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Update 0.15.4.

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Parameters:
-Added "GridGlobal/MaxNodes=0", "Rtabmap/PublishRAMUsage=false", "Mem/DepthAsMask=true", "Kp/FlannRebalancingFactor=2.0", "Vis/DepthAsMask=true".
-Modified "Kp/DetectorStrategy=6", "Kp/MaxFeatures=500",  "Mem/UseOdomFeatures=true", "GFTT/QualityLevel=0.001", "GFTT/MinDistance=3", "RGBD/OptimizeMaxError=1", "RGBD/ProximityPathFilteringRadius=1", "Odom/GuessMotion=true", "Odom/VisKeyFrameThr=150", "OdomF2M/BundleAdjustment=1", "Vis/Iterations=300" if built with g2o, "OdomF2M/BundleAdjustmentMaxFrames=10", "OdomFovis/MinFeaturesForEstimate=20", "OdomORBSLAM2/MapSize=3000", "Reg/RepeatOnce=true", "Vis/PnPRefineIterations=0" if built with g2o, "Vis/CorGuessMatchToProjection=true", "Vis/BundleAdjustment=1" if built with g2o, "Icp/MaxCorrespondenceDistance=0.1", "Icp/PointToPlaneK=5", "Icp/PointToPlaneRadius=1", "Icp/PM=true" if built with libpointmatcher, "Stereo/MaxLevel=5", "Stereo/MinDisparity=0.5".

BayesFilter: optimized prediction matrix update. Use of new argument "ignoreLocalSpaceLoopIds" of Memory::getNeighborsId() to ignore loop closure link by space in prediction update.
CameraThread: Added stereo exposure compensation option.
CameraRGB: Added forceGroundNormalsUp option and added support of ground truth from EuRoC dataset.
Statistics: Added "Memory/RAM_usage/MB".
Transform: Added clone() method to do deep copy.
Graph::importPoses(): EuRoC format support (9).
Rtabmap: Local visual loop closures are now identified as GlobalClosure link type.
OccupancyGrid/OctoMap: updated how cache is used (old node retrieved can be re-added to map without re-assembling the whole map).
OdometryF2F: when using ICP, increasing correspondence distance for first two frames. If Vis/CorType=1 and registration fails, second guess without motion is done with Vis/CorType=0.
OdometryF2M/RegVis: updated how features are removed from the map, using new projectedIDs filled in RegistrationInfo by RegistrationVis.
OdometryORBSLAM2: Maximum size of the feature map can be set with "OdomORBSLAM2/MapSize" parameter.
CloudViewer: fixed opengl camera drifting in follow mode.
DatabaseViewer: Added optimization scale option. ConstraintsView: hide loop closure links if type is ignored in gui parameters.
MainWindow: Support of "GridGlobal/MaxNodes" parameters when updating the maps.
UPlot: don't show ellipses when not in graphics view mode, updated how "random" colors are attributed to curves
Added rtabmap-euroc_dataset tool. Updated rtabmap-kitti_dataset and rtabmap-rgbd_dataset tools.
Added rtabmap-reprocess tool.
