mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Refactored Odometry class:
-new odometry parameters -new Optical flow strategy -Stereo data support Refactored SensorData class to support stereo images Updated default parameters (mostly odometry ones) util3d: new methods to handle/reconstruct 3D clouds from disparity image / stereo images PreferencesDialog: added Odometry/BOW and Odometry/OpticalFLow panels. DatabaseViewer: fixed a crash when database is empty. Added cloud reconstruction of stereo images if saved in database Camera: added 1 second delay to avoid dark images at the starting git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1849 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -189,7 +189,7 @@ public:
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bool isStatisticsPublished() const;
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double getLoopThr() const;
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double getVpThr() const;
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double getExpThr() const;
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int getOdomStrategy() const;
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//
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void setMonitoringState(bool monitoringState) {_monitoringState = monitoringState;}
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@@ -74,7 +74,6 @@ CloudViewer::CloudViewer(QWidget *parent) :
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_menu(0),
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_trajectory(new pcl::PointCloud<pcl::PointXYZ>),
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_maxTrajectorySize(100),
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_lastPose(Transform::getIdentity()),
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_workingDirectory(".")
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{
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this->setMinimumSize(200, 200);
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@@ -438,6 +437,7 @@ void CloudViewer::clearTrajectory()
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{
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_trajectory->clear();
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_visualizer->removeShape("trajectory");
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_lastPose.setNull();
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this->render();
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}
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@@ -502,8 +502,13 @@ void CloudViewer::updateCameraPosition(const Transform & pose)
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_visualizer->addPolylineFromPolygonMesh(mesh, "trajectory");
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}
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if(pose != _lastPose)
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if(pose != _lastPose || _lastPose.isNull())
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{
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if(_lastPose.isNull())
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{
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_lastPose.setIdentity();
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}
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std::vector<pcl::visualization::Camera> cameras;
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_visualizer->getCameras(cameras);
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@@ -139,7 +139,7 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
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connect(ui_->checkBox_initGuess, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
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ui_->constraintsViewer->setCameraLockZ(false);
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ui_->constraintsViewer->updateCameraPosition(Transform::getIdentity());
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}
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DatabaseViewer::~DatabaseViewer()
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@@ -470,9 +470,11 @@ void DatabaseViewer::updateIds()
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ui_->horizontalSlider_neighbors->setEnabled(false);
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}
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updateLoopClosuresSlider();
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updateGraphView();
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if(ids_.size())
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{
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updateLoopClosuresSlider();
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updateGraphView();
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}
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}
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void DatabaseViewer::generateGraph()
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@@ -769,12 +771,35 @@ void DatabaseViewer::view3DMap()
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
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cv::Mat imageMat = rtabmap::util3d::uncompressImage(image);
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cv::Mat depthMat = rtabmap::util3d::uncompressImage(depth);
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cloud = rtabmap::util3d::cloudFromDepthRGB(
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UASSERT(imageMat.empty() || imageMat.type()==CV_8UC3 || imageMat.type() == CV_8UC1);
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UASSERT(depthMat.empty() || depthMat.type()==CV_8UC1 || depthMat.type() == CV_16UC1 || depthMat.type() == CV_32FC1);
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if(depthMat.type() == CV_8UC1)
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{
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cv::Mat leftImg;
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if(imageMat.channels() == 3)
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{
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cv::cvtColor(imageMat, leftImg, CV_BGR2GRAY);
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}
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else
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{
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leftImg = imageMat;
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}
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cloud = rtabmap::util3d::cloudFromDisparityRGB(
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imageMat,
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depthMat,
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util3d::disparityFromStereoImages(leftImg, depthMat),
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cx, cy,
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fx, fy,
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decimation);
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}
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else
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{
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cloud = rtabmap::util3d::cloudFromDepthRGB(
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imageMat,
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depthMat,
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cx, cy,
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fx, fy,
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decimation);
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}
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if(maxDepth)
