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Increased version 0.20.4. Added parameter Kp/ByteToFloat (default true to use less memory with kdtree and binary descriptors). Memory/Sqlite3: Setting weight to -9 for invalid nodes (to make sure they are not reloaded from database, to fix a graph reduced issue). Added 12-SURF/FREAK detector approach. rtabmap-info: added number of nodes in each sessions.

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This commit is contained in:
matlabbe
2020-09-28 10:29:14 -04:00
parent c5158cade5
commit 933ac736f1
13 changed files with 257 additions and 82 deletions
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13
guilib/src/PreferencesDialog.cpp
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@@ -194,7 +194,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
//SURF
#ifndef RTABMAP_NONFREE
_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(12, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(0, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(12, 0, Qt::UserRole - 1);
#endif
// SIFT
@@ -210,10 +212,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->comboBox_detector_strategy->setItemData(4, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(5, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(6, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(12, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(3, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(4, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(5, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(6, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(12, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_ORB_OCTREE
@@ -878,6 +882,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->comboBox_dictionary_strategy->setObjectName(Parameters::kKpNNStrategy().c_str());
_ui->checkBox_dictionary_incremental->setObjectName(Parameters::kKpIncrementalDictionary().c_str());
_ui->checkBox_kp_incrementalFlann->setObjectName(Parameters::kKpIncrementalFlann().c_str());
_ui->checkBox_kp_byteToFloat->setObjectName(Parameters::kKpByteToFloat().c_str());
_ui->surf_doubleSpinBox_rebalancingFactor->setObjectName(Parameters::kKpFlannRebalancingFactor().c_str());
_ui->comboBox_detector_strategy->setObjectName(Parameters::kKpDetectorStrategy().c_str());
_ui->surf_doubleSpinBox_nndrRatio->setObjectName(Parameters::kKpNndrRatio().c_str());
@@ -2962,7 +2967,7 @@ bool PreferencesDialog::validateForm()
#ifndef RTABMAP_NONFREE
// verify that SURF/SIFT cannot be selected if not built with OpenCV nonfree module
// BOW dictionary type
if(_ui->comboBox_detector_strategy->currentIndex() <= 1)
if(_ui->comboBox_detector_strategy->currentIndex() <= 1 || _ui->comboBox_detector_strategy->currentIndex() == 12)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (SURF/SIFT) is not available. RTAB-Map is not built "
@@ -2970,7 +2975,7 @@ bool PreferencesDialog::validateForm()
_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureOrb);
}
// BOW Reextract features type
if(_ui->vis_feature_detector->currentIndex() <= 1)
if(_ui->vis_feature_detector->currentIndex() <= 1 || _ui->vis_feature_detector->currentIndex() == 12)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (SURF/SIFT) is not available. RTAB-Map is not built "
@@ -2983,7 +2988,7 @@ bool PreferencesDialog::validateForm()
#ifndef RTABMAP_NONFREE
// verify that SURF cannot be selected if not built with OpenCV nonfree module
// BOW dictionary type
if(_ui->comboBox_detector_strategy->currentIndex() < 1)
if(_ui->comboBox_detector_strategy->currentIndex() < 1 || _ui->comboBox_detector_strategy->currentIndex() == 12)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (SURF) is not available. RTAB-Map is not built "
@@ -2991,7 +2996,7 @@ bool PreferencesDialog::validateForm()
_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureSift);
}
// BOW Reextract features type
if(_ui->vis_feature_detector->currentIndex() < 1)
if(_ui->vis_feature_detector->currentIndex() < 1 || _ui->vis_feature_detector->currentIndex() == 12)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (SURF) is not available. RTAB-Map is not built "