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If OpenCV nonfree module is not found, RTAB-Map will still build but with disabled SURF/SIFT options. Default BOW dictionary will be ORB in this case.

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2071 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-11-21 23:37:23 +00:00
parent 08d0bc4ad5
commit 374ef280f2
10 changed files with 223 additions and 32 deletions
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105
guilib/src/PreferencesDialog.cpp
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@@ -113,6 +113,20 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->label_map_shown->setText(_ui->label_map_shown->text() + " (Disabled, PCL >=1.7.2 required)");
#endif
if(RTABMAP_NONFREE == 0)
{
_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(1, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(0, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(1, 0, Qt::UserRole - 1);
_ui->odom_type->setItemData(0, 0, Qt::UserRole - 1);
_ui->odom_type->setItemData(1, 0, Qt::UserRole - 1);
_ui->comboBox_dictionary_strategy->setItemData(1, 0, Qt::UserRole - 1);
_ui->reextract_nn->setItemData(1, 0, Qt::UserRole - 1);
_ui->odom_bin_nn->setItemData(1, 0, Qt::UserRole - 1);
}
_ui->predictionPlot->showLegend(false);
_ui->groupBox_openni2->setVisible(false);
@@ -530,6 +544,13 @@ PreferencesDialog::~PreferencesDialog() {
void PreferencesDialog::init()
{
//First set all default values
const ParametersMap & defaults = Parameters::getDefaultParameters();
for(ParametersMap::const_iterator iter=defaults.begin(); iter!=defaults.end(); ++iter)
{
this->setParameter(iter->first, iter->second);
}
this->readSettings();
this->writeSettings();// This will create the ini file if not exist
@@ -1452,21 +1473,50 @@ void PreferencesDialog::writeCoreSettings(const QString & filePath)
bool PreferencesDialog::validateForm()
{
//verify binary featrues and nearest neighbor
if(RTABMAP_NONFREE == 0)
{
// verify that SURF/SIFT cannot be selected if not built with OpenCV nonfree module
// BOW dictionary type
if(_ui->comboBox_detector_strategy->currentIndex() <= 1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (SURF/SIFT) is not available. RTAB-Map is not built "
"with the nonfree module from OpenCV. ORB is set instead for the bag-of-words dictionary."));
_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureOrb);
}
// BOW Reextract features type
if(_ui->reextract_type->currentIndex() <= 1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (SURF/SIFT) is not available. RTAB-Map is not built "
"with the nonfree module from OpenCV. Fast/Brief is set instead for the re-extraction "
"of features on loop closure."));
_ui->reextract_type->setCurrentIndex(Feature2D::kFeatureFastBrief);
}
// odom type
if(_ui->odom_type->currentIndex() <= 1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (SURF/SIFT) is not available. RTAB-Map is not built "
"with the nonfree module from OpenCV. GFTT/Brief is set instead for odometry."));
_ui->odom_type->setCurrentIndex(Feature2D::kFeatureGfttBrief);
}
}
//verify binary features and nearest neighbor
// BOW dictionary type
if(_ui->comboBox_dictionary_strategy->currentIndex() == VWDictionary::kNNFlannLSH && _ui->comboBox_detector_strategy->currentIndex() <= 1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("With the selected feature type (SURF or SIFT), parameter \"Visual word->Nearest Neighbor\" "
"cannot be LSH (used for binary descriptor). KD-tree is set instead."));
"cannot be LSH (used for binary descriptor). KD-tree is set instead for the bag-of-words dictionary."));
_ui->comboBox_dictionary_strategy->setCurrentIndex(VWDictionary::kNNFlannKdTree);
}
else if(_ui->comboBox_dictionary_strategy->currentIndex() == VWDictionary::kNNFlannKdTree && _ui->comboBox_detector_strategy->currentIndex() >1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("With the selected feature type (ORB, FAST, FREAK or BRIEF), parameter \"Visual word->Nearest Neighbor\" "