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{
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@@ -872,12 +897,35 @@ void DatabaseViewer::generate3DMap()
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
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cv::Mat imageMat = rtabmap::util3d::uncompressImage(image);
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cv::Mat depthMat = rtabmap::util3d::uncompressImage(depth);
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cloud = rtabmap::util3d::cloudFromDepthRGB(
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UASSERT(imageMat.empty() || imageMat.type()==CV_8UC3 || imageMat.type() == CV_8UC1);
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UASSERT(depthMat.empty() || depthMat.type()==CV_8UC1 || depthMat.type() == CV_16UC1 || depthMat.type() == CV_32FC1);
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if(depthMat.type() == CV_8UC1)
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{
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cv::Mat leftImg;
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if(imageMat.channels() == 3)
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{
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cv::cvtColor(imageMat, leftImg, CV_BGR2GRAY);
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}
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else
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{
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leftImg = imageMat;
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}
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cloud = rtabmap::util3d::cloudFromDisparityRGB(
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imageMat,
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depthMat,
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util3d::disparityFromStereoImages(leftImg, depthMat),
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cx, cy,
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fx, fy,
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decimation);
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}
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else
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{
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cloud = rtabmap::util3d::cloudFromDepthRGB(
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imageMat,
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depthMat,
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cx, cy,
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fx, fy,
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decimation);
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}
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if(maxDepth)
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{
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@@ -1316,6 +1364,8 @@ void DatabaseViewer::updateConstraintView(const rtabmap::Link & link)
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cv::Mat imageA = rtabmap::util3d::uncompressImage(imageBytesA);
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cv::Mat depthA = rtabmap::util3d::uncompressImage(depthBytesA);
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cv::Mat depth2dA = rtabmap::util3d::uncompressData(depth2dBytesA);
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UASSERT(imageA.empty() || imageA.type()==CV_8UC3 || imageA.type() == CV_8UC1);
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UASSERT(depthA.empty() || depthA.type()==CV_8UC1 || depthA.type() == CV_16UC1 || depthA.type() == CV_32FC1);
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std::vector<unsigned char> imageBytesB, depthBytesB, depth2dBytesB;
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memory_->getImageDepth(link.to(), imageBytesB, depthBytesB, depth2dBytesB, fxB, fyB, cxB, cyB, localTransformB);
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@@ -1325,23 +1375,66 @@ void DatabaseViewer::updateConstraintView(const rtabmap::Link & link)
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//cloud 3d
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudA;
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cloudA = rtabmap::util3d::cloudFromDepthRGB(
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imageA,
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depthA,
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cxA, cyA,
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fxA, fyA,
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1);
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if(depthA.type() == CV_8UC1)
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{
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cv::Mat leftImg;
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if(imageA.channels() == 3)
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{
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cv::cvtColor(imageA, leftImg, CV_BGR2GRAY);
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}
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else
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{
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leftImg = imageA;
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}
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cv::Mat disparity = util3d::disparityFromStereoImages(leftImg, depthA);
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cloudA = rtabmap::util3d::cloudFromDisparityRGB(
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imageA,
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disparity,
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cxA, cyA,
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fxA, fyA,
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1);
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}
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else
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{
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cloudA = rtabmap::util3d::cloudFromDepthRGB(
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imageA,
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depthA,
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cxA, cyA,
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fxA, fyA,
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1);
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}
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cloudA = rtabmap::util3d::removeNaNFromPointCloud(cloudA);
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cloudA = rtabmap::util3d::transformPointCloud(cloudA, localTransformA);
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudB;
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cloudB = rtabmap::util3d::cloudFromDepthRGB(
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imageB,
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depthB,
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cxB, cyB,
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fxB, fyB,
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1);
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if(depthB.type() == CV_8UC1)
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{
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cv::Mat leftImg;
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if(imageB.channels() == 3)
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{
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cv::cvtColor(imageB, leftImg, CV_BGR2GRAY);
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}
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else
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{
