mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 09:07:47 +08:00
Add params to filter out poor stereo flow matches (#1667)
* Add params to filter out poor stereo flow matches * Added parameters: Vis/CorFlowUseMinEigenVals, Vis/CorFlowMinEigThreshold, Vis/CorFlowErrorThreshold. Renamed Stereo/GetMinEigenVals to Stereo/UseMinEigenVals * Setting suggested default value of 20 for Vis/CorFlowErrorThreshold --------- Co-authored-by: matlabbe <[email protected]>
This commit is contained in:
Borong Yuan
@@ -1358,6 +1358,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->odom_flow_iterations->setObjectName(Parameters::kVisCorFlowIterations().c_str());
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_ui->odom_flow_eps->setObjectName(Parameters::kVisCorFlowEps().c_str());
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_ui->odom_flow_gpu->setObjectName(Parameters::kVisCorFlowGpu().c_str());
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_ui->odom_flow_useMinEigenVals->setObjectName(Parameters::kVisCorFlowUseMinEigenVals().c_str());
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_ui->odom_flow_minEigThreshold->setObjectName(Parameters::kVisCorFlowMinEigThreshold().c_str());
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_ui->odom_flow_errorThreshold->setObjectName(Parameters::kVisCorFlowErrorThreshold().c_str());
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_ui->loopClosure_bundle->setObjectName(Parameters::kVisBundleAdjustment().c_str());
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//RegistrationIcp
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@@ -1678,6 +1681,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->stereo_maxDisparity->setObjectName(Parameters::kStereoMaxDisparity().c_str());
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_ui->stereo_ssd->setObjectName(Parameters::kStereoSSD().c_str());
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_ui->stereo_flow_eps->setObjectName(Parameters::kStereoEps().c_str());
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_ui->stereo_flow_useMinEigenVals->setObjectName(Parameters::kStereoUseMinEigenVals().c_str());
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_ui->stereo_flow_minEigThreshold->setObjectName(Parameters::kStereoMinEigThreshold().c_str());
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_ui->stereo_flow_errorThreshold->setObjectName(Parameters::kStereoErrorThreshold().c_str());
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_ui->stereo_opticalFlow->setObjectName(Parameters::kStereoOpticalFlow().c_str());
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_ui->stereo_flow_gpu->setObjectName(Parameters::kStereoGpu().c_str());
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@@ -95,7 +95,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>10</number>
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<number>24</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
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@@ -16425,7 +16425,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<item>
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<widget class="QStackedWidget" name="stackedWidget_odometryType">
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<property name="currentIndex">
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<number>13</number>
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<number>1</number>
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</property>
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<widget class="QWidget" name="page_52">
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<layout class="QVBoxLayout" name="verticalLayout_77">
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@@ -16965,6 +16965,22 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>[Visual] Correspondences computation: Optical Flow</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_52" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QSpinBox" name="odom_flow_winSize">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>999999</number>
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</property>
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<property name="singleStep">
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<number>1</number>
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</property>
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<property name="value">
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<number>21</number>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_201">
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<property name="text">
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@@ -16978,19 +16994,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_297">
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<property name="text">
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<string>Max level.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QSpinBox" name="odom_flow_iterations">
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<property name="minimum">
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@@ -17007,19 +17010,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="0" column="0">
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<widget class="QSpinBox" name="odom_flow_winSize">
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<property name="minimum">
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<number>1</number>
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<item row="1" column="1">
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<widget class="QLabel" name="label_295">
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<property name="text">
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<string>Iterations.</string>
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</property>
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<property name="maximum">
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<number>999999</number>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="singleStep">
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<number>1</number>
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</property>
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<property name="value">
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<number>21</number>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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@@ -17042,10 +17042,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_295">
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<item row="2" column="1">
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<widget class="QLabel" name="label_296">
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<property name="text">
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<string>Iterations.</string>
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<string>Epsilon.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -17071,23 +17071,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_296">
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<item row="3" column="1">
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<widget class="QLabel" name="label_297">
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<property name="text">
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<string>Epsilon.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_odom_flow_gpu">
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<property name="text">
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<string>Use GPU. OpenCV built with CUDA required.</string>
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<string>Max level.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -17098,12 +17085,109 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QCheckBox" name="odom_flow_useMinEigenVals">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_792">
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<property name="text">
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<string>Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<widget class="QDoubleSpinBox" name="odom_flow_minEigThreshold">