"cannot be KD-Tree (used for float descriptor). BruteForce matching is set instead."));
"cannot be KD-Tree (used for float descriptor). BruteForce matching is set instead for the bag-of-words dictionary."));
_ui->comboBox_dictionary_strategy->setCurrentIndex(VWDictionary::kNNBruteForce);
}
@@ -1475,14 +1525,16 @@ bool PreferencesDialog::validateForm()
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("With the selected feature type (SURF or SIFT), parameter \"Visual word->Nearest Neighbor\" "
"cannot be LSH (used for binary descriptor). KD-tree is set instead."));
"cannot be LSH (used for binary descriptor). KD-tree is set instead for the re-extraction "
"of features on loop closure."));
_ui->reextract_nn->setCurrentIndex(VWDictionary::kNNFlannKdTree);
}
else if(_ui->reextract_nn->currentIndex() == VWDictionary::kNNFlannKdTree && _ui->reextract_type->currentIndex() >1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("With the selected feature type (ORB, FAST, FREAK or BRIEF), parameter \"Visual word->Nearest Neighbor\" "
"cannot be KD-Tree (used for float descriptor). BruteForce matching is set instead."));
"cannot be KD-Tree (used for float descriptor). BruteForce matching is set instead for the re-extraction "
"of features on loop closure."));
_ui->reextract_nn->setCurrentIndex(VWDictionary::kNNBruteForce);
}
@@ -1491,14 +1543,14 @@ bool PreferencesDialog::validateForm()
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("With the selected feature type (SURF or SIFT), parameter \"Odometry->Nearest Neighbor\" "
"cannot be LSH (used for binary descriptor). KD-tree is set instead."));
"cannot be LSH (used for binary descriptor). KD-tree is set instead for odometry."));
_ui->odom_bin_nn->setCurrentIndex(VWDictionary::kNNFlannKdTree);
}
else if(_ui->odom_bin_nn->currentIndex() == VWDictionary::kNNFlannKdTree && _ui->odom_type->currentIndex() >1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("With the selected feature type (ORB, FAST, FREAK or BRIEF), parameter \"Odometry->Nearest Neighbor\" "
"cannot be KD-Tree (used for float descriptor). BruteForce matching is set instead."));
"cannot be KD-Tree (used for float descriptor). BruteForce matching is set instead for odometry."));
_ui->odom_bin_nn->setCurrentIndex(VWDictionary::kNNBruteForce);
}
@@ -1892,11 +1944,48 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
}
else if(combo)
{
combo->setCurrentIndex(QString(value.c_str()).toInt(&ok));
int valueInt = QString(value.c_str()).toInt(&ok);
if(!ok)
{
UERROR("Conversion failed from \"%s\" for parameter %s", value.c_str(), key.c_str());
}
else
{
if(RTABMAP_NONFREE == 0)
{
if(valueInt <= 1 &&
(combo->objectName().toStdString().compare(Parameters::kKpDetectorStrategy()) == 0 ||
combo->objectName().toStdString().compare(Parameters::kLccReextractFeatureType()) == 0 ||
combo->objectName().toStdString().compare(Parameters::kOdomFeatureType()) == 0))
{
UWARN("Trying to set \"%s\" to SIFT/SURF but RTAB-Map isn't built "
"with the nonfree module from OpenCV. Keeping default combo value: %s.",
combo->objectName().toStdString().c_str(),
combo->currentText().toStdString().c_str());
}
else if(valueInt==1 &&
(combo->objectName().toStdString().compare(Parameters::kKpNNStrategy()) == 0 ||
combo->objectName().toStdString().compare(Parameters::kLccReextractNNType()) == 0 ||
combo->objectName().toStdString().compare(Parameters::kOdomBowNNType()) == 0))
{
UWARN("Trying to set \"%s\" to KdTree but RTAB-Map isn't built "
"with the nonfree module from OpenCV and kdTree cannot be used "
"with binary descriptors. Keeping default combo value: %s.",
combo->objectName().toStdString().c_str(),
combo->currentText().toStdString().c_str());
}
else
{
combo->setCurrentIndex(valueInt);
}
}
else
{
combo->setCurrentIndex(valueInt);
}
}
}
else if(check)
{