This commit is contained in:
matlabbe
2018-02-01 22:17:46 -05:00
parent 9f80f4ac42
commit 977d21eed5
76 changed files with 3844 additions and 1307 deletions
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58
guilib/src/PreferencesDialog.cpp
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@@ -451,7 +451,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->groupBox_octomap, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->spinBox_octomap_treeDepth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_octomap_fullUpdate, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_octomap_2dgrid, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_octomap_show3dMap, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_octomap_cubeRendering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -612,6 +611,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->doubleSpinBox_cameraImages_scanVoxelSize, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_cameraImages_scanNormalsK, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_cameraImages_scanNormalsRadius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_cameraImages_scanForceGroundNormalsUp, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
//Rtabmap basic
connect(_ui->general_doubleSpinBox_timeThr, SIGNAL(valueChanged(double)), _ui->general_doubleSpinBox_timeThr_2, SLOT(setValue(double)));
@@ -641,6 +642,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->general_checkBox_publishPdf->setObjectName(Parameters::kRtabmapPublishPdf().c_str());
_ui->general_checkBox_publishLikelihood->setObjectName(Parameters::kRtabmapPublishLikelihood().c_str());
_ui->general_checkBox_publishRMSE->setObjectName(Parameters::kRtabmapComputeRMSE().c_str());
_ui->general_checkBox_publishRAM->setObjectName(Parameters::kRtabmapPublishRAMUsage().c_str());
_ui->general_checkBox_statisticLogsBufferedInRAM->setObjectName(Parameters::kRtabmapStatisticLogsBufferedInRAM().c_str());
_ui->groupBox_statistics->setObjectName(Parameters::kRtabmapStatisticLogged().c_str());
_ui->general_checkBox_statisticLoggedHeaders->setObjectName(Parameters::kRtabmapStatisticLoggedHeaders().c_str());
@@ -703,10 +705,12 @@ 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->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());
_ui->surf_doubleSpinBox_maxDepth->setObjectName(Parameters::kKpMaxDepth().c_str());
_ui->surf_doubleSpinBox_minDepth->setObjectName(Parameters::kKpMinDepth().c_str());
_ui->checkBox_memDepthAsMask->setObjectName(Parameters::kMemDepthAsMask().c_str());
_ui->surf_spinBox_wordsPerImageTarget->setObjectName(Parameters::kKpMaxFeatures().c_str());
_ui->spinBox_KPGridRows->setObjectName(Parameters::kKpGridRows().c_str());
_ui->spinBox_KPGridCols->setObjectName(Parameters::kKpGridCols().c_str());
@@ -861,9 +865,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_pnpReprojError->setObjectName(Parameters::kVisPnPReprojError().c_str());
_ui->loopClosure_pnpFlags->setObjectName(Parameters::kVisPnPFlags().c_str());
_ui->loopClosure_pnpRefineIterations->setObjectName(Parameters::kVisPnPRefineIterations().c_str());
_ui->loopClosure_correspondencesType->setObjectName(Parameters::kVisCorType().c_str());
connect(_ui->loopClosure_correspondencesType, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_loopClosureCorrespondences, SLOT(setCurrentIndex(int)));
_ui->stackedWidget_loopClosureCorrespondences->setCurrentIndex(Parameters::defaultVisCorType());
_ui->reextract_nn->setObjectName(Parameters::kVisCorNNType().c_str());
_ui->reextract_nndrRatio->setObjectName(Parameters::kVisCorNNDR().c_str());
_ui->spinBox_visCorGuessWinSize->setObjectName(Parameters::kVisCorGuessWinSize().c_str());
@@ -874,6 +875,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->reextract_gridcols->setObjectName(Parameters::kVisGridCols().c_str());
_ui->loopClosure_bowMaxDepth->setObjectName(Parameters::kVisMaxDepth().c_str());
_ui->loopClosure_bowMinDepth->setObjectName(Parameters::kVisMinDepth().c_str());
_ui->checkBox_visDepthAsMask->setObjectName(Parameters::kVisDepthAsMask().c_str());
_ui->loopClosure_roi->setObjectName(Parameters::kVisRoiRatios().c_str());
_ui->subpix_winSize->setObjectName(Parameters::kVisSubPixWinSize().c_str());
_ui->subpix_iterations->setObjectName(Parameters::kVisSubPixIterations().c_str());
