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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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63
guilib/src/PreferencesDialog.cpp
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@@ -176,6 +176,14 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
{
_ui->graphOptimization_type->setItemData(1, 0, Qt::UserRole - 1);
}
if(!graph::GTSAMOptimizer::available())
{
_ui->graphOptimization_type->setItemData(2, 0, Qt::UserRole - 1);
}
if(!graph::G2OOptimizer::available() && !graph::GTSAMOptimizer::available())
{
_ui->graphOptimization_robust->setEnabled(false);
}
if(!CameraOpenni::available())
{
_ui->comboBox_cameraRGBD->setItemData(0, 0, Qt::UserRole - 1);
@@ -571,6 +579,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->graphOptimization_covarianceIgnored->setObjectName(Parameters::kRGBDOptimizeVarianceIgnored().c_str());
_ui->graphOptimization_fromGraphEnd->setObjectName(Parameters::kRGBDOptimizeFromGraphEnd().c_str());
_ui->graphOptimization_stopEpsilon->setObjectName(Parameters::kRGBDOptimizeEpsilon().c_str());
_ui->graphOptimization_robust->setObjectName(Parameters::kRGBDOptimizeRobust().c_str());
_ui->graphPlan_goalReachedRadius->setObjectName(Parameters::kRGBDGoalReachedRadius().c_str());
_ui->graphPlan_planWithNearNodesLinked->setObjectName(Parameters::kRGBDPlanVirtualLinks().c_str());
@@ -1854,7 +1863,7 @@ bool PreferencesDialog::validateForm()
// optimization strategy
if(!graph::G2OOptimizer::available())
{
if(_ui->graphOptimization_type->currentIndex() > 0)
if(_ui->graphOptimization_type->currentIndex() == 1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected graph optimization strategy (g2o) is not available. RTAB-Map is not built "
@@ -1862,6 +1871,16 @@ bool PreferencesDialog::validateForm()
_ui->graphOptimization_type->setCurrentIndex(graph::Optimizer::kTypeTORO);
}
}
if(!graph::GTSAMOptimizer::available())
{
if(_ui->graphOptimization_type->currentIndex() == 2)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected graph optimization strategy (GTSAM) is not available. RTAB-Map is not built "
"with GTSAM. TORO is set instead for graph optimization strategy."));
_ui->graphOptimization_type->setCurrentIndex(graph::Optimizer::kTypeTORO);
}
}
//verify binary features and nearest neighbor
// BOW dictionary type
@@ -2487,6 +2506,17 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
ok = false;
}
}
if(!graph::GTSAMOptimizer::available())
{
if(valueInt==2 && combo->objectName().toStdString().compare(Parameters::kRGBDOptimizeStrategy()) == 0)
{
UWARN("Trying to set \"%s\" to GTSAM but RTAB-Map isn't built "
"with GTSAM. Keeping default combo value: %s.",
combo->objectName().toStdString().c_str(),
combo->currentText().toStdString().c_str());
ok = false;
}
}
if(ok)
{
combo->setCurrentIndex(valueInt);
@@ -2650,6 +2680,22 @@ void PreferencesDialog::addParameter(const QObject * object, int value)
this->addParameters(_ui->groupBox_loopClosure_icp2);
}
}
else if(comboBox == _ui->loopClosure_estimationType)
{
this->addParameters(_ui->stackedWidget_loopClosureEstimation, _ui->loopClosure_estimationType->currentIndex());
}
else if(comboBox == _ui->odom_estimationType)
{
this->addParameters(_ui->stackedWidget_odomEstimation, _ui->stackedWidget_odomEstimation->currentIndex());
}
else if(comboBox == _ui->graphOptimization_type)
{
this->addParameter(_ui->graphOptimization_iterations, _ui->graphOptimization_iterations->value());
this->addParameter(_ui->graphOptimization_covarianceIgnored, _ui->graphOptimization_covarianceIgnored->isChecked());
this->addParameter(_ui->graphOptimization_slam2d, _ui->graphOptimization_slam2d->isChecked());
this->addParameter(_ui->graphOptimization_stopEpsilon, _ui->graphOptimization_stopEpsilon->value());
this->addParameter(_ui->graphOptimization_robust, _ui->graphOptimization_robust->isChecked());
}
}
// Add parameter
_parameters.insert(rtabmap::ParametersPair(object->objectName().toStdString(), QString::number(value).toStdString()));
@@ -2816,13 +2862,22 @@ void PreferencesDialog::addParameters(const QObjectList & children)
}
}
void PreferencesDialog::addParameters(const QStackedWidget * stackedWidget)
void PreferencesDialog::addParameters(const QStackedWidget * stackedWidget, int panel)
{
if(stackedWidget)
{
for(int i=0; i<stackedWidget->count(); ++i)
if(panel == -1)
{
const QObjectList & children = stackedWidget->widget(i)->children();
for(int i=0; i<stackedWidget->count(); ++i)
{
const QObjectList & children = stackedWidget->widget(i)->children();
addParameters(children);
}
}
else
{
UASSERT(panel<stackedWidget->count());
const QObjectList & children = stackedWidget->widget(panel)->children();
addParameters(children);
}
}