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leftImg = imageB;
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}
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cloudB = rtabmap::util3d::cloudFromDisparityRGB(
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imageB,
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util3d::disparityFromStereoImages(leftImg, depthB),
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cxB, cyB,
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fxB, fyB,
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1);
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}
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else
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{
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cloudB = rtabmap::util3d::cloudFromDepthRGB(
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imageB,
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depthB,
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cxB, cyB,
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fxB, fyB,
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1);
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}
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cloudB = rtabmap::util3d::removeNaNFromPointCloud(cloudB);
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cloudB = rtabmap::util3d::transformPointCloud(cloudB, t*localTransformB);
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@@ -603,18 +603,18 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, int quality,
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if(data.depth().cols == data.image().cols &&
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data.depth().rows == data.image().rows &&
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!data.depth().empty() &&
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data.depthFx() > 0.0f &&
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data.depthFy() > 0.0f &&
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data.fx() > 0.0f &&
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data.fy() > 0.0f &&
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_preferencesDialog->isCloudsShown(1))
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{
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
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cloud = createCloud(0,
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data.image(),
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data.depth(),
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data.depthFx(),
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data.depthFy(),
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data.depthCx(),
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data.depthCy(),
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data.fx(),
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data.fy(),
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data.cx(),
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data.cy(),
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data.localTransform(),
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pose,
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_preferencesDialog->getCloudVoxelSize(1),
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@@ -2084,7 +2084,15 @@ void MainWindow::startDetection()
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UERROR("OdomThread must be already deleted here?!");
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delete _odomThread;
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}
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Odometry * odom = new OdometryBOW(parameters);
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Odometry * odom;
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if(_preferencesDialog->getOdomStrategy() == 1)
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{
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odom = new OdometryOpticalFlow(parameters);
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}
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else
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{
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odom = new OdometryBOW(parameters);
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}
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_odomThread = new OdometryThread(odom);
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UEventsManager::addHandler(_odomThread);
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@@ -2179,7 +2187,15 @@ void MainWindow::startDetection()
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UERROR("OdomThread must be already deleted here?!");
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delete _odomThread;
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}
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Odometry * odom = new OdometryBOW(parameters);
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Odometry * odom;
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if(_preferencesDialog->getOdomStrategy() == 1)
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{
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odom = new OdometryOpticalFlow(parameters);
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}
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else
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{
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odom = new OdometryBOW(parameters);
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}
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_odomThread = new OdometryThread(odom);
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UEventsManager::addHandler(_odomThread);
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@@ -91,7 +91,7 @@ void OdometryViewer::processData()
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}
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dataMutex_.unlock();
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if(!data.image().empty() && !data.depth().empty() && data.depthFx()>0.0f && data.depthFy()>0.0f && this->isVisible())
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if(!data.image().empty() && !data.depth().empty() && data.fx()>0.0f && data.fy()>0.0f && this->isVisible())
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{
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UDEBUG("New pose = %s, quality=%d", data.pose().prettyPrint().c_str(), quality);
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@@ -101,8 +101,8 @@ void OdometryViewer::processData()
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cloud = util3d::cloudFromDepthRGB(
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data.image(),
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data.depth(),
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data.depthCx(), data.depthCy(),
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data.depthFx(), data.depthFy(),
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data.cx(), data.cy(),
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data.fx(), data.fy(),
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decimation_);
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if(voxelSize_ > 0.0f)
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@@ -453,19 +453,33 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->loopClosure_icp2Voxel->setObjectName(Parameters::kLccIcp2VoxelSize().c_str());
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//Odometry
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_ui->odom_type->setObjectName(Parameters::kOdomType().c_str());
