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Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.

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This commit is contained in:
matlabbe
2015-09-02 17:51:43 -04:00
parent a2b9c9f9a0
commit 7a721105ae
40 changed files with 2125 additions and 158 deletions
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12
guilib/src/MainWindow.cpp
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@@ -308,6 +308,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionRGBD_SLAM_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesRGBDSLAM()));
connect(_ui->actionKITTI_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesKITTI()));
connect(_ui->actionTORO_graph, SIGNAL(triggered()), this , SLOT(exportPosesTORO()));
connect(_ui->actionG2o_g2o, SIGNAL(triggered()), this , SLOT(exportPosesG2O()));
_ui->actionG2o_g2o->setVisible(graph::G2OOptimizer::available());
connect(_ui->actionDelete_memory, SIGNAL(triggered()), this , SLOT(deleteMemory()));
connect(_ui->actionDownload_all_clouds, SIGNAL(triggered()), this , SLOT(downloadAllClouds()));
connect(_ui->actionDownload_graph, SIGNAL(triggered()), this , SLOT(downloadPoseGraph()));
@@ -3178,6 +3180,10 @@ void MainWindow::exportPosesTORO()
{
exportPoses(3);
}
void MainWindow::exportPosesG2O()
{
exportPoses(4);
}
void MainWindow::exportPoses(int format)
{
@@ -3215,14 +3221,14 @@ void MainWindow::exportPoses(int format)
if(_exportPosesFileName[format].isEmpty())
{
_exportPosesFileName[format] = _preferencesDialog->getWorkingDirectory() + QDir::separator() + (format==3?"toro.graph":"poses.txt");
_exportPosesFileName[format] = _preferencesDialog->getWorkingDirectory() + QDir::separator() + (format==3?"toro.graph":format==4?"poses.g2o":"poses.txt");
}
QString path = QFileDialog::getSaveFileName(
this,
tr("Save File"),
_exportPosesFileName[format],
format == 3?tr("TORO file (*.graph)"):tr("Text file (*.txt)"));
format == 3?tr("TORO file (*.graph)"):format==4?tr("g2o file (*.g2o)"):tr("Text file (*.txt)"));
if(!path.isEmpty())
{
@@ -3233,7 +3239,7 @@ void MainWindow::exportPoses(int format)
_ui->dockWidget_console->show();
_ui->widget_console->appendMsg(
QString("%1 saved (global=%2, optimized=%3)... %4")
.arg(format == 3?"TORO graph":"Poses")
.arg(format == 3?"TORO graph":format == 4?"g2o graph":"Poses")
.arg(global?"true":"false")
.arg(optimized?"true":"false")
.arg(_exportPosesFileName[format]));