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Standalone version: -fixed ICP odometry selection, -install of rtabmap-databaseViewer

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1286 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-04-02 15:51:02 +00:00
parent d3b3c6ca3f
commit 8286919750
5 changed files with 47 additions and 27 deletions
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9
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -77,7 +77,7 @@ public:
kSrcVideo kSrcVideo
}; };
enum OdomTest { enum OdomType {
kOdomBIN, kOdomBIN,
kOdomBOW, kOdomBOW,
kOdomICP kOdomICP
@@ -137,8 +137,7 @@ public:
bool isSourceImageUsed() const; bool isSourceImageUsed() const;
bool isSourceDatabaseUsed() const; bool isSourceDatabaseUsed() const;
bool isSourceOpenniUsed() const; bool isSourceOpenniUsed() const;
bool isSourceOpenniOdometryBIN() const; OdomType getOdometryType() const;
bool isSourceOpenniOdometryBOW() const;
bool getGeneralAutoRestart() const; bool getGeneralAutoRestart() const;
bool getGeneralCameraKeypoints() const; bool getGeneralCameraKeypoints() const;
int getSourceImageType() const; int getSourceImageType() const;
@@ -217,7 +216,7 @@ private slots:
void updateBasicParameter(); void updateBasicParameter();
void openDatabaseViewer(); void openDatabaseViewer();
void cleanOdometryTest(); void cleanOdometryTest();
void testSourceOdometry(); void testOdometry();
protected: protected:
virtual void showEvent ( QShowEvent * event ); virtual void showEvent ( QShowEvent * event );
@@ -252,7 +251,7 @@ private:
void addParameters(const QGroupBox * box); void addParameters(const QGroupBox * box);
QList<QGroupBox*> getGroupBoxes(); QList<QGroupBox*> getGroupBoxes();
void readSettingsBegin(); void readSettingsBegin();
void testOdometry(OdomTest test); void testOdometry(OdomType type);
protected: protected:
rtabmap::ParametersMap _parameters; rtabmap::ParametersMap _parameters;

22
guilib/src/MainWindow.cpp
View File

@@ -1948,14 +1948,21 @@ void MainWindow::startDetection()
delete _odomThread; delete _odomThread;
} }
Odometry * odom; Odometry * odom;
if(_preferencesDialog->isSourceOpenniOdometryBIN()) if(_preferencesDialog->getOdometryType() == PreferencesDialog::kOdomBIN)
{ {
UINFO("Using odometry FAST/BRIEF");
odom = new OdometryBinary(parameters); odom = new OdometryBinary(parameters);
} }
else //BOW else if(_preferencesDialog->getOdometryType() == PreferencesDialog::kOdomBOW)
{ {
UINFO("Using odometry SIFT/SURF");
odom = new OdometryBOW(parameters); odom = new OdometryBOW(parameters);
} }
else
{
UINFO("Using odometry ICP");
odom = new OdometryICP(parameters);
}
_odomThread = new OdometryThread(odom); _odomThread = new OdometryThread(odom);
UEventsManager::addHandler(_odomThread); UEventsManager::addHandler(_odomThread);
@@ -2005,14 +2012,21 @@ void MainWindow::startDetection()
delete _odomThread; delete _odomThread;
} }
Odometry * odom; Odometry * odom;
if(_preferencesDialog->isSourceOpenniOdometryBIN()) if(_preferencesDialog->getOdometryType() == PreferencesDialog::kOdomBIN)
{ {
UINFO("Using odometry FAST/BRIEF");
odom = new OdometryBinary(parameters); odom = new OdometryBinary(parameters);
} }
else //BOW else if(_preferencesDialog->getOdometryType() == PreferencesDialog::kOdomBOW)
{ {
UINFO("Using odometry SIFT/SURF");
odom = new OdometryBOW(parameters); odom = new OdometryBOW(parameters);
} }
else
{
UINFO("Using odometry ICP");
odom = new OdometryICP(parameters);
}
_odomThread = new OdometryThread(odom); _odomThread = new OdometryThread(odom);
UEventsManager::addHandler(_odomThread); UEventsManager::addHandler(_odomThread);

