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Added Odom/VarianceFromInliersCount parameter (default false)

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This commit is contained in:
matlabbe
2015-09-28 21:45:41 -04:00
parent 3fa6124ad0
commit bf0790f3b9
7 changed files with 54 additions and 14 deletions
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1
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -208,6 +208,7 @@ public:
double getSimThr() const;
int getOdomStrategy() const;
int getOdomBufferSize() const;
bool getOdomVarianceFromInliersCount() const;
QString getCameraInfoDir() const; // "workinfDir/camera_info"
//

4
guilib/src/MainWindow.cpp
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@@ -2931,7 +2931,7 @@ void MainWindow::startDetection()
{
odom = new OdometryBOW(parameters);
}
_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize());
_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize(), _preferencesDialog->getOdomVarianceFromInliersCount());
UEventsManager::addHandler(_odomThread);
UEventsManager::createPipe(_camera, _odomThread, "CameraEvent");
@@ -2968,7 +2968,7 @@ void MainWindow::startDetection()
{
odom = new OdometryBOW(parameters);
}
_odomThread = new OdometryThread(odom);
_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize(), _preferencesDialog->getOdomVarianceFromInliersCount());
UEventsManager::addHandler(_odomThread);
_odomThread->start();

8
guilib/src/PreferencesDialog.cpp
View File

@@ -650,6 +650,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->odom_holonomic->setObjectName(Parameters::kOdomHolonomic().c_str());
_ui->odom_fillInfoData->setObjectName(Parameters::kOdomFillInfoData().c_str());
_ui->odom_dataBufferSize->setObjectName(Parameters::kOdomImageBufferSize().c_str());
_ui->odom_varianceFromInliersCount->setObjectName(Parameters::kOdomVarianceFromInliersCount().c_str());
_ui->lineEdit_odom_roi->setObjectName(Parameters::kOdomRoiRatios().c_str());
_ui->odom_estimationType->setObjectName(Parameters::kOdomEstimationType().c_str());
connect(_ui->odom_estimationType, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_odomEstimation, SLOT(setCurrentIndex(int)));
@@ -3744,6 +3745,10 @@ int PreferencesDialog::getOdomBufferSize() const
{
return _ui->odom_dataBufferSize->value();
}
bool PreferencesDialog::getOdomVarianceFromInliersCount() const
{
return _ui->odom_varianceFromInliersCount->isChecked();
}
QString PreferencesDialog::getCameraInfoDir() const
{
@@ -3883,7 +3888,8 @@ void PreferencesDialog::testOdometry(int type)
OdometryThread odomThread(
odometry, // take ownership of odometry
_ui->odom_dataBufferSize->value());
_ui->odom_dataBufferSize->value(),
_ui->odom_varianceFromInliersCount->isChecked());
odomThread.registerToEventsManager();
OdometryViewer * odomViewer = new OdometryViewer(10,

34
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-1094</y>
<width>760</width>
<height>1655</height>
<y>0</y>
<width>755</width>
<height>1715</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>19</number>
<number>23</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -8476,7 +8476,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="7" column="1">
<item row="8" column="1">
<widget class="QLabel" name="label_232">
<property name="text">
<string>Data buffer size (0 means inf).</string>
@@ -8522,7 +8522,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="7" column="0">
<item row="8" column="0">
<widget class="QSpinBox" name="odom_dataBufferSize">
<property name="maximum">
<number>999999</number>
@@ -8584,13 +8584,33 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="8" column="0">
<item row="9" column="0">
<widget class="QPushButton" name="pushButton_testOdometry">
<property name="text">
<string>Test selected odometry</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_261">
<property name="text">
<string>Set variance as the inverse of the number of inliers. Otherwise, the variance is computed as the average 3D position error of the inliers.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="odom_varianceFromInliersCount">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item>