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Refactoring: Split all graph optimization approaches in multiple files

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This commit is contained in:
matlabbe
2015-11-27 11:09:39 -05:00
parent 93326ab1fe
commit 7d35906398
23 changed files with 2373 additions and 1958 deletions
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15
guilib/src/MainWindow.cpp
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@@ -94,6 +94,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/util3d_mapping.h"
#include "rtabmap/core/util3d_surface.h"
#include "rtabmap/core/util3d_registration.h"
#include "rtabmap/core/Optimizer.h"
#include "rtabmap/core/OptimizerCVSBA.h"
#include "rtabmap/core/Graph.h"
#include "rtabmap/core/RegistrationIcp.h"
#include <pcl/visualization/cloud_viewer.h>
@@ -310,7 +312,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
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());
_ui->actionG2o_g2o->setVisible(Optimizer::isAvailable(Optimizer::kTypeG2O));
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()));
@@ -3420,7 +3422,7 @@ void MainWindow::postProcessing()
_initProgressDialog->show();
ParametersMap parameters = _preferencesDialog->getAllParameters();
graph::Optimizer * optimizer = graph::Optimizer::create(parameters);
Optimizer * optimizer = Optimizer::create(parameters);
bool optimizeFromGraphEnd = Parameters::defaultRGBDOptimizeFromGraphEnd();
Parameters::parse(parameters, Parameters::kRGBDOptimizeFromGraphEnd(), optimizeFromGraphEnd);
@@ -3436,7 +3438,7 @@ void MainWindow::postProcessing()
_initProgressDialog->appendText(tr("Looking for more loop closures, clustering poses... (iteration=%1/%2, radius=%3 m angle=%4 degrees)")
.arg(n+1).arg(detectLoopClosureIterations).arg(clusterRadius).arg(clusterAngle));
std::multimap<int, int> clusters = rtabmap::graph::radiusPosesClustering(
std::multimap<int, int> clusters = graph::radiusPosesClustering(
_currentPosesMap,
clusterRadius,
clusterAngle*CV_PI/180.0);
@@ -3634,6 +3636,7 @@ void MainWindow::postProcessing()
if(sba)
{
UASSERT(OptimizerCVSBA::available());
_initProgressDialog->appendText(tr("SBA (%1 nodes, %2 constraints, %3 iterations)...")
.arg(optimizedPoses.size()).arg(linksOut.size()).arg(sbaIterations));
QApplication::processEvents();
@@ -3641,9 +3644,9 @@ void MainWindow::postProcessing()
QApplication::processEvents();
ParametersMap parametersSBA = _preferencesDialog->getAllParameters();
uInsert(parametersSBA, std::make_pair(Parameters::kRGBDOptimizeIterations(), uNumber2Str(sbaIterations)));
uInsert(parametersSBA, std::make_pair(Parameters::kRGBDOptimizeEpsilon(), uNumber2Str(sbaEpsilon)));
graph::CVSBAOptimizer cvsba = graph::CVSBAOptimizer(parametersSBA);
uInsert(parametersSBA, std::make_pair(Parameters::kOptimizerIterations(), uNumber2Str(sbaIterations)));
uInsert(parametersSBA, std::make_pair(Parameters::kOptimizerEpsilon(), uNumber2Str(sbaEpsilon)));
OptimizerCVSBA cvsba = OptimizerCVSBA(parametersSBA);
cvsba.setInlierDistance(sbaInlierDistance);
cvsba.setMinInliers(sbaMinInliers);
std::map<int, Transform> newPoses = cvsba.optimizeBA(0, optimizedPoses, linksOut, _cachedSignatures.toStdMap());