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Added new 2d feature ORB OcTree (approach used in ORB_SLAM2). report tool: fixed assert caused by bidirectional links. detectModeLoopClosures tool: check if input path exists.

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This commit is contained in:
matlabbe
2019-04-18 19:50:58 -04:00
parent 8a6c0dad00
commit a0f74eaee2
15 changed files with 1585 additions and 111 deletions
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7
guilib/src/AboutDialog.cpp
View File

@@ -59,6 +59,13 @@ AboutDialog::AboutDialog(QWidget * parent) :
_ui->label_pcl_version->setText(PCL_VERSION_PRETTY);
_ui->label_vtk_version->setText(vtkVersion::GetVTKVersion());
_ui->label_qt_version->setText(qVersion());
#ifdef RTABMAP_ORB_OCTREE
_ui->label_orboctree->setText("Yes");
_ui->label_orboctree_license->setEnabled(true);
#else
_ui->label_orboctree->setText("No");
_ui->label_orboctree_license->setEnabled(false);
#endif
#ifdef RTABMAP_OCTOMAP
_ui->label_octomap->setText("Yes");
_ui->label_octomap_license->setEnabled(true);

22
guilib/src/PreferencesDialog.cpp
View File

@@ -213,6 +213,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
#endif
#endif
#ifndef RTABMAP_ORB_OCTREE
_ui->comboBox_detector_strategy->setItemData(10, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(10, 0, Qt::UserRole - 1);
#endif
#if CV_MAJOR_VERSION >= 3
_ui->groupBox_fast_opencv2->setEnabled(false);
#else
@@ -2714,6 +2719,23 @@ bool PreferencesDialog::validateForm()
}
#endif
#ifndef RTABMAP_ORB_OCTREE
if (_ui->comboBox_detector_strategy->currentIndex() == Feature2D::kFeatureOrbOctree)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (ORB Octree) is not available. ORB is set instead "
"for the bag-of-words dictionary."));
_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureOrb);
}
if (_ui->reextract_type->currentIndex() == Feature2D::kFeatureOrbOctree)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (ORB Octree) is not available on OpenCV2. ORB is set instead "
"for the re-extraction of features on loop closure."));
_ui->reextract_type->setCurrentIndex(Feature2D::kFeatureOrb);
}
#endif
// optimization strategy
if(_ui->graphOptimization_type->currentIndex() == 0 && !Optimizer::isAvailable(Optimizer::kTypeTORO))
{

