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Fixed PnP in OpenCV3: added parameter Vis/PnPRefineIterations (default 1)

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CameraRGBDImages: Fixed calibration not loaded
Fixed loading ground truth from RGBD-SLAM format
MainWindow: added ground truth paths in CloudViewer and GraphViewer
This commit is contained in:
matlabbe
2015-12-22 19:32:52 -05:00
parent 2e9634cf65
commit 51300dde06
25 changed files with 986 additions and 917 deletions
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12
guilib/src/PreferencesDialog.cpp
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@@ -208,11 +208,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->openni2_exposure->setEnabled(CameraOpenNI2::exposureGainAvailable());
_ui->openni2_gain->setEnabled(CameraOpenNI2::exposureGainAvailable());
#if CV_MAJOR_VERSION < 3
_ui->loopClosure_pnpOpenCV2->setVisible(false);
_ui->label_loopClosure_pnpOpenCV2->setVisible(false);
#endif
// Default Driver
connect(_ui->comboBox_sourceType, SIGNAL(currentIndexChanged(int)), this, SLOT(updateSourceGrpVisibility()));
connect(_ui->comboBox_cameraRGBD, SIGNAL(currentIndexChanged(int)), this, SLOT(updateRGBDCameraGroupBoxVisibility()));
@@ -649,7 +644,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_bowEpipolarGeometryVar->setObjectName(Parameters::kVisEpipolarGeometryVar().c_str());
_ui->loopClosure_pnpReprojError->setObjectName(Parameters::kVisPnPReprojError().c_str());
_ui->loopClosure_pnpFlags->setObjectName(Parameters::kVisPnPFlags().c_str());
_ui->loopClosure_pnpOpenCV2->setObjectName(Parameters::kVisPnPOpenCV2().c_str());
_ui->loopClosure_pnpRefineIterations->setObjectName(Parameters::kVisPnPRefineIterations().c_str());
_ui->loopClosure_bowVarianceFromInliersCount->setObjectName(Parameters::kRegVarianceFromInliersCount().c_str());
_ui->loopClosure_reextract->setObjectName(Parameters::kRGBDLoopClosureReextractFeatures().c_str());
@@ -683,6 +678,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
//Odometry
_ui->odom_strategy->setObjectName(Parameters::kOdomStrategy().c_str());
connect(_ui->odom_strategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_odometryType, SLOT(setCurrentIndex(int)));
_ui->odom_strategy->setCurrentIndex(Parameters::defaultOdomStrategy());
_ui->odom_countdown->setObjectName(Parameters::kOdomResetCountdown().c_str());
_ui->odom_holonomic->setObjectName(Parameters::kOdomHolonomic().c_str());
_ui->odom_fillInfoData->setObjectName(Parameters::kOdomFillInfoData().c_str());
@@ -2522,7 +2519,7 @@ void PreferencesDialog::selectSourceRGBDImagesPathGt()
{
list.push_back(_ui->comboBox_cameraRGBDImages_gtFormat->itemText(i));
}
QString item = QInputDialog::getItem(this, tr("Ground Truth Format"), tr("Format:"), list);
QString item = QInputDialog::getItem(this, tr("Ground Truth Format"), tr("Format:"), list, 0, false);
if(!item.isEmpty())
{
_ui->lineEdit_cameraRGBDImages_gt->setText(path);
@@ -3945,6 +3942,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
dir = d.absolutePath();
}
}
if(!camera->init(useRawImages?"":dir.toStdString(), name.toStdString()))
{
UWARN("init camera failed... ");