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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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114
guilib/src/ui/DatabaseViewer.ui
View File

@@ -50,8 +50,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>154</width>
<height>184</height>
<width>175</width>
<height>173</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
@@ -236,8 +236,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>154</width>
<height>184</height>
<width>174</width>
<height>173</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
@@ -418,7 +418,7 @@
<x>0</x>
<y>0</y>
<width>1285</width>
<height>22</height>
<height>25</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -441,6 +441,7 @@
<addaction name="actionGenerate_graph_dot"/>
<addaction name="actionGenerate_local_graph_dot"/>
<addaction name="actionGenerate_TORO_graph_graph"/>
<addaction name="actionGenerate_g2o_graph_g2o"/>
<addaction name="separator"/>
<addaction name="actionDetect_more_loop_closures"/>
<addaction name="actionVisual_Refine_all_neighbor_links"/>
@@ -828,15 +829,15 @@
<item>
<widget class="QToolBox" name="toolBox">
<property name="currentIndex">
<number>1</number>
<number>2</number>
</property>
<widget class="QWidget" name="page">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>312</width>
<height>314</height>
<width>314</width>
<height>303</height>
</rect>
</property>
<attribute name="label">
@@ -1055,8 +1056,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>366</width>
<height>361</height>
<width>351</width>
<height>347</height>
</rect>
</property>
<attribute name="label">
@@ -1344,9 +1345,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>330</width>
<height>304</height>
<y>-26</y>
<width>333</width>
<height>333</height>
</rect>
</property>
<attribute name="label">
@@ -1363,14 +1364,14 @@
</property>
</widget>
</item>
<item row="6" column="2">
<item row="7" column="2">
<widget class="QLabel" name="label_48">
<property name="text">
<string>Ignore global loop closures</string>
</property>
</widget>
</item>
<item row="9" column="0">
<item row="10" column="0">
<widget class="QCheckBox" name="checkBox_ignoreUserLoop">
<property name="text">
<string/>
@@ -1419,14 +1420,14 @@
</property>
</widget>
</item>
<item row="5" column="2">
<item row="6" column="2">
<widget class="QLabel" name="label_35">
<property name="text">
<string>Ignore pose correction</string>
</property>
</widget>
</item>
<item row="6" column="0">
<item row="7" column="0">
<widget class="QCheckBox" name="checkBox_ignoreGlobalLoop">
<property name="text">
<string/>
@@ -1436,7 +1437,7 @@
</property>
</widget>
</item>
<item row="5" column="0">
<item row="6" column="0">
<widget class="QCheckBox" name="checkBox_ignorePoseCorrection">
<property name="text">
<string/>
@@ -1446,7 +1447,7 @@
</property>
</widget>
</item>
<item row="8" column="0">
<item row="9" column="0">
<widget class="QCheckBox" name="checkBox_ignoreLocalLoopTime">
<property name="text">
<string/>
@@ -1456,6 +1457,19 @@
</property>
</widget>
</item>
<item row="11" column="0">
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="0" colspan="2">
<widget class="QComboBox" name="comboBox_graphOptimizer">
<property name="sizeAdjustPolicy">
@@ -1471,6 +1485,11 @@
<string>g2o</string>
</property>
</item>
<item>
<property name="text">
<string>GTSAM</string>
</property>
</item>
</widget>
</item>
<item row="2" column="2">
@@ -1480,34 +1499,21 @@
</property>
</widget>
</item>
<item row="9" column="2">
<item row="10" column="2">
<widget class="QLabel" name="label_50">
<property name="text">
<string>Ignore user loop closures</string>
</property>
</widget>
</item>
<item row="7" column="2">
<item row="8" column="2">
<widget class="QLabel" name="label_47">
<property name="text">
<string>Ignore local loop closures (space)</string>
</property>
</widget>
</item>
<item row="10" column="0">
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item row="7" column="0">
<item row="8" column="0">
<widget class="QCheckBox" name="checkBox_ignoreLocalLoopSpace">
<property name="text">
<string/>
@@ -1517,7 +1523,7 @@
</property>
</widget>
</item>
<item row="8" column="2">
<item row="9" column="2">
<widget class="QLabel" name="label_49">
<property name="text">
<string>Ignore local loop closures (time)</string>
@@ -1531,7 +1537,7 @@
</property>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_ignoreCovariance">
<property name="text">
<string/>
@@ -1548,13 +1554,30 @@
</property>
</widget>
</item>
<item row="4" column="2">
<item row="5" column="2">
<widget class="QLabel" name="label_34">
<property name="text">
<string>Ignore covariance</string>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_63">
<property name="text">
<string>Robust optimization</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_robust">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_4">
@@ -1562,8 +1585,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>248</width>
<height>319</height>
<width>243</width>
<height>284</height>
</rect>
</property>
<attribute name="label">
@@ -1757,7 +1780,7 @@
<x>0</x>
<y>0</y>
<width>201</width>
<height>126</height>
<height>117</height>
</rect>
</property>
<attribute name="label">
@@ -1856,8 +1879,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>283</width>
<height>322</height>
<width>285</width>
<height>309</height>
</rect>
</property>
<attribute name="label">
@@ -2301,6 +2324,11 @@
<string>Reset all changes</string>
</property>
</action>
<action name="actionGenerate_g2o_graph_g2o">
<property name="text">
<string>Generate g2o graph (*.g2o)...</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>