@@ -937,6 +939,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->checkBox_grid_fullUpdate->setObjectName(Parameters::kGridGlobalFullUpdate().c_str());
_ui->doubleSpinBox_grid_minMapSize->setObjectName(Parameters::kGridGlobalMinSize().c_str());
_ui->spinBox_grid_maxNodes->setObjectName(Parameters::kGridGlobalMaxNodes().c_str());
_ui->doubleSpinBox_grid_footprintRadius->setObjectName(Parameters::kGridGlobalFootprintRadius().c_str());
_ui->checkBox_grid_erode->setObjectName(Parameters::kGridGlobalEroded().c_str());
@@ -965,6 +968,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->odom_f2m_bundleStrategy->setObjectName(Parameters::kOdomF2MBundleAdjustment().c_str());
_ui->odom_f2m_bundleMaxFrames->setObjectName(Parameters::kOdomF2MBundleAdjustmentMaxFrames().c_str());
//Odometry Frame To Frame
_ui->comboBox_odomf2f_corType->setObjectName(Parameters::kVisCorType().c_str());
//Odometry Mono
_ui->doubleSpinBox_minFlow->setObjectName(Parameters::kOdomMonoInitMinFlow().c_str());
_ui->doubleSpinBox_minInitTranslation->setObjectName(Parameters::kOdomMonoInitMinTranslation().c_str());
@@ -1041,6 +1047,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->doubleSpinBox_OdomORBSLAM2ThDepth->setObjectName(Parameters::kOdomORBSLAM2ThDepth().c_str());
_ui->doubleSpinBox_OdomORBSLAM2Fps->setObjectName(Parameters::kOdomORBSLAM2Fps().c_str());
_ui->spinBox_OdomORBSLAM2MaxFeatures->setObjectName(Parameters::kOdomORBSLAM2MaxFeatures().c_str());
_ui->spinBox_OdomORBSLAM2MapSize->setObjectName(Parameters::kOdomORBSLAM2MapSize().c_str());
//Stereo
_ui->stereo_winWidth->setObjectName(Parameters::kStereoWinWidth().c_str());
@@ -1457,7 +1464,6 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->groupBox_octomap->setChecked(false);
_ui->spinBox_octomap_treeDepth->setValue(16);
_ui->checkBox_octomap_fullUpdate->setChecked(false);
_ui->checkBox_octomap_2dgrid->setChecked(true);
_ui->checkBox_octomap_show3dMap->setChecked(true);
_ui->checkBox_octomap_cubeRendering->setChecked(false);
@@ -1595,6 +1601,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->doubleSpinBox_cameraImages_scanVoxelSize->setValue(0.025f);
_ui->spinBox_cameraImages_scanNormalsK->setValue(20);
_ui->doubleSpinBox_cameraImages_scanNormalsRadius->setValue(0.0);
_ui->checkBox_cameraImages_scanForceGroundNormalsUp->setChecked(false);
_ui->groupBox_depthFromScan->setChecked(false);
_ui->groupBox_depthFromScan_fillHoles->setChecked(true);
@@ -1845,7 +1852,6 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->groupBox_octomap->setChecked(settings.value("octomap", _ui->groupBox_octomap->isChecked()).toBool());
_ui->spinBox_octomap_treeDepth->setValue(settings.value("octomap_depth", _ui->spinBox_octomap_treeDepth->value()).toInt());
_ui->checkBox_octomap_fullUpdate->setChecked(settings.value("octomap_full_update", _ui->checkBox_octomap_fullUpdate->isChecked()).toBool());
_ui->checkBox_octomap_2dgrid->setChecked(settings.value("octomap_2dgrid", _ui->checkBox_octomap_2dgrid->isChecked()).toBool());
_ui->checkBox_octomap_show3dMap->setChecked(settings.value("octomap_3dmap", _ui->checkBox_octomap_show3dMap->isChecked()).toBool());
_ui->checkBox_octomap_cubeRendering->setChecked(settings.value("octomap_cube", _ui->checkBox_octomap_cubeRendering->isChecked()).toBool());
@@ -1997,6 +2003,8 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->doubleSpinBox_cameraImages_scanVoxelSize->setValue(settings.value("voxelSize", _ui->doubleSpinBox_cameraImages_scanVoxelSize->value()).toDouble());
_ui->spinBox_cameraImages_scanNormalsK->setValue(settings.value("normalsK", _ui->spinBox_cameraImages_scanNormalsK->value()).toInt());
_ui->doubleSpinBox_cameraImages_scanNormalsRadius->setValue(settings.value("normalsRadius", _ui->doubleSpinBox_cameraImages_scanNormalsRadius->value()).toDouble());
_ui->checkBox_cameraImages_scanForceGroundNormalsUp->setChecked(settings.value("normalsUp", _ui->checkBox_cameraImages_scanForceGroundNormalsUp->isChecked()).toBool());
settings.endGroup();//ScanFromDepth
settings.beginGroup("DepthFromScan");
@@ -2247,7 +2255,6 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("octomap", _ui->groupBox_octomap->isChecked());
settings.setValue("octomap_depth", _ui->spinBox_octomap_treeDepth->value());
