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Refactored motion estimation parameters in the GUI.

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matlabbe
2015-06-27 01:43:29 -04:00
parent e5447be23a
commit b7faef35f1
14 changed files with 921 additions and 775 deletions
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corelib/src/Memory.cpp
+9 -25
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@@ -101,11 +101,10 @@ Memory::Memory(const ParametersMap & parameters) :
_bowMinInliers(Parameters::defaultLccBowMinInliers()),
_bowInlierDistance(Parameters::defaultLccBowInlierDistance()),
_bowIterations(Parameters::defaultLccBowIterations()),
_bowMaxDepth(Parameters::defaultLccBowMaxDepth()),
_bowRefineIterations(Parameters::defaultLccBowRefineIterations()),
_bowForce2D(Parameters::defaultLccBowForce2D()),
_bowEpipolarGeometry(Parameters::defaultLccBowEpipolarGeometry()),
_bowEpipolarGeometryVar(Parameters::defaultLccBowEpipolarGeometryVar()),
_bowPnPEstimation(Parameters::defaultLccBowPnPEstimation()),
_bowEstimationType(Parameters::defaultLccBowEstimationType()),
_bowPnPReprojError(Parameters::defaultLccBowPnPReprojError()),
_bowPnPFlags(Parameters::defaultLccBowPnPFlags()),
@@ -441,11 +440,10 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kLccBowMinInliers(), _bowMinInliers);
Parameters::parse(parameters, Parameters::kLccBowInlierDistance(), _bowInlierDistance);
Parameters::parse(parameters, Parameters::kLccBowIterations(), _bowIterations);
Parameters::parse(parameters, Parameters::kLccBowMaxDepth(), _bowMaxDepth);
Parameters::parse(parameters, Parameters::kLccBowRefineIterations(), _bowRefineIterations);
Parameters::parse(parameters, Parameters::kLccBowForce2D(), _bowForce2D);
Parameters::parse(parameters, Parameters::kLccBowEpipolarGeometry(), _bowEpipolarGeometry);
Parameters::parse(parameters, Parameters::kLccBowEstimationType(), _bowEstimationType);
Parameters::parse(parameters, Parameters::kLccBowEpipolarGeometryVar(), _bowEpipolarGeometryVar);
Parameters::parse(parameters, Parameters::kLccBowPnPEstimation(), _bowPnPEstimation);
Parameters::parse(parameters, Parameters::kLccBowPnPReprojError(), _bowPnPReprojError);
Parameters::parse(parameters, Parameters::kLccBowPnPFlags(), _bowPnPFlags);
Parameters::parse(parameters, Parameters::kLccIcpMaxTranslation(), _icpMaxTranslation);
@@ -474,7 +472,6 @@ void Memory::parseParameters(const ParametersMap & parameters)
UASSERT_MSG(_bowMinInliers >= 1, uFormat("value=%d", _bowMinInliers).c_str());
UASSERT_MSG(_bowInlierDistance > 0.0f, uFormat("value=%f", _bowInlierDistance).c_str());
UASSERT_MSG(_bowIterations > 0, uFormat("value=%d", _bowIterations).c_str());
UASSERT_MSG(_bowMaxDepth >= 0.0f, uFormat("value=%f", _bowMaxDepth).c_str());
UASSERT_MSG(_icpDecimation > 0, uFormat("value=%d", _icpDecimation).c_str());
UASSERT_MSG(_icpMaxDepth >= 0.0f, uFormat("value=%f", _icpMaxDepth).c_str());
UASSERT_MSG(_icpVoxelSize >= 0, uFormat("value=%d", _icpVoxelSize).c_str());
@@ -2020,7 +2017,7 @@ Transform Memory::computeVisualTransform(
int inliersCount= 0;
double variance = 1.0;
if(_bowEpipolarGeometry && !_bowPnPEstimation)
if(_bowEstimationType == 2) // Epipolar Geometry
{
if(!newS.sensorData().stereoCameraModel().isValid() &&
(newS.sensorData().cameraModels().size() != 1 ||
@@ -2088,13 +2085,8 @@ Transform Memory::computeVisualTransform(
UWARN(msg.c_str());
}
}
else if(_bowPnPEstimation)
else if(_bowEstimationType == 1) // PnP
{
if(_bowEpipolarGeometry)
{
UWARN("PnP estimation and Epipolar geometry estimation are set, only PnP is used.");
}
if(!newS.sensorData().stereoCameraModel().isValid() &&
(newS.sensorData().cameraModels().size() != 1 ||
!newS.sensorData().cameraModels()[0].isValid()))
@@ -2158,7 +2150,7 @@ Transform Memory::computeVisualTransform(
_bowMinInliers,
_bowInlierDistance,
_bowIterations,
10,
_bowRefineIterations,
&variance,
0,
&inliersV);
@@ -2919,14 +2911,7 @@ void Memory::dumpSignatures(const char * fileNameSign, bool words3D) const
if(foutSign)
{
if(words3D)
{
fprintf(foutSign, "SignatureID WordsID... (Max features depth=%f)\n", _bowMaxDepth);
}
else
{
fprintf(foutSign, "SignatureID WordsID...\n");
}
fprintf(foutSign, "SignatureID WordsID...\n");
const std::map<int, Signature *> & signatures = this->getSignatures();
for(std::map<int, Signature *>::const_iterator iter=signatures.begin(); iter!=signatures.end(); ++iter)
{
@@ -2941,8 +2926,7 @@ void Memory::dumpSignatures(const char * fileNameSign, bool words3D) const
{
//show only valid point according to current parameters
if(pcl::isFinite(jter->second) &&
(jter->second.x != 0 || jter->second.y != 0 || jter->second.z != 0) &&
(_bowMaxDepth <= 0 || jter->second.x <= _bowMaxDepth))
(jter->second.x != 0 || jter->second.y != 0 || jter->second.z != 0))
{
fprintf(foutSign, "%d ", (*jter).first);
}