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Added Bundle Adjustment options to OdometryF2M (OdomF2M/BundleAdjustment) and RegistrationVis (Vis/BundleAdjustment). Added logger thread filter. RegistrationVis: Copy back corresponding input word IDs to output words when available. Memory::computeTransform() added option to use already computed corespondences if possible (proximity detection by time uses this). Updated Optimizer::optimizeBA() interface.

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This commit is contained in:
matlabbe
2016-11-14 19:54:31 -05:00
parent 9fbd02b06d
commit 9276607920
39 changed files with 2214 additions and 594 deletions
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95
guilib/src/PreferencesDialog.cpp
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@@ -185,6 +185,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
{
_ui->graphOptimization_type->setItemData(1, 0, Qt::UserRole - 1);
_ui->odom_f2m_bundleStrategy->setItemData(1, 0, Qt::UserRole - 1);
_ui->loopClosure_bundle->setItemData(1, 0, Qt::UserRole - 1);
_ui->groupBoxx_g2o->setEnabled(false);
}
if(!OptimizerG2O::isCSparseAvailable())
{
@@ -202,6 +205,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
{
_ui->graphOptimization_type->setItemData(2, 0, Qt::UserRole - 1);
}
if(!Optimizer::isAvailable(Optimizer::kTypeCVSBA))
{
_ui->odom_f2m_bundleStrategy->setItemData(2, 0, Qt::UserRole - 1);
_ui->loopClosure_bundle->setItemData(2, 0, Qt::UserRole - 1);
}
#ifdef RTABMAP_VERTIGO
if(!Optimizer::isAvailable(Optimizer::kTypeG2O) && !Optimizer::isAvailable(Optimizer::kTypeGTSAM))
#endif
@@ -397,6 +405,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_logger_printTime, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteLoggingPanel()));
connect(_ui->checkBox_logger_printThreadId, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteLoggingPanel()));
connect(_ui->comboBox_loggerType, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteLoggingPanel()));
_ui->comboBox_loggerFilter->SetDisplayText("Select:");
connect(_ui->comboBox_loggerFilter, SIGNAL(itemChanged()), this, SLOT(makeObsoleteLoggingPanel()));
//Source panel
connect(_ui->general_doubleSpinBox_imgRate, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
@@ -705,7 +715,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->spinBox_maxLocalLocationsRetrieved->setObjectName(Parameters::kRGBDMaxLocalRetrieved().c_str());
_ui->graphOptimization_type->setObjectName(Parameters::kOptimizerStrategy().c_str());
_ui->graphOptimization_slam2d->setObjectName(Parameters::kOptimizerSlam2D().c_str());
_ui->graphOptimization_iterations->setObjectName(Parameters::kOptimizerIterations().c_str());
_ui->graphOptimization_covarianceIgnored->setObjectName(Parameters::kOptimizerVarianceIgnored().c_str());
_ui->graphOptimization_fromGraphEnd->setObjectName(Parameters::kRGBDOptimizeFromGraphEnd().c_str());
@@ -715,7 +724,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->comboBox_g2o_solver->setObjectName(Parameters::kg2oSolver().c_str());
_ui->comboBox_g2o_optimizer->setObjectName(Parameters::kg2oOptimizer().c_str());
_ui->doubleSpinBox_g2o_variance->setObjectName(Parameters::kg2oPixelVariance().c_str());
_ui->doubleSpinBox_g2o_pixelVariance->setObjectName(Parameters::kg2oPixelVariance().c_str());
_ui->graphPlan_goalReachedRadius->setObjectName(Parameters::kRGBDGoalReachedRadius().c_str());
_ui->graphPlan_goalsSavedInUserData->setObjectName(Parameters::kRGBDGoalsSavedInUserData().c_str());
@@ -772,6 +781,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->odom_flow_maxLevel_2->setObjectName(Parameters::kVisCorFlowMaxLevel().c_str());
_ui->odom_flow_iterations_2->setObjectName(Parameters::kVisCorFlowIterations().c_str());
_ui->odom_flow_eps_2->setObjectName(Parameters::kVisCorFlowEps().c_str());
_ui->loopClosure_bundle->setObjectName(Parameters::kVisBundleAdjustment().c_str());
//RegistrationIcp
_ui->globalDetection_icpMaxTranslation->setObjectName(Parameters::kIcpMaxTranslation().c_str());
@@ -834,6 +844,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->doubleSpinBox_odom_f2m_scanRadius->setObjectName(Parameters::kOdomF2MScanSubtractRadius().c_str());
_ui->odom_fixedLocalMapPath->setObjectName(Parameters::kOdomF2MFixedMapPath().c_str());
connect(_ui->toolButton_odomBowFixedLocalMap, SIGNAL(clicked()), this, SLOT(changeOdomBowFixedLocalMapPath()));
_ui->odom_f2m_bundleStrategy->setObjectName(Parameters::kOdomF2MBundleAdjustment().c_str());
_ui->odom_f2m_bundleMaxFrames->setObjectName(Parameters::kOdomF2MBundleAdjustmentMaxFrames().c_str());
//Odometry Mono
_ui->doubleSpinBox_minFlow->setObjectName(Parameters::kOdomMonoInitMinFlow().c_str());
@@ -891,7 +903,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->doubleSpinBox_kp_roi1, SIGNAL(valueChanged(double)), this, SLOT(updateKpROI()));
