i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

Refactored motion estimation parameters in the GUI.

Browse Source
This commit is contained in:
matlabbe
2015-06-27 01:43:29 -04:00
parent e5447be23a
commit b7faef35f1
14 changed files with 921 additions and 775 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
guilib/src/DatabaseViewer.cpp
View File

@@ -2967,7 +2967,7 @@ void DatabaseViewer::refineConstraintVisually(int from, int to, bool silent, boo
parameters.insert(ParametersPair(Parameters::kKpNndrRatio(), uNumber2Str(ui_->doubleSpinBox_visual_nndr->value())));
parameters.insert(ParametersPair(Parameters::kLccBowIterations(), uNumber2Str(ui_->spinBox_visual_iteration->value())));
parameters.insert(ParametersPair(Parameters::kLccBowMinInliers(), uNumber2Str(ui_->spinBox_visual_minCorrespondences->value())));
parameters.insert(ParametersPair(Parameters::kLccBowMaxDepth(), uNumber2Str(ui_->doubleSpinBox_visual_maxDepth->value())));
parameters.insert(ParametersPair(Parameters::kLccBowEstimationType(), uNumber2Str(ui_->comboBox_estimationType->currentIndex())));
parameters.insert(ParametersPair(Parameters::kMemGenerateIds(), "false"));
parameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0"));
parameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), "0"));
@@ -2995,9 +2995,9 @@ void DatabaseViewer::refineConstraintVisually(int from, int to, bool silent, boo
{
ParametersMap parameters;
parameters.insert(ParametersPair(Parameters::kLccBowInlierDistance(), uNumber2Str(ui_->doubleSpinBox_visual_maxCorrespDistance->value())));
parameters.insert(ParametersPair(Parameters::kLccBowMaxDepth(), uNumber2Str(ui_->doubleSpinBox_visual_maxDepth->value())));
parameters.insert(ParametersPair(Parameters::kLccBowIterations(), uNumber2Str(ui_->spinBox_visual_iteration->value())));
parameters.insert(ParametersPair(Parameters::kLccBowMinInliers(), uNumber2Str(ui_->spinBox_visual_minCorrespondences->value())));
parameters.insert(ParametersPair(Parameters::kLccBowEstimationType(), uNumber2Str(ui_->comboBox_estimationType->currentIndex())));
memory_->parseParameters(parameters);
t = memory_->computeVisualTransform(to, from, &rejectedMsg, &inliers, &variance);
}
@@ -3086,8 +3086,7 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
parameters.insert(ParametersPair(Parameters::kKpNndrRatio(), uNumber2Str(ui_->doubleSpinBox_visual_nndr->value())));
parameters.insert(ParametersPair(Parameters::kLccBowIterations(), uNumber2Str(ui_->spinBox_visual_iteration->value())));
parameters.insert(ParametersPair(Parameters::kLccBowMinInliers(), uNumber2Str(ui_->spinBox_visual_minCorrespondences->value())));
parameters.insert(ParametersPair(Parameters::kLccBowMaxDepth(), uNumber2Str(ui_->doubleSpinBox_visual_maxDepth->value())));
parameters.insert(ParametersPair(Parameters::kLccBowPnPEstimation(), uBool2Str(ui_->checkBox_pnp->isChecked())));
parameters.insert(ParametersPair(Parameters::kLccBowEstimationType(), uNumber2Str(ui_->comboBox_estimationType->currentIndex())));
parameters.insert(ParametersPair(Parameters::kMemGenerateIds(), "false"));
parameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0"));
parameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), "0"));
@@ -3122,10 +3121,9 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
{
ParametersMap parameters;
parameters.insert(ParametersPair(Parameters::kLccBowInlierDistance(), uNumber2Str(ui_->doubleSpinBox_visual_maxCorrespDistance->value())));
parameters.insert(ParametersPair(Parameters::kLccBowMaxDepth(), uNumber2Str(ui_->doubleSpinBox_visual_maxDepth->value())));
parameters.insert(ParametersPair(Parameters::kLccBowIterations(), uNumber2Str(ui_->spinBox_visual_iteration->value())));
parameters.insert(ParametersPair(Parameters::kLccBowMinInliers(), uNumber2Str(ui_->spinBox_visual_minCorrespondences->value())));
parameters.insert(ParametersPair(Parameters::kLccBowPnPEstimation(), uBool2Str(ui_->checkBox_pnp->isChecked())));
parameters.insert(ParametersPair(Parameters::kLccBowEstimationType(), uNumber2Str(ui_->comboBox_estimationType->currentIndex())));
memory_->parseParameters(parameters);
t = memory_->computeVisualTransform(to, from, &rejectedMsg, &inliers, &variance);
}

