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Merged master -> devel, updated default post-processing parameters

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This commit is contained in:
matlabbe
2015-08-15 12:58:29 -04:00
parent 5e1124240d 15e75d17cc
commit 40866d5e78
14 changed files with 624 additions and 23 deletions
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78
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 {
@@ -38,9 +39,18 @@ PostProcessingDialog::PostProcessingDialog(QWidget * parent) :
_ui = new Ui_PostProcessingDialog();
_ui->setupUi(this);
if(!graph::CVSBAOptimizer::available())
{
_ui->sba->setEnabled(false);
_ui->sba->setChecked(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()));
connect(_ui->sba, SIGNAL(clicked(bool)), this, SLOT(updateButtonBox()));
connect(_ui->buttonBox->button(QDialogButtonBox::RestoreDefaults), SIGNAL(clicked()), this, SLOT(restoreDefaults()));
connect(_ui->detectMoreLoopClosures, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
@@ -50,6 +60,12 @@ 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_epsilon, SIGNAL(valueChanged(double)), 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 +86,11 @@ 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_epsilon", this->sbaEpsilon());
settings.setValue("sba_inlier_distance", this->sbaInlierDistance());
settings.setValue("sba_min_inliers", this->sbaMinInliers());
if(!group.isEmpty())
{
settings.endGroup();
@@ -89,6 +110,11 @@ 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->setSBAEpsilon(settings.value("sba_epsilon", this->sbaEpsilon()).toDouble());
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();
@@ -97,19 +123,24 @@ void PostProcessingDialog::loadSettings(QSettings & settings, const QString & gr
void PostProcessingDialog::restoreDefaults()
{
setDetectMoreLoopClosures(true);
setDetectMoreLoopClosures(false);
setClusterRadius(0.3);
setClusterAngle(30);
setIterations(1);
setReextractFeatures(false);
setRefineNeighborLinks(false);
setRefineLoopClosureLinks(false);
setSBA(false);
setSBAIterations(20);
setSBAEpsilon(0.0001);
setSBAInlierDistance(0.05);
setSBAMinInliers(10);
}
void PostProcessingDialog::updateButtonBox()
{
_ui->buttonBox->button(QDialogButtonBox::Ok)->setEnabled(
isDetectMoreLoopClosures() || isRefineNeighborLinks() || isRefineLoopClosureLinks());
isDetectMoreLoopClosures() || isRefineNeighborLinks() || isRefineLoopClosureLinks() || isSBA());
}
bool PostProcessingDialog::isDetectMoreLoopClosures() const
@@ -147,6 +178,28 @@ 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::sbaEpsilon() const
{
return _ui->sba_epsilon->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 +229,26 @@ 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::setSBAEpsilon(double epsilon)
{
_ui->sba_epsilon->setValue(epsilon);
}
void PostProcessingDialog::setSBAInlierDistance(double inlierDistance)
{
_ui->sba_minInlierDistance->setValue(inlierDistance);
}
void PostProcessingDialog::setSBAMinInliers(int minInliers)
{
_ui->sba_minInliers->setValue(minInliers);
}
}