207
guilib/src/ui/aboutDialog.ui
View File

@@ -163,8 +163,8 @@ p, li { white-space: pre-wrap; }
<rect>
<x>0</x>
<y>0</y>
<width>597</width>
<height>659</height>
<width>596</width>
<height>682</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
@@ -185,7 +185,7 @@ p, li { white-space: pre-wrap; }
</property>
<item>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
<item row="9" column="2">
<item row="10" column="2">
<widget class="QLabel" name="label_realsense2_license">
<property name="text">
<string>Apache-2</string>
@@ -195,7 +195,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="9" column="1">
<item row="10" column="1">
<widget class="QLabel" name="label_realsense2">
<property name="text">
<string/>
@@ -208,7 +208,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="25" column="1">
<item row="26" column="1">
<widget class="QLabel" name="label_okvis">
<property name="text">
<string/>
@@ -221,7 +221,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="25" column="0">
<item row="26" column="0">
<widget class="QLabel" name="label_35">
<property name="text">
<string>With OKVIS :</string>
@@ -231,7 +231,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="27" column="1">
<item row="28" column="1">
<widget class="QLabel" name="label_msckf">
<property name="text">
<string/>
@@ -244,7 +244,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="27" column="0">
<item row="28" column="0">
<widget class="QLabel" name="label_34">
<property name="text">
<string>With MSCKF :</string>
@@ -254,7 +254,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="23" column="1">
<item row="24" column="1">
<widget class="QLabel" name="label_dvo">
<property name="text">
<string/>
@@ -267,7 +267,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="18" column="1">
<item row="19" column="1">
<widget class="QLabel" name="label_octomap">
<property name="text">
<string/>
@@ -313,7 +313,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_openni2">
<property name="text">
<string/>
@@ -326,7 +326,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="7" column="0">
<item row="8" column="0">
<widget class="QLabel" name="label_15">
<property name="text">
<string>With Freenect2 :</string>
@@ -336,7 +336,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="11" column="1">
<item row="12" column="1">
<widget class="QLabel" name="label_flycapture2">
<property name="text">
<string/>
@@ -369,7 +369,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="19" column="0">
<item row="20" column="0">
<widget class="QLabel" name="label_24">
<property name="text">
<string>With CPU-TSDF :</string>
@@ -379,7 +379,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="19" column="1">
<item row="20" column="1">
<widget class="QLabel" name="label_cputsdf">
<property name="text">
<string/>
@@ -392,7 +392,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="0">
<item row="22" column="0">
<widget class="QLabel" name="label_25">
<property name="text">
<string>With FOVIS :</string>
@@ -412,7 +412,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="18" column="2">
<item row="19" column="2">
<widget class="QLabel" name="label_octomap_license">
<property name="text">
<string>BSD</string>
@@ -422,7 +422,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="2">
<item row="22" column="2">
<widget class="QLabel" name="label_fovis_license">
<property name="text">
<string>GPLv2</string>
@@ -432,7 +432,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="18" column="0">
<item row="19" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
<string>With Octomap :</string>
@@ -442,7 +442,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="22" column="2">
<item row="23" column="2">
<widget class="QLabel" name="label_viso2_license">
<property name="text">
<string>GPLv3</string>
@@ -452,7 +452,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="24" column="0">
<item row="25" column="0">
<widget class="QLabel" name="label_28">
<property name="text">
<string>With ORB SLAM 2 :</string>
@@ -462,7 +462,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="24" column="1">
<item row="25" column="1">
<widget class="QLabel" name="label_orbslam2">
<property name="text">
<string/>
@@ -475,7 +475,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="12" column="0">
<item row="13" column="0">
<widget class="QLabel" name="label_21">
<property name="text">
<string>With stereo Zed :</string>
@@ -485,7 +485,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="12" column="1">
<item row="13" column="1">
<widget class="QLabel" name="label_zed">
<property name="text">
<string/>
@@ -498,7 +498,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="10" column="2">
<item row="11" column="2">
<widget class="QLabel" name="label_dc1394_license">
<property name="text">
<string>LGPL</string>
@@ -508,7 +508,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="11" column="0">
<item row="12" column="0">
<widget class="QLabel" name="label_17">
<property name="text">
<string>With stereo FlyCapture2 :</string>
@@ -518,7 +518,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="1">
<item row="22" column="1">
<widget class="QLabel" name="label_fovis">
<property name="text">
<string/>
@@ -531,7 +531,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="13" column="0">
<item row="14" column="0">
<widget class="QLabel" name="label_77">
<property name="text">
<string>With TORO :</string>
@@ -541,7 +541,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="22" column="0">
<item row="23" column="0">
<widget class="QLabel" name="label_26">
<property name="text">
<string>With Viso2 :</string>
@@ -551,7 +551,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="14" column="0">
<item row="15" column="0">
<widget class="QLabel" name="label_14">
<property name="text">
<string>With g2o :</string>
@@ -561,7 +561,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="14" column="1">
<item row="15" column="1">
<widget class="QLabel" name="label_g2o">
<property name="text">
<string/>
@@ -574,7 +574,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="16" column="0">
<item row="17" column="0">
<widget class="QLabel" name="label_18">
<property name="text">
<string>With cvsba :</string>
@@ -584,7 +584,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="15" column="0">
<item row="16" column="0">
<widget class="QLabel" name="label_19">
<property name="text">
<string>With GTSAM :</string>
@@ -594,7 +594,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="15" column="1">
<item row="16" column="1">
<widget class="QLabel" name="label_gtsam">
<property name="text">
<string/>
@@ -607,7 +607,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="5" column="0">
<item row="6" column="0">
<widget class="QLabel" name="label_12">
<property name="text">
<string>With Freenect :</string>
@@ -617,7 +617,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="10" column="0">
<item row="11" column="0">
<widget class="QLabel" name="label_16">
<property name="text">
<string>With stereo dc1394 :</string>
@@ -627,7 +627,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="16" column="1">
<item row="17" column="1">
<widget class="QLabel" name="label_cvsba">
<property name="text">
<string/>
@@ -640,7 +640,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="8" column="0">
<item row="9" column="0">
<widget class="QLabel" name="label_22">
<property name="text">
<string>With RealSense :</string>
@@ -663,7 +663,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="10" column="1">
<item row="11" column="1">
<widget class="QLabel" name="label_dc1394">
