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Export CLI tool memory optimization (#1391)

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* Stashing changes so far

* Tested and working

* removed unused options

* Added density_radius and density_angle options

* improved description

* backward compatibility fixes, matching texture exported file names with base name

* Setting global full opt by default, updated preferences defaulting to g2o or gtsam if one or the other is unavailable
This commit is contained in:
matlabbe
2024-12-15 13:08:15 -08:00
committed by GitHub
parent 340248fed0
commit 97c56361f8
10 changed files with 1037 additions and 431 deletions
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2
guilib/src/ExportCloudsDialog.cpp
View File

@@ -816,7 +816,7 @@ void ExportCloudsDialog::restoreDefaults()
_ui->doubleSpinBox_gp3Mu->setValue(2.5);
_ui->doubleSpinBox_meshDecimationFactor->setValue(0.0);
_ui->spinBox_meshMaxPolygons->setValue(0);
_ui->doubleSpinBox_transferColorRadius->setValue(0.025);
_ui->doubleSpinBox_transferColorRadius->setValue(0.05);
_ui->checkBox_cleanMesh->setChecked(true);
_ui->spinBox_mesh_minClusterSize->setValue(0);

41
guilib/src/PreferencesDialog.cpp
View File

@@ -4871,22 +4871,43 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
{
if(valueInt==1 && combo->objectName().toStdString().compare(Parameters::kOptimizerStrategy()) == 0)
{
UWARN("Trying to set \"%s\" to g2o but RTAB-Map isn't built "
"with g2o. Keeping default combo value: %s.",
combo->objectName().toStdString().c_str(),
combo->currentText().toStdString().c_str());
ok = false;
if(Optimizer::isAvailable(Optimizer::kTypeGTSAM)) {
UWARN("Trying to set \"%s\" to g2o but RTAB-Map isn't built "
"with g2o. Falling back to GTSAM.",
combo->objectName().toStdString().c_str());
valueInt = 2;
}
else
{
UWARN("Trying to set \"%s\" to g2o but RTAB-Map isn't built "
"with g2o. Keeping default combo value: %s.",
combo->objectName().toStdString().c_str(),
combo->currentText().toStdString().c_str());
ok = false;
}
}
}
if(!Optimizer::isAvailable(Optimizer::kTypeGTSAM))
{
if(valueInt==2 && combo->objectName().toStdString().compare(Parameters::kOptimizerStrategy()) == 0)
{
UWARN("Trying to set \"%s\" to GTSAM but RTAB-Map isn't built "
"with GTSAM. Keeping default combo value: %s.",
combo->objectName().toStdString().c_str(),
combo->currentText().toStdString().c_str());
ok = false;
#ifndef RTABMAP_ORB_SLAM
if(Optimizer::isAvailable(Optimizer::kTypeG2O))
#endif
{
UWARN("Trying to set \"%s\" to GTSAM but RTAB-Map isn't built "
"with GTSAM. Falling back to g2o.",
combo->objectName().toStdString().c_str());
valueInt = 1;
}
else
{
UWARN("Trying to set \"%s\" to GTSAM but RTAB-Map isn't built "
"with GTSAM. Keeping default combo value: %s.",
combo->objectName().toStdString().c_str(),
combo->currentText().toStdString().c_str());
ok = false;
}
}
}
if(ok)

6
guilib/src/ui/exportCloudsDialog.ui
View File

@@ -23,9 +23,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-1328</y>
<y>-2995</y>
<width>885</width>
<height>6169</height>
<height>6152</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
@@ -2353,7 +2353,7 @@ By Node ID and Camera Index: NodeID*10+CameraIndex</string>
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
<number>3</number>
</property>
<property name="minimum">
<double>-1.000000000000000</double>