35
guilib/src/ui/aboutDialog.ui
View File

@@ -82,6 +82,13 @@ p, li { white-space: pre-wrap; }
</item>
<item>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
<item row="10" column="0">
<widget class="QLabel" name="label_12">
<property name="text">
<string>With Freenect :</string>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QLabel" name="label_13">
<property name="text">
@@ -205,13 +212,6 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QLabel" name="label_12">
<property name="text">
<string>With Freenect :</string>
</property>
</widget>
</item>
<item row="15" column="0">
<widget class="QLabel" name="label_14">
<property name="text">
@@ -293,14 +293,14 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="16" column="0">
<item row="17" column="0">
<widget class="QLabel" name="label_18">
<property name="text">
<string>With cvsba :</string>
</property>
</widget>
</item>
<item row="16" column="1">
<item row="17" column="1">
<widget class="QLabel" name="label_cvsba">
<property name="text">
<string/>
@@ -310,6 +310,23 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="16" column="0">
<widget class="QLabel" name="label_19">
<property name="text">
<string>With GTSAM :</string>
</property>
</widget>
</item>
<item row="16" column="1">
<widget class="QLabel" name="label_gtsam">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>

8
guilib/src/ui/mainWindow.ui
View File

@@ -27,7 +27,7 @@
<x>0</x>
<y>0</y>
<width>1012</width>
<height>22</height>
<height>25</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -64,6 +64,7 @@
<addaction name="actionRGBD_SLAM_format_txt"/>
<addaction name="actionKITTI_format_txt"/>
<addaction name="actionTORO_graph"/>
<addaction name="actionG2o_g2o"/>
</widget>
<addaction name="actionOpen_working_directory"/>
<addaction name="actionDump_the_memory"/>
@@ -1259,6 +1260,11 @@
<string>Raw format (*.txt)</string>
</property>
</action>
<action name="actionG2o_g2o">
<property name="text">
<string>g2o (*.g2o)</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>

41
guilib/src/ui/preferencesDialog.ui
View File

@@ -64,8 +64,8 @@
<rect>
<x>0</x>
<y>-392</y>
<width>755</width>
<height>1591</height>
<width>760</width>
<height>1570</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>3</number>
<number>19</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -6553,6 +6553,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<string>g2o</string>
</property>
</item>
<item>
<property name="text">
<string>GTSAM</string>
</property>
</item>
</widget>
</item>
<item row="1" column="0">
@@ -6575,14 +6580,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="6" column="0">
<item row="7" column="0">
<widget class="QCheckBox" name="graphOptimization_fromGraphEnd">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_151">
<property name="text">
<string>Optimize graph from the newest node.</string>
@@ -6595,7 +6600,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="1">
<item row="6" column="1">
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@@ -6632,7 +6637,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" column="1">
<item row="9" column="1">
<widget class="QLabel" name="label_183">
<property name="text">
<string>-If false, the graph is optimized from the oldest node of the current graph. It can be useful to preserve the map referential from the oldest node. An odometry correction between frames /map to /odom is computed. Warning: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).</string>
@@ -6645,7 +6650,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="1">
<item row="8" column="1">
<widget class="QLabel" name="label_211">
<property name="text">
<string>-If true, there is no odometry correction computed. All previous poses in the map are corrected instead, not the last one (which corresponds to latest odometry value). So, the transform between frames /map to /odom will be always Identity even on loop closures.</string>
@@ -6710,6 +6715,26 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="graphOptimization_robust">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_258">
<property name="text">
<string>Robust graph optimization using Vertigo (only for g2o and GTSAM optimization strategies). This approach can filter wrong loop closure detections.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>