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_ui->odom_strategy->setObjectName(Parameters::kOdomStrategy().c_str());
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_ui->odom_type->setObjectName(Parameters::kOdomFeatureType().c_str());
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_ui->odom_linearUpdate->setObjectName(Parameters::kOdomLinearUpdate().c_str());
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_ui->odom_angularUpdate->setObjectName(Parameters::kOdomAngularUpdate().c_str());
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_ui->odom_countdown->setObjectName(Parameters::kOdomResetCountdown().c_str());
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_ui->odom_localHistory->setObjectName(Parameters::kOdomLocalHistory().c_str());
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_ui->odom_maxFeatures->setObjectName(Parameters::kOdomMaxWords().c_str());
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_ui->odom_maxFeatures->setObjectName(Parameters::kOdomMaxFeatures().c_str());
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_ui->odom_ratio->setObjectName(Parameters::kOdomFeaturesRatio().c_str());
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_ui->odom_inlierDistance->setObjectName(Parameters::kOdomInlierDistance().c_str());
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_ui->odom_iterations->setObjectName(Parameters::kOdomIterations().c_str());
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_ui->odom_maxDepth->setObjectName(Parameters::kOdomMaxDepth().c_str());
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_ui->odom_minInliers->setObjectName(Parameters::kOdomMinInliers().c_str());
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_ui->odom_ratio->setObjectName(Parameters::kOdomWordsRatio().c_str());
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_ui->odom_bin_nn->setObjectName(Parameters::kOdomNearestNeighbor().c_str());
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_ui->odom_bin_nndrRatio->setObjectName(Parameters::kOdomNNDR().c_str());
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_ui->odom_refine_iterations->setObjectName(Parameters::kOdomRefineIterations().c_str());
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_ui->lineEdit_odom_roi->setObjectName(Parameters::kOdomRoiRatios().c_str());
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//Odometry BOW
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_ui->odom_localHistory->setObjectName(Parameters::kOdomBowLocalHistorySize().c_str());
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_ui->odom_bin_nn->setObjectName(Parameters::kOdomBowNNType().c_str());
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_ui->odom_bin_nndrRatio->setObjectName(Parameters::kOdomBowNNDR().c_str());
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//Odometry Optical Flow
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_ui->odom_flow_winSize->setObjectName(Parameters::kOdomFlowWinSize().c_str());
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_ui->odom_flow_maxLevel->setObjectName(Parameters::kOdomFlowMaxLevel().c_str());
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_ui->odom_flow_iterations->setObjectName(Parameters::kOdomFlowIterations().c_str());
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_ui->odom_flow_eps->setObjectName(Parameters::kOdomFlowEps().c_str());
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_ui->odom_flow_subpix_winSize->setObjectName(Parameters::kOdomFlowSubPixWinSize().c_str());
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_ui->odom_flow_subpix_iterations->setObjectName(Parameters::kOdomFlowSubPixIterations().c_str());
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_ui->odom_flow_subpix_eps->setObjectName(Parameters::kOdomFlowSubPixEps().c_str());
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setupSignals();
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// custom signals
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@@ -2797,6 +2811,10 @@ double PreferencesDialog::getVpThr() const
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{
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return _ui->general_doubleSpinBox_vp->value();
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}
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int PreferencesDialog::getOdomStrategy() const
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{
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return _ui->odom_strategy->currentIndex();
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}
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bool PreferencesDialog::isImagesKept() const
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{
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@@ -2982,7 +3000,15 @@ void PreferencesDialog::testOdometry(int type)
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if(camera)
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{
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ParametersMap parameters = this->getAllParameters();
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Odometry * odometry = new OdometryBOW(parameters);
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Odometry * odometry;
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if(this->getOdomStrategy() == 1)
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{
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odometry = new OdometryOpticalFlow(parameters);
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}
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else
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{
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odometry = new OdometryBOW(parameters);
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}
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||||
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_odomThread = new OdometryThread(odometry); // take ownership of odometry
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||||
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@@ -65,7 +65,7 @@
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<x>0</x>
|
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<y>0</y>
|
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<width>744</width>
|
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<height>974</height>
|
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<height>1019</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_16">
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@@ -86,7 +86,7 @@
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<enum>QFrame::Raised</enum>
|
||||
</property>
|
||||
<property name="currentIndex">
|
||||
<number>1</number>
|
||||
<number>24</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_22">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_29">
|
||||
@@ -3281,7 +3281,7 @@ generate the number of words requested.</string>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_101">
|
||||
<property name="text">
|
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<string>ROI ratios [left, right, top, bottom].</string>
|
||||
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -5832,37 +5832,81 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QFormLayout" name="formLayout_8">
|
||||
<property name="fieldGrowthPolicy">
|
||||
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
|
||||
</property>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label_44">
|
||||
<layout class="QGridLayout" name="gridLayout_27" columnstretch="0,1">
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_47">
|
||||
<property name="text">
|
||||
<string>Feature detector </string>
|
||||
<string>Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QSpinBox" name="odom_localHistory">
