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Refactored Odometry class:

Browse Source 
-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
2014-10-13 19:10:22 +00:00
parent a3f7415821
commit 8b67633b34
25 changed files with 2108 additions and 498 deletions
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40
guilib/src/PreferencesDialog.cpp
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@@ -453,19 +453,33 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_icp2Voxel->setObjectName(Parameters::kLccIcp2VoxelSize().c_str());
//Odometry
_ui->odom_type->setObjectName(Parameters::kOdomType().c_str());
_ui->odom_strategy->setObjectName(Parameters::kOdomStrategy().c_str());
_ui->odom_type->setObjectName(Parameters::kOdomFeatureType().c_str());
_ui->odom_linearUpdate->setObjectName(Parameters::kOdomLinearUpdate().c_str());
_ui->odom_angularUpdate->setObjectName(Parameters::kOdomAngularUpdate().c_str());
_ui->odom_countdown->setObjectName(Parameters::kOdomResetCountdown().c_str());
_ui->odom_localHistory->setObjectName(Parameters::kOdomLocalHistory().c_str());
_ui->odom_maxFeatures->setObjectName(Parameters::kOdomMaxWords().c_str());
_ui->odom_maxFeatures->setObjectName(Parameters::kOdomMaxFeatures().c_str());
_ui->odom_ratio->setObjectName(Parameters::kOdomFeaturesRatio().c_str());
_ui->odom_inlierDistance->setObjectName(Parameters::kOdomInlierDistance().c_str());
_ui->odom_iterations->setObjectName(Parameters::kOdomIterations().c_str());
_ui->odom_maxDepth->setObjectName(Parameters::kOdomMaxDepth().c_str());
_ui->odom_minInliers->setObjectName(Parameters::kOdomMinInliers().c_str());
_ui->odom_ratio->setObjectName(Parameters::kOdomWordsRatio().c_str());
_ui->odom_bin_nn->setObjectName(Parameters::kOdomNearestNeighbor().c_str());
_ui->odom_bin_nndrRatio->setObjectName(Parameters::kOdomNNDR().c_str());
_ui->odom_refine_iterations->setObjectName(Parameters::kOdomRefineIterations().c_str());
_ui->lineEdit_odom_roi->setObjectName(Parameters::kOdomRoiRatios().c_str());
//Odometry BOW
_ui->odom_localHistory->setObjectName(Parameters::kOdomBowLocalHistorySize().c_str());
_ui->odom_bin_nn->setObjectName(Parameters::kOdomBowNNType().c_str());
_ui->odom_bin_nndrRatio->setObjectName(Parameters::kOdomBowNNDR().c_str());
//Odometry Optical Flow
_ui->odom_flow_winSize->setObjectName(Parameters::kOdomFlowWinSize().c_str());
_ui->odom_flow_maxLevel->setObjectName(Parameters::kOdomFlowMaxLevel().c_str());
_ui->odom_flow_iterations->setObjectName(Parameters::kOdomFlowIterations().c_str());
_ui->odom_flow_eps->setObjectName(Parameters::kOdomFlowEps().c_str());
_ui->odom_flow_subpix_winSize->setObjectName(Parameters::kOdomFlowSubPixWinSize().c_str());
_ui->odom_flow_subpix_iterations->setObjectName(Parameters::kOdomFlowSubPixIterations().c_str());
_ui->odom_flow_subpix_eps->setObjectName(Parameters::kOdomFlowSubPixEps().c_str());
setupSignals();
// custom signals
@@ -2797,6 +2811,10 @@ double PreferencesDialog::getVpThr() const
{
return _ui->general_doubleSpinBox_vp->value();
}
int PreferencesDialog::getOdomStrategy() const
{
return _ui->odom_strategy->currentIndex();
}
bool PreferencesDialog::isImagesKept() const
{
@@ -2982,7 +3000,15 @@ void PreferencesDialog::testOdometry(int type)
if(camera)
{
ParametersMap parameters = this->getAllParameters();
Odometry * odometry = new OdometryBOW(parameters);
Odometry * odometry;
if(this->getOdomStrategy() == 1)
{
odometry = new OdometryOpticalFlow(parameters);
}
else
{
odometry = new OdometryBOW(parameters);
}
_odomThread = new OdometryThread(odometry); // take ownership of odometry