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Added OptimizerCeres class (Optimizer/Strategy=3)

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This commit is contained in:
matlabbe
2019-08-17 03:55:04 -04:00
parent 38044040a6
commit 536f001479
29 changed files with 1982 additions and 284 deletions
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57
guilib/src/PostProcessingDialog.cpp
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@@ -40,20 +40,30 @@ PostProcessingDialog::PostProcessingDialog(QWidget * parent) :
_ui = new Ui_PostProcessingDialog();
_ui->setupUi(this);
if(!Optimizer::isAvailable(Optimizer::kTypeCVSBA) && !Optimizer::isAvailable(Optimizer::kTypeG2O))
if(!Optimizer::isAvailable(Optimizer::kTypeCVSBA) &&
!Optimizer::isAvailable(Optimizer::kTypeG2O) &&
!Optimizer::isAvailable(Optimizer::kTypeCeres))
{
_ui->sba->setEnabled(false);
_ui->sba->setChecked(false);
}
else if(!Optimizer::isAvailable(Optimizer::kTypeCVSBA))
else
{
_ui->comboBox_sbaType->setItemData(1, 0, Qt::UserRole - 1);
_ui->comboBox_sbaType->setCurrentIndex(0);
}
else if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
{
_ui->comboBox_sbaType->setItemData(0, 0, Qt::UserRole - 1);
_ui->comboBox_sbaType->setCurrentIndex(1);
if(!Optimizer::isAvailable(Optimizer::kTypeCVSBA))
{
_ui->comboBox_sbaType->setItemData(1, 0, Qt::UserRole - 1);
_ui->comboBox_sbaType->setCurrentIndex(0);
}
if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
{
_ui->comboBox_sbaType->setItemData(0, 0, Qt::UserRole - 1);
_ui->comboBox_sbaType->setCurrentIndex(1);
}
if(!Optimizer::isAvailable(Optimizer::kTypeCeres))
{
_ui->comboBox_sbaType->setItemData(2, 0, Qt::UserRole - 1);
_ui->comboBox_sbaType->setCurrentIndex(1);
}
}
restoreDefaults();
@@ -191,7 +201,19 @@ void PostProcessingDialog::restoreDefaults()
setRefineLoopClosureLinks(false);
setSBA(false);
setSBAIterations(20);
setSBAType(!Optimizer::isAvailable(Optimizer::kTypeG2O)&&Optimizer::isAvailable(Optimizer::kTypeCVSBA)?Optimizer::kTypeCVSBA:Optimizer::kTypeG2O);
Optimizer::Type sbaType = Optimizer::kTypeG2O; // g2o
if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
{
if(Optimizer::isAvailable(Optimizer::kTypeCVSBA))
{
sbaType = Optimizer::kTypeCVSBA;
}
else if(Optimizer::isAvailable(Optimizer::kTypeCeres))
{
sbaType = Optimizer::kTypeCeres;
}
}
setSBAType(sbaType);
setSBAVariance(1.0);
setSBARematchFeatures(true);
}
@@ -244,7 +266,7 @@ bool PostProcessingDialog::isRefineLoopClosureLinks() const
bool PostProcessingDialog::isSBA() const
{
return _ui->sba->isChecked();
return _ui->sba->isEnabled() && _ui->sba->isChecked();
}
int PostProcessingDialog::sbaIterations() const
@@ -257,7 +279,7 @@ double PostProcessingDialog::sbaVariance() const
}
Optimizer::Type PostProcessingDialog::sbaType() const
{
return _ui->comboBox_sbaType->currentIndex()==0?Optimizer::kTypeG2O:Optimizer::kTypeCVSBA;
return _ui->comboBox_sbaType->currentIndex()==2?Optimizer::kTypeCeres:_ui->comboBox_sbaType->currentIndex()==1?Optimizer::kTypeCVSBA:Optimizer::kTypeG2O;
}
bool PostProcessingDialog::sbaRematchFeatures() const
{
@@ -299,7 +321,10 @@ void PostProcessingDialog::setRefineLoopClosureLinks(bool on)
}
void PostProcessingDialog::setSBA(bool on)
{
_ui->sba->setChecked((Optimizer::isAvailable(Optimizer::kTypeCVSBA) || Optimizer::isAvailable(Optimizer::kTypeG2O)) && on);
_ui->sba->setChecked((
Optimizer::isAvailable(Optimizer::kTypeCVSBA) ||
Optimizer::isAvailable(Optimizer::kTypeG2O) ||
Optimizer::isAvailable(Optimizer::kTypeCeres)) && on);
}
void PostProcessingDialog::setSBAIterations(int iterations)
{
@@ -311,7 +336,11 @@ void PostProcessingDialog::setSBAVariance(double variance)
}
void PostProcessingDialog::setSBAType(Optimizer::Type type)
{
if(type == Optimizer::kTypeCVSBA)
if(type == Optimizer::kTypeCeres)
{
_ui->comboBox_sbaType->setCurrentIndex(2);
}
else if(type == Optimizer::kTypeCVSBA)
{
_ui->comboBox_sbaType->setCurrentIndex(1);
}