|
||||
<item row="0" column="0">
|
||||
<widget class="QComboBox" name="odom_strategy">
|
||||
<property name="sizeAdjustPolicy">
|
||||
<enum>QComboBox::AdjustToContents</enum>
|
||||
</property>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>BOW (bag-of-words)</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Optical Flow</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_46">
|
||||
<property name="text">
|
||||
<string>Angular update: minimum angular distance to update the odometry.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<widget class="QSpinBox" name="odom_refine_iterations">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
<number>10000</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>0</number>
|
||||
<number>10</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_111">
|
||||
<property name="text">
|
||||
<string>Local history size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words. This will decrease odometry drifting when the camera is not moving.</string>
|
||||
<string>Refine iterations of the resulting transformation computed by RANSAC. 0 means no refining.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QSpinBox" name="odom_maxFeatures">
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_136">
|
||||
<property name="text">
|
||||
<string>Max features extracted from the images (0 means inf).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -5870,32 +5914,6 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_linearUpdate">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.015000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_45">
|
||||
<property name="text">
|
||||
<string>Linear update: minimum linear distance to update the odometry.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_angularUpdate">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
@@ -5911,96 +5929,10 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_46">
|
||||
<property name="text">
|
||||
<string>Angular update: minimum angular distance to update the odometry.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QSpinBox" name="odom_countdown">
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_47">
|
||||
<property name="text">
|
||||
<string>Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QSpinBox" name="odom_maxFeatures">
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_136">
|
||||
<property name="text">
|
||||
<string>Max features extracted from the images (0 means inf).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_inlierDistance">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.005000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<item row="8" column="1">
|
||||
<widget class="QLabel" name="label_149">
|
||||
<property name="text">
|
||||
<string>Maximum distance for visual word correspondences. Lower the value, higher the precision but higher the chance of RED screens (odometry lost).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QSpinBox" name="odom_minInliers">
|
||||
<property name="minimum">
|
||||
<number>8</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>10</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<widget class="QLabel" name="label_145">
|
||||
<property name="text">
|
||||
<string>Minimum visual word correspondences to compute geometry transform.</string>
|
||||
<string>RANSAC: Maximum distance for 3D feature correspondences. Lower the value, higher the precision but higher the chance of RED screens (odometry lost).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -6023,17 +5955,14 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_36">
|
||||
<property name="text">
|
||||
<string>Maximum iterations to compute the transform from visual words.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
<item row="4" column="0">
|
||||
<widget class="QSpinBox" name="odom_countdown">
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<item row="11" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_ratio">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
@@ -6055,7 +5984,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<item row="11" column="1">
|
||||
<widget class="QLabel" name="label_90">
|
||||
<property name="text">
|
||||
<string>Minmum ratio of keypoints between the current image and the last image to compute odometry.</string>
|
||||
@@ -6065,7 +5994,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="0">
|
||||
<item row="12" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_maxDepth">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
@@ -6084,7 +6013,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="1">
|
||||
<item row="12" column="1">
|
||||
<widget class="QLabel" name="label_104">
|
||||
<property name="text">
|
||||
<string>Max feature depth.</string>
|
||||
@@ -6094,49 +6023,75 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<widget class="QComboBox" name="odom_bin_nn">
|
||||
<property name="sizeAdjustPolicy">
|
||||
<enum>QComboBox::AdjustToContents</enum>
|
||||
</property>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>FLANN Linear</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>FLANN KdTree</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>FLANN LSH</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Brute Force</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Brute Force GPU</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<widget class="QLabel" name="label_103">
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_145">
|
||||
<property name="text">
|
||||
<string>Nearest neighbor strategy. FLANN KdTree must be used only with SURF/SIFT. FLANN LSH must be used only with binary feature detector.</string>
|
||||
<string>Minimum feature correspondences to compute geometry transform.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_36">
|
||||
<property name="text">
|
||||
<string>RANSAC: Maximum iterations to compute the transform from 3D features.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QSpinBox" name="odom_minInliers">
|
||||
<property name="minimum">
|
||||
<number>8</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>10</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_linearUpdate">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.015000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_inlierDistance">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.005000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QComboBox" name="odom_type">
|
||||
<property name="sizeAdjustPolicy">
|
||||
<enum>QComboBox::AdjustToContents</enum>
|
||||
@@ -6183,34 +6138,55 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="1">
|
||||
<widget class="QLabel" name="label_123">
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_45">
|
||||
<property name="text">
|
||||
<string>NNDR ratio
|
||||
(A matching pair is accepted, if its distance is closer than X times the distance of the second nearest neighbor)
|
||||
Lower the ratio -> higher the precision. 0 means disabled, matching the nearest.</string>
|
||||
<string>Linear update: minimum linear distance to update the odometry.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_bin_nndrRatio">
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_44">
|
||||
<property name="text">
|
||||
<string>Feature detector. In BOW mode, the related descriptor is also used. In Optical flow mode, only the keypoint detector is used.</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.100000000000000</double>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_103">
|
||||
<property name="text">
|
||||
<string>Odometry strategy:
|
||||
1-BOW matches features extracted from both frames using nearest neighbor with descriptors, then computes RANSAC transformation estimation with corresponding 3D features.