12
guilib/src/PreferencesDialog.cpp
View File

@@ -551,11 +551,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_bowMinInliers->setObjectName(Parameters::kLccBowMinInliers().c_str());
_ui->loopClosure_bowInlierDistance->setObjectName(Parameters::kLccBowInlierDistance().c_str());
_ui->loopClosure_bowIterations->setObjectName(Parameters::kLccBowIterations().c_str());
_ui->loopClosure_bowMaxDepth->setObjectName(Parameters::kLccBowMaxDepth().c_str());
_ui->loopClosure_bowRefineIterations->setObjectName(Parameters::kLccBowRefineIterations().c_str());
_ui->loopClosure_bowForce2D->setObjectName(Parameters::kLccBowForce2D().c_str());
_ui->loopClosure_bowEpipolarGeometry->setObjectName(Parameters::kLccBowEpipolarGeometry().c_str());
_ui->loopClosure_estimationType->setObjectName(Parameters::kLccBowEstimationType().c_str());
connect(_ui->loopClosure_estimationType, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_loopClosureEstimation, SLOT(setCurrentIndex(int)));
_ui->stackedWidget_loopClosureEstimation->setCurrentIndex(Parameters::defaultLccBowEstimationType());
_ui->loopClosure_bowEpipolarGeometryVar->setObjectName(Parameters::kLccBowEpipolarGeometryVar().c_str());
_ui->loopClosure_pnpEstimation->setObjectName(Parameters::kLccBowPnPEstimation().c_str());
_ui->loopClosure_pnpReprojError->setObjectName(Parameters::kLccBowPnPReprojError().c_str());
_ui->loopClosure_pnpFlags->setObjectName(Parameters::kLccBowPnPFlags().c_str());
@@ -564,6 +565,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->reextract_nndrRatio->setObjectName(Parameters::kLccReextractNNDR().c_str());
_ui->reextract_type->setObjectName(Parameters::kLccReextractFeatureType().c_str());
_ui->reextract_maxFeatures->setObjectName(Parameters::kLccReextractMaxWords().c_str());
_ui->loopClosure_bowMaxDepth->setObjectName(Parameters::kLccReextractMaxDepth().c_str());
_ui->globalDetection_icpType->setObjectName(Parameters::kLccIcpType().c_str());
_ui->globalDetection_icpMaxTranslation->setObjectName(Parameters::kLccIcpMaxTranslation().c_str());
@@ -600,7 +602,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->odom_fillInfoData->setObjectName(Parameters::kOdomFillInfoData().c_str());
_ui->odom_dataBufferSize->setObjectName(Parameters::kOdomImageBufferSize().c_str());
_ui->lineEdit_odom_roi->setObjectName(Parameters::kOdomRoiRatios().c_str());
_ui->odom_pnpEstimation->setObjectName(Parameters::kOdomPnPEstimation().c_str());
_ui->odom_estimationType->setObjectName(Parameters::kOdomEstimationType().c_str());
connect(_ui->odom_estimationType, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_odomEstimation, SLOT(setCurrentIndex(int)));
_ui->stackedWidget_odomEstimation->setCurrentIndex(Parameters::defaultOdomEstimationType());
_ui->odom_pnpReprojError->setObjectName(Parameters::kOdomPnPReprojError().c_str());
_ui->odom_pnpFlags->setObjectName(Parameters::kOdomPnPFlags().c_str());

99
guilib/src/ui/DatabaseViewer.ui
View File

@@ -50,8 +50,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>196</width>
<height>184</height>
<width>166</width>
<height>173</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
@@ -236,8 +236,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>195</width>
<height>184</height>
<width>165</width>
<height>173</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
@@ -418,7 +418,7 @@
<x>0</x>
<y>0</y>
<width>1285</width>
<height>22</height>
<height>25</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -798,15 +798,15 @@
<item>
<widget class="QToolBox" name="toolBox">
<property name="currentIndex">
<number>5</number>
<number>1</number>
</property>
<widget class="QWidget" name="page">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>312</width>
<height>314</height>
<width>314</width>
<height>303</height>
</rect>
</property>
<attribute name="label">
@@ -1026,7 +1026,7 @@
<x>0</x>
<y>0</y>
<width>351</width>
<height>355</height>
<height>347</height>
</rect>
</property>
<attribute name="label">
@@ -1044,7 +1044,7 @@
<number>1000</number>
</property>
<property name="value">
<number>30</number>
<number>100</number>
</property>
</widget>
</item>
@@ -1055,29 +1055,6 @@
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_visual_maxDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="value">
<double>4.000000000000000</double>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_19">
<property name="text">
<string>Max feature depth</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_22">
<property name="text">
@@ -1170,15 +1147,22 @@
<item row="1" column="1">
<widget class="QLabel" name="label_53">
<property name="text">
<string>PnP (2D-&gt;3D estimation)</string>
<string>Motion estimation.</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_pnp">
<property name="text">
<string/>
</property>
<widget class="QComboBox" name="comboBox_estimationType">
<item>
<property name="text">
<string>3D to 3D</string>
</property>
</item>
<item>
<property name="text">
<string>3D to 2D (PnP)</string>
</property>
</item>
</widget>
</item>
</layout>
@@ -1285,7 +1269,7 @@
</item>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
@@ -1298,6 +1282,29 @@
</property>
</spacer>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_19">
<property name="text">
<string>Max feature depth</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_visual_maxDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="value">
<double>4.000000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -1308,8 +1315,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>330</width>
<height>304</height>
<width>333</width>
<height>306</height>
</rect>
</property>
<attribute name="label">
@@ -1525,8 +1532,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>248</width>
<height>319</height>
<width>243</width>
<height>284</height>
</rect>
</property>
<attribute name="label">
@@ -1720,7 +1727,7 @@
<x>0</x>
<y>0</y>
<width>201</width>
<height>126</height>
<height>117</height>
</rect>
</property>
<attribute name="label">
@@ -1819,8 +1826,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>283</width>
<height>322</height>
<width>285</width>
<height>309</height>
</rect>
</property>
<attribute name="label">

1506
guilib/src/ui/preferencesDialog.ui
View File

File diff suppressed because it is too large Load Diff