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Added SuperGlue support (Vis/CorNNType=6). Added rtabmap-matcher tool. DBViewer: show matches/inliers when refine also fails. SIFT: make sift always available on OpenCV 4.3.0 (#538). Parameters: changed SPTorch prefix to SuperPoint, replaced Vis/CorCrossCheck by Vis/CorNNType=5.

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This commit is contained in:
matlabbe
2020-05-09 21:13:41 -04:00
parent abc3ebee8c
commit 91285e5e97
35 changed files with 1554 additions and 249 deletions
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51
guilib/src/PreferencesDialog.cpp
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@@ -146,9 +146,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->checkBox_ORBGpu->setEnabled(false);
_ui->label_orbGpu->setEnabled(false);
// remove BruteForceGPU option
_ui->comboBox_dictionary_strategy->removeItem(4);
_ui->reextract_nn->removeItem(4);
// disable BruteForceGPU option
_ui->comboBox_dictionary_strategy->setItemData(4, 0, Qt::UserRole - 1);
_ui->reextract_nn->setItemData(4, 0, Qt::UserRole - 1);
}
#ifndef RTABMAP_OCTOMAP
@@ -218,11 +218,15 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->vis_feature_detector->setItemData(10, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_SP_TORCH
#ifndef RTABMAP_SUPERPOINT_TORCH
_ui->comboBox_detector_strategy->setItemData(11, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(11, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_SUPERGLUE_PYTORCH
_ui->reextract_nn->setItemData(6, 0, Qt::UserRole - 1);
#endif
#if CV_MAJOR_VERSION >= 3
_ui->groupBox_fast_opencv2->setEnabled(false);
#else
@@ -948,12 +952,19 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->spinBox_kaze_diffusivity->setObjectName(Parameters::kKAZEDiffusivity().c_str());
// SuperPoint Torch
_ui->lineEdit_sptorch_path->setObjectName(Parameters::kSPTorchModelPath().c_str());
connect(_ui->toolButton_sptorch_path, SIGNAL(clicked()), this, SLOT(changeSPTorchModelPath()));
_ui->doubleSpinBox_sptorch_threshold->setObjectName(Parameters::kSPTorchThreshold().c_str());
_ui->checkBox_sptorch_nms->setObjectName(Parameters::kSPTorchNMS().c_str());
_ui->spinBox_sptorch_minDistance->setObjectName(Parameters::kSPTorchMinDistance().c_str());
_ui->checkBox_sptorch_cuda->setObjectName(Parameters::kSPTorchCuda().c_str());
_ui->lineEdit_sptorch_path->setObjectName(Parameters::kSuperPointModelPath().c_str());
connect(_ui->toolButton_sptorch_path, SIGNAL(clicked()), this, SLOT(changeSuperPointModelPath()));
_ui->doubleSpinBox_sptorch_threshold->setObjectName(Parameters::kSuperPointThreshold().c_str());
_ui->checkBox_sptorch_nms->setObjectName(Parameters::kSuperPointNMS().c_str());
_ui->spinBox_sptorch_minDistance->setObjectName(Parameters::kSuperPointNMSRadius().c_str());
_ui->checkBox_sptorch_cuda->setObjectName(Parameters::kSuperPointCuda().c_str());
// SuperGlue PyTorch
_ui->lineEdit_sgpytorch_path->setObjectName(Parameters::kSuperGluePath().c_str());
connect(_ui->toolButton_sgpytorch_path, SIGNAL(clicked()), this, SLOT(changeSuperGluePath()));
_ui->sgpytorch_matchThreshold->setObjectName(Parameters::kSuperGlueMatchThreshold().c_str());
_ui->sgpytorch_iterations->setObjectName(Parameters::kSuperGlueIterations().c_str());
_ui->checkBox_sgpytorch_cuda->setObjectName(Parameters::kSuperGlueCuda().c_str());
// verifyHypotheses
_ui->groupBox_vh_epipolar2->setObjectName(Parameters::kVhEpEnabled().c_str());
@@ -1039,7 +1050,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_pnpRefineIterations->setObjectName(Parameters::kVisPnPRefineIterations().c_str());
_ui->reextract_nn->setObjectName(Parameters::kVisCorNNType().c_str());
_ui->reextract_nndrRatio->setObjectName(Parameters::kVisCorNNDR().c_str());
_ui->checkBox__visCorCrossCheck->setObjectName(Parameters::kVisCorCrossCheck().c_str());
_ui->spinBox_visCorGuessWinSize->setObjectName(Parameters::kVisCorGuessWinSize().c_str());
_ui->checkBox__visCorGuessMatchToProjection->setObjectName(Parameters::kVisCorGuessMatchToProjection().c_str());
_ui->vis_feature_detector->setObjectName(Parameters::kVisFeatureType().c_str());
@@ -4711,7 +4721,7 @@ void PreferencesDialog::changeIcpPMConfigPath()
}
}
void PreferencesDialog::changeSPTorchModelPath()
void PreferencesDialog::changeSuperPointModelPath()
{
QString path;
if(_ui->lineEdit_sptorch_path->text().isEmpty())
@@ -4728,6 +4738,23 @@ void PreferencesDialog::changeSPTorchModelPath()
}
}
void PreferencesDialog::changeSuperGluePath()
{
QString path;
if(_ui->lineEdit_sgpytorch_path->text().isEmpty())
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), this->getWorkingDirectory(), tr("SuperGlue wrapper (*.py)"));
}
else
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_sgpytorch_path->text(), tr("SuperGlue wrapper (*.py)"));
}
if(!path.isEmpty())
{
_ui->lineEdit_sgpytorch_path->setText(path);
}
}
void PreferencesDialog::updateSourceGrpVisibility()
{
_ui->groupBox_sourceRGBD->setVisible(_ui->comboBox_sourceType->currentIndex() == 0);