|
||||
2-Optical flow estimate the location of 2D features from last frame to new frame, then computes RANSAC transformation with corresponding 3D features.</string>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.700000000000000</double>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QLineEdit" name="lineEdit_odom_roi">
|
||||
<property name="text">
|
||||
<string>0.0 0.0 0.0 0.0</string>
|
||||
</property>
|
||||
<property name="readOnly">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_123">
|
||||
<property name="text">
|
||||
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -6258,6 +6234,378 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_26">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_54">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_odometryBOW3">
|
||||
<property name="title">
|
||||
<string>BOW</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_29" columnstretch="0,1">
|
||||
<item row="0" column="0">
|
||||
<widget class="QSpinBox" name="odom_localHistory">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_190">
|
||||
<property name="text">
|
||||
<string>Local history size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words. This will decrease odometry drifting when the camera is not moving.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QComboBox" name="odom_bin_nn">
|
||||
<property name="sizeAdjustPolicy">
|
||||
<enum>QComboBox::AdjustToContents</enum>
|
||||
</property>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>FLANN Linear</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>FLANN KdTree</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>FLANN LSH</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Brute Force</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Brute Force GPU</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_201">
|
||||
<property name="text">
|
||||
<string>Nearest neighbor strategy. FLANN KdTree must be used only with SURF/SIFT. FLANN LSH must be used only with binary feature detector.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_bin_nndrRatio">
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.700000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_202">
|
||||
<property name="text">
|
||||
<string>NNDR ratio
|
||||
(A matching pair is accepted, if its distance is closer than X times the distance of the second nearest neighbor)
|
||||
Lower the ratio -> higher the precision. 0 means disabled, matching the nearest.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_27">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>670</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_28">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_55">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_odometryFlow3">
|
||||
<property name="title">
|
||||
<string>Optical Flow</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_53">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_199">
|
||||
<property name="text">
|
||||
<string>The process is as follow:
|
||||
- Features from the last frame are estimated in the new frame using an optical flow approach (see cv::calcOpticalFlowPyrLK()).
|
||||
- 3D features from the new frame are extracted from the estimated positions.
|
||||
- Using RANSAC, a transformation is estimated between corresponding 3D features.
|
||||
- New features are extracted from the new frame to be used for the next time.
|
||||
- Optionally, the 2D position of the features can be refined for sub pixel precision (see cv::cornerSubPix()). </string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_4">
|
||||
<property name="title">
|
||||
<string>calcOpticalFlowPyrLK()</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_30" columnstretch="0,1">
|
||||
<item row="0" column="0">
|
||||
<widget class="QSpinBox" name="odom_flow_winSize">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>21</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_192">
|
||||
<property name="text">
|
||||
<string>Window size.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QSpinBox" name="odom_flow_iterations">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>30</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_193">
|
||||
<property name="text">
|
||||
<string>Iterations.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_flow_eps">
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_194">
|
||||
<property name="text">
|
||||
<string>Epsilon.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_195">
|
||||
<property name="text">
|
||||
<string>Max level.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QSpinBox" name="odom_flow_maxLevel">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>3</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_7">
|
||||
<property name="title">
|
||||
<string>cornerSubPix()</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_31" columnstretch="0,1">
|
||||
<item row="0" column="0">
|
||||
<widget class="QSpinBox" name="odom_flow_subpix_winSize">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>5</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_196">
|
||||
<property name="text">
|
||||
<string>Window size for sub pixel estimation.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QSpinBox" name="odom_flow_subpix_iterations">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>20</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_197">
|
||||
<property name="text">
|
||||
<string>Iterations for sub pixel estimation. 0 disables sub pixel refining.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_flow_subpix_eps">
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.030000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_198">
|
||||
<property name="text">
|
||||
<string>Epsilon for sub pixel estimation.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_28">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>518</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
|
||||
Reference in New Issue
Block a user