settings.setValue("octomap_full_update", _ui->checkBox_octomap_fullUpdate->isChecked());
settings.setValue("octomap_2dgrid", _ui->checkBox_octomap_2dgrid->isChecked());
settings.setValue("octomap_3dmap", _ui->checkBox_octomap_show3dMap->isChecked());
settings.setValue("octomap_cube", _ui->checkBox_octomap_cubeRendering->isChecked());
@@ -2401,6 +2408,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("voxelSize", _ui->doubleSpinBox_cameraImages_scanVoxelSize->value());
settings.setValue("normalsK", _ui->spinBox_cameraImages_scanNormalsK->value());
settings.setValue("normalsRadius", _ui->doubleSpinBox_cameraImages_scanNormalsRadius->value());
settings.setValue("normalsUp", _ui->checkBox_cameraImages_scanForceGroundNormalsUp->isChecked());
settings.endGroup();
settings.beginGroup("DepthFromScan");
@@ -2584,15 +2592,6 @@ bool PreferencesDialog::validateForm()
"with cvsba. Bundle adjustment is disabled."));
_ui->odom_f2m_bundleStrategy->setCurrentIndex(0);
}
if(_ui->odom_strategy->currentIndex() == 0 && // F2M
_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)
@@ -3066,6 +3065,9 @@ rtabmap::ParametersMap PreferencesDialog::getAllParameters() const
ParametersMap parameters = _parameters;
uInsert(parameters, _modifiedParameters);
// It will be added manually for odometry
parameters.erase(Parameters::kVisCorType());
return parameters;
}
@@ -3328,7 +3330,7 @@ void PreferencesDialog::selectSourceImagesPathOdom()
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Odometry (*.txt *.log *.toro *.g2o)"));
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Odometry (*.txt *.log *.toro *.g2o *.csv)"));
if(path.size())
{
QStringList list;
@@ -3352,7 +3354,7 @@ void PreferencesDialog::selectSourceImagesPathGt()
{
dir = getWorkingDirectory();
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Ground Truth (*.txt *.log *.toro *.g2o)"));
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Ground Truth (*.txt *.log *.toro *.g2o *.csv)"));
if(path.size())
{
QStringList list;
@@ -4334,7 +4336,7 @@ int PreferencesDialog::getOctomapTreeDepth() const
}
bool PreferencesDialog::isOctomapFullUpdate() const
{
return _ui->checkBox_octomap_fullUpdate->isChecked();
return uStr2Bool(this->getParameter(Parameters::kGridGlobalFullUpdate()));
}
double PreferencesDialog::getOctomapOccupancyThr() const
{
@@ -4851,7 +4853,8 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value(),
_ui->doubleSpinBox_cameraImages_scanNormalsRadius->value(),
this->getLaserLocalTransform());
this->getLaserLocalTransform(),
_ui->checkBox_cameraImages_scanForceGroundNormalsUp->isChecked());
((CameraRGBDImages*)camera)->setTimestamps(
_ui->checkBox_cameraImages_timestamps->isChecked(),
_ui->lineEdit_cameraImages_timestamps->text().toStdString(),
@@ -4899,7 +4902,8 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value(),
_ui->doubleSpinBox_cameraImages_scanNormalsRadius->value(),
this->getLaserLocalTransform());
this->getLaserLocalTransform(),
_ui->checkBox_cameraImages_scanForceGroundNormalsUp->isChecked());
((CameraStereoImages*)camera)->setTimestamps(
_ui->checkBox_cameraImages_timestamps->isChecked(),
_ui->lineEdit_cameraImages_timestamps->text().toStdString(),
@@ -5005,7 +5009,8 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
_ui->spinBox_cameraImages_scanNormalsK->value(),
_ui->doubleSpinBox_cameraImages_scanNormalsRadius->value(),
this->getLaserLocalTransform());
this->getLaserLocalTransform(),
_ui->checkBox_cameraImages_scanForceGroundNormalsUp->isChecked());
((CameraImages*)camera)->setDepthFromScan(
_ui->groupBox_depthFromScan->isChecked(),
!_ui->groupBox_depthFromScan_fillHoles->isChecked()?0:_ui->radioButton_depthFromScan_vertical->isChecked()?1:-1,
@@ -5220,6 +5225,15 @@ void PreferencesDialog::testOdometry()
{
uInsert(parameters, ParametersPair(Parameters::kRegStrategy(), uNumber2Str(getOdomRegistrationApproach())));
}
int odomStrategy = Parameters::defaultOdomStrategy();
Parameters::parse(parameters, Parameters::kOdomStrategy(), odomStrategy);
if(odomStrategy == 1)
{
// Only Frame To Frame supports all VisCorType
parameters.insert(ParametersPair(Parameters::kVisCorType(), this->getParameter(Parameters::kVisCorType())));
}
Odometry * odometry = Odometry::create(parameters);
OdometryThread odomThread(