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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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36
guilib/src/PreferencesDialog.cpp
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@@ -56,7 +56,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/CameraStereo.h"
#include "rtabmap/core/Memory.h"
#include "rtabmap/core/VWDictionary.h"
#include "rtabmap/core/Graph.h"
#include "rtabmap/core/Optimizer.h"
#include "rtabmap/core/DBReader.h"
#include "rtabmap/gui/LoopClosureViewer.h"
@@ -163,15 +163,15 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->reextract_type->setItemData(6, 0, Qt::UserRole - 1);
#endif
}
if(!graph::G2OOptimizer::available())
if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
{
_ui->graphOptimization_type->setItemData(1, 0, Qt::UserRole - 1);
}
if(!graph::GTSAMOptimizer::available())
if(!Optimizer::isAvailable(Optimizer::kTypeGTSAM))
{
_ui->graphOptimization_type->setItemData(2, 0, Qt::UserRole - 1);
}
if(!graph::G2OOptimizer::available() && !graph::GTSAMOptimizer::available())
if(!Optimizer::isAvailable(Optimizer::kTypeG2O) && !Optimizer::isAvailable(Optimizer::kTypeGTSAM))
{
_ui->graphOptimization_robust->setEnabled(false);
}
@@ -596,14 +596,14 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->odomScanHistory->setObjectName(Parameters::kRGBDNeighborLinkRefining().c_str());
_ui->spinBox_maxLocalLocationsRetrieved->setObjectName(Parameters::kRGBDMaxLocalRetrieved().c_str());
_ui->graphOptimization_type->setObjectName(Parameters::kRGBDOptimizeStrategy().c_str());
_ui->graphOptimization_slam2d->setObjectName(Parameters::kRGBDOptimizeSlam2D().c_str());
_ui->graphOptimization_iterations->setObjectName(Parameters::kRGBDOptimizeIterations().c_str());
_ui->graphOptimization_covarianceIgnored->setObjectName(Parameters::kRGBDOptimizeVarianceIgnored().c_str());
_ui->graphOptimization_type->setObjectName(Parameters::kOptimizerStrategy().c_str());
_ui->graphOptimization_slam2d->setObjectName(Parameters::kOptimizerSlam2D().c_str());
_ui->graphOptimization_iterations->setObjectName(Parameters::kOptimizerIterations().c_str());
_ui->graphOptimization_covarianceIgnored->setObjectName(Parameters::kOptimizerVarianceIgnored().c_str());
_ui->graphOptimization_fromGraphEnd->setObjectName(Parameters::kRGBDOptimizeFromGraphEnd().c_str());
_ui->graphOptimization_maxError->setObjectName(Parameters::kRGBDOptimizeMaxError().c_str());
_ui->graphOptimization_stopEpsilon->setObjectName(Parameters::kRGBDOptimizeEpsilon().c_str());
_ui->graphOptimization_robust->setObjectName(Parameters::kRGBDOptimizeRobust().c_str());
_ui->graphOptimization_stopEpsilon->setObjectName(Parameters::kOptimizerEpsilon().c_str());
_ui->graphOptimization_robust->setObjectName(Parameters::kOptimizerRobust().c_str());
_ui->graphPlan_goalReachedRadius->setObjectName(Parameters::kRGBDGoalReachedRadius().c_str());
_ui->graphPlan_goalsSavedInUserData->setObjectName(Parameters::kRGBDGoalsSavedInUserData().c_str());
@@ -1915,24 +1915,24 @@ bool PreferencesDialog::validateForm()
}
// optimization strategy
if(!graph::G2OOptimizer::available())
if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
{
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 "
"with g2o. TORO is set instead for graph optimization strategy."));
_ui->graphOptimization_type->setCurrentIndex(graph::Optimizer::kTypeTORO);
_ui->graphOptimization_type->setCurrentIndex(Optimizer::kTypeTORO);
}
}
if(!graph::GTSAMOptimizer::available())
if(!Optimizer::isAvailable(Optimizer::kTypeGTSAM))
{
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);
_ui->graphOptimization_type->setCurrentIndex(Optimizer::kTypeTORO);
}
}
@@ -2613,9 +2613,9 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
ok = false;
}
}
if(!graph::G2OOptimizer::available())
if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
{
if(valueInt==1 && combo->objectName().toStdString().compare(Parameters::kRGBDOptimizeStrategy()) == 0)
if(valueInt==1 && combo->objectName().toStdString().compare(Parameters::kOptimizerStrategy()) == 0)
{
UWARN("Trying to set \"%s\" to g2o but RTAB-Map isn't built "
"with g2o. Keeping default combo value: %s.",
@@ -2624,9 +2624,9 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
ok = false;
}
}
if(!graph::GTSAMOptimizer::available())
if(!Optimizer::isAvailable(Optimizer::kTypeGTSAM))
{
if(valueInt==2 && combo->objectName().toStdString().compare(Parameters::kRGBDOptimizeStrategy()) == 0)
if(valueInt==2 && combo->objectName().toStdString().compare(Parameters::kOptimizerStrategy()) == 0)
{
UWARN("Trying to set \"%s\" to GTSAM but RTAB-Map isn't built "
"with GTSAM. Keeping default combo value: %s.",