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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<property name="value">
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<double>0.000100000000000</double>
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<widget class="QLabel" name="label_791">
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<property name="text">
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<string>[Eigen error measure] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<widget class="QDoubleSpinBox" name="odom_flow_errorThreshold">
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>9999.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>1.000000000000000</double>
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</property>
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<property name="value">
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<double>50.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="6" column="1">
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<widget class="QLabel" name="label_793">
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<property name="text">
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<string>[L1 error measure] Filter out features with error greater than this threshold.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="7" column="0">
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<widget class="QCheckBox" name="odom_flow_gpu">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="7" column="1">
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<widget class="QLabel" name="label_odom_flow_gpu">
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<property name="text">
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<string>Use GPU. OpenCV built with CUDA required. Note that the error measure parameter is not used with the GPU implementation.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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@@ -23020,6 +23104,35 @@ Lower the ratio -> higher the precision.</string>
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<string>Motion estimation: 3D to 3D</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_6" columnstretch="0,1">
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<item row="1" column="1">
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<widget class="QLabel" name="label_38">
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<property name="text">
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<string>Refine iterations of the resulting transformation computed by RANSAC. 0 means no refining.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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||||
</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QSpinBox" name="loopClosure_bowRefineIterations">
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<property name="minimum">
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<number>0</number>
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</property>
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<property name="maximum">
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<number>10000</number>
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</property>
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<property name="singleStep">
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<number>1</number>
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</property>
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<property name="value">
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<number>10</number>
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</property>
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</widget>
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</item>
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<item row="0" column="0">
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<widget class="QDoubleSpinBox" name="loopClosure_bowInlierDistance">
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<property name="suffix">
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@@ -23052,34 +23165,18 @@ Lower the ratio -> higher the precision.</string>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QSpinBox" name="loopClosure_bowRefineIterations">
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<property name="minimum">
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<number>0</number>
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||||
<item row="2" column="1">
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<spacer name="verticalSpacer_93">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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<property name="maximum">
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<number>10000</number>
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<property name="sizeHint" stdset="0">
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<size>
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<width>20</width>
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<height>40</height>
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</size>
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</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>10</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
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||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_38">
|
||||
<property name="text">
|
||||
<string>Refine iterations of the resulting transformation computed by RANSAC. 0 means no refining.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
@@ -24566,7 +24663,7 @@ Lower the ratio -> higher the precision.</string>
|
||||
<item>
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||||
<widget class="QStackedWidget" name="stackedWidget_icpStrategy">
|
||||
<property name="currentIndex">
|
||||
<number>2</number>
|
||||
<number>0</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_90">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_156">
|
||||
@@ -25532,10 +25629,17 @@ Lower the ratio -> higher the precision.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_stereo_flow_gpu">
|
||||
<item row="10" column="0">
|
||||
<widget class="QCheckBox" name="stereo_flow_useMinEigenVals">
|
||||
<property name="text">
|
||||
<string>[OpticalFlow = true] Do optical flow on GPU. RTAB-Map should be built with OpenCV CUDA.</string>
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_788">
|
||||
<property name="text">
|
||||
<string>[OpticalFlow = true] Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -25545,13 +25649,90 @@ Lower the ratio -> higher the precision.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<item row="11" column="0">
|
||||
<widget class="QDoubleSpinBox" name="stereo_flow_minEigThreshold">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="1">
|
||||
<widget class="QLabel" name="label_789">
|
||||
<property name="text">
|
||||
<string>[OpticalFlow = true / Eigen error measure] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<widget class="QDoubleSpinBox" name="stereo_flow_errorThreshold">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>9999.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>50.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<widget class="QLabel" name="label_790">
|
||||
<property name="text">
|
||||
<string>[OpticalFlow = true / L1 error measure] Filter out features with error greater than this threshold.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="0">
|
||||
<widget class="QCheckBox" name="stereo_flow_gpu">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="1">
|
||||
<widget class="QLabel" name="label_stereo_flow_gpu">
|
||||
<property name="text">
|
||||
<string>[OpticalFlow = true] Do optical flow on GPU. RTAB-Map should be built with OpenCV CUDA. Note that the error measure parameter is not used with the GPU implementation.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
|
||||
Reference in New Issue
Block a user