<property name="text">
<string/>
@@ -699,7 +699,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="7" column="1">
<item row="8" column="1">
<widget class="QLabel" name="label_freenect2">
<property name="text">
<string/>
@@ -712,7 +712,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="7" column="2">
<item row="8" column="2">
<widget class="QLabel" name="label_freenect2_license">
<property name="text">
<string>Apache v2 and/or GPLv2</string>
@@ -722,7 +722,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="8" column="1">
<item row="9" column="1">
<widget class="QLabel" name="label_realsense">
<property name="text">
<string/>
@@ -736,6 +736,16 @@ p, li { white-space: pre-wrap; }
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_freenect_license">
<property name="text">
<string>Apache v2 and/or GPLv2</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="label_openni2_license">
<property name="text">
<string>Apache v2</string>
@@ -745,7 +755,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="5" column="1">
<item row="6" column="1">
<widget class="QLabel" name="label_freenect">
<property name="text">
<string/>
@@ -758,16 +768,6 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_freenect_license">
<property name="text">
<string>Apache v2 and/or GPLv2</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_31">
<property name="text">
@@ -801,7 +801,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="8" column="2">
<item row="9" column="2">
<widget class="QLabel" name="label_realsense_license">
<property name="text">
<string>Apache-2</string>
@@ -811,7 +811,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="19" column="2">
<item row="20" column="2">
<widget class="QLabel" name="label_cputsdf_license">
<property name="text">
<string>BSD</string>
@@ -821,7 +821,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="23" column="2">
<item row="24" column="2">
<widget class="QLabel" name="label_dvo_license">
<property name="text">
<string>GPLv3</string>
@@ -831,7 +831,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="13" column="2">
<item row="14" column="2">
<widget class="QLabel" name="label_toro_license">
<property name="text">
<string>Creative Commons [Attribution-NonCommercial-ShareAlike]</string>
@@ -841,7 +841,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="6" column="0">
<item row="7" column="0">
<widget class="QLabel" name="label_13">
<property name="text">
<string>With OpenNI2 :</string>
@@ -851,7 +851,17 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="13" column="1">
<item row="24" column="0">
<widget class="QLabel" name="label_27">
<property name="text">
<string>With DVO :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="14" column="1">
<widget class="QLabel" name="label_toro">
<property name="text">
<string/>
@@ -864,10 +874,10 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="23" column="0">
<widget class="QLabel" name="label_27">
<item row="15" column="2">
<widget class="QLabel" name="label_g2o_license">
<property name="text">
<string>With DVO :</string>
<string>BSD</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -884,17 +894,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="14" column="2">
<widget class="QLabel" name="label_g2o_license">
<property name="text">
<string>BSD</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="15" column="2">
<item row="16" column="2">
<widget class="QLabel" name="label_gtsam_license">
<property name="text">
<string>BSD</string>
@@ -904,7 +904,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="22" column="1">
<item row="23" column="1">
<widget class="QLabel" name="label_viso2">
<property name="text">
<string/>
@@ -917,7 +917,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="16" column="2">
<item row="17" column="2">
<widget class="QLabel" name="label_cvsba_license">
<property name="text">
<string>GPLv2</string>
@@ -940,7 +940,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="24" column="2">
<item row="25" column="2">
<widget class="QLabel" name="label_orbslam2_license">
<property name="text">
<string>GPLv3</string>
@@ -950,7 +950,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="17" column="2">
<item row="18" column="2">
<widget class="QLabel" name="label_libpointmatcher_license">
<property name="text">
<string>BSD</string>
@@ -960,7 +960,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="17" column="0">
<item row="18" column="0">
<widget class="QLabel" name="label_29">
<property name="text">
<string>With libpointmatcher :</string>
@@ -970,7 +970,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="17" column="1">
<item row="18" column="1">
<widget class="QLabel" name="label_libpointmatcher">
<property name="text">
<string/>
@@ -983,7 +983,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="20" column="0">
<item row="21" column="0">
<widget class="QLabel" name="label_30">
<property name="text">
<string>With OpenChisel :</string>
@@ -993,7 +993,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="20" column="1">
<item row="21" column="1">
<widget class="QLabel" name="label_openchisel">
<property name="text">
<string/>
@@ -1006,7 +1006,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="9" column="0">
<item row="10" column="0">
<widget class="QLabel" name="label_33">
<property name="text">
<string>With RealSense2 :</string>
@@ -1016,7 +1016,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="26" column="0">
<item row="27" column="0">
<widget class="QLabel" name="label_36">
<property name="text">
<string>With loam_velodyne :</string>
@@ -1026,7 +1026,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="26" column="1">
<item row="27" column="1">
<widget class="QLabel" name="label_loam">
<property name="text">
<string/>
@@ -1039,7 +1039,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="25" column="2">
<item row="26" column="2">
<widget class="QLabel" name="label_okvis_license">
<property name="text">
<string>BSD</string>
@@ -1049,7 +1049,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="27" column="2">
<item row="28" column="2">
<widget class="QLabel" name="label_msckf_license">
<property name="text">
<string>Penn Software License</string>
@@ -1059,7 +1059,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="26" column="2">
<item row="27" column="2">
<widget class="QLabel" name="label_loam_license">
<property name="text">
<string>BSD</string>
@@ -1069,6 +1069,39 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_37">
<property name="text">
<string>With ORB Octree :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_orboctree_license">
<property name="text">
<string>GPLv3</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_orboctree">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>

14
guilib/src/ui/preferencesDialog.ui
View File

@@ -94,7 +94,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-184</y>
<y>0</y>
<width>680</width>
<height>3082</height>
</rect>
@@ -126,7 +126,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>12</number>
<number>21</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -7748,6 +7748,11 @@ generate the number of words requested.</string>
<string>KAZE</string>
</property>
</item>
<item>
<property name="text">
<string>ORB OCTREE</string>
</property>
</item>
</widget>
</item>
<item row="6" column="0">
@@ -16471,6 +16476,11 @@ Lower the ratio -&gt; higher the precision.</string>
<string>KAZE</string>
</property>
</item>
<item>
<property name="text">
<string>ORB OCTREE</string>
</property>
</item>
</widget>
</item>
<item row="3" column="0">