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Implemented OptimizerG2O::optimimzeBA(). Updated PostProcessingDialog (g2o sba option). Fixed words descriptors not filled in rtabmap::getMap3D(). CameraModelD(): return 5 null coeff distorsions if not set

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matlabbe
2016-03-28 18:19:17 -04:00
parent 18759e7197
commit 8030d89634
16 changed files with 556 additions and 293 deletions
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139
guilib/src/ui/postProcessingDialog.ui
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@@ -87,26 +87,6 @@
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Re-extract features</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="reextractFeatures">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_6">
<property name="text">
@@ -201,72 +181,7 @@
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_8">
<property name="text">
<string>Iterations</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_10">
<property name="text">
<string>Inlier distance of corresponding 3D words</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="sba_minInlierDistance">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.020000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_11">
<property name="text">
<string>Minimum inliers</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="sba_minInliers">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
<item row="0" column="0">
<item row="1" column="0">
<widget class="QSpinBox" name="sba_iterations">
<property name="minimum">
<number>1</number>
@@ -279,17 +194,21 @@
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Stop optimizing when the error improvement is less than this value.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_sbaType">
<item>
<property name="text">
<string>g2o</string>
</property>
</item>
<item>
<property name="text">
<string>cvsba</string>
</property>
</item>
</widget>
</item>
<item row="1" column="0">
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="sba_epsilon">
<property name="suffix">
<string/>
@@ -311,6 +230,36 @@
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_8">
<property name="text">
<string>Iterations</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Stop optimizing when the error improvement is less than this value.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_10">
<property name="text">
<string>Type</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>