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Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d

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This commit is contained in:
Mathieu Labbe
2015-03-12 17:00:56 -04:00
parent 05d4276ba0
commit aa8fe2e55c
22 changed files with 3254 additions and 820 deletions
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53
guilib/src/PreferencesDialog.cpp
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@@ -53,6 +53,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/Memory.h"
#include "rtabmap/core/VWDictionary.h"
#include "rtabmap/core/Graph.h"
#include "rtabmap/gui/LoopClosureViewer.h"
#include "rtabmap/gui/DataRecorder.h"
@@ -119,11 +120,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
#endif
#ifdef _WIN32
_ui->radioButton_openni2->setChecked(true);
_ui->radioButton_opennipcl->setChecked(false);
_ui->groupBox_openni2->setVisible(true);
_ui->radioButton_openni2->setChecked(true);
_ui->radioButton_opennipcl->setChecked(false);
_ui->groupBox_openni2->setVisible(true);
#else
_ui->groupBox_openni2->setVisible(false);
_ui->groupBox_openni2->setVisible(false);
#endif
if(RTABMAP_NONFREE == 0)
@@ -139,6 +140,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->reextract_nn->setItemData(1, 0, Qt::UserRole - 1);
_ui->odom_bin_nn->setItemData(1, 0, Qt::UserRole - 1);
}
if(!graph::G2OOptimizer::available())
{
_ui->graphOptimization_type->setItemData(1, 0, Qt::UserRole - 1);
}
_ui->predictionPlot->showLegend(false);
@@ -455,11 +460,14 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->rgdb_angularUpdate->setObjectName(Parameters::kRGBDAngularUpdate().c_str());
_ui->rgdb_newMapOdomChange->setObjectName(Parameters::kRGBDNewMapOdomChangeDistance().c_str());
_ui->odomScanHistory->setObjectName(Parameters::kRGBDPoseScanMatching().c_str());
_ui->globalDetection_toroIterations->setObjectName(Parameters::kRGBDToroIterations().c_str());
_ui->globalDetection_toroIgnoreVariance->setObjectName(Parameters::kRGBDToroIgnoreVariance().c_str());
_ui->globalDetection_optimizeFromGraphEnd->setObjectName(Parameters::kRGBDOptimizeFromGraphEnd().c_str());
_ui->spinBox_maxLocalLocationsRetrieved->setObjectName(Parameters::kRGBDMaxLocalRetrieved().c_str());
_ui->graphOptimization_type->setObjectName(Parameters::kRGBDOptimizeStrategy().c_str());
_ui->graphOptimization_slam2d->setObjectName(Parameters::kRGBDOptimizeSlam2D().c_str());
_ui->graphOptimization_iterations->setObjectName(Parameters::kRGBDOptimizeIterations().c_str());
_ui->graphOptimization_covarianceIgnored->setObjectName(Parameters::kRGBDOptimizeVarianceIgnored().c_str());
_ui->graphOptimization_fromGraphEnd->setObjectName(Parameters::kRGBDOptimizeFromGraphEnd().c_str());
_ui->graphPlan_goalReachedRadius->setObjectName(Parameters::kRGBDGoalReachedRadius().c_str());
_ui->graphPlan_planWithNearNodesLinked->setObjectName(Parameters::kRGBDPlanWithNearNodesLinked().c_str());
@@ -1544,6 +1552,18 @@ bool PreferencesDialog::validateForm()
}
}
// optimization strategy
if(!graph::G2OOptimizer::available())
{
if(_ui->graphOptimization_type->currentIndex() > 0)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected graph optimization strategy (g2o) is not available. RTAB-Map is not built "
"with g2o. TORO is set instead for graph optimization strategy."));
_ui->graphOptimization_type->setCurrentIndex(graph::Optimizer::kTypeTORO);
}
}
//verify binary features and nearest neighbor
// BOW dictionary type
if(_ui->comboBox_dictionary_strategy->currentIndex() == VWDictionary::kNNFlannLSH && _ui->comboBox_detector_strategy->currentIndex() <= 1)
@@ -2120,6 +2140,7 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
"with the nonfree module from OpenCV. Keeping default combo value: %s.",
combo->objectName().toStdString().c_str(),
combo->currentText().toStdString().c_str());
ok = false;
}
else if(valueInt==1 &&
(combo->objectName().toStdString().compare(Parameters::kKpNNStrategy()) == 0 ||
@@ -2132,13 +2153,21 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
"with binary descriptors. Keeping default combo value: %s.",
combo->objectName().toStdString().c_str(),
combo->currentText().toStdString().c_str());
}
else
{
combo->setCurrentIndex(valueInt);
ok = false;
}
}
else
if(!graph::G2OOptimizer::available())
{
if(valueInt==1 && combo->objectName().toStdString().compare(Parameters::kRGBDOptimizeStrategy()) == 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(ok)
{
combo->setCurrentIndex(valueInt);
}