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Supporting g2o from ORB_SLAM2

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This commit is contained in:
matlabbe
2017-09-17 13:28:25 -04:00
parent 16ffcc7684
commit b2fb7d5d5b
4 changed files with 153 additions and 23 deletions
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20
guilib/src/PreferencesDialog.cpp
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@@ -211,6 +211,13 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_bundle->setItemData(1, 0, Qt::UserRole - 1);
_ui->groupBoxx_g2o->setEnabled(false);
}
#ifdef RTABMAP_ORB_SLAM2
else
{
// only graph optimization is disabled, g2o (from ORB_SLAM2) is valid only for SBA
_ui->graphOptimization_type->setItemData(1, 0, Qt::UserRole - 1);
}
#endif
if(!OptimizerG2O::isCSparseAvailable())
{
_ui->comboBox_g2o_solver->setItemData(0, 0, Qt::UserRole - 1);
@@ -2434,6 +2441,7 @@ bool PreferencesDialog::validateForm()
"with TORO. GTSAM is set instead for graph optimization strategy."));
_ui->graphOptimization_type->setCurrentIndex(Optimizer::kTypeGTSAM);
}
#ifndef RTABMAP_ORB_SLAM2
else if(Optimizer::isAvailable(Optimizer::kTypeG2O))
{
QMessageBox::warning(this, tr("Parameter warning"),
@@ -2441,8 +2449,13 @@ bool PreferencesDialog::validateForm()
"with TORO. g2o is set instead for graph optimization strategy."));
_ui->graphOptimization_type->setCurrentIndex(Optimizer::kTypeG2O);
}
#endif
}
#ifdef RTABMAP_ORB_SLAM2
if(_ui->graphOptimization_type->currentIndex() == 1)
#else
if(_ui->graphOptimization_type->currentIndex() == 1 && !Optimizer::isAvailable(Optimizer::kTypeG2O))
#endif
{
if(Optimizer::isAvailable(Optimizer::kTypeGTSAM))
{
@@ -2461,6 +2474,7 @@ bool PreferencesDialog::validateForm()
}
if(_ui->graphOptimization_type->currentIndex() == 2 && !Optimizer::isAvailable(Optimizer::kTypeGTSAM))
{
#ifndef RTABMAP_ORB_SLAM2
if(Optimizer::isAvailable(Optimizer::kTypeG2O))
{
QMessageBox::warning(this, tr("Parameter warning"),
@@ -2468,7 +2482,9 @@ bool PreferencesDialog::validateForm()
"with GTSAM. g2o is set instead for graph optimization strategy."));
_ui->graphOptimization_type->setCurrentIndex(Optimizer::kTypeG2O);
}
else if(Optimizer::isAvailable(Optimizer::kTypeTORO))
else
#endif
if(Optimizer::isAvailable(Optimizer::kTypeTORO))
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected graph optimization strategy (GTSAM) is not available. RTAB-Map is not built "
@@ -3487,7 +3503,9 @@ void PreferencesDialog::setParameter(const std::string & key, const std::string
ok = false;
}
#endif
#ifndef RTABMAP_ORB_SLAM2
if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
#endif
{
if(valueInt==1 && combo->objectName().toStdString().compare(Parameters::kOptimizerStrategy()) == 0)
{