connect(_ui->doubleSpinBox_kp_roi2, SIGNAL(valueChanged(double)), this, SLOT(updateKpROI()));
connect(_ui->doubleSpinBox_kp_roi3, SIGNAL(valueChanged(double)), this, SLOT(updateKpROI()));
connect(_ui->graphOptimization_type, SIGNAL(currentIndexChanged(int)), this, SLOT(updateG2oVisibility()));
connect(_ui->checkBox_useOdomFeatures, SIGNAL(toggled(bool)), this, SLOT(useOdomFeatures()));
//Create a model from the stacked widgets
@@ -1276,6 +1287,10 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_logger_printTime->setChecked(true);
_ui->checkBox_logger_printThreadId->setChecked(false);
_ui->comboBox_loggerType->setCurrentIndex(1);
for(int i=0; i<_ui->comboBox_loggerFilter->count(); ++i)
{
_ui->comboBox_loggerFilter->setItemChecked(i, false);
}
}
else if(groupBox->objectName() == _ui->groupBox_source0->objectName())
{
@@ -2369,6 +2384,45 @@ bool PreferencesDialog::validateForm()
}
}
// Registration bundle adjustment strategy
if(_ui->loopClosure_bundle->currentIndex() == 1 && !Optimizer::isAvailable(Optimizer::kTypeG2O))
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected visual registration bundle adjustment optimization strategy (g2o) is not available. RTAB-Map is not built "
"with g2o. Bundle adjustment is disabled."));
_ui->loopClosure_bundle->setCurrentIndex(0);
}
if(_ui->loopClosure_bundle->currentIndex() == 2 && !Optimizer::isAvailable(Optimizer::kTypeCVSBA))
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected visual registration bundle adjustment optimization strategy (cvsba) is not available. RTAB-Map is not built "
"with cvsba. Bundle adjustment is disabled."));
_ui->loopClosure_bundle->setCurrentIndex(0);
}
// Local bundle adjustment strategy for odometry F2M
if(_ui->odom_f2m_bundleStrategy->currentIndex() == 1 && !Optimizer::isAvailable(Optimizer::kTypeG2O))
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected odometry local bundle adjustment optimization strategy (g2o) is not available. RTAB-Map is not built "
"with g2o. Bundle adjustment is disabled."));
_ui->odom_f2m_bundleStrategy->setCurrentIndex(0);
}
if(_ui->odom_f2m_bundleStrategy->currentIndex() == 2 && !Optimizer::isAvailable(Optimizer::kTypeCVSBA))
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected odometry local bundle adjustment optimization strategy (cvsba) is not available. RTAB-Map is not built "
"with cvsba. Bundle adjustment is disabled."));
_ui->odom_f2m_bundleStrategy->setCurrentIndex(0);
}
if(_ui->odom_f2m_bundleStrategy->currentIndex() > 0 && _ui->loopClosure_correspondencesType->currentIndex() == 1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Odometry local bundle adjustment optimization cannot be used at the same time than Optical Flow correspondences "
"strategy (see Visual Registration panel). Bundle adjustment is disabled."));
_ui->odom_f2m_bundleStrategy->setCurrentIndex(0);
}
// verify that Robust and Reject threshold are not set at the same time
if(_ui->graphOptimization_robust->isChecked() && _ui->graphOptimization_maxError->value()>0.0)
{
@@ -2487,6 +2541,24 @@ void PreferencesDialog::showEvent ( QShowEvent * event )
this->setWindowTitle(tr("Preferences"));
}
// setup logger filter
std::map<std::string, unsigned long> threads = ULogger::getRegisteredThreads();
std::vector<std::string> threadsChecked = this->getGeneralLoggerThreads();
std::set<std::string> threadsCheckedSet(threadsChecked.begin(), threadsChecked.end());
_ui->comboBox_loggerFilter->clear();
for(std::map<std::string, unsigned long>::iterator iter=threads.begin(); iter!=threads.end(); ++iter)
{
if(threadsCheckedSet.find(iter->first.c_str()) != threadsCheckedSet.end())
{
_ui->comboBox_loggerFilter->addItem(QString(iter->first.c_str()), QVariant(true));
}
else
{
_ui->comboBox_loggerFilter->addItem(QString(iter->first.c_str()), QVariant(false));
}
}
this->readSettingsBegin();
}
@@ -3625,11 +3697,6 @@ void PreferencesDialog::updateKpROI()
_ui->lineEdit_kp_roi->setText(strings.join(" "));
}
void PreferencesDialog::updateG2oVisibility()
{
_ui->groupBox_g2o->setVisible(_ui->graphOptimization_type->currentIndex() == 1);
}
void PreferencesDialog::updateStereoDisparityVisibility()
{
Src driver = this->getSourceDriver();
@@ -3776,6 +3843,18 @@ bool PreferencesDialog::getGeneralLoggerPrintThreadId() const
{
return _ui->checkBox_logger_printThreadId->isChecked();
}
std::vector<std::string> PreferencesDialog::getGeneralLoggerThreads() const
{
std::vector<std::string> threads;
for(int i=0; i<_ui->comboBox_loggerFilter->count(); ++i)
{
if(_ui->comboBox_loggerFilter->itemData(i).toBool())
{
threads.push_back(_ui->comboBox_loggerFilter->itemText(i).toStdString());
}
}
return threads;
}
bool PreferencesDialog::isVerticalLayoutUsed() const
{
return _ui->checkBox_verticalLayoutUsed->isChecked();