29
guilib/src/PreferencesDialog.cpp
View File

@@ -88,7 +88,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->pushButton_saveConfig, SIGNAL(clicked()), this, SLOT(saveConfigTo())); connect(_ui->pushButton_saveConfig, SIGNAL(clicked()), this, SLOT(saveConfigTo()));
connect(_ui->pushButton_resetConfig, SIGNAL(clicked()), this, SLOT(resetConfig())); connect(_ui->pushButton_resetConfig, SIGNAL(clicked()), this, SLOT(resetConfig()));
connect(_ui->radioButton_basic, SIGNAL(toggled(bool)), this, SLOT(setupTreeView())); connect(_ui->radioButton_basic, SIGNAL(toggled(bool)), this, SLOT(setupTreeView()));
connect(_ui->pushButton_testSourceOdometry, SIGNAL(clicked()), this, SLOT(testSourceOdometry())); connect(_ui->pushButton_testOdometry, SIGNAL(clicked()), this, SLOT(testOdometry()));
// General panel // General panel
connect(_ui->general_checkBox_imagesKept, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel())); connect(_ui->general_checkBox_imagesKept, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
@@ -2367,13 +2367,18 @@ bool PreferencesDialog::isSourceOpenniUsed() const
{ {
return _ui->groupBox_sourceOpenni->isChecked(); return _ui->groupBox_sourceOpenni->isChecked();
} }
bool PreferencesDialog::isSourceOpenniOdometryBOW() const
PreferencesDialog::OdomType PreferencesDialog::getOdometryType() const
{ {
return _ui->odom_type->currentIndex() == 0; if(_ui->odom_type->currentIndex() == 0)
} {
bool PreferencesDialog::isSourceOpenniOdometryBIN() const return kOdomBOW;
{ }
return _ui->odom_type->currentIndex() == 1; else if(_ui->odom_type->currentIndex() == 1)
{
return kOdomBIN;
}
return kOdomICP;
} }
bool PreferencesDialog::getGeneralAutoRestart() const bool PreferencesDialog::getGeneralAutoRestart() const
@@ -2606,7 +2611,7 @@ void PreferencesDialog::setSLAMMode(bool enabled)
} }
} }
void PreferencesDialog::testSourceOdometry() void PreferencesDialog::testOdometry()
{ {
if(_ui->odom_type->currentIndex() == 0) if(_ui->odom_type->currentIndex() == 0)
{ {
@@ -2622,7 +2627,7 @@ void PreferencesDialog::testSourceOdometry()
} }
} }
void PreferencesDialog::testOdometry(OdomTest test) void PreferencesDialog::testOdometry(OdomType type)
{ {
UASSERT(_odomCamera == 0 && _odomThread == 0); UASSERT(_odomCamera == 0 && _odomThread == 0);
@@ -2635,11 +2640,11 @@ void PreferencesDialog::testOdometry(OdomTest test)
{ {
Odometry * odometry; Odometry * odometry;
ParametersMap parameters = this->getAllParameters(); ParametersMap parameters = this->getAllParameters();
if(test == kOdomBIN) if(type == kOdomBIN)
{ {
odometry = new OdometryBinary(parameters); odometry = new OdometryBinary(parameters);
} }
else if(test == kOdomICP) else if(type == kOdomICP)
{ {
odometry = new OdometryICP(parameters); odometry = new OdometryICP(parameters);
} }
@@ -2653,7 +2658,7 @@ void PreferencesDialog::testOdometry(OdomTest test)
QWidget * window = new QWidget(this, Qt::Popup); QWidget * window = new QWidget(this, Qt::Popup);
window->setAttribute(Qt::WA_DeleteOnClose); window->setAttribute(Qt::WA_DeleteOnClose);
window->setWindowFlags(Qt::Dialog); window->setWindowFlags(Qt::Dialog);
window->setWindowTitle(tr("%1 Odometry viewer").arg(test==kOdomBIN?"Binary":"Bag-of-words")); window->setWindowTitle(tr("%1 Odometry viewer").arg(type==kOdomBIN?"Binary":"Bag-of-words"));
window->setMinimumWidth(800); window->setMinimumWidth(800);
window->setMinimumHeight(600); window->setMinimumHeight(600);
connect( window, SIGNAL(destroyed(QObject*)), this, SLOT(cleanOdometryTest()) ); connect( window, SIGNAL(destroyed(QObject*)), this, SLOT(cleanOdometryTest()) );

10
guilib/src/ui/preferencesDialog.ui
View File

@@ -64,8 +64,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>761</width> <width>777</width>
<height>981</height> <height>826</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_16"> <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum> <enum>QFrame::Raised</enum>
</property> </property>
<property name="currentIndex"> <property name="currentIndex">
<number>12</number> <number>15</number>
</property> </property>
<widget class="QWidget" name="page_22"> <widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29"> <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -4919,7 +4919,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="3" column="1"> <item row="3" column="1">
<widget class="QLabel" name="label_147"> <widget class="QLabel" name="label_147">
<property name="text"> <property name="text">
<string>Brute force nerarest neighbor matching. If false, FLANN LSH index is used.</string> <string>Brute force nearest neighbor matching. If false, FLANN LSH index is used.</string>
</property> </property>
<property name="wordWrap"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>
@@ -5138,7 +5138,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item> <item>
<layout class="QHBoxLayout" name="horizontalLayout_5"> <layout class="QHBoxLayout" name="horizontalLayout_5">
<item> <item>
<widget class="QPushButton" name="pushButton_testSourceOdometry"> <widget class="QPushButton" name="pushButton_testOdometry">
<property name="text"> <property name="text">
<string>Test selected odometry</string> <string>Test selected odometry</string>
</property> </property>

4
tools/DatabaseViewer/CMakeLists.txt
View File

@@ -30,4 +30,6 @@ TARGET_LINK_LIBRARIES(databaseViewer rtabmap_core rtabmap_gui rtabmap_utilite ${
SET_TARGET_PROPERTIES( databaseViewer SET_TARGET_PROPERTIES( databaseViewer
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-databaseViewer) PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-databaseViewer)
INSTALL(TARGETS databaseViewer
RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime
BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)