProcessingDialog::saveSettings(QSettings & settings, const QString & gr
settings.setValue("reextract_features", this->isReextractFeatures());
settings.setValue("refine_neigbors", this->isRefineNeighborLinks());
settings.setValue("refine_lc", this->isRefineLoopClosureLinks());
settings.setValue("sba", this->isSBA());
settings.setValue("sba_iterations", this->sbaIterations());
settings.setValue("sba_inlier_distance", this->sbaInlierDistance());
settings.setValue("sba_min_inliers", this->sbaMinInliers());
if(!group.isEmpty())
{
settings.endGroup();
@@ -89,6 +106,10 @@ void PostProcessingDialog::loadSettings(QSettings & settings, const QString & gr
this->setReextractFeatures(settings.value("reextract_features", this->isReextractFeatures()).toBool());
this->setRefineNeighborLinks(settings.value("refine_neigbors", this->isRefineNeighborLinks()).toBool());
this->setRefineLoopClosureLinks(settings.value("refine_lc", this->isRefineLoopClosureLinks()).toBool());
this->setSBA(settings.value("sba", this->isSBA()).toBool());
this->setSBAIterations(settings.value("sba_iterations", this->sbaIterations()).toInt());
this->setSBAInlierDistance(settings.value("sba_inlier_distance", this->sbaInlierDistance()).toDouble());
this->setSBAMinInliers(settings.value("sba_min_inliers", this->sbaMinInliers()).toInt());
if(!group.isEmpty())
{
settings.endGroup();
@@ -104,12 +125,16 @@ void PostProcessingDialog::restoreDefaults()
setReextractFeatures(false);
setRefineNeighborLinks(false);
setRefineLoopClosureLinks(false);
setSBA(false);
setSBAIterations(150);
setSBAInlierDistance(0.02);
setSBAMinInliers(10);
}
void PostProcessingDialog::updateButtonBox()
{
_ui->buttonBox->button(QDialogButtonBox::Ok)->setEnabled(
isDetectMoreLoopClosures() || isRefineNeighborLinks() || isRefineLoopClosureLinks());
isDetectMoreLoopClosures() || isRefineNeighborLinks() || isRefineLoopClosureLinks() || isSBA());
}
bool PostProcessingDialog::isDetectMoreLoopClosures() const
@@ -147,6 +172,24 @@ bool PostProcessingDialog::isRefineLoopClosureLinks() const
return _ui->refineLoopClosureLinks->isChecked();
}
bool PostProcessingDialog::isSBA() const
{
return _ui->sba->isChecked();
}
int PostProcessingDialog::sbaIterations() const
{
return _ui->sba_iterations->value();
}
double PostProcessingDialog::sbaInlierDistance() const
{
return _ui->sba_minInlierDistance->value();
}
int PostProcessingDialog::sbaMinInliers() const
{
return _ui->sba_minInliers->value();
}
//setters
void PostProcessingDialog::setDetectMoreLoopClosures(bool on)
{
@@ -176,5 +219,22 @@ void PostProcessingDialog::setRefineLoopClosureLinks(bool on)
{
_ui->refineLoopClosureLinks->setChecked(on);
}
void PostProcessingDialog::setSBA(bool on)
{
_ui->sba->setChecked(graph::CVSBAOptimizer::available() && on);
}
void PostProcessingDialog::setSBAIterations(int iterations)
{
_ui->sba_iterations->setValue(iterations);
}
void PostProcessingDialog::setSBAInlierDistance(double inlierDistance)
{
_ui->sba_minInlierDistance->setValue(inlierDistance);
}
void PostProcessingDialog::setSBAMinInliers(int minInliers)
{
_ui->sba_minInliers->setValue(minInliers);
}
}